v0.1.15; add stairs_up/down

UPDATE.md

@@ -1,4 +1,24 @@
 # UPDATE
+## 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
+2. 完成stairs_up调试台阶高度范围改为(0.05-0.23m)非线性增加, 简单测试了5个种子下moe和mlp能达到的最大地形等级
+
+    | frction | 0.5 | 0.75 | 1.0 | 1.5 | 2.0 |
+    | - | - | - | - | - | - |
+    | moe | 1 | 7 | 9 | 8 | 10 |
+    | 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
+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
+
+    | frction | 0.5 | 0.75 | 1.0 | 1.5 | 2.0 |
+    | - | - | - | - | - | - |
+    | moe | 5 | 10 | 10 | 10 | 10 |
+    | mlp | 3 | 6 | 7 | 10 | 10 |
+
 ## 20251224
 ### v0.1.14
 1. 处理LevelPipeline返回的result信息, 保存最高等级可通过地形返回的aggregated_results和level等级

resources/terrains/slope/slope_1.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_1">
-  <!-- Terrain Type: slope, Level: 1 Slope angle (degrees): 8.3626 -->
+  <!-- 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" />
@@ -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 0.09331624445210085" type="box" size="4.042987014572271 3.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_10.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_10">
-  <!-- Terrain Type: slope, Level: 10 Slope angle (degrees): 29.6831 -->
+  <!-- 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" />
@@ -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 1.8456113649036694" type="box" size="4.604172021113025 3.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_2.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_2">
-  <!-- Terrain Type: slope, Level: 2 Slope angle (degrees): 10.9790 -->
+  <!-- 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" />
@@ -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 0.2851514765486833" type="box" size="4.074576787839444 3.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080827 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_3.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_3">
-  <!-- Terrain Type: slope, Level: 3 Slope angle (degrees): 13.5499 -->
+  <!-- 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" />
@@ -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 0.47791687255664406" type="box" size="4.114522572547148 3.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300111 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_4.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_4">
-  <!-- Terrain Type: slope, Level: 4 Slope angle (degrees): 16.0664 -->
+  <!-- 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" />
@@ -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 0.6715291939183818" type="box" size="4.162583812970016 3.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_5.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_5">
-  <!-- Terrain Type: slope, Level: 5 Slope angle (degrees): 18.5208 -->
+  <!-- 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" />
@@ -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 0.8658959361069116" type="box" size="4.218483139707921 3.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_6.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_6">
-  <!-- Terrain Type: slope, Level: 6 Slope angle (degrees): 20.9069 -->
+  <!-- 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" />
@@ -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 1.0609191125559274" type="box" size="4.281913590907691 3.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863422 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_7.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_7">
-  <!-- Terrain Type: slope, Level: 7 Slope angle (degrees): 23.2193 -->
+  <!-- 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" />
@@ -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 1.2564988170129112" type="box" size="4.352545921641723 3.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_8.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_8">
-  <!-- Terrain Type: slope, Level: 8 Slope angle (degrees): 25.4544 -->
+  <!-- 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" />
@@ -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 1.4525363660944521" type="box" size="4.4300356657706494 3.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/slope/slope_9.xml

@@ -1,5 +1,5 @@
 <mujoco model="slope_9">
-  <!-- Terrain Type: slope, Level: 9 Slope angle (degrees): 27.6096 -->
+  <!-- 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" />
@@ -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 1.6489368968702796" type="box" size="4.514029685325518 3.0 0.5" quat="0.9711143615093542 0.0 -0.2386145361671822 0.0" />
+    <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" />
   </worldbody>
 </mujoco>

resources/terrains/stairs_down/stairs_down_1.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_down_1">
+  <!-- Terrain Type: stairs_down, Level: 1, Stairs step height: 0.0800 -->
+  <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="0.155 0.0 2.6" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.46499999999999997 0.0 2.52" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.7749999999999999 0.0 2.44" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.085 0.0 2.36" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.395 0.0 2.28" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.705 0.0 2.1999999999999997" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.015 0.0 2.1199999999999997" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.325 0.0 2.0399999999999996" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.6350000000000002 0.0 1.9599999999999995" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.9450000000000003 0.0 1.8799999999999994" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="3.2550000000000003 0.0 1.7999999999999994" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="3.5650000000000004 0.0 1.7199999999999993" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="3.8750000000000004 0.0 1.6399999999999992" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="4.1850000000000005 0.0 1.5599999999999992" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="4.495 0.0 1.479999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="4.805 0.0 1.399999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="5.114999999999999 0.0 1.319999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="5.424999999999999 0.0 1.2399999999999989" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="5.7349999999999985 0.0 1.1599999999999988" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.044999999999998 0.0 1.0799999999999987" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.354999999999998 0.0 0.9999999999999988" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.664999999999997 0.0 0.9199999999999988" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.974999999999997 0.0 0.8399999999999989" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.284999999999997 0.0 0.7599999999999989" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.594999999999996 0.0 0.6799999999999989" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.904999999999996 0.0 0.599999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.214999999999996 0.0 0.519999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.524999999999997 0.0 0.439999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.834999999999997 0.0 0.359999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.144999999999998 0.0 0.27999999999999897" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.454999999999998 0.0 0.19999999999999896" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.764999999999999 0.0 0.11999999999999895" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="10.075 0.0 0.03999999999999895" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+  </worldbody>
+</mujoco>

resources/terrains/stairs_down/stairs_down_10.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_down_10">
+  <!-- Terrain Type: stairs_down, Level: 10, Stairs step height: 0.2300 -->
+  <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="0.155 0.0 7.4750000000000005" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.46499999999999997 0.0 7.245" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.7749999999999999 0.0 7.015" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.085 0.0 6.784999999999999" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.395 0.0 6.554999999999999" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.705 0.0 6.324999999999998" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.015 0.0 6.094999999999998" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.325 0.0 5.8649999999999975" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.6350000000000002 0.0 5.634999999999997" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.9450000000000003 0.0 5.404999999999997" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
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resources/terrains/stairs_down/stairs_down_2.xml

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+<mujoco model="stairs_down_2">
+  <!-- Terrain Type: stairs_down, Level: 2, Stairs step height: 0.1100 -->
+  <statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_down/stairs_down_3.xml

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+<mujoco model="stairs_down_3">
+  <!-- Terrain Type: stairs_down, Level: 3, Stairs step height: 0.1400 -->
+  <statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_down/stairs_down_4.xml

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+<mujoco model="stairs_down_4">
+  <!-- Terrain Type: stairs_down, Level: 4, Stairs step height: 0.1700 -->
+  <statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_down/stairs_down_5.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_down_5">
+  <!-- Terrain Type: stairs_down, Level: 5, Stairs step height: 0.1800 -->
+  <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" />
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+  </asset>
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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resources/terrains/stairs_down/stairs_down_6.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_down_6">
+  <!-- Terrain Type: stairs_down, Level: 6, Stairs step height: 0.1900 -->
+  <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" />
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+  </asset>
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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resources/terrains/stairs_down/stairs_down_7.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_down_7">
+  <!-- Terrain Type: stairs_down, Level: 7, Stairs step height: 0.2000 -->
+  <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" />
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+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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resources/terrains/stairs_down/stairs_down_8.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_down_8">
+  <!-- Terrain Type: stairs_down, Level: 8, Stairs step height: 0.2100 -->
+  <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" />
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+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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resources/terrains/stairs_down/stairs_down_9.xml

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+<mujoco model="stairs_down_9">
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resources/terrains/stairs_up/stairs_up_1.xml

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+<mujoco model="stairs_up_1">
+  <!-- Terrain Type: stairs_up, Level: 1, Stairs step height: 0.0800 -->
+  <statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_up/stairs_up_10.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_up_10">
+  <!-- Terrain Type: stairs_up, Level: 10, Stairs step height: 0.2300 -->
+  <statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_up/stairs_up_2.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_up_2">
+  <!-- Terrain Type: stairs_up, Level: 2, Stairs step height: 0.1100 -->
+  <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" />
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+    <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" />
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resources/terrains/stairs_up/stairs_up_3.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_up_3">
+  <!-- Terrain Type: stairs_up, Level: 3, Stairs step height: 0.1400 -->
+  <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" />
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+    <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" />
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resources/terrains/stairs_up/stairs_up_4.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_up_4">
+  <!-- Terrain Type: stairs_up, Level: 4, Stairs step height: 0.1700 -->
+  <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" />
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+  <asset>
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+  </asset>
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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resources/terrains/stairs_up/stairs_up_5.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_up_5">
+  <!-- Terrain Type: stairs_up, Level: 5, Stairs step height: 0.1800 -->
+  <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" />
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+  <asset>
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+    <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" />
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resources/terrains/stairs_up/stairs_up_6.xml

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+<mujoco model="stairs_up_6">
+  <!-- Terrain Type: stairs_up, Level: 6, Stairs step height: 0.1900 -->
+  <statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_up/stairs_up_7.xml

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+<mujoco model="stairs_up_7">
+  <!-- Terrain Type: stairs_up, Level: 7, Stairs step height: 0.2000 -->
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+  <visual>
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resources/terrains/stairs_up/stairs_up_8.xml

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+<mujoco model="stairs_up_8">
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+    <geom pos="6.044999999999998 0.0 4.095" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.354999999999998 0.0 4.305" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.664999999999997 0.0 4.515" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.974999999999997 0.0 4.725" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.284999999999997 0.0 4.935" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.594999999999996 0.0 5.145" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.904999999999996 0.0 5.3549999999999995" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.214999999999996 0.0 5.5649999999999995" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.524999999999997 0.0 5.7749999999999995" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.834999999999997 0.0 5.984999999999999" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.144999999999998 0.0 6.194999999999999" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.454999999999998 0.0 6.404999999999999" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.764999999999999 0.0 6.614999999999999" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="10.075 0.0 6.824999999999999" type="box" size="0.186 5.0 0.10500000000000001" quat="1.0 0.0 0.0 0.0" />
+  </worldbody>
+</mujoco>

resources/terrains/stairs_up/stairs_up_9.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_up_9">
+  <!-- Terrain Type: stairs_up, Level: 9, Stairs step height: 0.2200 -->
+  <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="0.155 0.0 0.11000000000000001" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.46499999999999997 0.0 0.33000000000000007" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.7749999999999999 0.0 0.55" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.085 0.0 0.77" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.395 0.0 0.99" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="1.705 0.0 1.21" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.015 0.0 1.43" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.325 0.0 1.65" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.6350000000000002 0.0 1.8699999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="2.9450000000000003 0.0 2.09" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="3.2550000000000003 0.0 2.31" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="3.5650000000000004 0.0 2.5300000000000002" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="3.8750000000000004 0.0 2.7500000000000004" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="4.1850000000000005 0.0 2.9700000000000006" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="4.495 0.0 3.190000000000001" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="4.805 0.0 3.410000000000001" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="5.114999999999999 0.0 3.6300000000000012" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="5.424999999999999 0.0 3.8500000000000014" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="5.7349999999999985 0.0 4.070000000000001" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.044999999999998 0.0 4.290000000000001" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.354999999999998 0.0 4.510000000000001" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.664999999999997 0.0 4.73" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="6.974999999999997 0.0 4.95" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.284999999999997 0.0 5.17" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.594999999999996 0.0 5.39" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="7.904999999999996 0.0 5.609999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.214999999999996 0.0 5.829999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.524999999999997 0.0 6.049999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.834999999999997 0.0 6.269999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.144999999999998 0.0 6.489999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.454999999999998 0.0 6.709999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.764999999999999 0.0 6.929999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="10.075 0.0 7.149999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+  </worldbody>
+</mujoco>

resources/terrains/wall/10x10_wall.xml

@@ -0,0 +1,14 @@
+<mujoco model="10x10_wall">
+  <default>
+    <default class="wall">
+      <geom rgba="0.8 0.1 0.1 0.5"/>
+      <!-- <geom rgba="0 0 0 0"/> -->
+    </default>
+  </default>
+  <worldbody>
+    <geom name="wall_left" type="box" pos="-0.25 0 5" size="0.25 5.5 5" class="wall"/>
+    <geom name="wall_right" type="box" pos="10.25 0 5" size="0.25 5.5 5" class="wall"/>
+    <geom name="wall_top" type="box" pos="5 5.25 5" size="5 0.25 5" class="wall"/>
+    <geom name="wall_bottom" type="box" pos="5 -5.25 5" size="5 0.25 5" class="wall"/>
+  </worldbody>
+</mujoco>

robogauge/tasks/__init__.py

@@ -13,3 +13,7 @@ task_register.register('go2_slope', BasePipeline, Go2SlopeMujocoConfig, Go2Slope
 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)
+task_register.register('go2_stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2Config)
+task_register.register('go2_moe_stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2MoEConfig)
+task_register.register('go2_stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2Config)
+task_register.register('go2_moe_stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2MoEConfig)

robogauge/tasks/custom/go2/__init__.py

@@ -9,3 +9,5 @@
 from .go2_flat_task import Go2FlatGaugeConfig
 from .go2_slope_task import Go2SlopeGaugeConfig, Go2SlopeMujocoConfig
 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_stairs_down_task.py

@@ -0,0 +1,19 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_stairs_down_task.py
+@Time    : 2025/12/25 16:36:18
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Stairs Down Task Configuration
+'''
+from robogauge.tasks.robots import Go2Config, Go2MoEConfig
+from robogauge.tasks.gauge import StairsDownGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2StairsDownGaugeConfig(StairsDownGaugeConfig):
+    class metrics(StairsDownGaugeConfig.metrics):
+        class dof_limits(StairsDownGaugeConfig.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/custom/go2/go2_stairs_up_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 StairsUpGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2StairsUpGaugeConfig(StairsUpGaugeConfig):
+    class metrics(StairsUpGaugeConfig.metrics):
+        class dof_limits(StairsUpGaugeConfig.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/custom/go2/go2_wave_task.py

@@ -1,12 +1,4 @@
-# -*- 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

robogauge/tasks/gauge/__init__.py

@@ -3,3 +3,5 @@ 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
+from .gauge_configs.stairs_up_gauge_config import StairsUpGaugeConfig
+from .gauge_configs.stairs_down_gauge_config import StairsDownGaugeConfig

robogauge/tasks/gauge/base_gauge.py

@@ -112,6 +112,13 @@ class BaseGauge:
             logger.info(f"New Goal [{self.goal_idx+1}/{len(self.goals)}] [{goal_obj.count+1}/{goal_obj.total}]: {self.goal_str}")
         return goal
     
+    def reset_current_goal(self):
+        """ Reset the current goal """
+        if self.goal_idx >= len(self.goals):
+            return
+        goal_obj = self.goals[self.goal_idx]
+        goal_obj.reset_goal()
+    
     def switch_to_next_goal(self):
         """ Switch to the next goal and log the metrics of the current goal. """
         goal_obj = self.goals[self.goal_idx]

robogauge/tasks/gauge/base_gauge_config.py

@@ -16,7 +16,7 @@ class BaseGaugeConfig(Config):
     class assets:
         terrain_name = "flat"
         terrain_level = 0
-        terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
+        terrain_xmls = ['{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:

robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py

@@ -15,5 +15,5 @@ class FlatGaugeConfig(BaseGaugeConfig):
     class assets(BaseGaugeConfig.assets):
         terrain_name = "flat"
         terrain_level = 0
-        terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
+        terrain_xmls = ['{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml']
         terrain_spawn_pos = [0, 0, 0]  # x y z [m], robot freejoint spawn position on the terrain

robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py

@@ -15,13 +15,16 @@ class SlopeGaugeConfig(BaseGaugeConfig):
     class assets(BaseGaugeConfig.assets):
         terrain_name = "slope"
         terrain_level = 10  # 1-10
-        terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.xml'
+        terrain_xmls = [
-        terrain_spawn_pos = [0, 0, 0]  # x y z [m], robot freejoint spawn position on the terrain
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.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
     
     class goals(BaseGaugeConfig.goals):
         class target_pos_velocity:  # goal to reach a target position by velocity command
             enabled = True
-            target_pos = [5, 0, 2.28]  # x y z [m], target position in the environment, used for target position goal
+            target_pos = [4, 0, 2.28]  # 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

robogauge/tasks/gauge/gauge_configs/stairs_down_gauge_config.py

@@ -0,0 +1,33 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : stairs_down_gauge_config.py
+@Time    : 2025/12/25 14:12:59
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Stairs Down Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class StairsDownGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "stairs_down"
+        terrain_level = 10  # 1-10
+        terrain_xmls = [
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/stairs_down/stairs_down_10.xml',
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
+        ]
+        # NOTE: Adjusted y=3.0 to avoid rolling down just pass the target
+        terrain_spawn_pos = [1.1, 3.0, 7]  # 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 = [8.3, 0.0, 1.90]  # x y z [m], target position in the environment, used for target position goal
+            lin_vel_x = 0.8  # +/- m/s
+            lin_vel_y = 1.0  # +/- m/s
+            ang_vel_yaw = 1.5  # +/- rad/s
+            max_cmd_duration = 30.0  # [s] maximum duration to reach the target position
+            reach_threshold = 0.3

robogauge/tasks/gauge/gauge_configs/stairs_up_gauge_config.py

@@ -0,0 +1,32 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : stairs_up_gauge_config.py
+@Time    : 2025/12/25 11:26:47
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Stairs Up Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class StairsUpGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "stairs_up"
+        terrain_level = 10  # 1-10
+        terrain_xmls = [
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/stairs_up/stairs_up_10.xml',
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
+        ]
+        terrain_spawn_pos = [1.0, 0.0, 1.5]  # 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 = [4.5, 0.0, 3.8]  # x y z [m], target position in the environment, used for target position goal
+            lin_vel_x = 0.8  # +/- m/s
+            lin_vel_y = 1.0  # +/- m/s
+            ang_vel_yaw = 1.5  # +/- rad/s
+            max_cmd_duration = 30.0  # [s] maximum duration to reach the target position
+            reach_threshold = 0.1

robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py

@@ -1,3 +1,12 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : terrain_levels_config.py
+@Time    : 2025/12/25 11:27:05
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Terrain Levels Configuration
+'''
 from robogauge.utils.config import Config
 
 class TerrainLevelsConfig(Config):
@@ -8,30 +17,84 @@ class TerrainLevelsConfig(Config):
     class slope:
         levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
         targets = [
-            [5, 0, 0.588],
+            [4, 0, 0.588 + 0.1],
-            [5, 0, 0.776],
+            [4, 0, 0.776 + 0.1],
-            [5, 0, 0.964],
+            [4, 0, 0.964 + 0.1],
-            [5, 0, 1.152],
+            [4, 0, 1.152 + 0.1],
-            [5, 0, 1.340],
+            [4, 0, 1.340 + 0.1],
-            [5, 0, 1.528],
+            [4, 0, 1.528 + 0.1],
-            [5, 0, 1.716],
+            [4, 0, 1.716 + 0.1],
-            [5, 0, 1.904],
+            [4, 0, 1.904 + 0.1],
-            [5, 0, 2.092],
+            [4, 0, 2.092 + 0.1],
-            [5, 0, 2.280],
+            [4, 0, 2.280 + 0.1],
+        ]
+        spawns = [
+            [0.8, 0, 0.55 - 0.037 * 9],
+            [0.8, 0, 0.55 - 0.037 * 8],
+            [0.8, 0, 0.55 - 0.037 * 7],
+            [0.8, 0, 0.55 - 0.037 * 6],
+            [0.8, 0, 0.55 - 0.037 * 5],
+            [0.8, 0, 0.55 - 0.037 * 4],
+            [0.8, 0, 0.55 - 0.037 * 3],
+            [0.8, 0, 0.55 - 0.037 * 2],
+            [0.8, 0, 0.55 - 0.037],
+            [0.8, 0, 0.55],
         ]
 
     class wave:
         levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
         targets = [
-            [6.5, 0.0, 0.08],
+            [6.5, -2.65, 0.08],
-            [6.5, 0.0, 0.16],
+            [6.5, -2.65, 0.16],
-            [6.5, 0.0, 0.24],
+            [6.5, -2.65, 0.24],
-            [6.5, 0.0, 0.32],
+            [6.5, -2.65, 0.32],
-            [6.5, 0.0, 0.40],
+            [6.5, -2.65, 0.40],
-            [6.5, 0.0, 0.48],
+            [6.5, -2.65, 0.48],
-            [6.5, 0.0, 0.56],
+            [6.5, -2.65, 0.56],
-            [6.5, 0.0, 0.64],
+            [6.5, -2.65, 0.64],
-            [6.5, 0.0, 0.72],
+            [6.5, -2.65, 0.72],
-            [6.5, 0.0, 0.80],
+            [6.5, -2.65, 0.80],
         ]
 
+    class stairs_up:
+        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
+        targets = [
+            [4.5, 0.0, 1.35],
+            [4.5, 0.0, 1.80],
+            [4.5, 0.0, 2.25],
+            [4.5, 0.0, 2.70],
+            [4.5, 0.0, 2.85],
+            [4.5, 0.0, 3.00],
+            [4.5, 0.0, 3.15],
+            [4.5, 0.0, 3.30],
+            [4.5, 0.0, 3.45],
+            [4.5, 0.0, 3.60],
+        ]
+
+    class stairs_down:
+        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
+        targets = [
+            [8.3, 0.0, 1.90 - 0.07 * 15],
+            [8.3, 0.0, 1.90 - 0.07 * 12],
+            [8.3, 0.0, 1.90 - 0.07 * 9],
+            [8.3, 0.0, 1.90 - 0.07 * 6],
+            [8.3, 0.0, 1.90 - 0.07 * 5],
+            [8.3, 0.0, 1.90 - 0.07 * 4],
+            [8.3, 0.0, 1.90 - 0.07 * 3],
+            [8.3, 0.0, 1.90 - 0.07 * 2],
+            [8.3, 0.0, 1.90 - 0.07],
+            [8.3, 0.0, 1.90],
+        ]
+
+        spawns = [
+            [1.1, 3.0, 7 - 0.3 * 15],
+            [1.1, 3.0, 7 - 0.3 * 12],
+            [1.1, 3.0, 7 - 0.3 * 9],
+            [1.1, 3.0, 7 - 0.3 * 6],
+            [1.1, 3.0, 7 - 0.3 * 5],
+            [1.1, 3.0, 7 - 0.3 * 4],
+            [1.1, 3.0, 7 - 0.3 * 3],
+            [1.1, 3.0, 7 - 0.3 * 2],
+            [1.1, 3.0, 7 - 0.3],
+            [1.1, 3.0, 7],
+        ]

robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py

@@ -15,13 +15,16 @@ class WaveGaugeConfig(BaseGaugeConfig):
     class assets(BaseGaugeConfig.assets):
         terrain_name = "wave"
         terrain_level = 10  # 1-10
-        terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.xml'
+        terrain_xmls = [
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.xml',
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
+        ]
         terrain_spawn_pos = [1.5, 1.25, 1.0]  # 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 = [6.5, 0.0, 0.8]  # x y z [m], target position in the environment, used for target position goal
+            target_pos = [6.5, -2.65, 0.8]  # 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

robogauge/tasks/gauge/goals/base_goal.py

@@ -25,6 +25,9 @@ class BaseGoal:
 
     def pre_get_goal(self) -> bool:
         raise NotImplementedError
+    
+    def reset_goal(self):
+        raise NotImplementedError
 
     def is_reset(self, sim_data: SimData) -> bool:
         raise NotImplementedError

robogauge/tasks/gauge/goals/velocity_goals.py

@@ -33,10 +33,15 @@ class BaseVelocityGoal(BaseGoal):
         super().__init__()
         self.control_dt = control_dt
         self.cmd_duration = cmd_duration
+        self.goals = []
+        self.goal_runtime = 0.0
+        self.first_goal_after_reset = True
+        self.last_reset_time = -1
+    
+    def reset_goal(self):
         self.goal_runtime = 0.0
         self.first_goal_after_reset = True
         self.last_reset_time = -1
-        self.goals = []
 
     def is_reset(self, sim_data: SimData) -> bool:
         if self.last_reset_time == -1:
@@ -190,6 +195,11 @@ class TargetPosVelocityGoal(BaseVelocityGoal):
         self.total = 1  # only one task
         self.done = False
         self.success = False
+    
+    def reset_goal(self):
+        super().reset_goal()
+        self.done = False
+        self.success = False
 
     def get_goal(self, sim_data: SimData) -> Optional[GoalData]:
         self.update_runtime_count(sim_data)

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
+                if str(e).startswith("[Penetration Error]"):
-                logger.error(f"❌ Goal '{self.gauge.goal_str}' failed with error: {e},\n{traceback.format_exc()}")
+                    warning = e
-                self.gauge.switch_to_next_goal()  # save current goal metrics
+                    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 = {

robogauge/tasks/simulator/mujoco_config.py

@@ -49,3 +49,4 @@ 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

robogauge/tasks/simulator/mujoco_simulator.py

@@ -16,7 +16,7 @@ import time
 import imageio
 import numpy as np
 from pathlib import Path
-from typing import Literal
+from typing import Literal, List
 
 from robogauge.utils.logger import logger
 from robogauge.utils.helpers import parse_path
@@ -30,7 +30,7 @@ from robogauge.tasks.simulator.sim_data import (
 class MujocoSimulator:
     def __init__(self, sim_cfg: MujocoConfig):
         self.cfg = sim_cfg
-        self.terrain_xml = None
+        self.terrain_xmls = None
         self.robot_xml = None
         self.terrain_spawn_pos = None
         self.robot_spawn_height = None
@@ -47,14 +47,14 @@ class MujocoSimulator:
 
     def load(
         self,
-        terrain_xml: str = None,
+        terrain_xmls: List[str] = None,
         robot_xml: str = None,
         terrain_spawn_pos: list = None,
         default_dof_pos: list = None,
     ):
         """ Load terrain and robot into the simulator, support re-loading. """
-        if terrain_xml is not None:
+        if terrain_xmls is not None:
-            self.terrain_xml = parse_path(terrain_xml)
+            self.terrain_xmls = [parse_path(xml) for xml in terrain_xmls]
         if robot_xml is not None:
             self.robot_xml = parse_path(robot_xml)
         if terrain_spawn_pos is not None:
@@ -62,17 +62,20 @@ class MujocoSimulator:
         if default_dof_pos is not None:
             self.default_dof_pos = default_dof_pos
 
-        terrain_xml = self.terrain_xml
+        terrain_xmls = self.terrain_xmls
         robot_xml = self.robot_xml
         terrain_spawn_pos = self.terrain_spawn_pos
-        if terrain_xml is None or robot_xml is None:
+        if terrain_xmls is None or robot_xml is None:
             raise ValueError("Terrain and robot XML paths must be provided.")
         if default_dof_pos is None:
             raise ValueError("Default DOF positions must be provided.")
         
         # Create MJCF models
         robot_mjcf = mjcf.from_path(robot_xml)
-        terrain_mjcf = mjcf.from_path(terrain_xml)
+        terrain_mjcf = mjcf.from_path(terrain_xmls[0])
+        for path in terrain_xmls[1:]:
+            next_terrain = mjcf.from_path(path)
+            terrain_mjcf.attach(next_terrain)
         for j in robot_mjcf.find_all('joint'):
             if j.tag == 'freejoint':
                 j.remove()
@@ -265,11 +268,24 @@ class MujocoSimulator:
         self.check_truncation(sim_data)
         return sim_data
     
+    def check_penetration(self, threshold: float = -0.02):
+        for i in range(self.mj_data.ncon):
+            contact = self.mj_data.contact[i]
+            if contact.dist < threshold:
+                geom1_name = mujoco.mj_id2name(self.mj_model, mujoco.mjtObj.mjOBJ_GEOM, contact.geom1)
+                geom2_name = mujoco.mj_id2name(self.mj_model, mujoco.mjtObj.mjOBJ_GEOM, contact.geom2)
+                return True, geom1_name, geom2_name, contact.dist
+        return False, None, None, None
+    
     def check_truncation(self, sim_data: SimData):
         if self.cfg.truncation.enabled:
             projected_gravity = get_projected_gravity(sim_data.proprio.base.quat)
             if -projected_gravity[2] < np.cos(self.cfg.truncation.projected_gravity_rad):
-                raise RuntimeError(f"Episode truncated due to excessive projected gravity, angle: {np.arccos(-projected_gravity[2]):.3f} rad, projected: {projected_gravity}")
+                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}")
     
     def reset(self):
         """ Reset the simulator to initial state. """

robogauge/utils/task_register.py

@@ -77,8 +77,10 @@ class TaskRegister():
             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}."
             gauger_cfg.goals.target_pos_velocity.target_pos = cfg.targets[cfg.levels.index(args.level)]
-            xml = gauger_cfg.assets.terrain_xml
+            if hasattr(cfg, 'spawns'):
+                gauger_cfg.assets.terrain_spawn_pos = cfg.spawns[cfg.levels.index(args.level)]
+            xml = gauger_cfg.assets.terrain_xmls[0]
             xml = xml.rsplit('/', 1)[0] + f"/{gauger_cfg.assets.terrain_name}_{args.level}.xml"
-            gauger_cfg.assets.terrain_xml = xml
+            gauger_cfg.assets.terrain_xmls[0] = xml
 
 task_register = TaskRegister()