39 lines
1.4 KiB
Python
39 lines
1.4 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : slope_gauge_config.py
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@Time : 2025/12/21 17:02:23
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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 : Slope Forward(fd)/Backward(bd) Gauge Configuration
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'''
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from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
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class SlopeForwardGaugeConfig(BaseGaugeConfig):
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gauge_class = 'BaseGauge'
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class assets(BaseGaugeConfig.assets):
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terrain_name = "slope_fd"
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terrain_level = 4 # 1-10
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terrain_xmls = [
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'{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_4.xml',
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'{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
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]
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terrain_spawn_pos = [0.5, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
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class goals(BaseGaugeConfig.goals):
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class target_pos_velocity: # goal to reach a target position by velocity command
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enabled = True
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target_pos = [4.8, 0, 1.152 + 0.1] # 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 = 20.0 # [s] maximum duration to reach the target position
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reach_threshold = 0.1
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class SlopeBackwardGaugeConfig(SlopeForwardGaugeConfig):
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backward = True
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class assets(SlopeForwardGaugeConfig.assets):
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terrain_name = "slope_bd"
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