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v0.1.15; add stairs_up/down

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wty-yy
2025-12-25 18:15:48 +08:00
parent 0dd3c10aba
commit 9d9d83ed9f
54 changed files with 1356 additions and 81 deletions
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20
UPDATE.md
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# 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

4
resources/terrains/slope/slope_1.xml
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<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>

4
resources/terrains/slope/slope_10.xml
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@@ -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>

4
resources/terrains/slope/slope_2.xml
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@@ -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>

4
resources/terrains/slope/slope_3.xml
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<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>

4
resources/terrains/slope/slope_4.xml
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<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>

4
resources/terrains/slope/slope_5.xml
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@@ -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>

4
resources/terrains/slope/slope_6.xml
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<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>

4
resources/terrains/slope/slope_7.xml
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<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>

4
resources/terrains/slope/slope_8.xml
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@@ -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>

4
resources/terrains/slope/slope_9.xml
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@@ -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>

51
resources/terrains/stairs_down/stairs_down_1.xml Normal file
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<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" />
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<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" />
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<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" />
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<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>

51
resources/terrains/stairs_down/stairs_down_10.xml Normal file
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<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" />
<geom pos="3.2550000000000003 0.0 5.174999999999996" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5650000000000004 0.0 4.944999999999996" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
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51
resources/terrains/stairs_down/stairs_down_2.xml Normal file
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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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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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<worldbody>
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51
resources/terrains/stairs_down/stairs_down_3.xml Normal file
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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" />
<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>
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<worldbody>
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51
resources/terrains/stairs_down/stairs_down_4.xml Normal file
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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" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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51
resources/terrains/stairs_down/stairs_down_5.xml Normal file
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<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>
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51
resources/terrains/stairs_down/stairs_down_6.xml Normal file
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<mujoco model="stairs_down_6">
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51
resources/terrains/stairs_down/stairs_down_7.xml Normal file
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<mujoco model="stairs_down_7">
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51
resources/terrains/stairs_down/stairs_down_8.xml Normal file
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<mujoco model="stairs_down_8">
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51
resources/terrains/stairs_down/stairs_down_9.xml Normal file
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<mujoco model="stairs_down_9">
<!-- Terrain Type: stairs_down, Level: 9, Stairs step height: 0.2200 -->
<statistic center="0 0 0.1" extent="0.8" />
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51
resources/terrains/stairs_up/stairs_up_1.xml Normal file
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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" />
<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>
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51
resources/terrains/stairs_up/stairs_up_10.xml Normal file
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<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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51
resources/terrains/stairs_up/stairs_up_2.xml Normal file
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<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>
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51
resources/terrains/stairs_up/stairs_up_3.xml Normal file
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<mujoco model="stairs_up_3">
<!-- Terrain Type: stairs_up, Level: 3, Stairs step height: 0.1400 -->
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51
resources/terrains/stairs_up/stairs_up_4.xml Normal file
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<mujoco model="stairs_up_4">
<!-- Terrain Type: stairs_up, Level: 4, Stairs step height: 0.1700 -->
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51
resources/terrains/stairs_up/stairs_up_5.xml Normal file
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<mujoco model="stairs_up_5">
<!-- Terrain Type: stairs_up, Level: 5, Stairs step height: 0.1800 -->
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resources/terrains/stairs_up/stairs_up_6.xml Normal file
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<mujoco model="stairs_up_6">
<!-- Terrain Type: stairs_up, Level: 6, Stairs step height: 0.1900 -->
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resources/terrains/stairs_up/stairs_up_7.xml Normal file
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<mujoco model="stairs_up_7">
<!-- Terrain Type: stairs_up, Level: 7, Stairs step height: 0.2000 -->
<statistic center="0 0 0.1" extent="0.8" />
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resources/terrains/stairs_up/stairs_up_8.xml Normal file
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<mujoco model="stairs_up_8">
<!-- Terrain Type: stairs_up, Level: 8, Stairs step height: 0.2100 -->
<statistic center="0 0 0.1" extent="0.8" />
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51
resources/terrains/stairs_up/stairs_up_9.xml Normal file
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<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" />
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<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>

14
resources/terrains/wall/10x10_wall.xml Normal file
View File

@@ -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>

4
robogauge/tasks/__init__.py
View File

@@ -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)

2
robogauge/tasks/custom/go2/__init__.py
View File

@@ -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

19
robogauge/tasks/custom/go2/go2_stairs_down_task.py Normal file
View File

@@ -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

19
robogauge/tasks/custom/go2/go2_stairs_up_task.py Normal file
View File

@@ -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

10
robogauge/tasks/custom/go2/go2_wave_task.py
View File

@@ -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

2
robogauge/tasks/gauge/__init__.py
View File

@@ -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

7
robogauge/tasks/gauge/base_gauge.py
View File

@@ -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]

2
robogauge/tasks/gauge/base_gauge_config.py
View File

@@ -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:

2
robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
View File

@@ -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

9
robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py
View File

@@ -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_spawn_pos = [0, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
terrain_xmls = [
'{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

33
robogauge/tasks/gauge/gauge_configs/stairs_down_gauge_config.py Normal file
View File

@@ -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

32
robogauge/tasks/gauge/gauge_configs/stairs_up_gauge_config.py Normal file
View File

@@ -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

103
robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
View File

@@ -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],
[5, 0, 0.776],
[5, 0, 0.964],
[5, 0, 1.152],
[5, 0, 1.340],
[5, 0, 1.528],
[5, 0, 1.716],
[5, 0, 1.904],
[5, 0, 2.092],
[5, 0, 2.280],
[4, 0, 0.588 + 0.1],
[4, 0, 0.776 + 0.1],
[4, 0, 0.964 + 0.1],
[4, 0, 1.152 + 0.1],
[4, 0, 1.340 + 0.1],
[4, 0, 1.528 + 0.1],
[4, 0, 1.716 + 0.1],
[4, 0, 1.904 + 0.1],
[4, 0, 2.092 + 0.1],
[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, 0.0, 0.16],
[6.5, 0.0, 0.24],
[6.5, 0.0, 0.32],
[6.5, 0.0, 0.40],
[6.5, 0.0, 0.48],
[6.5, 0.0, 0.56],
[6.5, 0.0, 0.64],
[6.5, 0.0, 0.72],
[6.5, 0.0, 0.80],
[6.5, -2.65, 0.08],
[6.5, -2.65, 0.16],
[6.5, -2.65, 0.24],
[6.5, -2.65, 0.32],
[6.5, -2.65, 0.40],
[6.5, -2.65, 0.48],
[6.5, -2.65, 0.56],
[6.5, -2.65, 0.64],
[6.5, -2.65, 0.72],
[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],
]

7
robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
View File

@@ -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

3
robogauge/tasks/gauge/goals/base_goal.py
View File

@@ -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

12
robogauge/tasks/gauge/goals/velocity_goals.py
View File

@@ -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)

25
robogauge/tasks/pipeline/base_pipeline.py
View File

@@ -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()

7
robogauge/tasks/pipeline/level_pipeline.py
View File

@@ -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

4
robogauge/tasks/pipeline/multi_pipeline.py
View File

@@ -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 = {

1
robogauge/tasks/simulator/mujoco_config.py
View File

@@ -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

34
robogauge/tasks/simulator/mujoco_simulator.py
View File

@@ -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:
self.terrain_xml = parse_path(terrain_xml)
if terrain_xmls is not None:
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. """

6
robogauge/utils/task_register.py
View File

@@ -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()