35 lines
1.0 KiB
Python
35 lines
1.0 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : base_gauge_config.py
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@Time : 2025/11/27 15:55:11
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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 : Base Gauge Configuration
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'''
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from robogauge.utils.config import Config
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class BaseGaugeConfig(Config):
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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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cmd_duration = 5.0 # duration for each velocity command [s]
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class 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_force = True
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dof_pos = True
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