v0.1.16; Add StressPipeline

.vscode/launch.json

@@ -10,7 +10,7 @@
             "request": "launch",
             "program": "${workspaceFolder}/robogauge/scripts/run.py",
             "args": [
-                "--task", "go2_moe_flat",
+                "--task", "go2_moe.flat",
                 "--experiment-name", "debug",
                 "--seed", "0",
                 "--friction", "1.6",
@@ -24,13 +24,13 @@
             "request": "launch",
             "program": "${workspaceFolder}/robogauge/scripts/run.py",
             "args": [
-                "--task", "go2_moe_slope",
+                "--task", "go2_moe.slope",
                 "--experiment-name", "debug",
                 "--seed", "0",
-                "--search-max-level",
+                // "--search-max-level",
-                "--seeds", "0", "1", "2",
+                // "--seeds", "0", "1", "2",
                 "--frictions", "1",
-                "--headless"
+                // "--headless"
             ],
             "console": "integratedTerminal"
         },

CMD.md

@@ -1,7 +1,7 @@
 # Single Pipeline
 ```bash
 python robogauge/scripts/run.py \
-    --task go2_moe_flat \
+    --task go2_moe.flat \
     --experiment-name debug \
     --headless
 ```
@@ -9,28 +9,30 @@ python robogauge/scripts/run.py \
 # Multi Pipeline
 ```bash
 python robogauge/scripts/run.py \
-    --task go2_moe_flat \
+    --task go2_moe.flat \
     --experiment-name debug \
     --multi \
-    --num-processes 3 \
+    --num-processes 5 \
-    --headless
+    --seeds 0 1 2 3 4 \
-
+    --frictions 0.5 1.0 1.5 2.0 2.5 \
-python robogauge/scripts/run.py \
-    --task go2_moe_flat \
-    --experiment-name debug \
-    --multi \
-    --num-processes 3 \
     --headless
 ```
 
 # Level Pipeline
 ```bash
+# Must specify single frictions for LevelPipeline!
 python robogauge/scripts/run.py \
-    --task go2_slope \
+    --task go2_moe.slope \
     --experiment-name debug \
-    --seed 0 \
+    --search-max-level \
-    --headless \
+    --seeds 0 1 2 \
-    --search-max-level --seeds 0 1 2 --frictions 1
+    --frictions 1.0 \
+    --headless
+```
+
+# Stress Pipeline
+```bash
+
 ```
 
 # Radar/Bar Plot

UPDATE.md

@@ -1,4 +1,8 @@
 # UPDATE
+## 20251226
+### v0.1.16
+Bugs: level_results会存储到MultiPipeline下, 因为MultiPipeline不是子进程启动的, 会覆盖LevelPipeline的Logger冲突
+1. 基本完成StressPipeline, 继续调试完毕
 ## 20251225
 ### v0.1.15
 1. 统一terrain的大小为10x10m, 某一边的中点在(0,0,0), 对全部的带等级的terrain都加上边界墙高度10m
@@ -10,6 +14,7 @@
     | mlp | 1 | 4 | 7 | 8 | 9 |
 
 3. 发现有穿模问题, 加入穿模判定0.035m, BaesPipeline新增一个warning穿模报错, 发生穿模重置当前goal并重置环境, 不计入失败
+    3.1. 穿模判定在斜坡上会有很大的问题, 对slope一侧加上0.8m的可供站立平地, 并取消关于wall和floor的穿模判定
 4. 发现可以通过同时增加台阶的宽度从而避免产生体积为0的接触点, 一定程度减少穿模问题
 5. 判定Level通过比例为0.8, 也就是5个种子有4个通过即可
 6. 完成stairs_down地形调试, 简单比较moe和mlp通过地形难度, 初始点和中点在y方向上有3m差距, 避免直接滚下去恰好通过

resources/terrains/slope/slope_1.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.072718512065541 0.0 0.24031624445210087" type="box" size="5.053733768215338 5.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
+    <geom pos="5.872718512065541 0.0 0.24031624445210087" type="box" size="5.053733768215338 5.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_10.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.247601522004908 0.0 2.4156113649036692" type="box" size="5.755215026391282 5.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
+    <geom pos="6.047601522004908 0.0 2.4156113649036692" type="box" size="5.755215026391282 5.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_2.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.095224613549555 0.0 0.47915147654868323" type="box" size="5.093220984799305 5.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080826 0.0" />
+    <geom pos="5.895224613549555 0.0 0.47915147654868323" type="box" size="5.093220984799305 5.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080826 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_3.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.117146033713849 0.0 0.7189168725566442" type="box" size="5.143153215683935 5.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300112 0.0" />
+    <geom pos="5.917146033713848 0.0 0.7189168725566442" type="box" size="5.143153215683935 5.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300112 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_4.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.138375592151506 0.0 0.9595291939183819" type="box" size="5.20322976621252 5.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
+    <geom pos="5.938375592151506 0.0 0.9595291939183819" type="box" size="5.20322976621252 5.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_5.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.1588248614041845 0.0 1.2008959361069116" type="box" size="5.273103924634901 5.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
+    <geom pos="5.958824861404184 0.0 1.2008959361069116" type="box" size="5.273103924634901 5.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_6.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.178424899003636 0.0 1.4429191125559275" type="box" size="5.352391988634614 5.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863425 0.0" />
+    <geom pos="5.9784248990036355 0.0 1.4429191125559275" type="box" size="5.352391988634614 5.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863425 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_7.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.197126007501461 0.0 1.685498817012911" type="box" size="5.440682402052154 5.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
+    <geom pos="5.9971260075014605 0.0 1.685498817012911" type="box" size="5.440682402052154 5.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_8.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.2148966897390405 0.0 1.9285363660944521" type="box" size="5.537544582213312 5.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
+    <geom pos="6.01489668973904 0.0 1.9285363660944521" type="box" size="5.537544582213312 5.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_9.xml

@@ -14,6 +14,6 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <geom pos="5.231722002936844 0.0 2.17193689687028" type="box" size="5.642537106656898 5.0 0.5" quat="0.9711143615093542 0.0 -0.23861453616718223 0.0" />
+    <geom pos="6.031722002936844 0.0 2.17193689687028" type="box" size="5.642537106656898 5.0 0.5" quat="0.9711143615093542 0.0 -0.23861453616718223 0.0" />
   </worldbody>
 </mujoco>

robogauge/scripts/run_eval_models.sh

@@ -4,8 +4,8 @@
 #              specified in default ./evaluate_models.txt file.
 #
 # Usage: ./run_scripts.sh [-n EXP_NAME] [-t TASK_NAME] [-s]
-#   -n EXP_NAME     Experiment name (default: go2_moe_flat)
+#   -n EXP_NAME     Experiment name (default: go2_moe.flat)
-#   -t TASK_NAME    Task name (default: go2_moe_flat)
+#   -t TASK_NAME    Task name (default: go2_moe.flat)
 #   -s              Save video (default: false)
 #   -h              Show this help message
 
@@ -16,7 +16,7 @@ RUN_PY="$SCRIPT_DIR/run.py"
 
 ### Default Configure ###
 EXP_NAME=""     # Experiment name [-n]
-TASK_NAME="go2_moe_flat"    # Task name [-t]
+TASK_NAME="go2_moe.flat"    # Task name [-t]
 SAVE_VIDEO=false            # Whether to save video [-s]
 
 ### Parse Arguments ###

robogauge/tasks/__init__.py

@@ -1,19 +1,24 @@
 from robogauge.utils.task_register import task_register
 from robogauge.tasks.simulator.mujoco_config import MujocoConfig
-from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig
+from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig, Go2TerrainConfig, Go2MoETerrainConfig
 from robogauge.tasks.pipeline import BasePipeline
 from robogauge.tasks.gauge import BaseGaugeConfig
 
 from robogauge.tasks.custom.go2 import *
 
+# Register tasks: Task name format '<robot_model>.<terrain>'
 task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
-task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
+
-task_register.register('go2_moe_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
+# Go2 MLP
-task_register.register('go2_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2Config)
+task_register.register('go2.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
-task_register.register('go2_moe_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2MoEConfig)
+task_register.register('go2.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, Go2TerrainConfig)
-task_register.register('go2_wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2Config)
+task_register.register('go2.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2TerrainConfig)
-task_register.register('go2_moe_wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoEConfig)
+task_register.register('go2.stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2TerrainConfig)
-task_register.register('go2_stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2Config)
+task_register.register('go2.stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2TerrainConfig)
-task_register.register('go2_moe_stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2MoEConfig)
+
-task_register.register('go2_stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2Config)
+# Go2 MoE
-task_register.register('go2_moe_stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2MoEConfig)
+task_register.register('go2_moe.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
+task_register.register('go2_moe.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, Go2MoETerrainConfig)
+task_register.register('go2_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoETerrainConfig)
+task_register.register('go2_moe.stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2MoETerrainConfig)
+task_register.register('go2_moe.stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2MoETerrainConfig)

robogauge/tasks/custom/go2/__init__.py

@@ -7,7 +7,7 @@
 @Blog    : https://wty-yy.github.io/
 '''
 from .go2_flat_task import Go2FlatGaugeConfig
-from .go2_slope_task import Go2SlopeGaugeConfig, Go2SlopeMujocoConfig
+from .go2_slope_task import Go2SlopeGaugeConfig
 from .go2_wave_task import Go2WaveGaugeConfig
 from .go2_stairs_up_task import Go2StairsUpGaugeConfig
 from .go2_stairs_down_task import Go2StairsDownGaugeConfig

robogauge/tasks/custom/go2/go2_slope_task.py

@@ -17,8 +17,3 @@ class Go2SlopeGaugeConfig(SlopeGaugeConfig):
             enabled = True
             soft_dof_limit_ratio = 0.7
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
-
-class Go2SlopeMujocoConfig(MujocoConfig):
-    class domain_rand(MujocoConfig.domain_rand):
-        action_delay = True
-        friction = 2.4

robogauge/tasks/gauge/base_gauge_config.py

@@ -22,7 +22,8 @@ class BaseGaugeConfig(Config):
     class goals:
         class max_velocity:  # goal with maximum velocity
             enabled = False
-            cmd_duration = 5.0  # [s] duration for each velocity command
+            move_duration = 5.0  # [s] duration for each velocity command
+            stance_duration = 2.0  # [s] duration for each stance (no movement)
 
         class diagonal_velocity:  # goal with diagonal velocity changes
             enabled = False

robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py

@@ -14,19 +14,20 @@ class SlopeGaugeConfig(BaseGaugeConfig):
 
     class assets(BaseGaugeConfig.assets):
         terrain_name = "slope"
-        terrain_level = 10  # 1-10
+        terrain_level = 4  # 1-10
         terrain_xmls = [
-            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.xml',
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_4.xml',
             '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
         ]
-        terrain_spawn_pos = [0.8, 0, 1]  # x y z [m], robot freejoint spawn position on the terrain
+        terrain_spawn_pos = [0.5, 0, 0]  # x y z [m], robot freejoint spawn position on the terrain
     
     class goals(BaseGaugeConfig.goals):
         class target_pos_velocity:  # goal to reach a target position by velocity command
             enabled = True
-            target_pos = [4, 0, 2.28]  # x y z [m], target position in the environment, used for target position goal
+            target_pos = [4.8, 0, 1.152 + 0.1]  # 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
             max_cmd_duration = 20.0  # [s] maximum duration to reach the target position
             reach_threshold = 0.1
+        

robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py

@@ -9,7 +9,7 @@
 '''
 from robogauge.utils.config import Config
 
-class TerrainLevelsConfig(Config):
+class TerrainSearchLevelsConfig(Config):
     class flat:
         levels = [0]
         targets = [[4, 0, 0]]  # target positions for each level, if target goal is used
@@ -17,28 +17,28 @@ class TerrainLevelsConfig(Config):
     class slope:
         levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
         targets = [
-            [4, 0, 0.588 + 0.1],
+            [4.8, 0, 0.588 + 0.1],
-            [4, 0, 0.776 + 0.1],
+            [4.8, 0, 0.776 + 0.1],
-            [4, 0, 0.964 + 0.1],
+            [4.8, 0, 0.964 + 0.1],
-            [4, 0, 1.152 + 0.1],
+            [4.8, 0, 1.152 + 0.1],
-            [4, 0, 1.340 + 0.1],
+            [4.8, 0, 1.340 + 0.1],
-            [4, 0, 1.528 + 0.1],
+            [4.8, 0, 1.528 + 0.1],
-            [4, 0, 1.716 + 0.1],
+            [4.8, 0, 1.716 + 0.1],
-            [4, 0, 1.904 + 0.1],
+            [4.8, 0, 1.904 + 0.1],
-            [4, 0, 2.092 + 0.1],
+            [4.8, 0, 2.092 + 0.1],
-            [4, 0, 2.280 + 0.1],
+            [4.8, 0, 2.280 + 0.1],
         ]
         spawns = [
-            [0.8, 0, 0.55 - 0.037 * 9],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 8],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 7],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 6],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 5],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 4],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 3],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037 * 2],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55 - 0.037],
+            [0.5, 0, 0],
-            [0.8, 0, 0.55],
+            [0.5, 0, 0],
         ]
 
     class wave:
@@ -98,3 +98,19 @@ class TerrainLevelsConfig(Config):
             [1.1, 3.0, 7 - 0.3],
             [1.1, 3.0, 7],
         ]
+
+class TerrainEvalLevelsConfig(Config):
+    class slope:
+        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
+        spawns = [
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 9)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 8)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 7)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 6)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 5)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 4)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 3)],
+            [5.0, 0, 4.2 * (0.57 - 0.047 * 2)],
+            [5.0, 0, 4.2 * (0.57 - 0.047)],
+            [5.0, 0, 4.2 * 0.57],
+        ]

robogauge/tasks/pipeline/__init__.py

@@ -1 +1,4 @@
 from .base_pipeline import BasePipeline
+from .multi_pipeline import MultiPipeline
+from .level_pipeline import LevelPipeline
+from .stress_pipeline import StressPipeline

robogauge/tasks/pipeline/level_pipeline.py

@@ -10,17 +10,19 @@
 import yaml
 
 from robogauge.tasks.pipeline.multi_pipeline import MultiPipeline
-from robogauge.utils.logger import logger
+from robogauge.utils.logger import Logger
+
+level_logger = Logger()  # LevelPipeline logger
 
 class LevelPipeline:
     def __init__(self, args):
         self.args = args
         self.seeds = args.seeds
-        logger.create(args.experiment_name+'_level', args.run_name)
+        level_logger.create(args.experiment_name+'_level', args.run_name)
     
     def run(self):
-        logger.info(f"🚀 Starting Level Seacher for '{self.args.experiment_name}'.")
+        level_logger.info(f"🚀 Starting Level Searcher for '{self.args.experiment_name}'.")
-        logger.info(f"🔢 Seeds: {self.seeds}")
+        level_logger.info(f"🔢 Seeds: {self.seeds}")
 
         # binary search levels
         l, r = 0, 10
@@ -40,22 +42,22 @@ class LevelPipeline:
             'terrain_level': 0,
         })
         if level >= 1:
-            logger.info(f"🏆 Found maximum level: {level}")
+            level_logger.info(f"🏆 Found maximum level: {level}")
         else:
-            logger.info(f"❌ No valid level found [1-10].")
+            level_logger.info(f"❌ No valid level found [1-10].")
-        with open(logger.log_dir / "level_search_results.yaml", 'w') as f:
+        with open(level_logger.log_dir / "level_search_results.yaml", 'w') as f:
             yaml.dump(level_results, f, allow_unicode=True, sort_keys=False)
         return level, level_results
 
-    def test_level(self, level: int) -> bool:
+    def test_level(self, level: int):
-        logger.info(f"🔍 Testing level {level}...")
+        level_logger.info(f"🔍 Testing level {level}...")
         self.args.level = level
         multi_pipeline = MultiPipeline(self.args)
         aggregated_results = multi_pipeline.run()
         success_mean = float(aggregated_results['success']['mean'].split(' ')[0])
         all_success = success_mean >= 0.8
         if all_success:
-            logger.info(f"✅ Level {level} passed all tests.")
+            level_logger.info(f"✅ Level {level} passed all tests.")
         else:
-            logger.info(f"❌ Level {level} failed some tests.")
+            level_logger.info(f"❌ Level {level} failed some tests.")
         return all_success, aggregated_results

robogauge/tasks/pipeline/multi_pipeline.py

@@ -21,9 +21,12 @@ from collections import defaultdict
 from robogauge.tasks.pipeline.base_pipeline import BasePipeline
 
 from robogauge.utils.task_register import task_register
-from robogauge.utils.logger import logger
+from robogauge.utils.logger import Logger
+
+multi_logger = Logger()  # MultiPipeline logger
 
 def run_single_process(args, data):
+    from robogauge.utils.logger import logger
     seed, base_mass, friction = data
     local_args = deepcopy(args)
     local_args.seed = seed
@@ -41,6 +44,7 @@ def run_single_process(args, data):
         ret = {
             'status': 'success',
             'results': results,
+            'data': data,
             'model_path': pipeline.robot_cfg.control.model_path,
         }
         if warning is not None:
@@ -65,7 +69,7 @@ class MultiPipeline:
         self.base_masses = args.base_masses
         self.num_processes = args.num_processes
         self.static_info = {}
-        logger.create(args.experiment_name+'_multi', args.run_name+'_multi')
+        multi_logger.create(args.experiment_name+'_multi', args.run_name+'_multi')
     
     def add_static_info(self, key: str, value):
         if key not in self.static_info:
@@ -74,55 +78,54 @@ class MultiPipeline:
             assert self.static_info[key] == value, f"Static info key '{key}' has conflicting values: {self.static_info[key]} vs {value}"
 
     def run(self):
-        logger.info(f"🚀 Starting Multi-Process Evaluation with {self.num_processes} processes.")
+        multi_logger.info(f"🚀 Starting Multi-Process Evaluation with {self.num_processes} processes.")
-        logger.info(f"🔢 Seeds: {self.seeds}, Frictions: {self.frictions}, Base masses: {self.base_masses}")
+        multi_logger.info(f"🔢 Seeds: {self.seeds}, Frictions: {self.frictions}, Base masses: {self.base_masses}")
 
         workers_data = list(product(self.seeds, self.base_masses, self.frictions))
         ctx = multiprocessing.get_context('spawn')
         worker_func = functools.partial(run_single_process, self.args)
         results_list = []
-        success_flags = []
         with ctx.Pool(processes=self.num_processes) as pool:
             iterator = pool.imap_unordered(worker_func, workers_data)
             for results in tqdm(iterator, total=len(workers_data), desc="Evaluation"):
-                success_flags.append(results['status'] == 'success')
+                results_list.append(results)
-
-                results_list.append(results['results'])
                 self.add_static_info('model_path', results['model_path'])
                 self.add_static_info('terrain_name', results['results']['terrain_name'])
                 self.add_static_info('terrain_level', results['results']['terrain_level'])
                 if results['status'] != 'success':
                     data = results['data']
-                    logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}")
+                    multi_logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}")
 
-        logger.info("✅ Multi-Process Evaluation Completed.")
+        multi_logger.info("✅ Multi-Process Evaluation Completed.")
-        aggregated_results = self.aggregate_results(results_list, success_flags, workers_data)
+        aggregated_results = self.aggregate_results(results_list)
         return aggregated_results
     
-    def aggregate_results(self, all_results, success_flags, workers_data):
+    def aggregate_results(self, all_results):
         """ Process results from all processes and aggregate them. """
-        logger.info("📊 Aggregating Results from all runs...")
+        multi_logger.info("📊 Aggregating Results from all runs...")
 
         summary = {'success': {}, **self.static_info}
         finish_msg = (
             f"""\n{'='*20} Run Finish Summary {'='*20}\n"""
             f"""{'Seed':^10}{'Base Mass':^15}{'Friction':^15}{'Status':^10}\n"""
         )
-        for success, data in zip(success_flags, workers_data):
+        all_results = sorted(all_results, key=lambda x: x['data'])
-            seed, base_mass, friction = data
+        for result in all_results:
+            seed, base_mass, friction = result['data']
+            success = result['status'] == 'success'
             status_str = "✅" if success else "❌"
             finish_msg += f"{seed:^10}{base_mass:^15}{friction:^15}{status_str:^10}\n"
             summary['success'][f"Seed_{seed}_BaseMass_{base_mass}_Friction_{friction}"] = True if success else False
         finish_msg += f"""{'='*88}"""
-        logger.info(finish_msg)
+        multi_logger.info(finish_msg)
 
         if not all_results:
-            logger.error("No results to aggregate.")
+            multi_logger.error("No results to aggregate.")
             return
         
         value_collections = defaultdict(lambda: defaultdict(list))
         for result in all_results:
-            for goal, metrics in result.items():
+            for goal, metrics in result['results'].items():
                 if goal != 'summary':
                     continue
                 for metric, means in metrics.items():
@@ -134,13 +137,13 @@ class MultiPipeline:
             for mean_name, values in means.items():
                 summary[metric][mean_name] = f"{float(np.mean(values)):.4f} ± {float(np.std(values)):.4f}"
         
-        save_path = logger.log_dir / "aggregated_results.yaml"
+        save_path = multi_logger.log_dir / "aggregated_results.yaml"
         with open(save_path, 'w') as file:
             yaml.dump(summary, file, allow_unicode=True, sort_keys=False)
-        logger.info("✅ Aggregated execution finished.")
+        multi_logger.info("✅ Aggregated execution finished.")
-        logger.info(f"📁 Aggregated results saved to: {save_path}")
+        multi_logger.info(f"📁 Aggregated results saved to: {save_path}")
 
-        logger.info(
+        multi_logger.info(
             f"""\n{'='*20} Multi-Run Summary {'='*20}\n"""
             f"""{yaml.dump(summary, allow_unicode=True)}"""
             f"""{'='*60}"""

robogauge/tasks/pipeline/stress_pipeline.py

@@ -0,0 +1,131 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : stress_pipeline.py
+@Time    : 2025/12/25 21:20:43
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Stress Pipeline for Robogauge
+'''
+import yaml
+import functools
+from tqdm import tqdm
+import multiprocessing
+from copy import deepcopy
+from itertools import product
+
+from robogauge.utils.logger import Logger
+from robogauge.tasks.pipeline import MultiPipeline, LevelPipeline
+from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig
+
+stress_logger = Logger()  # StressPipeline logger
+
+def run_pipeline(args, data):
+    args = deepcopy(args)
+    search = data['search_max_level']
+    if search is True:
+        args.friction = data['friction']
+        args.frictions = [data['friction']]
+        args.base_mass = data['base_mass']
+        args.base_masses = [data['base_mass']]
+        args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}"
+        args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}_baseMass{data['base_mass']}_friction{data['friction']}"
+    else:
+        args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}"
+        args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}"
+        
+    level = None  # flat terrain
+    if search:
+        level, results = LevelPipeline(args).run()
+
+    if level == 0:  # no valid level found
+        results = {
+            'success': False,
+            'results': results,
+            'data': data,
+        }
+    else:
+        args.level = level
+        results = {
+            'success': True,
+            'results': MultiPipeline(args).run(),
+            'data': data,
+        }
+
+    return results
+
+class StressPipeline:
+    def __init__(self, args):
+        self.args = args
+        self.seeds = args.seeds
+        self.task_robot_model = args.task_name.split('.')[0]
+        self.num_processes = args.stress_num_processes
+        args.experiment_name = self.task_robot_model + '_stress' + ('' if args.cli_experiment_name is None else '_' + args.cli_experiment_name)
+        self.static_info = {}
+        stress_logger.create(args.experiment_name, args.run_name)
+
+    def add_static_info(self, key: str, value):
+        if key not in self.static_info:
+            self.static_info[key] = value
+        else:
+            assert self.static_info[key] == value, f"Static info key '{key}' has conflicting values: {self.static_info[key]} vs {value}"
+
+    def run(self):
+        stress_logger.info(f"🚀 Starting Stress Benchmark for '{self.args.experiment_name}'.")
+        stress_logger.info(f"🔢 Seeds: {self.seeds}")
+        terrain_names = self.args.stress_terrain_names
+        stress_logger.info(f"🌄 Stress Test Terrain Names: {terrain_names}")
+
+        ctx = multiprocessing.get_context('spawn')
+        worker_func = functools.partial(run_pipeline, self.args)
+
+        ### Build worker data ###
+        workers_data = []
+        terrain_search_levels_config = TerrainSearchLevelsConfig()
+        for terrain_name in terrain_names:
+            search_max_level = True
+            terrain_level_cfg = getattr(terrain_search_levels_config, terrain_name, None)
+            assert terrain_level_cfg is not None, f"Terrain '{terrain_name}' not found in TerrainSearchLevelsConfig."
+            if len(terrain_level_cfg.levels) == 1:  # Flattened terrain
+                search_max_level = False
+            data = {
+                'task_robot_model': self.task_robot_model,
+                'terrain_name': terrain_name,
+                'search_max_level': search_max_level,
+            }
+            if search_max_level:
+                for friction, base_mass in product(self.args.frictions, self.args.base_masses):
+                    data.update({
+                        'friction': friction,
+                        'base_mass': base_mass,
+                    })
+            workers_data.append(data)
+
+        ### Run and collect results ###
+        results_list = []
+        with ctx.Pool(processes=self.num_processes) as pool:
+            iterator = pool.imap_unordered(worker_func, workers_data)
+            for results in tqdm(iterator, total=len(workers_data), desc="Stress Benchmark"):
+                results_list.append(results)
+                self.add_static_info('model_path', results['results']['model_path'])
+        
+        stress_logger.info("✅ Stress Benchmark Completed.")
+        stress_results = self.aggregate_results(results_list)
+        return stress_results
+
+    def aggregate_results(self, all_results):
+        stress_logger.info("📊 Aggregating Stress Benchmark Results...")
+        summary = {}
+        finish_msg = (
+            f"""\n{'='*20} Stress Benchmark Summary {'='*20}\n"""
+            f"""{'Terrain Name':^20}{'Base Mass':^15}{'Friction':^15}{'Status':^10}\n"""
+        )
+        all_results = sorted(all_results, key=lambda x: (x['data']['terrain_name'], x['data'].get('base_mass', 0), x['data'].get('friction', 0)))
+        for result in all_results:
+            terrain_name = result['data']['terrain_name']
+            base_mass = result['data'].get('base_mass', self.args.base_masses)
+            friction = result['data'].get('friction', self.args.frictions)
+            status = "✅" if result['success'] else "❌"
+            finish_msg += f"{terrain_name:^20}{str(base_mass):^15}{str(friction):^15}{status:^10}\n"
+        finish_msg += f"""{'='*66}"""
+        stress_logger.info(finish_msg)

robogauge/tasks/robots/__init__.py

@@ -1,6 +1,6 @@
 from .base_robot_config import RobotConfig
 from .base_robot import BaseRobot
-from .go2.go2_config import Go2Config
+from .go2.go2_config import Go2Config, Go2TerrainConfig
 from .go2.go2 import Go2
-from .go2.go2_moe_config import Go2MoEConfig
+from .go2.go2_moe_config import Go2MoEConfig, Go2MoETerrainConfig
 from .go2.go2_moe import Go2MoE

robogauge/tasks/robots/go2/go2_config.py

@@ -48,9 +48,15 @@ class Go2Config(RobotConfig):
 
     class commands(RobotConfig.commands):
         lin_vel_x = [-2.0, 2.0]  # min max [m/s]
-        lin_vel_y = [-2.0, 2.0]  # min max [m/s]
+        lin_vel_y = [-1.0, 1.0]  # min max [m/s]
         lin_vel_z = None  # min max [m/s]
         ang_vel_roll = None  # min max [rad/s]
         ang_vel_pitch = None  # min max [rad/s]
         ang_vel_yaw = [-2, 2]  # min max [rad/s]
 
+class Go2TerrainConfig(Go2Config):
+    """ Go2 Robot Configuration for Terrain Tasks (wave, stairs up/down, slope, obstacles) """
+    class commands(Go2Config.commands):
+        lin_vel_x = [-1.0, 1.0]  # min max [m/s]
+        lin_vel_y = [-1.0, 1.0]  # min max [m/s]
+        ang_vel_yaw = [-1.5, 1.5]  # min max [rad/s]

robogauge/tasks/robots/go2/go2_moe_config.py

@@ -14,3 +14,10 @@ class Go2MoEConfig(Go2Config):
 
     class control(Go2Config.control):
         model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
+
+class Go2MoETerrainConfig(Go2MoEConfig):
+    """ Go2 MoE Robot Configuration for Terrain Tasks (wave, stairs up/down, slope, obstacles) """
+    class commands(Go2MoEConfig.commands):
+        lin_vel_x = [-1.0, 1.0]  # min max [m/s]
+        lin_vel_y = [-1.0, 1.0]  # min max [m/s]
+        ang_vel_yaw = [-1.5, 1.5]  # min max [rad/s]

robogauge/tasks/simulator/mujoco_config.py

@@ -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

robogauge/tasks/simulator/mujoco_simulator.py

@@ -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)
+            is_penetrated, geom1, geom2, dist = self.check_penetration(self.cfg.truncation.penetration_threshold)
-            # if is_penetrated:
+            if is_penetrated:
-            #     raise RuntimeError(f"[Penetration Error] Episode truncated: Penetration ({geom1} <-> {geom2}), distance: {dist}")
+                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. """

robogauge/utils/helpers.py

@@ -80,20 +80,27 @@ def parse_args():
         # 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": "--seeds", "type": int, "nargs": "+", "default": [0, 1, 2, 3, 4], "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": [0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25, 2.5], "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."},
+
+        # 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-num-processes", "type": int, "default": 2, "help": "Number of parallel processes for stress benchmark."},
     ]
     for param in parameters:
         parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
     args = parser.parse_args()
+    flatten_task_name = args.task_name.replace('.', '_')
+    args.cli_experiment_name = args.experiment_name
     if args.experiment_name is not None:
-        args.experiment_name = f"{args.task_name}_{args.experiment_name}"
+        args.experiment_name = f"{flatten_task_name}_{args.experiment_name}"
     else:
-        args.experiment_name = args.task_name
+        args.experiment_name = flatten_task_name
     return args
 
 def snake_to_pascal(s: str) -> str:

robogauge/utils/task_register.py

@@ -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
-from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainLevelsConfig
+from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig
 
 class TaskRegister():
     def __init__(self):
@@ -72,7 +72,7 @@ class TaskRegister():
             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()
+            levels_cfg = TerrainSearchLevelsConfig()
             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}."