47 lines
1.5 KiB
Python
47 lines
1.5 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : flat_gauge_config.py
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@Time : 2025/11/27 16:03:02
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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 : Flat Gauge Configuration
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'''
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from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
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class FlatGaugeConfig(BaseGaugeConfig):
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gauge_class = 'BaseGauge'
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class assets:
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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 = True
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move_duration = 5.0 # [s] duration for each velocity command
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end_stance = True # whether to end with zero velocity command
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standce_duration = 2.0 # [s] duration for the ending stance command
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class diagonal_velocity: # goal with diagonal velocity changes
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enabled = True
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cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
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class metrics(BaseGaugeConfig.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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