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v0.1.16; Add StressPipeline

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wty-yy
2025-12-26 14:47:39 +08:00
parent 9d9d83ed9f
commit 65490fe591
31 changed files with 318 additions and 122 deletions
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4
robogauge/tasks/simulator/mujoco_config.py
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@@ -49,4 +49,6 @@ class MujocoConfig(Config):
class truncation:
enabled = True
projected_gravity_rad = 2.5 # [rad], if gravity projection angle exceeds this value, truncate episode
penetration_threshold = -0.05 # [m], if any contact penetration depth is below this threshold, truncate episode
penetration_threshold = -0.035 # [m], if any contact penetration depth is below this threshold, truncate episode
skip_penetration_geoms = ['wall', 'floor'] # Geometries to skip penetration check
skip_self_penetration = True # Whether to check self-penetration

16
robogauge/tasks/simulator/mujoco_simulator.py
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@@ -283,9 +283,19 @@ class MujocoSimulator:
if -projected_gravity[2] < np.cos(self.cfg.truncation.projected_gravity_rad):
raise RuntimeError(f"[Roll Error] Episode truncated due to excessive projected gravity, angle: {np.arccos(-projected_gravity[2]):.3f} rad, projected: {projected_gravity}")
# is_penetrated, geom1, geom2, dist = self.check_penetration(self.cfg.truncation.penetration_threshold)
# if is_penetrated:
# raise RuntimeError(f"[Penetration Error] Episode truncated: Penetration ({geom1} <-> {geom2}), distance: {dist}")
is_penetrated, geom1, geom2, dist = self.check_penetration(self.cfg.truncation.penetration_threshold)
if is_penetrated:
flat = True
if self.cfg.truncation.skip_penetration_geoms is not None and (
any(skip_geom in geom1.lower() for skip_geom in self.cfg.truncation.skip_penetration_geoms) or
any(skip_geom in geom2.lower() for skip_geom in self.cfg.truncation.skip_penetration_geoms)
):
flat = False
if self.cfg.truncation.skip_self_penetration:
if geom1.split('/')[0] == geom2.split('/')[0]:
flat = False
if flat:
raise RuntimeError(f"[Penetration Error] Episode truncated: Penetration ({geom1} <-> {geom2}), distance: {dist}")
def reset(self):
""" Reset the simulator to initial state. """