105 lines
3.1 KiB
Python
105 lines
3.1 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : terrain_levels_config.py
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@Time : 2025/12/25 11:27:05
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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 : Terrain Levels Configuration
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'''
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from robogauge.utils.config import Config
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class TerrainSearchLevelsConfig(Config):
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class flat:
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levels = [0]
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targets = [[4, 0, 0]] # target positions for each level, if target goal is used
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class slope:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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targets = [
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[4.8, 0, 0.588 + 0.1],
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[4.8, 0, 0.776 + 0.1],
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[4.8, 0, 0.964 + 0.1],
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[4.8, 0, 1.152 + 0.1],
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[4.8, 0, 1.340 + 0.1],
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[4.8, 0, 1.528 + 0.1],
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[4.8, 0, 1.716 + 0.1],
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[4.8, 0, 1.904 + 0.1],
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[4.8, 0, 2.092 + 0.1],
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[4.8, 0, 2.280 + 0.1],
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]
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class wave:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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targets = [
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[6.5, -2.65, 0.08],
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[6.5, -2.65, 0.16],
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[6.5, -2.65, 0.24],
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[6.5, -2.65, 0.32],
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[6.5, -2.65, 0.40],
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[6.5, -2.65, 0.48],
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[6.5, -2.65, 0.56],
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[6.5, -2.65, 0.64],
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[6.5, -2.65, 0.72],
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[6.5, -2.65, 0.80],
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]
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class stairs_up:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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targets = [
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[4.5, 0.0, 1.35],
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[4.5, 0.0, 1.80],
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[4.5, 0.0, 2.25],
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[4.5, 0.0, 2.70],
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[4.5, 0.0, 2.85],
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[4.5, 0.0, 3.00],
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[4.5, 0.0, 3.15],
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[4.5, 0.0, 3.30],
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[4.5, 0.0, 3.45],
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[4.5, 0.0, 3.60],
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]
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class stairs_down:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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targets = [
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[8.3, 0.0, 1.90 - 0.07 * 15],
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[8.3, 0.0, 1.90 - 0.07 * 12],
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[8.3, 0.0, 1.90 - 0.07 * 9],
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[8.3, 0.0, 1.90 - 0.07 * 6],
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[8.3, 0.0, 1.90 - 0.07 * 5],
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[8.3, 0.0, 1.90 - 0.07 * 4],
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[8.3, 0.0, 1.90 - 0.07 * 3],
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[8.3, 0.0, 1.90 - 0.07 * 2],
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[8.3, 0.0, 1.90 - 0.07],
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[8.3, 0.0, 1.90],
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]
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spawns = [
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[1.1, 3.0, 7 - 0.3 * 15],
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[1.1, 3.0, 7 - 0.3 * 12],
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[1.1, 3.0, 7 - 0.3 * 9],
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[1.1, 3.0, 7 - 0.3 * 6],
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[1.1, 3.0, 7 - 0.3 * 5],
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[1.1, 3.0, 7 - 0.3 * 4],
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[1.1, 3.0, 7 - 0.3 * 3],
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[1.1, 3.0, 7 - 0.3 * 2],
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[1.1, 3.0, 7 - 0.3],
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[1.1, 3.0, 7],
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]
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class TerrainEvalLevelsConfig(Config):
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class slope:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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spawns = [
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[5.0, 0, 4.2 * (0.57 - 0.047 * 9)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 8)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 7)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 6)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 5)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 4)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 3)],
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[5.0, 0, 4.2 * (0.57 - 0.047 * 2)],
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[5.0, 0, 4.2 * (0.57 - 0.047)],
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[5.0, 0, 4.2 * 0.57],
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]
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