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v0.1.13; add 2.5 rad trunctation; add LevelPipeline binary search maximum terrain levels

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wty-yy
2025-12-22 22:57:20 +08:00
parent 6bbdceee2f
commit 50126ec9aa
24 changed files with 144 additions and 22 deletions
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12
robogauge/scripts/run.py
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@@ -14,6 +14,7 @@ os.environ["MKL_NUM_THREADS"] = "1"
from robogauge.tasks import *
from robogauge.tasks.pipeline.multi_pipeline import MultiPipeline
from robogauge.tasks.pipeline.level_pipeline import LevelPipeline
from robogauge.utils.task_register import task_register
from robogauge.utils.helpers import parse_args
@@ -22,9 +23,12 @@ from robogauge.utils.logger import logger
if __name__ == '__main__':
args = parse_args()
if not args.multi:
pipeline: BasePipeline = task_register.make_pipeline(args=args)
pipeline.run()
else:
if args.multi:
multi_pipeline = MultiPipeline(args)
multi_pipeline.run()
elif args.search_max_level:
level_pipeline = LevelPipeline(args)
level_pipeline.run()
else:
pipeline: BasePipeline = task_register.make_pipeline(args=args)
pipeline.run()

4
robogauge/tasks/gauge/base_gauge.py
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@@ -152,7 +152,9 @@ 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}"
self.results["terrain_name"] = self.cfg.assets.terrain_name
self.results["terrain_level"] = self.cfg.assets.terrain_level
with open(save_path, 'w') as file:
yaml.dump(self.results, file, allow_unicode=True, sort_keys=False)
yaml_str = yaml.dump(self.results, allow_unicode=True, sort_keys=False)

3
robogauge/tasks/gauge/base_gauge_config.py
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@@ -14,7 +14,8 @@ class BaseGaugeConfig(Config):
write_tensorboard = False # Whether to write tensorboard logs
class assets:
terrain_name = "flat_0" # {type}_{level}
terrain_name = "flat"
terrain_level = 0
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

3
robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
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@@ -13,6 +13,7 @@ class FlatGaugeConfig(BaseGaugeConfig):
gauge_class = 'BaseGauge'
class assets(BaseGaugeConfig.assets):
terrain_name = "flat_0" # {type}_{level}
terrain_name = "flat"
terrain_level = 0
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

7
robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py
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@@ -13,14 +13,15 @@ class SlopeGaugeConfig(BaseGaugeConfig):
gauge_class = 'BaseGauge'
class assets(BaseGaugeConfig.assets):
terrain_name = "slope_5" # {type}_{level}
terrain_name = "slope"
terrain_level = 10 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.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 target_pos_velocity: # goal to reach a target position by velocity command
enabled = True
target_pos = [4, 0, 2.0] # x y z [m], target position in the environment, used for target position goal
target_pos = [5, 0, 2.28] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
lin_vel_y = 1.0 # +/- m/s
ang_vel_yaw = 1.5 # +/- rad/s

26
robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py Normal file
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@@ -0,0 +1,26 @@
from robogauge.utils.config import Config
class TerrainLevelsConfig(Config):
class flat:
levels = [0]
targets = [[4, 0, 0]] # target positions for each level, if target goal is used
class slope:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
targets = [
[5, 0, 0.588],
[5, 0, 0.776],
[5, 0, 0.964],
[5, 0, 1.152],
[5, 0, 1.340],
[5, 0, 1.528],
[5, 0, 1.716],
[5, 0, 1.904],
[5, 0, 2.092],
[5, 0, 2.280],
]
class wave:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
targets = []

3
robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
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@@ -13,7 +13,8 @@ class WaveGaugeConfig(BaseGaugeConfig):
gauge_class = 'BaseGauge'
class assets(BaseGaugeConfig.assets):
terrain_name = "wave_1" # {type}_{level}
terrain_name = "wave"
terrain_level = 1 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_1.xml'
terrain_spawn_pos = [1.5, 0, 1] # x y z [m], robot freejoint spawn position on the terrain

54
robogauge/tasks/pipeline/level_pipeline.py Normal file
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@@ -0,0 +1,54 @@
# -*- coding: utf-8 -*-
'''
@File : level_pipeline.py
@Time : 2025/12/22 20:38:11
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Level Pipeline for Robogauge
'''
import yaml
from robogauge.tasks.pipeline.multi_pipeline import MultiPipeline
from robogauge.utils.logger import logger
class LevelPipeline:
def __init__(self, args):
self.args = args
self.seeds = args.seeds
self.model_path = None
logger.create(args.experiment_name+'_level', args.run_name)
def run(self):
logger.info(f"🚀 Starting Level Seacher for '{self.args.experiment_name}'.")
logger.info(f"🔢 Seeds: {self.seeds}")
# binary search levels
l, r = 0, 10
while l < r:
level = (l + r + 1) // 2
if self.test_level(level):
l = level
else:
r = level - 1
if l >= 1:
logger.info(f"🏆 Found maximum level: {l}")
else:
logger.info(f"❌ No valid level found [1-10].")
def test_level(self, level: int) -> bool:
logger.info(f"🔍 Testing level {level}...")
self.args.level = level
multi_pipeline = MultiPipeline(self.args)
log_dir = multi_pipeline.run()
# load results.yaml
with open(log_dir / "aggregated_results.yaml", 'r') as f:
results = yaml.safe_load(f)
self.model_path = results['model_path']
success_mean = float(results['success']['mean'].split(' ')[0])
all_success = success_mean == 1.0
if all_success:
logger.info(f"✅ Level {level} passed all tests.")
else:
logger.info(f"❌ Level {level} failed some tests.")
return all_success

1
robogauge/tasks/pipeline/multi_pipeline.py
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@@ -90,6 +90,7 @@ class MultiPipeline:
logger.info("✅ Multi-Process Evaluation Completed.")
self.aggregate_results(result_log_dirs, success_flags, workers_data)
return logger.log_dir
def aggregate_results(self, log_dirs, success_flags, workers_data):
""" Process results.yaml from each log_dir """

4
robogauge/tasks/simulator/mujoco_config.py
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@@ -45,3 +45,7 @@ class MujocoConfig(Config):
ang_vel = 0.8 # [rad/s]
joint_pos = 0.01 # [rad]
joint_vel = 3.0 # [rad/s]
class truncation:
enabled = True
projected_gravity_rad = 2.5 # [rad], if gravity projection angle exceeds this value, truncate episode

8
robogauge/tasks/simulator/mujoco_simulator.py
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@@ -20,6 +20,7 @@ from typing import Literal
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_path
from robogauge.utils.math_utils import get_projected_gravity
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
from robogauge.tasks.simulator.sim_data import (
SimData,
@@ -261,8 +262,15 @@ class MujocoSimulator:
self.n_step += 1
self.sim_time = self.n_step * self.sim_dt
self.check_truncation(sim_data)
return sim_data
def check_truncation(self, sim_data: SimData):
if self.cfg.truncation.enabled:
projected_gravity = get_projected_gravity(sim_data.proprio.base.quat)
if -projected_gravity[2] < np.cos(self.cfg.truncation.projected_gravity_rad):
raise RuntimeError(f"Episode truncated due to excessive projected gravity, angle: {np.arccos(-projected_gravity[2]):.3f} rad, projected: {projected_gravity}")
def reset(self):
""" Reset the simulator to initial state. """
self.mj_physics.reset()

6
robogauge/utils/helpers.py
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@@ -75,13 +75,17 @@ def parse_args():
{"name": "--plot-radar", "action": "store_true", "default": False, "help": "Plot radar charts for metrics."},
{"name": "--base-mass", "type": float, "default": 0.0, "help": "Set the base mass of the robot."},
{"name": "--friction", "type": float, "default": 1.0, "help": "Set the ground friction coefficient."},
{"name": "--level", "type": int, "help": "Set the difficulty level of the environment, range 1-10 (flat is 0)."},
# Multiprocessing parameters, with different seeds
{"name": "--multi", "action": "store_true", "default": False, "help": "Enable multiprocessing."},
{"name": "--num-processes", "type": int, "default": 2, "help": "Number of parallel processes."},
{"name": "--seeds", "type": int, "nargs": "+", "default": [0], "help": "List of random seeds for multiple runs."},
{"name": "--base-masses", "type": float, "nargs": "+", "default": [0], "help": "List of base masses for the model."},
{"name": "--frictions", "type": float, "nargs": "+", "default": [0.4, 0.7, 1.0, 1.3, 1.6], "help": "List of friction coefficients for the model."}
{"name": "--frictions", "type": float, "nargs": "+", "default": [0.4, 0.7, 1.0, 1.3, 1.6], "help": "List of friction coefficients for the model."},
# Level pipeline parameters
{"name": "--search-max-level", "action": "store_true", "default": False, "help": "Use level pipeline to search maximum level."},
]
for param in parameters:
parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})

11
robogauge/utils/task_register.py
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@@ -10,6 +10,7 @@
from robogauge import ROBOGAUGE_ROOT_DIR
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_args, set_seed
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainLevelsConfig
class TaskRegister():
def __init__(self):
@@ -69,5 +70,15 @@ class TaskRegister():
sim_cfg.domain_rand.friction = args.friction
if args.base_mass is not None:
sim_cfg.domain_rand.base_mass = args.base_mass
if args.level is not None:
gauger_cfg.assets.terrain_level = args.level
levels_cfg = TerrainLevelsConfig()
cfg = getattr(levels_cfg, gauger_cfg.assets.terrain_name)
assert cfg is not None, f"Level {args.level} configuration not found in TerrainLevelsConfig."
assert args.level in cfg.levels, f"Level must be in {cfg.levels}."
gauger_cfg.goals.target_pos_velocity.target_pos = cfg.targets[cfg.levels.index(args.level)]
xml = gauger_cfg.assets.terrain_xml
xml = xml.rsplit('/', 1)[0] + f"/{gauger_cfg.assets.terrain_name}_{args.level}.xml"
gauger_cfg.assets.terrain_xml = xml
task_register = TaskRegister()