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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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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
View File

@@ -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()