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v0.1.17

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wty-yy
2025-12-27 17:42:30 +08:00
parent 0a3985445a
commit f92f34ac14
28 changed files with 452 additions and 22 deletions
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15
robogauge/utils/task_register.py
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@@ -9,7 +9,7 @@
'''
from robogauge import ROBOGAUGE_ROOT_DIR
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_args, set_seed
from robogauge.utils.helpers import parse_args, set_seed, class_to_dict
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig
class TaskRegister():
@@ -73,14 +73,23 @@ class TaskRegister():
if args.level is not None:
gauger_cfg.assets.terrain_level = args.level
levels_cfg = TerrainSearchLevelsConfig()
cfg = getattr(levels_cfg, gauger_cfg.assets.terrain_name)
cfg = getattr(levels_cfg, gauger_cfg.assets.terrain_name, None)
assert cfg is not None, f"Level {args.level} configuration not found in TerrainLevelsConfig."
assert args.level in cfg.levels, f"Level must be in {cfg.levels}."
gauger_cfg.goals.target_pos_velocity.target_pos = cfg.targets[cfg.levels.index(args.level)]
if hasattr(cfg, 'targets'):
gauger_cfg.goals.target_pos_velocity.target_pos = cfg.targets[cfg.levels.index(args.level)]
if hasattr(cfg, 'spawns'):
gauger_cfg.assets.terrain_spawn_pos = cfg.spawns[cfg.levels.index(args.level)]
xml = gauger_cfg.assets.terrain_xmls[0]
xml = xml.rsplit('/', 1)[0] + f"/{gauger_cfg.assets.terrain_name}_{args.level}.xml"
gauger_cfg.assets.terrain_xmls[0] = xml
if args.goals is not None:
keys = class_to_dict(gauger_cfg.goals).keys()
enable_count = 0
for key in keys:
flag = key in args.goals
getattr(gauger_cfg.goals, key).enabled = flag
enable_count += int(flag)
assert enable_count > 0, f"At least one goal must be enabled from '{args.goals}', available goals are {list(keys)}."
task_register = TaskRegister()