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v0.1.18

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wty-yy
2025-12-28 21:25:08 +08:00
parent 9bcee5004a
commit f1040af529
11 changed files with 140 additions and 39 deletions
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1
robogauge/utils/helpers.py
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@@ -76,6 +76,7 @@ def parse_args():
{"name": "--base-mass", "type": float, "default": 0.0, "help": "Set the base mass of the robot."},
{"name": "--friction", "type": float, "default": 1.0, "help": "Set the ground friction coefficient."},
{"name": "--level", "type": int, "help": "Set the difficulty level of the environment, range 1-10 (flat is 0)."},
{"name": "--spawn-type", "type": str, "choices": ["level_eval", "level_search"], "help": "Spawn type for the robot."},
{"name": "--goals", "type": str, "nargs": "+", "help": "List of goal names to evaluate."},
# Multiprocessing parameters, with different seeds

22
robogauge/utils/task_register.py
View File

@@ -10,7 +10,7 @@
from robogauge import ROBOGAUGE_ROOT_DIR
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_args, set_seed, class_to_dict
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig, TerrainEvalLevelsConfig
class TaskRegister():
def __init__(self):
@@ -72,14 +72,18 @@ class TaskRegister():
sim_cfg.domain_rand.base_mass = args.base_mass
if args.level is not None:
gauger_cfg.assets.terrain_level = args.level
levels_cfg = TerrainSearchLevelsConfig()
cfg = getattr(levels_cfg, gauger_cfg.assets.terrain_name, None)
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}."
if hasattr(cfg, 'targets'):
gauger_cfg.goals.target_pos_velocity.target_pos = cfg.targets[cfg.levels.index(args.level)]
if hasattr(cfg, 'spawns'):
gauger_cfg.assets.terrain_spawn_pos = cfg.spawns[cfg.levels.index(args.level)]
search_level_cfg = TerrainSearchLevelsConfig()
eval_level_cfg = TerrainEvalLevelsConfig()
search_cfg = getattr(search_level_cfg, gauger_cfg.assets.terrain_name, None)
eval_cfg = getattr(eval_level_cfg, gauger_cfg.assets.terrain_name, None)
assert search_cfg is not None and eval_cfg is not None, f"Level {args.level} configuration not found in TerrainLevelsConfig or TerrainEvalLevelsConfig."
assert args.level in search_cfg.levels and args.level in eval_cfg.levels, f"Level must be in {search_cfg.levels=} and {eval_cfg.levels=}."
if hasattr(search_cfg, 'targets'):
gauger_cfg.goals.target_pos_velocity.target_pos = search_cfg.targets[search_cfg.levels.index(args.level)]
if hasattr(search_cfg, 'spawns') and args.spawn_type == "level_search":
gauger_cfg.assets.terrain_spawn_pos = search_cfg.spawns[search_cfg.levels.index(args.level)]
elif hasattr(eval_cfg, 'spawns') and args.spawn_type == "level_eval":
gauger_cfg.assets.terrain_spawn_pos = eval_cfg.spawns[eval_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_xmls[0] = xml