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v1.0.0

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wty-yy
2025-12-29 23:41:09 +08:00
parent c28bb64b0a
commit 587d014683
44 changed files with 196 additions and 714 deletions
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4
robogauge/utils/helpers.py
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@@ -76,7 +76,7 @@ def parse_args(args_list=None):
{"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)."},
{"name": "--spawn-type", "type": str, "choices": ["level_eval", "level_search"], "help": "Spawn type for the robot."},
{"name": "--spawn-type", "type": str, "default": "level_search", "choices": ["level_eval", "level_search"], "help": "Spawn type for the robot when specify level (Default is level_search)."},
{"name": "--goals", "type": str, "nargs": "+", "help": "List of goal names to evaluate."},
# Multiprocessing parameters, with different seeds
@@ -91,7 +91,7 @@ def parse_args(args_list=None):
# Stress pipeline parameters
{"name": "--stress-benchmark", "action": "store_true", "default": False, "help": "Use stress pipeline to benchmark model robustness."},
{"name": "--stress-terrain-names", "type": str, "nargs": "+", "default": ["flat", "slope", "wave", "stairs_up", "stairs_down"], "help": "List of terrain names for stress benchmark."},
{"name": "--stress-terrain-names", "type": str, "nargs": "+", "default": ["flat", "slope_fd", "slope_bd", "wave", "stairs_fd", "stairs_bd"], "help": "List of terrain names for stress benchmark."},
# Common parameters
{"name": "--num-processes", "type": int, "default": 2, "help": "Number of parallel processes for Multi or Stress benchmark."},

6
robogauge/utils/task_register.py
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@@ -10,7 +10,7 @@
from robogauge import ROBOGAUGE_ROOT_DIR
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_args, set_seed, class_to_dict
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig, TerrainEvalLevelsConfig
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig, TerrainEvalLevelsConfig, TERRAIN_NAME2_XML_NAME
class TaskRegister():
def __init__(self):
@@ -82,10 +82,10 @@ class TaskRegister():
gauger_cfg.goals.target_pos_velocity.target_pos = search_cfg.targets[search_cfg.levels.index(args.level)]
if hasattr(search_cfg, 'spawns') and args.spawn_type == "level_search":
gauger_cfg.assets.terrain_spawn_pos = search_cfg.spawns[search_cfg.levels.index(args.level)]
elif hasattr(eval_cfg, 'spawns') and args.spawn_type == "level_eval":
if hasattr(eval_cfg, 'spawns') and args.spawn_type == "level_eval":
gauger_cfg.assets.terrain_spawn_pos = eval_cfg.spawns[eval_cfg.levels.index(args.level)]
xml = gauger_cfg.assets.terrain_xmls[0]
xml = xml.rsplit('/', 1)[0] + f"/{gauger_cfg.assets.terrain_name}_{args.level}.xml"
xml = xml.rsplit('/', 1)[0] + f"/{TERRAIN_NAME2_XML_NAME[gauger_cfg.assets.terrain_name]}_{args.level}.xml"
gauger_cfg.assets.terrain_xmls[0] = xml
if args.goals is not None:
keys = class_to_dict(gauger_cfg.goals).keys()

2
robogauge/utils/visualize/plot_terrain_levels.py
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@@ -33,7 +33,7 @@ def load_terrain_data(file_paths):
Returns:
model_data: {model_name: {terrain_type: {friction: level}}}
"""
target_terrains = ['wave', 'slope', 'stairs_up', 'stairs_down', 'obstacle']
target_terrains = ['wave', 'slope_fd', 'slope_bd', 'stairs_fd', 'stairs_bd', 'obstacle']
model_data = {}
# 用于从键名中提取 friction 的正则 (例如 friction1.25)