v0.1.13 finish all goals eval (even crash)

UPDATE.md

@@ -1,5 +1,7 @@
 # UPDATE
-TODO: 即使模型崩溃也要继续测完后续的goals
+## 20251222
+### v0.1.13
+1. 即使模型崩溃也要继续测完后续的goals, 但是跳过当前的sub goals
 ## 20251221
 ### v0.1.12
 1. 在模型崩溃时也记录下最后的gauge信息, 修改single/multi pipeline逻辑

robogauge/tasks/__init__.py

@@ -11,3 +11,5 @@ task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfi
 task_register.register('go2_moe_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
 task_register.register('go2_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2Config)
 task_register.register('go2_moe_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2MoEConfig)
+task_register.register('go2_wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2Config)
+task_register.register('go2_moe_wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoEConfig)

robogauge/tasks/custom/go2/__init__.py

@@ -8,3 +8,4 @@
 '''
 from .go2_flat_task import Go2FlatGaugeConfig
 from .go2_slope_task import Go2SlopeGaugeConfig, Go2SlopeMujocoConfig
+from .go2_wave_task import Go2WaveGaugeConfig

robogauge/tasks/custom/go2/go2_wave_task.py

@@ -0,0 +1,19 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_wave_task.py
+@Time    : 2025/12/22 11:02:23
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Wave Task Configuration
+'''
+from robogauge.tasks.robots import Go2Config, Go2MoEConfig
+from robogauge.tasks.gauge import WaveGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2WaveGaugeConfig(WaveGaugeConfig):
+    class metrics(WaveGaugeConfig.metrics):
+        class dof_limits(WaveGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/gauge/__init__.py

@@ -2,3 +2,4 @@ from .base_gauge import BaseGauge
 from .base_gauge_config import BaseGaugeConfig
 from .gauge_configs.flat_gauge_config import FlatGaugeConfig
 from .gauge_configs.slope_gauge_config import SlopeGaugeConfig
+from .gauge_configs.wave_gauge_config import WaveGaugeConfig

robogauge/tasks/gauge/base_gauge.py

@@ -42,7 +42,7 @@ class BaseGauge:
         self.info = {'goal': [], 'metric': []}
         self.results = {}  # {'goal/sub_goal': {'metric': result}}
 
-        log_str = "Initialized Gauge with Goals and Metrics:\n"
+        log_str = "Initialized Gauge with Goals 🎯 and Metrics 📊:\n"
         for name, kwargs in self.goals_cfg.items():
             if not kwargs['enabled']: continue
             if name == 'max_velocity':

robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py

@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : wave_gauge_config.py
+@Time    : 2025/12/22 11:02:09
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Wave Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class WaveGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "wave_1"  # {type}_{level}
+        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
+    
+    class goals:
+        class target_pos_velocity:  # goal to reach a target position by velocity command
+            enabled = True
+            target_pos = [4, 0, 1.0]  # 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/pipeline/base_pipeline.py

@@ -61,15 +61,16 @@ class BasePipeline:
 
     def run(self):
         logger.info(f"🚀 Starting single run: {self.run_name}")
-        try:
+        self.load()
-            self.load()
+        sim_data = self.sim.step()
-            sim_data = self.sim.step()
+        frame_skip = int(self.robot_cfg.control.control_dt / self.sim_cfg.physics.simulation_dt)
-            frame_skip = int(self.robot_cfg.control.control_dt / self.sim_cfg.physics.simulation_dt)
+        assert frame_skip * self.sim_cfg.physics.simulation_dt == self.robot_cfg.control.control_dt, \
-            assert frame_skip * self.sim_cfg.physics.simulation_dt == self.robot_cfg.control.control_dt, \
+            "Control dt must be multiple of simulation dt."
-                "Control dt must be multiple of simulation dt."
+        logger.info(f"Sim FPS: {1.0 / self.sim_cfg.physics.simulation_dt:.2f}, Control FPS: {1.0 / self.robot_cfg.control.control_dt:.2f}, Frame Skip: {frame_skip:d}")
-            logger.info(f"Sim FPS: {1.0 / self.sim_cfg.physics.simulation_dt:.2f}, Control FPS: {1.0 / self.robot_cfg.control.control_dt:.2f}, Frame Skip: {frame_skip:d}")
+        logger.info("Running pipeline...")
-            logger.info("Running pipeline...")
+        error = None
-            while not self.gauge.is_done():
+        while not self.gauge.is_done():
+            try:
                 if self.first_reset:  # wait for robot to be still
                     goal_data = GoalData(
                         goal_type=self.robot_cfg.control.support_goal,
@@ -82,7 +83,7 @@ class BasePipeline:
                     goal_data = self.gauge.get_goal(sim_data)
 
                 if goal_data is None:  # Change goal
-                    sim_data = self.reset_sim(sim_data)
+                    sim_data = self.reset_sim_and_robot(sim_data)
                     continue
 
                 if goal_data.visualization_pos is not None:
@@ -103,25 +104,27 @@ class BasePipeline:
                     sim_data = self.sim.step()
                     self.gauge.update_metrics(sim_data, goal_data)
                 if self.gauge.is_reset(sim_data):
-                    sim_data = self.reset_sim(sim_data)
+                    sim_data = self.reset_sim_and_robot(sim_data)
-        except Exception as e:
+            except Exception as e:
-            logger.error(f"❌ Pipeline execution failed with error: {e},\n{traceback.format_exc()}")
+                error = e
-            self.gauge.switch_to_next_goal()  # save current goal metrics
+                logger.error(f"❌ Goal '{self.gauge.goal_str}' failed with error: {e},\n{traceback.format_exc()}")
-            self.gauge.save_results()
+                self.gauge.switch_to_next_goal()  # save current goal metrics
-            return logger.log_dir, e
+                sim_data = self.reset_sim_and_robot(sim_data)
-        finally:
+                logger.info("⏩ Pipeline recovered from error and continued next goal 🎯.")
-            self.sim.close_viewer()
-            self.sim.close_video_writer()
-            logger.info("✅ Pipeline execution finished.")
-            logger.info(f"📁 Logging saved at: {logger.log_dir}")
 
-        return logger.log_dir, None
+        self.sim.close_viewer()
+        self.sim.close_video_writer()
+        logger.info("✅ Pipeline execution finished.")
+        logger.info(f"📁 Logging saved at: {logger.log_dir}")
 
-    def reset_sim(self, sim_data: SimData):
+        return logger.log_dir, error
+    
+    def reset_sim_and_robot(self, sim_data: SimData):
         self.sim.reset()
         self.last_reset_time = sim_data.sim_time
         self.first_reset = True
         sim_data = self.sim.step()
+        self.robot.reset()
         return sim_data
 
     def add_noise(self, sim_data: SimData):

robogauge/tasks/robots/base_robot.py

@@ -45,3 +45,6 @@ class BaseRobot:
         action = np.zeros(self.num_action, dtype=np.float32)
         return action, self.p_gains, self.d_gains, self.control_type
 
+    def reset(self):
+        """ Reset model state/history if needed """
+        pass

robogauge/tasks/robots/go2/go2.py

@@ -53,6 +53,10 @@ class Go2(BaseRobot):
             raise NotImplementedError(f"Goal type '{goal_data.goal_type}' not implemented in Go2 robot.")
         return obs
     
+    def reset(self):
+        self.last_action = np.zeros(self.num_action, dtype=np.float32)
+        self.model.reset()  # reset history
+
     def get_action(self, obs: np.ndarray):
         obs_tensor = torch.tensor(obs, dtype=torch.float32).unsqueeze(0).to(self.device)
         action = self.model(obs_tensor).detach().cpu().numpy().squeeze(0)[self.model2mj_idx]

robogauge/tasks/robots/go2/go2_config.py

@@ -48,7 +48,7 @@ class Go2Config(RobotConfig):
 
     class commands(RobotConfig.commands):
         lin_vel_x = [-2.0, 2.0]  # min max [m/s]
-        lin_vel_y = [-1.0, 1.0]  # min max [m/s]
+        lin_vel_y = [-2.0, 2.0]  # 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]

robogauge/utils/helpers.py

@@ -73,6 +73,8 @@ def parse_args():
         {"name": "--seed", "type": int, "default": 42, "help": "Random seed."},
         {"name": "--write-tensorboard", "action": "store_true", "default": False, "help": "Write tensorboard logs."},
         {"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."},
 
         # Multiprocessing parameters, with different seeds
         {"name": "--multi", "action": "store_true", "default": False, "help": "Enable multiprocessing."},

robogauge/utils/task_register.py

@@ -65,9 +65,9 @@ class TaskRegister():
             sim_cfg.render.save_video = args.save_video
         if args.write_tensorboard is not None:
             gauger_cfg.write_tensorboard = args.write_tensorboard
-        if hasattr(args, 'friction') and args.friction is not None:
+        if args.friction is not None:
             sim_cfg.domain_rand.friction = args.friction
-        if hasattr(args, 'base_mass') and args.base_mass is not None:
+        if args.base_mass is not None:
             sim_cfg.domain_rand.base_mass = args.base_mass
 
 task_register = TaskRegister()