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v0.1.11

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wty-yy
2025-12-21 00:16:07 +08:00
parent 939dc69b7e
commit 4546be76bf
14 changed files with 246 additions and 45 deletions
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31
robogauge/tasks/gauge/base_gauge.py
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@@ -22,7 +22,7 @@ from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.goals import BaseGoal, MaxVelocityGoal, DiagonalVelocityGoal
from robogauge.tasks.gauge.goals import *
from robogauge.tasks.gauge.metrics import *
class BaseGauge:
@@ -40,7 +40,8 @@ class BaseGauge:
self.goals: List[BaseGoal] = []
self.metrics: List[function] = []
self.info = {'goal': [], 'metric': []}
self.results = {} # {'goal/sub_goal': {'metric': result}}
self.results = {
} # {'goal/sub_goal': {'metric': result}}
log_str = "Initialized Gauge with Goals and Metrics:\n"
for name, kwargs in self.goals_cfg.items():
@@ -51,6 +52,9 @@ class BaseGauge:
elif name == 'diagonal_velocity':
self.goals.append(DiagonalVelocityGoal(robot_cfg.control.control_dt, robot_cfg.commands, **kwargs))
log_str += f" - Diagonal Velocity Goal: {kwargs}\n"
elif name == 'target_pos_velocity':
self.goals.append(TargetPosVelocityGoal(robot_cfg.control.control_dt,**kwargs))
log_str += f" - Target Position Velocity Goal: {kwargs}\n"
else:
raise NotImplementedError(f"Goal '{name}' is not implemented in BaseGauge.")
self.info['goal'].append(name)
@@ -97,21 +101,23 @@ class BaseGauge:
# ang_vel_yaw=-5.0,
# )
# )
if self.goal_idx >= len(self.goals):
logger.error("All goals have been exhausted.")
return None
goal_obj = self.goals[self.goal_idx]
goal = goal_obj.get_goal(sim_data)
if goal_obj.pre_get_goal(sim_data):
metrics = goal_obj.goal_mean_metrics
if hasattr(goal_obj, 'success'): # target position goal
metrics['success'] = {'mean': float(goal_obj.success)}
key = f"{goal_obj.name}"
self.results[key] = metrics
if goal is None: # goal obj finished
self.results[goal_obj.name] = goal_obj.goal_mean_metrics
self.goal_idx += 1
self.create_new_goal_logger()
return None
goal = goal_obj.get_goal(sim_data)
now_goal_str = str(goal_obj)
if now_goal_str != self.goal_str: # sub goal changed
self.goal_str = now_goal_str
if f"{goal_obj.count+1}_{now_goal_str}" != self.goal_str: # sub goal changed
self.goal_str = f"{goal_obj.count+1}_{now_goal_str}"
logger.info(f"New Goal [{self.goal_idx+1}/{len(self.goals)}] [{goal_obj.count+1}/{goal_obj.total}]: {self.goal_str}")
return goal
@@ -142,9 +148,10 @@ class BaseGauge:
self.results['summary'][metric_name][quantile] = f"{mean:.4f} ± {std:.4f}"
save_path = Path(logger.log_dir) / "results.yaml"
self.results["terrain"] = f"{self.cfg.assets.terrain_name}"
with open(save_path, 'w') as file:
yaml.dump(self.results, file, allow_unicode=True)
yaml_str = yaml.dump(self.results, allow_unicode=True)
yaml.dump(self.results, file, allow_unicode=True, sort_keys=False)
yaml_str = yaml.dump(self.results, allow_unicode=True, sort_keys=False)
logger.info(
f"""\n{'='*20} Goals and Metrics results {'='*20}\n"""
f"""{yaml_str}"""

9
robogauge/tasks/gauge/base_gauge_config.py
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@@ -14,6 +14,7 @@ class BaseGaugeConfig(Config):
write_tensorboard = False # Whether to write tensorboard logs
class 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
@@ -26,6 +27,14 @@ class BaseGaugeConfig(Config):
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
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:
metric_dt = 0.1 # [s] frequency to compute metrics
class dof_limits:

13
robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
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@@ -12,11 +12,12 @@ from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
class FlatGaugeConfig(BaseGaugeConfig):
gauge_class = 'BaseGauge'
class assets:
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:
class goals(BaseGaugeConfig.goals):
class max_velocity: # goal with maximum velocity
enabled = True
move_duration = 5.0 # [s] duration for each velocity command
@@ -27,6 +28,14 @@ class FlatGaugeConfig(BaseGaugeConfig):
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:

1
robogauge/tasks/gauge/goal_data.py
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@@ -41,3 +41,4 @@ class GoalData:
goal_type: Literal['velocity', 'position']
velocity_goal: Optional[VelocityGoal] = None
position_goal: Optional[PositionGoal] = None
visualization_pos: Optional[Tuple[float, float, float]] = None

2
robogauge/tasks/gauge/goals/__init__.py
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@@ -1,2 +1,2 @@
from robogauge.tasks.gauge.goals.base_goal import BaseGoal
from robogauge.tasks.gauge.goals.velocity_goals import MaxVelocityGoal, DiagonalVelocityGoal
from robogauge.tasks.gauge.goals.velocity_goals import MaxVelocityGoal, DiagonalVelocityGoal, TargetPosVelocityGoal

6
robogauge/tasks/gauge/goals/base_goal.py
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@@ -17,13 +17,13 @@ class BaseGoal:
name = 'base_goal'
def __init__(self):
self.count = 0
self.total = 0
self.count = 0 # current task index
self.total = 0 # total tasks
self.sub_name = None
self._goal_mean_metrics = defaultdict(list)
def is_done(self) -> bool:
def pre_get_goal(self) -> bool:
raise NotImplementedError
def is_reset(self, sim_data: SimData) -> bool:

114
robogauge/tasks/gauge/goals/velocity_goals.py
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@@ -7,8 +7,9 @@
@Blog : https://wty-yy.github.io/
@Desc : Velocity Goals Implementation
'''
import numpy as np
from copy import deepcopy
from typing import Optional
from typing import Optional, List
from robogauge.tasks.gauge.goals import BaseGoal
from robogauge.tasks.robots import RobotConfig
@@ -16,27 +17,48 @@ from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal
from robogauge.utils.helpers import class_to_dict
from robogauge.utils.logger import logger
from robogauge.utils.math_utils import quat_rotate_inverse
PI = np.pi
class BaseVelocityGoal(BaseGoal):
name = "base_velocity_goal"
def __init__(self, control_dt: float, cmd_duration: float = 5, **kwargs):
"""
Args:
control_dt (float): Control timestep.
cmd_duration (float): Duration for each sub-task (e.g. different velocity commands).
"""
super().__init__()
self.control_dt = control_dt
self.cmd_duration = cmd_duration
self.goal_runtime = 0.0
self.first_goal_after_reset = True
self.last_reset_time = 0.0
self.last_reset_time = -1
self.goals = []
def is_reset(self, sim_data: SimData) -> bool:
if self.last_reset_time == -1:
self.last_reset_time = sim_data.sim_time
if sim_data.sim_time - self.last_reset_time >= self.cmd_duration:
self.last_reset_time = sim_data.sim_time
self.first_goal_after_reset = True
return True
return False
def pre_get_goal(self, sim_data: SimData) -> bool:
""" Run before getting the goal
Returns:
bool: whether the goal sequence is done
"""
self.update_runtime_count(sim_data)
return self.count >= self.total
def update_runtime_count(self, sim_data: SimData):
"""
Update the goal runtime and count based on the simulation time.
"""
if self.first_goal_after_reset:
self.last_reset_time = sim_data.sim_time # update last reset time (stance after reset)
self.first_goal_after_reset = False
@@ -46,7 +68,7 @@ class BaseVelocityGoal(BaseGoal):
class MaxVelocityGoal(BaseVelocityGoal):
name = "max_velocity"
""" Goal class for maximizing velocity commands. """
""" Goal class for maximizing velocity commands, maximum 6 sub-tasks. """
def __init__(self,
control_dt: float,
max_velocity: RobotConfig.commands,
@@ -82,9 +104,6 @@ class MaxVelocityGoal(BaseVelocityGoal):
self.sub_name = str(self.goals[0])
def get_goal(self, sim_data: SimData) -> Optional[GoalData]:
self.update_runtime_count(sim_data)
if self.count >= self.total:
return None
self.current_goal = self.goals[self.count]
if self.end_stance and self.goal_runtime - self.count * self.cmd_duration >= self.move_duration:
self.current_goal = VelocityGoal() # zero velocity
@@ -103,7 +122,7 @@ class DiagonalVelocityGoal(BaseVelocityGoal):
cmd_duration: float = 6,
**kwargs
):
""" Goal class for diagonal velocity changes.
""" Goal class for diagonal velocity changes, maximum 8 sub-tasks.
Args:
control_dt (float): Control timestep.
max_velocity (RobotConfig.commands): Maximum velocity commands.
@@ -114,9 +133,6 @@ class DiagonalVelocityGoal(BaseVelocityGoal):
if kwargs:
logger.warning(f"Unused kwargs in DiagonalVelocityGoal: {kwargs}")
self.cmd_duration = cmd_duration
self.last_reset_time = 0.0
self.goals = []
lin_vel_x_vals = max_velocity.lin_vel_x + [0]
lin_vel_y_vals = max_velocity.lin_vel_y + [0]
@@ -136,9 +152,6 @@ class DiagonalVelocityGoal(BaseVelocityGoal):
self.sub_name = str(self.goals[0])
def get_goal(self, sim_data: SimData) -> Optional[GoalData]:
self.update_runtime_count(sim_data)
if self.count >= self.total:
return None
self.current_goal = self.goals[self.count]
if self.goal_runtime - self.count * self.cmd_duration >= self.cmd_duration / 2:
self.current_goal = self.current_goal.invert()
@@ -147,3 +160,78 @@ class DiagonalVelocityGoal(BaseVelocityGoal):
goal_type='velocity',
velocity_goal=self.current_goal
)
class TargetPosVelocityGoal(BaseVelocityGoal):
name = "target_pos_velocity"
def __init__(self,
control_dt: float,
target_pos: List[float],
lin_vel_x: float,
lin_vel_y: float,
ang_vel_yaw: float,
max_cmd_duration: float,
reach_threshold: float,
**kwargs
):
super().__init__(control_dt=control_dt, cmd_duration=max_cmd_duration)
self.target_pos = target_pos
self.lin_vel_x = lin_vel_x
self.lin_vel_y = lin_vel_y
self.ang_vel_yaw = ang_vel_yaw
self.reach_threshold = reach_threshold
kwargs.pop('enabled', None)
if kwargs:
logger.warning(f"Unused kwargs in TargetPosVelocity: {kwargs}")
self.sub_name = None
self.count = 0
self.total = 1 # only one task
self.done = False
self.success = False
def get_goal(self, sim_data: SimData) -> Optional[GoalData]:
self.update_runtime_count(sim_data)
delta_pos, _, delta_ang = self.get_delta_info(sim_data)
ang_vel_yaw = np.sign(delta_ang) * min(abs(delta_ang) * 2, self.ang_vel_yaw)
self.current_goal = VelocityGoal(
lin_vel_x=self.lin_vel_x if abs(delta_ang) < PI / 4 else 0.0,
lin_vel_y=np.sign(delta_pos[1]) * min(abs(delta_pos[1]), self.lin_vel_y) if abs(delta_ang) >= PI / 4 else 0.0,
ang_vel_yaw=ang_vel_yaw
)
return GoalData(
goal_type='velocity',
velocity_goal=self.current_goal,
visualization_pos=self.target_pos
)
def is_reset(self, sim_data: SimData) -> bool:
_, norm, _ = self.get_delta_info(sim_data)
time_out = super().is_reset(sim_data)
reached = norm < self.reach_threshold
if time_out or reached:
self.done = True
if reached:
self.success = True
return True
return False
def pre_get_goal(self, sim_data: SimData) -> bool:
""" Run before getting the goal
Returns:
bool: whether the goal is done
"""
return self.count >= self.total or self.done
def get_delta_info(self, sim_data: SimData) -> List[float]:
current_pos = sim_data.proprio.base.pos
delta_pos = [
self.target_pos[0] - current_pos[0],
self.target_pos[1] - current_pos[1],
self.target_pos[2] - current_pos[2],
]
delta_pos = quat_rotate_inverse(sim_data.proprio.base.quat, delta_pos)
norm = np.linalg.norm(delta_pos[:2])
delta_ang = np.arctan2(delta_pos[1], delta_pos[0])
return delta_pos, norm, delta_ang