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v0.1.12 add all slope levels; plot radar with bar

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This commit is contained in:
wty-yy
2025-12-22 00:32:59 +08:00
parent 59522777c9
commit 989332b951
32 changed files with 503 additions and 258 deletions
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13
CMD.md
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@@ -23,11 +23,18 @@ python robogauge/scripts/run.py \
--headless
```
# Radar Plot
# Radar/Bar Plot
将Multi Run结果绘制在雷达图中
```bash
python robogauge/utils/radar_plot.py \
# 可选--out保存到图片
python robogauge/utils/visualize_results.py \
aggregated_results_1.yaml \
aggregated_results_2.yaml \
--out logs/go2_flat_vs_moe_flat.png
--out logs/1.jpg
# 绘制下全部 *.yaml, 可选range控制radar, bar y轴显示范围
python robogauge/utils/visualize_results.py \
/home/xfy/Coding/robot_gauge/mytest/results \
--range 0.35 1.0 \
--out logs/1.jpg
```

3
UPDATE.md
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@@ -1,8 +1,9 @@
# UPDATE
TODO: 在模型崩溃时也记录下最后的gauge信息
TODO: 即使模型崩溃也要继续测完后续的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
2. 添加slope全等级地形, 关系式: 斜率$0.1+0.47d$，角度范围$5.7\sim29.7^\circ$, 发现29.7度在2.4摩擦系数下可以稳定通过
## 20251220
### v0.1.11
1. 加入`os.environ["OMP_NUM_THREADS"] = "2"; os.environ["MKL_NUM_THREADS"] = "2"`避免并行时cpu线程爆炸, `--multi`模式能稳定提高速度了

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resources/models/go2/go2_cts_83501.pt
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resources/models/go2/go2_cts_cmd-1,1_38k.pt
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resources/models/go2/go2_cts_max2_100k.pt Normal file
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resources/models/go2/go2_moe_cts_8experts_2cmd_100k.pt Normal file
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19
resources/terrains/slope/slope_1.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_1">
<!-- Terrain Type: slope, Level: 1 Slope angle (degrees): 8.3626 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.072718512065541 0.0 -0.2006837555478992" type="box" size="2.0214935072861353 5.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_10.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_10">
<!-- Terrain Type: slope, Level: 10 Slope angle (degrees): 29.6831 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.247601522004908 0.0 0.7056113649036695" type="box" size="2.3020860105565126 5.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_2.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_2">
<!-- Terrain Type: slope, Level: 2 Slope angle (degrees): 10.9790 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.0952246135495556 0.0 -0.10284852345131673" type="box" size="2.037288393919722 5.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080827 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_3.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_3">
<!-- Terrain Type: slope, Level: 3 Slope angle (degrees): 13.5499 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.1171460337138486 0.0 -0.004083127443355927" type="box" size="2.057261286273574 5.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300111 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_4.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_4">
<!-- Terrain Type: slope, Level: 4 Slope angle (degrees): 16.0664 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.138375592151506 0.0 0.09552919391838177" type="box" size="2.081291906485008 5.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_5.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_5">
<!-- Terrain Type: slope, Level: 5 Slope angle (degrees): 18.5208 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.1588248614041845 0.0 0.19589593610691164" type="box" size="2.1092415698539604 5.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_6.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_6">
<!-- Terrain Type: slope, Level: 6 Slope angle (degrees): 20.9069 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.1784248990036357 0.0 0.29691911255592746" type="box" size="2.1409567954538455 5.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863422 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_7.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_7">
<!-- Terrain Type: slope, Level: 7 Slope angle (degrees): 23.2193 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.197126007501461 0.0 0.39849881701291123" type="box" size="2.1762729608208615 5.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_8.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_8">
<!-- Terrain Type: slope, Level: 8 Slope angle (degrees): 25.4544 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.2148966897390405 0.0 0.5005363660944522" type="box" size="2.2150178328853247 5.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
</worldbody>
</mujoco>

19
resources/terrains/slope/slope_9.xml Normal file
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@@ -0,0 +1,19 @@
<mujoco model="slope_9">
<!-- Terrain Type: slope, Level: 9 Slope angle (degrees): 27.6096 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.2317220029368436 0.0 0.6029368968702795" type="box" size="2.257014842662759 5.0 0.5" quat="0.9711143615093542 0.0 -0.2386145361671822 0.0" />
</worldbody>
</mujoco>

23
resources/terrains/slope_5.xml Normal file
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@@ -0,0 +1,23 @@
<!-- slope=0.1+0.8*0.5/0.9=0.54, 28.56 degree -->
<mujoco model="slope_5">
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
<global offwidth="1920" offheight="1080"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.2397127693021015 0.0 0.6538136987423946" type="box" size="2.278987854649098 5.0 0.5" quat="0.9689124217106447 0.0 -0.24740395925452294 0.0" />
</worldbody>
</mujoco>

23
resources/terrains/slope_5_old.xml Normal file
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@@ -0,0 +1,23 @@
<!-- slope=0.1+0.8*0.5/0.9=0.54, 28.56 degree -->
<mujoco model="slope_5">
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
<global offwidth="1920" offheight="1080"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<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="3.1101988717280613 0.0 -0.03579718002765875" type="box" size="2.050419643960795 5.0 0.5" quat="0.993833508538892 0.0 -0.110882628509953 0.0" />
</worldbody>
</mujoco>

8
robogauge/tasks/__init__.py
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@@ -4,8 +4,10 @@ from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig
from robogauge.tasks.pipeline import BasePipeline
from robogauge.tasks.gauge import BaseGaugeConfig
from robogauge.tasks.custom.go2_flat_task import Go2FlatGaugeConfig, Go2FlatConfig, Go2MoEFlatConfig, Go2MoEFlatMujocoConfig
from robogauge.tasks.custom.go2 import *
task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2FlatConfig)
task_register.register('go2_moe_flat', BasePipeline, Go2MoEFlatMujocoConfig, Go2FlatGaugeConfig, Go2MoEFlatConfig)
task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
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)

10
robogauge/tasks/custom/go2/__init__.py Normal file
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@@ -0,0 +1,10 @@
# -*- coding: utf-8 -*-
'''
@File : __init__.py
@Time : 2025/12/21 17:10:59
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
'''
from .go2_flat_task import Go2FlatGaugeConfig
from .go2_slope_task import Go2SlopeGaugeConfig, Go2SlopeMujocoConfig

21
robogauge/tasks/custom/go2_flat_task.py → robogauge/tasks/custom/go2/go2_flat_task.py
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@@ -37,24 +37,3 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
ang_vel_yaw = 1.5 # +/- rad/s
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1 # [m] distance threshold to consider the target reached
class Go2FlatConfig(Go2Config):
class commands(Go2Config.commands):
lin_vel_x = [-1.8, 1.8] # min max [m/s]
lin_vel_y = [-1.8, 1.8] # min max [m/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
class Go2MoEFlatConfig(Go2MoEConfig):
class commands(Go2Config.commands):
lin_vel_x = [-1.8, 1.8] # min max [m/s]
lin_vel_y = [-1.8, 1.8] # min max [m/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
class control(Go2Config.control):
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
# model_path = "/home/xfy/Coding/kaiwu2025/rob_finals/sim2real/models/v6-2_106503/kaiwu_script_v6-2_106503.pt"
class Go2MoEFlatMujocoConfig(MujocoConfig):
class domain_rand(MujocoConfig.domain_rand):
base_mass = 0.0
friction = 1.0

24
robogauge/tasks/custom/go2/go2_slope_task.py Normal file
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@@ -0,0 +1,24 @@
# -*- coding: utf-8 -*-
'''
@File : go2_slope_task.py
@Time : 2025/12/21 17:06:27
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Go2 Slope Task Configuration
'''
from robogauge.tasks.robots import Go2Config, Go2MoEConfig
from robogauge.tasks.gauge import SlopeGaugeConfig
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
class Go2SlopeGaugeConfig(SlopeGaugeConfig):
class metrics(SlopeGaugeConfig.metrics):
class dof_limits(SlopeGaugeConfig.metrics.dof_limits):
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

1
robogauge/tasks/gauge/__init__.py
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@@ -1,3 +1,4 @@
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

9
robogauge/tasks/gauge/base_gauge_config.py
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@@ -20,18 +20,19 @@ class BaseGaugeConfig(Config):
class goals:
class max_velocity: # goal with maximum velocity
enabled = True
enabled = False
cmd_duration = 5.0 # [s] duration for each velocity command
class diagonal_velocity: # goal with diagonal velocity changes
enabled = True
enabled = False
cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
class target_pos_velocity: # goal to reach a target position by velocity command
enabled = True
enabled = False
target_pos = [5, 0, 0] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
ang_vel_yaw = 1.0 # +/- rad/s
lin_vel_y = 1.0 # +/- m/s
ang_vel_yaw = 1.5 # +/- rad/s
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1

37
robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
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@@ -16,40 +16,3 @@ class FlatGaugeConfig(BaseGaugeConfig):
terrain_name = "flat_0" # {type}_{level}
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
terrain_spawn_pos = [0, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
class goals(BaseGaugeConfig.goals):
class max_velocity: # goal with maximum velocity
enabled = True
move_duration = 5.0 # [s] duration for each velocity command
end_stance = True # whether to end with zero velocity command
standce_duration = 2.0 # [s] duration for the ending stance command
class diagonal_velocity: # goal with diagonal velocity changes
enabled = True
cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
class target_pos_velocity: # goal to reach a target position by velocity command, config target at assets.target_pos
enabled = True
target_pos = [5, 0, 0] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
ang_vel_yaw = 1.0 # +/- rad/s
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1
class metrics(BaseGaugeConfig.metrics):
metric_dt = 0.1 # [s] frequency to compute metrics
class dof_limits:
enabled = True
soft_dof_limit_ratio = 0.9
dof_names = None # List of DOF names to monitor, None for all
class visualization:
enabled = True
dof_torque = True
dof_pos = True
class lin_vel_err:
enabled = True
class ang_vel_err:
enabled = True

28
robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py Normal file
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@@ -0,0 +1,28 @@
# -*- coding: utf-8 -*-
'''
@File : slope_gauge_config.py
@Time : 2025/12/21 17:02:23
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Slope Gauge Configuration
'''
from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
class SlopeGaugeConfig(BaseGaugeConfig):
gauge_class = 'BaseGauge'
class assets(BaseGaugeConfig.assets):
terrain_name = "slope_5" # {type}_{level}
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.xml'
terrain_spawn_pos = [0, 0, 0] # 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, 2.0] # 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

3
robogauge/tasks/pipeline/base_pipeline.py
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@@ -9,6 +9,7 @@
'''
import yaml
import random
import traceback
import numpy as np
from pathlib import Path
from copy import deepcopy
@@ -104,7 +105,7 @@ class BasePipeline:
if self.gauge.is_reset(sim_data):
sim_data = self.reset_sim(sim_data)
except Exception as e:
logger.error(f"❌ Pipeline execution failed with error: {e}")
logger.error(f"❌ Pipeline execution failed with error: {e},\n{traceback.format_exc()}")
self.gauge.switch_to_next_goal() # save current goal metrics
self.gauge.save_results()
return logger.log_dir, e

2
robogauge/tasks/robots/base_robot_config.py
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@@ -21,7 +21,7 @@ class RobotConfig(Config):
class control:
device = 'cpu'
# torch script model path
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_max2_100k.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control
support_goal: Literal['velocity', 'position'] = 'velocity'

6
robogauge/tasks/robots/go2/go2_config.py
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@@ -20,7 +20,7 @@ class Go2Config(RobotConfig):
class control(RobotConfig.control):
device = 'cpu'
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_max2_100k.pt"
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_cmd-1,1_38k.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control
@@ -47,8 +47,8 @@ class Go2Config(RobotConfig):
cmd = [2.0, 2.0, 0.25]
class commands(RobotConfig.commands):
lin_vel_x = [-1.5, 1.5] # min max [m/s]
lin_vel_y = [-1, 1] # min max [m/s]
lin_vel_x = [-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]

7
robogauge/tasks/robots/go2/go2_moe.py
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@@ -15,7 +15,12 @@ from robogauge.tasks.robots.go2.go2 import Go2
class Go2MoE(Go2):
def get_action(self, obs: np.ndarray):
obs_tensor = torch.tensor(obs, dtype=torch.float32).unsqueeze(0).to(self.device)
action, weights = self.model(obs_tensor)
action, results = self.model(obs_tensor)
if isinstance(results, tuple):
weights, latent = results
latent = latent.detach().cpu().numpy().squeeze(0)
else:
weights = results
action = action.detach().cpu().numpy().squeeze(0)[self.model2mj_idx]
weights = weights.detach().cpu().numpy().squeeze(0)
self.last_action = action

183
robogauge/utils/radar_plot.py
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@@ -1,183 +0,0 @@
"""
python robogauge/utils/radar_plot.py \
/home/xfy/Coding/robot_gauge/logs/go2_moe_flat_debug_multi/20251218-22-49-29_run_multi/aggregated_results.yaml \
/home/xfy/Coding/robot_gauge/logs/go2_flat_debug_multi/20251218-22-59-04_run_multi/aggregated_results.yaml \
--out logs/go2_flat_vs_moe_flat.png
"""
import matplotlib.pyplot as plt
config = {
"font.family": 'serif', # 衬线字体
"figure.figsize": (6, 6), # 图像大小
"font.size": 14, # 字号大小
"mathtext.fontset": 'cm', # 渲染数学公式字体
'axes.unicode_minus': False # 显示负号
}
plt.rcParams.update(config)
import numpy as np
import yaml
import argparse
import os
import sys
# 设置字体，尝试匹配参考图的衬线体风格 (如果系统没有会回退到默认)
plt.rcParams['font.family'] = 'serif'
plt.rcParams['font.serif'] = ['Times New Roman', 'DejaVu Serif', 'serif']
def parse_value_string(val_str):
if isinstance(val_str, (int, float)):
return float(val_str)
if isinstance(val_str, str):
if '±' in val_str:
return float(val_str.split('±')[0].strip())
return float(val_str)
return 0.0
def load_data(file_paths):
all_data = []
# 指标键名
metric_keys = [
'lin_vel_err',
'ang_vel_err',
'orientation_stability',
'dof_limits',
'torque_smoothness',
'dof_power'
]
# 标签 (增加换行以避免拥挤)
labels_map = {
'lin_vel_err': 'Lin Vel\nAccuracy',
'ang_vel_err': 'Ang Vel\nAccuracy',
'dof_limits': 'Joint Limits\nMargin',
'dof_power': 'Energy\nEfficiency',
'orientation_stability': 'Orientation\nStability',
'torque_smoothness': 'Torque\nSmoothness',
}
for path in file_paths:
if not os.path.exists(path):
continue
with open(path, 'r', encoding='utf-8') as f:
content = yaml.safe_load(f)
raw_path = content.get('model_path', 'Unknown_Model')
# 简化图例名称：只取文件名，去掉 .pt
model_name = os.path.basename(raw_path).replace('.pt', '')
# 如果名称过长，可以考虑进一步截断，例如：
# if len(model_name) > 20: model_name = model_name[:10] + "..." + model_name[-5:]
values = []
for k in metric_keys:
if k in content:
raw_val = content[k]['mean']
values.append(parse_value_string(raw_val))
else:
values.append(0.0)
all_data.append({'name': model_name, 'values': values})
return all_data, [labels_map[k] for k in metric_keys]
def plot_radar(data_list, labels, output_file=None):
if not data_list:
print("No data to plot.")
return
num_vars = len(labels)
angles = np.linspace(0, 2 * np.pi, num_vars, endpoint=False).tolist()
angles += angles[:1] # 闭合
# --- 颜色设置 ---
# 使用参考图类似的配色 (深蓝、浅蓝、绿等)
# 或者使用 'tab10', 'Set2' 等
colors = plt.cm.get_cmap("tab10", len(data_list))
# 创建画布，稍微宽一点以便放图例
fig, ax = plt.subplots(figsize=(10, 8), subplot_kw=dict(polar=True))
# --- 核心修改：调整布局 ---
# left=0.1, bottom=0.1, top=0.9 是为了给标题留空
# right=0.75 是关键！这意味着图表只占画布左边 75% 的宽度，右边 25% 留给图例
plt.subplots_adjust(left=0.05, right=0.75, top=0.9, bottom=0.1)
# 设置方向
ax.set_theta_offset(np.pi / 2)
ax.set_theta_direction(-1)
# --- 绘制标签 ---
plt.xticks(angles[:-1], labels, color='#444444', size=13)
# 标签对齐优化
for label, angle in zip(ax.get_xticklabels(), angles[:-1]):
if angle in (0, np.pi):
label.set_horizontalalignment('center')
elif 0 < angle < np.pi:
label.set_horizontalalignment('left')
else:
label.set_horizontalalignment('right')
# --- 绘制刻度 ---
ax.set_rlabel_position(0)
# 字体稍微调淡一点，不要抢眼
plt.yticks([0.25, 0.50, 0.75, 1.00], ["0.25", "0.50", "0.75", "1.00"],
color="grey", size=10)
plt.ylim(0, 1.05)
# 网格线：点状虚线，稍微粗一点
ax.grid(True, color='gray', linestyle=':', linewidth=1.5, alpha=0.5)
ax.spines['polar'].set_visible(False)
# --- 绘制数据 ---
# 加粗线条以匹配 bsuite 风格
linewidth = 3.0
for idx, item in enumerate(data_list):
values = item['values']
name = item['name']
values_closed = values + values[:1]
color = colors(idx)
ax.plot(angles, values_closed, linewidth=linewidth, linestyle='-', label=name, color=color)
ax.fill(angles, values_closed, color=color, alpha=0.2) # 填充透明度低一点
# --- 核心修改：图例位置 ---
# bbox_to_anchor=(1.1, 0.2) 的意思是：
# 锚点位于坐标轴右侧(1.1倍宽位置)，垂直方向在底部(0.2倍高位置)
# loc='upper left' 意思是图例的左上角对齐这个锚点
legend = plt.legend(
loc='upper left',
bbox_to_anchor=(1.0, 0.1), # 调整这里的 0.3 可以上下移动图例
title="Models",
title_fontsize=16,
fontsize=12,
frameon=False, # 无边框
labelspacing=0.8 # 图例行间距
)
# 设置图例标题对齐方式 (左对齐)
legend._legend_box.align = "left"
plt.title('Multi-Model Performance Comparison', size=18, y=1.08, color='#333333')
if output_file:
plt.savefig(output_file, dpi=300, bbox_inches='tight') # bbox_inches='tight' 会自动裁剪白边
print(f"Plot saved to {output_file}")
else:
plt.show()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('files', metavar='F', type=str, nargs='+', help='YAML files')
parser.add_argument('--out', type=str, default=None, help='Output file')
# 调试用（如果你直接运行脚本，请取消注释并填入你的文件名）
# sys.argv = ['plot.py', 'aggregated_results.yaml', 'aggregated_results2.yaml', '--out', 'fixed_radar.png']
args = parser.parse_args()
data, metrics_labels = load_data(args.files)
plot_radar(data, metrics_labels, output_file=args.out)

170
robogauge/utils/visualize_results.py Normal file
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@@ -0,0 +1,170 @@
import matplotlib.pyplot as plt
from pathlib import Path
import numpy as np
import yaml
import argparse
import os
# --- 配置 Matplotlib 样式 ---
config = {
"font.family": 'serif',
"figure.figsize": (8, 6),
"font.size": 12,
"mathtext.fontset": 'cm',
'axes.unicode_minus': False
}
plt.rcParams.update(config)
plt.rcParams['font.serif'] = ['Times New Roman', 'DejaVu Serif', 'serif']
def parse_value_string(val_str):
if isinstance(val_str, (int, float)):
return float(val_str)
if isinstance(val_str, str):
if '±' in val_str:
return float(val_str.split('±')[0].strip())
return float(val_str)
return 0.0
def load_data(file_paths):
all_data = []
metric_keys = ['lin_vel_err', 'ang_vel_err', 'orientation_stability', 'dof_limits', 'torque_smoothness', 'dof_power']
labels_map = {
'lin_vel_err': 'Lin Vel\nAccuracy',
'ang_vel_err': 'Ang Vel\nAccuracy',
'dof_limits': 'Joint Limits\nMargin',
'dof_power': 'Energy\nEfficiency',
'orientation_stability': 'Orientation\nStability',
'torque_smoothness': 'Torque\nSmoothness',
}
for path in file_paths:
if not os.path.exists(path):
print(f"[ERROR] File not found: {path}")
continue
with open(path, 'r', encoding='utf-8') as f:
content = yaml.safe_load(f)
raw_path = content.get('model_path', 'Unknown_Model')
model_name = os.path.basename(raw_path).replace('.pt', '')
values = []
for k in metric_keys:
if k in content:
raw_val = content[k]['mean@50']
values.append(parse_value_string(raw_val))
else:
values.append(0.0)
all_data.append({'name': model_name, 'values': values})
return all_data, [labels_map[k] for k in metric_keys]
def plot_radar(data_list, labels, output_file=None, r_range=(0, 1.05)):
"""绘制雷达图"""
if not data_list:
return
num_vars = len(labels)
angles = np.linspace(0, 2 * np.pi, num_vars, endpoint=False).tolist()
angles += angles[:1]
colors = plt.cm.get_cmap("tab10", len(data_list))
fig, ax = plt.subplots(figsize=(10, 8), subplot_kw=dict(polar=True))
plt.subplots_adjust(left=0.05, right=0.75, top=0.9, bottom=0.1)
ax.set_theta_offset(np.pi / 2)
ax.set_theta_direction(-1)
plt.xticks(angles[:-1], labels, color='#444444', size=11)
for label, angle in zip(ax.get_xticklabels(), angles[:-1]):
if angle in (0, np.pi): label.set_horizontalalignment('center')
elif 0 < angle < np.pi: label.set_horizontalalignment('left')
else: label.set_horizontalalignment('right')
r_min, r_max = r_range
ax.set_ylim(r_min, r_max)
ticks = np.linspace(r_min, r_max, 5)
plt.yticks(ticks, [f"{t:.2f}" for t in ticks], color="grey", size=10)
ax.set_rlabel_position(180)
ax.grid(True, color='gray', linestyle=':', linewidth=1.5, alpha=0.5)
ax.spines['polar'].set_visible(False)
linewidth = 2.5
for idx, item in enumerate(data_list):
values_closed = item['values'] + [item['values'][0]]
color = colors(idx)
ax.plot(angles, values_closed, linewidth=linewidth, label=item['name'], color=color)
ax.fill(angles, values_closed, color=color, alpha=0.15)
plt.legend(loc='lower left', bbox_to_anchor=(0.82, 0.0), title="Models", frameon=False)
plt.title('Performance Comparison (Radar)', size=16, y=1.06)
if output_file:
plt.savefig(output_file, dpi=300, bbox_inches='tight')
print(f"Radar plot saved to {output_file}")
def plot_bar(data_list, labels, output_file=None, h_range=(0, 1.05)):
"""绘制柱状图"""
if not data_list:
return
num_models = len(data_list)
num_metrics = len(labels)
# 设置柱状图参数
x = np.arange(num_metrics)
width = 0.8 / num_models # 自动计算柱子宽度
fig, ax = plt.subplots(figsize=(12, 6))
colors = plt.cm.get_cmap("tab10", num_models)
for idx, item in enumerate(data_list):
# 计算每个模型柱子的偏移量
offset = (idx - (num_models - 1) / 2) * width
ax.bar(x + offset, item['values'], width, label=item['name'], color=colors(idx), alpha=0.8)
ax.set_ylabel('Score / Value')
ax.set_title('Performance Comparison (Bar)', size=16)
ax.set_xticks(x)
# 将标签中的换行符去掉或处理，使其在柱状图中更美观
clean_labels = [l.replace('\n', ' ') for l in labels]
ax.set_xticklabels(clean_labels, rotation=15, ha='right')
ax.legend(title="Models", bbox_to_anchor=(1.05, 1), loc='upper left', frameon=False)
ax.grid(axis='y', linestyle='--', alpha=0.7)
if h_range:
ax.set_ylim(h_range)
plt.tight_layout()
if output_file:
plt.savefig(output_file, dpi=300, bbox_inches='tight')
print(f"Bar plot saved to {output_file}")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('files_or_dir', metavar='F', type=str, nargs='+', help='YAML files or directory')
parser.add_argument('--out', type=str, help='Base name for output files')
parser.add_argument('--range', type=float, nargs=2, default=[0.0, 1.0], help='Axis range for radar and bar plots')
args = parser.parse_args()
# 获取文件列表
files = args.files_or_dir
if Path(args.files_or_dir[0]).is_dir():
dir_path = Path(args.files_or_dir[0])
files = [str(p) for p in dir_path.glob('*.yaml')]
data, metrics_labels = load_data(files)
# 处理输出文件名
radar_out, bar_out = None, None
if args.out:
out_path = Path(args.out)
radar_out = str(out_path.with_name(f"{out_path.stem}_radar{out_path.suffix}"))
bar_out = str(out_path.with_name(f"{out_path.stem}_bar{out_path.suffix}"))
# 分别调用绘图函数
plot_radar(data, metrics_labels, output_file=radar_out, r_range=args.range)
plot_bar(data, metrics_labels, output_file=bar_out, h_range=args.range)
plt.show()