v1.1.3; fix friction calc err (x0.4)

CMD.md

@@ -38,7 +38,7 @@ python robogauge/scripts/run.py \
     --multi \
     --num-processes 5 \
     --seeds 0 1 2 \
-    --frictions 0.5 1.0 1.5 2.0 2.5 \
+    --frictions 0.2 0.4 0.6 0.8 1.0 \
     --compress-logs \
     --headless
 
@@ -49,7 +49,7 @@ python robogauge/scripts/run.py \
     --multi \
     --num-processes 5 \
     --seeds 0 1 2 \
-    --frictions 2.0 \
+    --frictions 0.8 \
     --level 10 \
     --spawn-type level_eval \
     --goals max_velocity diagonal_velocity\
@@ -68,7 +68,7 @@ python robogauge/scripts/run.py \
     --search-max-level \
     --seeds 0 1 2 \
     --search-seeds 0 1 2 3 4 \
-    --frictions 1.0 \
+    --frictions 0.4 \
     --compress-logs \
     --headless
 ```
@@ -85,7 +85,7 @@ python robogauge/scripts/run.py \
     --num-processes 50 \
     --seeds 0 1 2 \
     --search-seeds 0 1 2 3 4 \
-    --frictions 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \
+    --frictions 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 \
     --compress-logs \
     --headless
 ```

README.md

@@ -114,7 +114,7 @@ All evaluations are run with configured domain randomization (DR). Below are com
 | - | - | - |
 | Random action execution delay | `action delay` | `<= RL control interval` |
 | Base payload mass | `base mass` | `-1, 0, 1, 2, 3 kg` |
-| Ground friction | `friction` | `0.4, 0.7, 1.0, 1.3, 1.6` |
+| Ground friction | `friction` | `0.2 ~ 1.0 (step 0.1)` |
 
 #### Terrains
 

README_zh.md

@@ -100,7 +100,7 @@ while True:
 | - | - | - |
 | 电机动作执行随机延迟 | `action delay` | `<= RL控制间隔` |
 | base负重 | `base mass` | `-1, 0, 1, 2, 3 kg` |
-| 地面摩擦力 | `friction` | `0.4, 0.7, 1.0, 1.3, 1.6` |
+| 地面摩擦力 | `friction` | `0.2 ~ 1.0 (step 0.1)` |
 
 #### 地形
 1. 支持legged_gym中的部分地形, 包括: `wave, slope, stairs up, stairs down, obstacles, flat`, 除`flat`地形外其他地形可进行难度系数提升

UPDATE.md

@@ -1,4 +1,7 @@
 # UPDATE
+## 20260210
+### v1.1.3
+1. 修复摩擦计算问题，之前的所有stress的摩擦*0.4后才是真实摩擦系数，所以之前用的摩擦范围是0.2~1.0，步长0.1
 ## 20260204
 ### v1.1.2
 1. 加入手柄JoystickGoal功能

resources/terrains/flat.xml

@@ -18,6 +18,6 @@
 
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
-    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" priority="1"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody>
 </mujoco>

robogauge/scripts/server.py

@@ -42,7 +42,7 @@ default_args_list = [
     # '--num-processes', '30',  # Set in CLI
     '--seeds', '0', '1', '2',
     '--search-seeds', '0', '1', '2', '3', '4',
-    '--frictions', '0.5', '0.75', '1.0', '1.25', '1.5', '1.75', '2.0', '2.25', '2.5',
+    '--frictions', '0.2', '0.3', '0.4', '0.5', '0.6', '0.7', '0.8', '0.9', '1.0',
     '--compress-logs',
     '--headless',
 ]

robogauge/tasks/simulator/mujoco_config.py

@@ -36,7 +36,7 @@ class MujocoConfig(Config):
 
         # Setup by config file, ensure evaluation coverage
         base_mass = 0.0  # [kg], {-1, 0, 1, 2, 3}
-        friction = 1.0  # [N.s/m], {0.4, 0.7, 1.0, 1.3, 1.6}
+        friction = 0.0  # [N.s/m], {0.4, 0.7, 1.0, 1.3, 1.6}
 
     class noise:
         # Uniform noise

robogauge/tasks/simulator/mujoco_simulator.py

@@ -126,13 +126,13 @@ class MujocoSimulator:
             logger.info(f"Randomized base mass: {original_mass:.3f} -> {new_mass:.3f} kg")
         
         # Domain randomization: friction
-        if self.cfg.domain_rand.friction != 1.0:
+        if self.cfg.domain_rand.friction != 0.0:
             for i in range(self.mj_model.ngeom):
-                # Both change robot friction and terrain friction, usually robot friction < 1.0
+                # Both change robot friction and terrain friction
-                # Mujoco friction calculation takes the *max* between two contacting geoms
+                # If one of the two geoms has higher priority, the friction of that geom is used.
-                geom_friction = self.mj_model.geom_friction[i]
+                # If both geoms have the save priopirty, the maximum of the two friction is used.
-                geom_friction[0] *= self.cfg.domain_rand.friction
+                # (Go2 foot friction is 0.4 and priority is 1, terrain priority is 0 except floor)
-                self.mj_model.geom_friction[i] = geom_friction
+                self.mj_model.geom_friction[i][0] = self.cfg.domain_rand.friction
             logger.info(f"Scaled geom friction by factor: {self.cfg.domain_rand.friction:.3f}")
         mujoco.mj_forward(self.mj_model, self.mj_data)
 

setup.py

@@ -2,7 +2,7 @@ from setuptools import setup, find_packages
 
 setup(
     name="robogauge",  # 包名
-    version="1.1.2",   # 版本号
+    version="1.1.3",   # 版本号
     author="Wu Tianyang", # 你的名字
     author_email="993660140@qq.com",
     description="A generic robot RL model evaluation library based on MuJoCo",