v0.1.15; add stairs_up/down

robogauge/tasks/pipeline/base_pipeline.py

@@ -53,7 +53,7 @@ class BasePipeline:
     
     def load(self):
         self.sim.load(
-            self.gauge_cfg.assets.terrain_xml,
+            self.gauge_cfg.assets.terrain_xmls,
             self.robot_cfg.assets.robot_xml,
             self.gauge_cfg.assets.terrain_spawn_pos,
             self.robot_cfg.control.default_dof_pos
@@ -68,7 +68,7 @@ class BasePipeline:
             "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("Running pipeline...")
-        error = None
+        warning, error = None, None
         while not self.gauge.is_done():
             try:
                 if self.first_reset:  # wait for robot to be still
@@ -77,7 +77,10 @@ class BasePipeline:
                         velocity_goal=VelocityGoal(),  # zero velocity
                         position_goal=PositionGoal(),  # current position
                     )
-                    if np.linalg.norm(sim_data.proprio.base.lin_vel) < 0.05 and sim_data.sim_time - self.last_reset_time > 0.1:
+                    if (
+                        (np.linalg.norm(sim_data.proprio.base.lin_vel) < 0.05 and sim_data.sim_time - self.last_reset_time > 0.1) or  # robot is still
+                        (sim_data.sim_time - self.last_reset_time) > 3.0  # wait max 3s
+                    ):
                         self.first_reset = False
                 else:
                     goal_data = self.gauge.get_goal(sim_data)
@@ -106,18 +109,24 @@ class BasePipeline:
                 if self.gauge.is_reset(sim_data):
                     sim_data = self.reset_sim_and_robot(sim_data)
             except Exception as e:
-                error = e
-                logger.error(f"❌ Goal '{self.gauge.goal_str}' failed with error: {e},\n{traceback.format_exc()}")
-                self.gauge.switch_to_next_goal()  # save current goal metrics
+                if str(e).startswith("[Penetration Error]"):
+                    warning = e
+                    logger.warning(f"⚠️ Penetration detected! Reset current goal and continue..., error: {e}")
+                    self.gauge.reset_current_goal()
+                    logger.info("⏩ Pipeline recovered from penetration and continued current goal 🎯.")
+                else:
+                    error = e
+                    logger.error(f"❌ Goal '{self.gauge.goal_str}' failed with error: {e},\n{traceback.format_exc()}")
+                    self.gauge.switch_to_next_goal()  # skip to next goal
+                    logger.info("⏩ Pipeline recovered from error and continued next goal 🎯.")
                 sim_data = self.reset_sim_and_robot(sim_data)
-                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 self.gauge.results, error
+        return self.gauge.results, warning, error
     
     def reset_sim_and_robot(self, sim_data: SimData):
         self.sim.reset()

robogauge/tasks/pipeline/level_pipeline.py

@@ -46,17 +46,16 @@ class LevelPipeline:
         with open(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:
         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 == 1.0
+        all_success = success_mean >= 0.8
         if all_success:
             logger.info(f"✅ Level {level} passed all tests.")
         else:
             logger.info(f"❌ Level {level} failed some tests.")
-        return all_success, aggregated_results
+        return all_success, aggregated_results

robogauge/tasks/pipeline/multi_pipeline.py

@@ -36,13 +36,15 @@ def run_single_process(args, data):
         console_output=False
     )
     pipeline = task_register.make_pipeline(args=local_args, create_logger=False)
-    results, error = pipeline.run()
+    results, warning, error = pipeline.run()
     if error is None:
         ret = {
             'status': 'success',
             'results': results,
             'model_path': pipeline.robot_cfg.control.model_path,
         }
+        if warning is not None:
+            logger.warning(f"⚠️ Process with seed={seed}, base_mass={base_mass}, friction={friction} completed with warning: {warning}")
     else:
         logger.error(f"❌ Process with seed={seed}, base_mass={base_mass}, friction={friction} failed with error: {error}")
         ret = {