v0.1.17

robogauge/tasks/gauge/gauge_configs/obstacle_gauge_config.py

@@ -0,0 +1,32 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : obstacle_gauge_config.py
+@Time    : 2025/12/27 14:33:14
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Obstacle Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class ObstacleGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "obstacle"
+        terrain_level = 10  # 1-10
+        terrain_xmls = [
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/obstacle/obstacle_10.xml',
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
+        ]
+        terrain_spawn_pos = [0.5, 2.0, 0.0]  # x y z [m], robot freejoint spawn position on the terrain
+    
+    class goals(BaseGaugeConfig.goals):
+        class target_pos_velocity:  # goal to reach a target position by velocity command
+            enabled = True
+            target_pos = [6.5, -2.0, 0.3]  # x y z [m], target position in the environment, used for target position goal
+            lin_vel_x = 0.8  # +/- m/s
+            lin_vel_y = 1.0  # +/- m/s
+            ang_vel_yaw = 1.5  # +/- rad/s
+            max_cmd_duration = 30.0  # [s] maximum duration to reach the target position
+            reach_threshold = 0.1

robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py

@@ -87,6 +87,9 @@ class TerrainSearchLevelsConfig(Config):
             [1.1, 3.0, 7],
         ]
 
+    class obstacle:
+        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
+
 class TerrainEvalLevelsConfig(Config):
     class slope:
         levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]

robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py

@@ -21,7 +21,7 @@ class WaveGaugeConfig(BaseGaugeConfig):
         ]
         terrain_spawn_pos = [1.5, 1.25, 0.0]  # x y z [m], robot freejoint spawn position on the terrain
     
-    class goals:
+    class goals(BaseGaugeConfig.goals):
         class target_pos_velocity:  # goal to reach a target position by velocity command
             enabled = True
             target_pos = [6.5, -2.65, 0.8]  # x y z [m], target position in the environment, used for target position goal