56 lines
2.1 KiB
Python
56 lines
2.1 KiB
Python
# -*- coding: utf-8 -*-
|
|
'''
|
|
@File : flat_gauge_config.py
|
|
@Time : 2025/11/27 16:03:02
|
|
@Author : wty-yy
|
|
@Version : 1.0
|
|
@Blog : https://wty-yy.github.io/
|
|
@Desc : Flat Gauge Configuration
|
|
'''
|
|
from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
|
|
|
|
class FlatGaugeConfig(BaseGaugeConfig):
|
|
gauge_class = 'BaseGauge'
|
|
|
|
class assets(BaseGaugeConfig.assets):
|
|
terrain_name = "flat_0" # {type}_{level}
|
|
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
|
|
terrain_spawn_pos = [0, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
|
|
|
|
class goals(BaseGaugeConfig.goals):
|
|
class max_velocity: # goal with maximum velocity
|
|
enabled = True
|
|
move_duration = 5.0 # [s] duration for each velocity command
|
|
end_stance = True # whether to end with zero velocity command
|
|
standce_duration = 2.0 # [s] duration for the ending stance command
|
|
|
|
class diagonal_velocity: # goal with diagonal velocity changes
|
|
enabled = True
|
|
cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
|
|
|
|
class target_pos_velocity: # goal to reach a target position by velocity command, config target at assets.target_pos
|
|
enabled = True
|
|
target_pos = [5, 0, 0] # x y z [m], target position in the environment, used for target position goal
|
|
lin_vel_x = 1.0 # +/- m/s
|
|
ang_vel_yaw = 1.0 # +/- rad/s
|
|
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
|
|
reach_threshold = 0.1
|
|
|
|
class metrics(BaseGaugeConfig.metrics):
|
|
metric_dt = 0.1 # [s] frequency to compute metrics
|
|
class dof_limits:
|
|
enabled = True
|
|
soft_dof_limit_ratio = 0.9
|
|
dof_names = None # List of DOF names to monitor, None for all
|
|
|
|
class visualization:
|
|
enabled = True
|
|
dof_torque = True
|
|
dof_pos = True
|
|
|
|
class lin_vel_err:
|
|
enabled = True
|
|
|
|
class ang_vel_err:
|
|
enabled = True
|