68 lines
2.3 KiB
Python
68 lines
2.3 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : base_gauge_config.py
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@Time : 2025/11/27 15:55:11
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@Author : wty-yy
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@Version : 1.0
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@Blog : https://wty-yy.github.io/
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@Desc : Base Gauge Configuration
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'''
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from robogauge.utils.config import Config
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class BaseGaugeConfig(Config):
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gauge_class = 'BaseGauge'
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write_tensorboard = False # Whether to write tensorboard logs
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class assets:
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terrain_name = "flat"
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terrain_level = 0
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terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
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terrain_spawn_pos = [0, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
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class goals:
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class max_velocity: # goal with maximum velocity
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enabled = False
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cmd_duration = 5.0 # [s] duration for each velocity command
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class diagonal_velocity: # goal with diagonal velocity changes
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enabled = False
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cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
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class target_pos_velocity: # goal to reach a target position by velocity command
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enabled = False
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target_pos = [5, 0, 0] # x y z [m], target position in the environment, used for target position goal
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lin_vel_x = 1.0 # +/- m/s
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lin_vel_y = 1.0 # +/- m/s
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ang_vel_yaw = 1.5 # +/- rad/s
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max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
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reach_threshold = 0.1
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class metrics:
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metric_dt = 0.1 # [s] frequency to compute metrics
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class dof_limits:
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enabled = True
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soft_dof_limit_ratio = 0.9
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dof_names = None # List of DOF names to monitor, None for all
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class visualization:
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enabled = True
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dof_torque = True
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dof_pos = True
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class lin_vel_err:
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enabled = True
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class ang_vel_err:
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enabled = True
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class dof_power:
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enabled = True
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scaling_factor = 100.0 # [W] scaling factor for power metric
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class orientation_stability:
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enabled = True
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class torque_smoothness:
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enabled = True
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scaling_factor = 30.0 # [Nm] scaling factor for torque smoothness metric
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