175 lines
5.3 KiB
Python
175 lines
5.3 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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SEARCH_LEVELS_TERRAINS = ['slope_fd', 'slope_bd', 'wave', 'stairs_fd', 'stairs_bd', 'obstacle']
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TERRAIN_NAME2_XML_NAME = {
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'flat': 'flat',
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'slope_fd': 'slope',
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'slope_bd': 'slope',
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'wave': 'wave',
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'stairs_fd': 'stairs',
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'stairs_bd': 'stairs',
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'obstacle': 'obstacle',
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}
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class TerrainSearchLevelsConfig(Config):
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""" Go2 robot init/target position """
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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:
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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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spawns = [
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[1.15, 0.0, 1.1 - 0.05 * 6 - 0.15 * 3],
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[1.15, 0.0, 1.1 - 0.05 * 6 - 0.15 * 2],
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[1.15, 0.0, 1.1 - 0.05 * 6 - 0.15],
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[1.15, 0.0, 1.1 - 0.05 * 6],
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[1.15, 0.0, 1.1 - 0.05 * 5],
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[1.15, 0.0, 1.1 - 0.05 * 4],
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[1.15, 0.0, 1.1 - 0.05 * 3],
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[1.15, 0.0, 1.1 - 0.05 * 2],
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[1.15, 0.0, 1.1 - 0.05 * 1],
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[1.15, 0.0, 1.1],
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]
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class obstacle:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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class slope_fd(slope): # forward direction
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pass
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class slope_bd(slope): # backward direction
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pass
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class stairs_fd(stairs): # forward direction
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pass
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class stairs_bd(stairs): # backward direction
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pass
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class TerrainEvalLevelsConfig(Config):
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class flat:
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levels = [0]
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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, 0.03 + 4.2 * (0.57 - 0.047 * 9)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 8)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 7)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 6)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 5)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 4)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 3)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047 * 2)],
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[5.0, 0, 0.03 + 4.2 * (0.57 - 0.047)],
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[5.0, 0, 0.03 + 4.2 * 0.57],
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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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spawns = [
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[4.55, 0, 0.65 - 0.075 * 9],
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[4.55, 0, 0.65 - 0.075 * 8],
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[4.55, 0, 0.65 - 0.075 * 7],
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[4.55, 0, 0.65 - 0.075 * 6],
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[4.55, 0, 0.65 - 0.075 * 5],
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[4.55, 0, 0.65 - 0.075 * 4],
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[4.55, 0, 0.65 - 0.075 * 3],
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[4.55, 0, 0.65 - 0.075 * 2],
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[4.55, 0, 0.65 - 0.075 * 1],
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[4.55, 0, 0.65],
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]
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class stairs:
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levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
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spawns = [
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[4.85, 0.0, 0.05 + 1.35],
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[4.85, 0.0, 0.05 + 1.80],
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[4.85, 0.0, 0.05 + 2.25 + 0.03],
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[4.85, 0.0, 0.05 + 2.70 + 0.08],
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[4.85, 0.0, 0.05 + 2.85 + 0.1],
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[4.85, 0.0, 0.05 + 3.00 + 0.12],
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[4.85, 0.0, 0.05 + 3.15 + 0.14],
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[4.85, 0.0, 0.05 + 3.30 + 0.16],
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[4.85, 0.0, 0.05 + 3.45 + 0.18],
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[4.85, 0.0, 0.05 + 3.60 + 0.2],
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]
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class obstacle:
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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, 0.20 - 0.023 * 9],
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[5, 0.0, 0.20 - 0.023 * 8],
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[5, 0.0, 0.20 - 0.023 * 7],
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[5, 0.0, 0.20 - 0.023 * 6],
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[5, 0.0, 0.20 - 0.023 * 5],
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[5, 0.0, 0.20 - 0.023 * 4],
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[5, 0.0, 0.20 - 0.023 * 3],
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[5, 0.0, 0.20 - 0.023 * 2],
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[5, 0.0, 0.20 - 0.023 * 1],
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[5, 0.0, 0.20],
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]
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class slope_fd(slope): # forward direction
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pass
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class slope_bd(slope): # backward direction
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pass
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class stairs_fd(stairs): # forward direction
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pass
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class stairs_bd(stairs): # backward direction
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pass
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if __name__ == '__main__':
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terrain_search_cfg = TerrainSearchLevelsConfig()
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print(terrain_search_cfg.stairs.spawns)
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