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v0.1.2

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This commit is contained in:
wty-yy
2025-11-27 16:04:14 +08:00
parent 14ce318bdd
commit fc7e184741
48 changed files with 759751 additions and 2 deletions
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robogauge/__init__.py Normal file
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from pathlib import Path
__version__ = "0.1.0"
ROBOGAUGE_ROOT_DIR = str(Path(__file__).parent)

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robogauge/resources/robots/go2/go2.xml Normal file
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<mujoco model="go2">
<compiler angle="radian" meshdir="assets" autolimits="true" />
<option cone="elliptic" impratio="100" />
<default>
<default class="go2">
<geom friction="0.4" margin="0.001" condim="1"/>
<joint axis="0 1 0" damping="0.1" armature="0.01" frictionloss="0.2"/>
<motor ctrlrange="-23.7 23.7"/>
<default class="abduction">
<joint axis="1 0 0" range="-1.0472 1.0472"/>
</default>
<default class="hip">
<default class="front_hip">
<joint range="-1.5708 3.4907"/>
</default>
<default class="back_hip">
<joint range="-0.5236 4.5379"/>
</default>
</default>
<default class="knee">
<joint range="-2.7227 -0.83776"/>
<motor ctrlrange="-45.43 45.43"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom group="3"/>
<default class="foot">
<geom size="0.022" pos="-0.002 0 -0.213" priority="1" condim="6"
friction="0.4 0.02 0.01"/>
</default>
</default>
</default>
</default>
<asset>
<material name="metal" rgba=".9 .95 .95 1" />
<material name="black" rgba="0 0 0 1" />
<material name="white" rgba="1 1 1 1" />
<!-- <material name="white" rgba="1 1 0 1" /> -->
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
<mesh file="base_0.obj" />
<mesh file="base_1.obj" />
<mesh file="base_2.obj" />
<mesh file="base_3.obj" />
<mesh file="base_4.obj" />
<mesh file="hip_0.obj" />
<mesh file="hip_1.obj" />
<mesh file="thigh_0.obj" />
<mesh file="thigh_1.obj" />
<mesh file="thigh_mirror_0.obj" />
<mesh file="thigh_mirror_1.obj" />
<mesh file="calf_0.obj" />
<mesh file="calf_1.obj" />
<mesh file="calf_mirror_0.obj" />
<mesh file="calf_mirror_1.obj" />
<mesh file="foot.obj" />
</asset>
<worldbody>
<body name="base_link" pos="0 0 0.445" childclass="go2">
<!-- <body name="base_link" pos="-5 1.2 0.445" childclass="go2"> -->
<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719"
mass="6.921"
diaginertia="0.107027 0.0980771 0.0244531" />
<freejoint />
<geom mesh="base_0" material="black" class="visual" />
<geom mesh="base_1" material="black" class="visual" />
<geom mesh="base_2" material="black" class="visual" />
<geom mesh="base_3" material="white" class="visual" />
<geom mesh="base_4" material="gray" class="visual" />
<geom size="0.1881 0.04675 0.057" type="box" class="collision" />
<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" />
<geom size="0.047" pos="0.293 0 -0.06" class="collision" />
<site name="imu" pos="-0.02557 0 0.04232" />
<body name="FL_hip" pos="0.1934 0.0465 0">
<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237"
mass="0.678"
diaginertia="0.00088403 0.000596003 0.000479967" />
<joint name="FL_hip_joint" class="abduction" />
<geom mesh="hip_0" material="metal" class="visual" />
<geom mesh="hip_1" material="gray" class="visual" />
<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" />
<body name="FL_thigh" pos="0 0.0955 0">
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623"
mass="1.152"
diaginertia="0.00594973 0.00584149 0.000878787" />
<joint name="FL_thigh_joint" class="front_hip" />
<geom mesh="thigh_0" material="metal" class="visual" />
<geom mesh="thigh_1" material="gray" class="visual" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
type="box" class="collision" />
<body name="FL_calf" pos="0 0 -0.213">
<inertial pos="0.00629595 -0.000622121 -0.141417"
quat="0.710672 0.00154099 -0.00450087 0.703508"
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
<joint name="FL_calf_joint" class="knee" />
<geom mesh="calf_0" material="gray" class="visual" />
<geom mesh="calf_1" material="black" class="visual" />
<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0"
type="cylinder" class="collision" />
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
type="cylinder" class="collision" />
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
<geom name="FL" class="foot" />
<body name="FL_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="FR_hip" pos="0.1934 -0.0465 0">
<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014"
mass="0.678"
diaginertia="0.00088403 0.000596003 0.000479967" />
<joint name="FR_hip_joint" class="abduction" />
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" />
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" />
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
class="collision" />
<body name="FR_thigh" pos="0 -0.0955 0">
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533"
mass="1.152"
diaginertia="0.00594973 0.00584149 0.000878787" />
<joint name="FR_thigh_joint" class="front_hip" />
<geom mesh="thigh_mirror_0" material="metal" class="visual" />
<geom mesh="thigh_mirror_1" material="gray" class="visual" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
type="box" class="collision" />
<body name="FR_calf" pos="0 0 -0.213">
<inertial pos="0.00629595 0.000622121 -0.141417"
quat="0.703508 -0.00450087 0.00154099 0.710672"
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
<joint name="FR_calf_joint" class="knee" />
<geom mesh="calf_mirror_0" material="gray" class="visual" />
<geom mesh="calf_mirror_1" material="black" class="visual" />
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
type="cylinder" class="collision" />
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
type="cylinder" class="collision" />
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
<geom name="FR" class="foot" />
<body name="FR_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1934 0.0465 0">
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245"
mass="0.678"
diaginertia="0.00088403 0.000596003 0.000479967" />
<joint name="RL_hip_joint" class="abduction" />
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" />
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" />
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
class="collision" />
<body name="RL_thigh" pos="0 0.0955 0">
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623"
mass="1.152"
diaginertia="0.00594973 0.00584149 0.000878787" />
<joint name="RL_thigh_joint" class="back_hip" />
<geom mesh="thigh_0" material="metal" class="visual" />
<geom mesh="thigh_1" material="gray" class="visual" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
type="box" class="collision" />
<body name="RL_calf" pos="0 0 -0.213">
<inertial pos="0.00629595 -0.000622121 -0.141417"
quat="0.710672 0.00154099 -0.00450087 0.703508"
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
<joint name="RL_calf_joint" class="knee" />
<geom mesh="calf_0" material="gray" class="visual" />
<geom mesh="calf_1" material="black" class="visual" />
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
type="cylinder" class="collision" />
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
type="cylinder" class="collision" />
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
<geom name="RL" class="foot" />
<body name="RL_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1934 -0.0465 0">
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462"
mass="0.678"
diaginertia="0.00088403 0.000596003 0.000479967" />
<joint name="RR_hip_joint" class="abduction" />
<geom mesh="hip_0" material="metal" class="visual"
quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
<geom mesh="hip_1" material="gray" class="visual"
quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
class="collision" />
<body name="RR_thigh" pos="0 -0.0955 0">
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533"
mass="1.152"
diaginertia="0.00594973 0.00584149 0.000878787" />
<joint name="RR_thigh_joint" class="back_hip" />
<geom mesh="thigh_mirror_0" material="metal" class="visual" />
<geom mesh="thigh_mirror_1" material="gray" class="visual" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
type="box" class="collision" />
<body name="RR_calf" pos="0 0 -0.213">
<inertial pos="0.00629595 0.000622121 -0.141417"
quat="0.703508 -0.00450087 0.00154099 0.710672"
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
<joint name="RR_calf_joint" class="knee" />
<geom mesh="calf_mirror_0" material="gray" class="visual" />
<geom mesh="calf_mirror_1" material="black" class="visual" />
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
type="cylinder" class="collision" />
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
type="cylinder" class="collision" />
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
<geom name="RR" class="foot" />
<body name="RR_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
</actuator>
<sensor>
<jointpos name="FR_hip_pos" joint="FR_hip_joint" />
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
<jointpos name="FR_calf_pos" joint="FR_calf_joint" />
<jointpos name="FL_hip_pos" joint="FL_hip_joint" />
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
<jointpos name="FL_calf_pos" joint="FL_calf_joint" />
<jointpos name="RR_hip_pos" joint="RR_hip_joint" />
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
<jointpos name="RL_hip_pos" joint="RL_hip_joint" />
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
<jointpos name="RL_calf_pos" joint="RL_calf_joint" />
<jointvel name="FR_hip_vel" joint="FR_hip_joint" />
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
<jointvel name="FR_calf_vel" joint="FR_calf_joint" />
<jointvel name="FL_hip_vel" joint="FL_hip_joint" />
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
<jointvel name="FL_calf_vel" joint="FL_calf_joint" />
<jointvel name="RR_hip_vel" joint="RR_hip_joint" />
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
<jointvel name="RL_hip_vel" joint="RL_hip_joint" />
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
<jointvel name="RL_calf_vel" joint="RL_calf_joint" />
<jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" />
<jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" />
<jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" />
<jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" />
<jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" />
<jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" />
<jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" />
<jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" />
<jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" />
<jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" />
<jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" />
<jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" />
<framequat name="imu_quat" objtype="site" objname="imu" />
<gyro name="imu_gyro" site="imu" />
<accelerometer name="imu_acc" site="imu" />
<framepos name="frame_pos" objtype="site" objname="imu" />
<framelinvel name="frame_vel" objtype="site" objname="imu" />
</sensor>
<!-- <keyframe>
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
</keyframe> -->
</mujoco>

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robogauge/resources/terrains/flat.xml Normal file
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<mujoco model="flat">
<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="0.2"/>
<material name="sponge_mat" rgba="0.9 0.9 0.2 1" reflectance="0.1"/>
</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"/>
</worldbody>
</mujoco>

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robogauge/scripts/run.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : run.py
@Time : 2025/11/27 15:54:47
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Run Robogauge Pipeline
'''
from robogauge.tasks import *
from robogauge.utils.task_register import task_register
from robogauge.utils.helpers import parse_args
from robogauge.utils.logger import logger
if __name__ == '__main__':
args = parse_args()
logger.create(args.experiment_name)
pipeline: BasePipeline = task_register.make_pipeline(args.task_name, args=args)
pipeline.run()

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robogauge/tasks/__init__.py Normal file
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from robogauge.utils.task_register import task_register
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
from robogauge.tasks.robots import RobotConfig
from robogauge.tasks.pipeline import BasePipeline
from robogauge.tasks.gauge import BaseGaugeConfig
task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)

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robogauge/tasks/gauge/__init__.py Normal file
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from .base_gauge import BaseGauge
from .base_gauge_config import BaseGaugeConfig
from .flat.flat_gauge import FlatGauge
from .flat.flat_gauge_config import FlatGaugeConfig

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robogauge/tasks/gauge/base_gauge.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : base_gauge.py
@Time : 2025/11/27 15:55:19
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Base Gauge for Robogauge
'''
from robogauge.tasks.robots.base_robot_config import RobotConfig
from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
class BaseGauge:
def __init__(self, cfg: BaseGaugeConfig):
self.cfg = cfg
def is_reset(self) -> bool:
return False
def is_done(self) -> bool:
return False
def get_goal(self) -> dict:
goal = {}
return goal
def update_metrics(self, sim_info: dict):
...

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robogauge/tasks/gauge/base_gauge_config.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : base_gauge_config.py
@Time : 2025/11/27 15:55:11
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Base Gauge Configuration
'''
from robogauge.utils.config import Config
class BaseGaugeConfig(Config):
gauge_class = 'BaseGauge'
class assets:
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
terrain_spawn_xy = [0, 0] # x y [m]
class metrics:
dof_limits = True
class commands:
stance = True
max_lin_vel = True
diagonal_lin_vel = True

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robogauge/tasks/gauge/flat/flat_gauge.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : flat_gauge.py
@Time : 2025/11/27 16:03:11
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Flat Gauge Implementation
'''
from robogauge.tasks.gauge.base_gauge import BaseGauge
class FlatGauge(BaseGauge):
...

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robogauge/tasks/gauge/flat/flat_gauge_config.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : flat_gauge_config.py
@Time : 2025/11/27 16:03:02
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Flat Gauge Configuration
'''
from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
class FlatGaugeConfig(BaseGaugeConfig):
...

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robogauge/tasks/pipeline/__init__.py Normal file
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from .base_pipeline import BasePipeline

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robogauge/tasks/pipeline/base_pipeline.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : base_pipeline.py
@Time : 2025/11/27 15:53:26
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Base Pipeline for Robogauge
'''
import traceback
from robogauge.utils.logger import logger
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig
from robogauge.tasks.robots import BaseRobot, RobotConfig
from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
class BasePipeline:
def __init__(self,
simulator_cfg: MujocoConfig,
robot_cfg: RobotConfig,
gauge_cfg: BaseGaugeConfig
):
self.simulator_cfg = simulator_cfg
self.robot_cfg = robot_cfg
self.gauge_cfg = gauge_cfg
self.sim: MujocoSimulator = eval(simulator_cfg.simulator_class)(simulator_cfg)
self.robot: BaseRobot = eval(robot_cfg.robot_class)(robot_cfg)
self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg)
def load(self):
self.sim.load(
self.gauge_cfg.assets.terrain_xml,
self.robot_cfg.assets.robot_xml,
self.gauge_cfg.assets.terrain_spawn_xy,
self.robot_cfg.assets.robot_spawn_height
)
def run(self):
try:
self.load()
info = self.sim.step()
frame_skip = int(self.robot_cfg.control.control_dt / self.simulator_cfg.physics.simulation_dt)
logger.info(f"Sim FPS: {1.0 / self.simulator_cfg.physics.simulation_dt:.2f}, Control FPS: {1.0 / self.robot_cfg.control.control_dt:.2f}, Frame Skip: {frame_skip:d}")
logger.info("Starting pipeline...")
while not self.gauge.is_done():
goal = self.gauge.get_goal()
obs = self.robot.build_observation(info, goal)
action = self.robot.get_action(obs)
for _ in range(frame_skip):
self.sim.apply_action(action)
info = self.sim.step()
self.gauge.update_metrics(info)
if self.gauge.is_reset():
self.sim.reset()
info = self.sim.step()
finally:
self.sim.close_viewer()
logger.info("Pipeline execution finished.")

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robogauge/tasks/robots/__init__.py Normal file
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from .base_robot_config import RobotConfig
from .base_robot import BaseRobot
# from .go2.go2_config import Go2Config
# from .go2.go2_controller import Go2Controller

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robogauge/tasks/robots/base_robot.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : base_robot.py
@Time : 2025/11/27 15:53:57
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Base Robot Class
'''
import torch
import numpy as np
from robogauge.tasks.robots.base_robot_config import RobotConfig
class BaseRobot:
def __init__(self, cfg: RobotConfig):
self.num_act = cfg.mdp.num_actions
self.num_obs = cfg.mdp.num_observations
self.model = None
def load_model(self):
...
def build_observation(self, sim_info: dict, goal_info: dict) -> np.ndarray:
obs = np.zeros(self.num_obs)
return obs
def get_action(self, obs) -> np.ndarray:
action = np.zeros_like(self.num_act)
return action

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robogauge/tasks/robots/base_robot_config.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : base_robot_config.py
@Time : 2025/11/27 15:53:47
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Base Robot Configuration
'''
from robogauge.utils.config import Config
class RobotConfig(Config):
robot_class = 'BaseRobot'
class assets:
robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
robot_spawn_height = 0.1 # z [m]
class control:
torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_61500.pt"
control_dt = 0.02 # 50 Hz
action_scale = 0.25 # target pos = action_scale * action * default_pos
stiffness = 20.0 # [N*m/rad]
damping = 0.5 # [N*m*s/rad]
class mdp:
num_observations = 46
num_actions = 12
class commands:
lin_vel_x = [-1, 1] # min max [m/s]
lin_vel_y = [-1, 1] # min max [m/s]
ang_vel_yaw = [-1, 1] # min max [rad/s]

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robogauge/tasks/robots/go2/go2.py Normal file
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20
robogauge/tasks/robots/go2/go2_config.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : go2_config.py
@Time : 2025/11/27 16:03:27
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Go2 Robot Configuration
'''
from robogauge.tasks.robots import RobotConfig
class Go2Config(RobotConfig):
class assets:
robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
robot_spawn_height = 0.1 # z [m]
class control:
control_dt = 0.02 # 50 Hz
action_scale = 0.25 # scale for normalized actions

2
robogauge/tasks/simulator/__init__.py Normal file
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from .mujoco_simulator import MujocoSimulator
from .mujoco_config import MujocoConfig

25
robogauge/tasks/simulator/mujoco_config.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : mujoco_config.py
@Time : 2025/11/27 15:55:34
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Mujoco Simulator Configuration
'''
from robogauge.utils.config import Config
class MujocoConfig(Config):
simulator_class = 'MujocoSimulator'
class physics:
simulation_dt = 0.005 # 200 Hz
class viewer:
headless = False
block_rendering = True # Whether to block rendering in the viewer loop.
class render:
save_video = False
height = 480
width = 640

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robogauge/tasks/simulator/mujoco_simulator.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : mujoco_simulator.py
@Time : 2025/11/27 15:54:20
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : None
'''
import mujoco
import mujoco.viewer
from dm_control import mjcf
import time
import imageio
import numpy as np
from robogauge.utils.logger import logger
from robogauge.utils.helpers import pares_path
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
class MujocoSimulator:
def __init__(self, sim_cfg: MujocoConfig):
self.cfg = sim_cfg
self.terrain_xml = None
self.robot_xml = None
self.terrain_spawn_xy = None
self.robot_spawn_height = None
self.viewer = None
self.renderer = None
self.vid_writer = None
self.vid_count = 0
self._pause = True
def load(
self,
terrain_xml: str = None,
robot_xml: str = None,
terrain_spawn_xy: list = None,
robot_spawn_height: float = None,
):
""" Load terrain and robot into the simulator, support re-loading. """
if terrain_xml is not None:
self.terrain_xml = pares_path(terrain_xml)
if robot_xml is not None:
self.robot_xml = pares_path(robot_xml)
if terrain_spawn_xy is not None:
self.terrain_spawn_xy = terrain_spawn_xy
if robot_spawn_height is not None:
self.robot_spawn_height = robot_spawn_height
terrain_xml = self.terrain_xml
robot_xml = self.robot_xml
terrain_spawn_xy = self.terrain_spawn_xy
robot_spawn_height = self.robot_spawn_height
if terrain_xml is None or robot_xml is None:
raise ValueError("Terrain and robot XML paths must be provided.")
robot_mjcf = mjcf.from_path(robot_xml)
terrain_mjcf = mjcf.from_path(terrain_xml)
for j in robot_mjcf.find_all('joint'):
if j.tag == 'freejoint':
j.remove()
attachment_frame = terrain_mjcf.attach(robot_mjcf)
attachment_frame.add('freejoint')
attachment_frame.pos = [*terrain_spawn_xy, robot_spawn_height]
if self.viewer is not None:
self.close_viewer()
self.mj_physics = mjcf.Physics.from_mjcf_model(terrain_mjcf)
self.mj_model = self.mj_physics.model.ptr
self.mj_data = self.mj_physics.data.ptr
self.mj_model.opt.timestep = self.cfg.physics.simulation_dt
self.headless = self.cfg.viewer.headless
if self.cfg.render.save_video and self.headless:
logger.warning("Cannot save video in headless mode, disabling video saving.")
self.cfg.render.save_video = False
if not self.headless:
self.viewer = mujoco.viewer.launch_passive(self.mj_model, self.mj_data, key_callback=self.key_callback)
self.last_render_time = time.time()
if self.cfg.render.save_video:
self.renderer = mujoco.Renderer(self.mj_model, height=self.cfg.render.height, width=self.cfg.render.width)
vid_dir = logger.log_dir / "videos"
vid_dir.mkdir(parents=True, exist_ok=True)
vid_path = str(vid_dir / f"sim_video_{self.vid_count:03d}.mp4")
self.vid_writer = imageio.get_writer(
vid_path,
fps=int(1 / self.cfg.physics.simulation_dt),
)
logger.info(f"Saving simulation video to: {vid_path}")
self.vid_count += 1
self._pause = False
def key_callback(self, keycode):
if keycode == 32:
self._pause = not self._pause
logger.info(f"Pause toggled: {self._pause}")
def step(self) -> dict:
""" Simulation step, pause will block thread. """
while self._pause:
time.sleep(0.1)
self.mj_physics.step()
if self.viewer is not None:
if self.viewer.is_running():
time_untile_next_render = self.cfg.physics.simulation_dt - (time.time() - self.last_render_time)
if time_untile_next_render > 0:
time.sleep(time_untile_next_render)
self.viewer.sync()
if self.vid_writer is not None:
self.renderer.update_scene(self.mj_data, camera=self.viewer.cam)
frame = self.renderer.render()
self.vid_writer.append_data(frame)
self.last_render_time = time.time()
else:
logger.warning("Viewer closed by user, stop video recording.")
self.close_viewer()
info = {}
return info
def reset(self):
""" Reset the simulator to initial state. """
self.mj_physics.reset()
if self.viewer is not None:
self.viewer.sync()
def apply_action(self, action: np.ndarray):
""" Apply action to the simulator. """
self.mj_data.ctrl[:] = action
def close_viewer(self):
""" Close the viewer and video writer. """
if self.viewer is not None:
self.viewer.close()
self.viewer = None
logger.info("Closing viewer.")
if self.vid_writer is not None:
self.vid_writer.close()
self.vid_writer = None
self.renderer = None
logger.info("Closing video writer.")

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robogauge/utils/config.py Normal file
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import inspect
class Config:
# From https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/envs/base/base_config.py
def __init__(self) -> None:
""" Initializes all member classes recursively. Ignores all namse starting with '__' (buit-in methods)."""
self.init_member_classes(self)
@staticmethod
def init_member_classes(obj):
for key in dir(obj):
if key == "__class__":
continue
var = getattr(obj, key)
if inspect.isclass(var):
i_var = var()
setattr(obj, key, i_var)
Config.init_member_classes(i_var)

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robogauge/utils/helpers.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : helpers.py
@Time : 2025/11/27 15:26:37
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Helpers for robogauge, include:
- Argument parsing
- Class to dict conversion
- Path parsing
'''
from argparse import ArgumentParser
from pathlib import Path
from robogauge import ROBOGAUGE_ROOT_DIR
def pares_path(path):
if "{ROBOGAUGE_ROOT_DIR}" in str(path):
path = str(path).replace("{ROBOGAUGE_ROOT_DIR}", ROBOGAUGE_ROOT_DIR)
return path
def class_to_dict(obj) -> dict:
if not hasattr(obj, "__dict__"):
return obj
result = {}
for key in dir(obj):
if key.startswith("_"):
continue
element = []
val = getattr(obj, key)
if isinstance(val, list):
for item in val:
element.append(class_to_dict(item))
else:
element = class_to_dict(val)
result[key] = element
return result
def str2bool(v):
if v.lower() in ('yes', 'true', 't', 'y', '1'):
return True
elif v.lower() in ('no', 'false', 'f', 'n', '0'):
return False
raise TypeError('Boolean value expected.')
def parse_args():
parser = ArgumentParser()
parameters = [
{"name": "--task-name", "type": str, "default": "base", "help": "Name of the task to run."},
{"name": "--experiment-name", "type": str, "default": "base", "help": "Name of the experiment to run."},
{"name": "--headless", "action": "store_true", "default": False, "help": "Run in headless mode."},
{"name": "--save-video", "action": "store_true", "default": False, "help": "Save video output."},
]
for param in parameters:
parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
return parser.parse_args()

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# -*- coding: utf-8 -*-
'''
@File : my_logger.py
@Time : 2025/02/26 21:43:47
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : A customed logger, support:
1. Color level name
2. Output to console and save log to file
3. Support vscode file location jump (ctrl+left key)
'''
import time
import logging
from pathlib import Path
from robogauge import ROBOGAUGE_ROOT_DIR
class LogColor:
""" ANSI color codes """
RESET = '\033[0m'
RED = '\033[31m'
GREEN = '\033[32m'
YELLOW = '\033[33m'
BLUE = '\033[34m'
MAGENTA = '\033[35m'
CYAN = '\033[36m'
WHITE = '\033[37m'
BOLD = '\033[1m'
UNDERLINE = '\033[4m'
LOG_COLORS = {
""" Match level name to color """
'DEBUG': LogColor.CYAN,
'INFO': LogColor.GREEN,
'WARNING': LogColor.YELLOW,
'ERROR': LogColor.RED,
'CRITICAL': LogColor.RED + LogColor.BOLD,
}
class ColorFormatter(logging.Formatter):
"""Color Formatter for color_level"""
def __init__(self, fmt, datefmt=None, use_color=True):
self.formatter = logging.Formatter(fmt, datefmt)
self.use_color = use_color
def format(self, record):
record.color_level = f"{LOG_COLORS.get(record.levelname, LogColor.RESET)}{record.levelname}{LogColor.RESET}" if self.use_color else record.levelname
return self.formatter.format(record)
class Logger:
def create(self,
experiment_name,
console_output=True, color_output=True,
log_level=logging.DEBUG, save_file_mode='a'
):
"""
Create customed Logger
Args:
logger_name (str): Logger name
console_output (bool, optional): Whether output to console. Defaults to True.
color_output (bool, optional): Whether use color output. Defaults to True.
log_level (int, optional): Defaults to logging.DEBUG.
save_file_mode (str, optional): The mode of saving to path_log_file
Returns:
logging.Logger: logger
"""
self.logger = logging.getLogger(experiment_name + "_logger")
self.logger.setLevel(log_level)
console_formatter = ColorFormatter( # console output format
fmt="%(asctime)s - %(color_level)s - %(filename)s:%(lineno)d - %(message)s",
datefmt="%Y-%m-%d %H:%M:%S",
use_color=color_output
)
file_formatter = logging.Formatter( # file output format
fmt="%(asctime)s - %(levelname)s - %(filename)s:%(lineno)d - %(message)s",
datefmt="%Y-%m-%d %H:%M:%S",
)
if console_output:
sh = logging.StreamHandler()
sh.setFormatter(console_formatter)
self.logger.addHandler(sh)
self.log_dir = Path(ROBOGAUGE_ROOT_DIR) / "logs" / experiment_name / time.strftime("%Y%m%d-%H-%M-%S")
self.log_dir.mkdir(parents=True, exist_ok=True)
path_log_file = self.log_dir / "stdout.log"
if path_log_file:
fh = logging.FileHandler(path_log_file, mode=save_file_mode, encoding='utf-8')
fh.setFormatter(file_formatter)
self.logger.addHandler(fh)
def debug(self, msg, *args, **kwargs):
self.logger.debug(msg, *args, **kwargs)
def info(self, msg, *args, **kwargs):
self.logger.info(msg, *args, **kwargs)
def warning(self, msg, *args, **kwargs):
self.logger.warning(msg, *args, **kwargs)
def error(self, msg, *args, **kwargs):
self.logger.error(msg, *args, **kwargs)
def critical(self, msg, *args, **kwargs):
self.logger.critical(msg, *args, **kwargs)
logger = Logger()
if __name__ == '__main__':
from pathlib import Path
path_parent = Path(__file__).parents[0]
path_log = path_parent / "app.log"
logger = Logger()
logger.create("my_logger")
logger.debug("This is a debug message")
logger.info("This is an info message")
logger.warning("This is a warning message")
logger.error("This is an error message")
logger.critical("This is a critical message")
# logger_no_color = Logger()
# logger_no_color.create("no_color_logger", console_output=True, color_output=False)
# logger_no_color.info("This is a info message without color")
# logger_file_only = Logger()
# logger_file_only.create("file_only_logger", console_output=False) # save to file only
# logger_file_only.error("This is an error message only in file")

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robogauge/utils/mujoco_tools.py Normal file
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robogauge/utils/task_register.py Normal file
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# -*- coding: utf-8 -*-
'''
@File : task_register.py
@Time : 2025/11/27 15:59:03
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Task Registration Utility
'''
class TaskRegister():
def __init__(self):
self.pipeline_classes = {}
self.sim_cfgs = {}
self.gauger_cfgs = {}
self.robot_cfgs = {}
def register(self, name: str, pipeline_class, sim_cfg, gauger_cfg, robot_cfg):
self.pipeline_classes[name] = pipeline_class
self.sim_cfgs[name] = sim_cfg
self.gauger_cfgs[name] = gauger_cfg
self.robot_cfgs[name] = robot_cfg
def get_pipeline_class(self, name: str):
if name not in self.pipeline_classes:
raise ValueError(f"Task '{name}' is not registered.")
return self.pipeline_classes[name]
def get_cfgs(self, name):
if name not in self.sim_cfgs:
raise ValueError(f"Task '{name}' is not registered.")
sim_cfg = self.sim_cfgs[name]
gauger_cfg = self.gauger_cfgs[name]
robot_cfg = self.robot_cfgs[name]
return sim_cfg, gauger_cfg, robot_cfg
def make_pipeline(self, name, args=None, sim_cfg=None, gauger_cfg=None, robot_cfg=None):
default_cfgs = self.get_cfgs(name)
if sim_cfg is None:
sim_cfg = default_cfgs[0]
if gauger_cfg is None:
gauger_cfg = default_cfgs[1]
if robot_cfg is None:
robot_cfg = default_cfgs[2]
if args is not None:
self.update_args_to_cfg(sim_cfg, gauger_cfg, robot_cfg, args)
pipeline_class = self.get_pipeline_class(name)
return pipeline_class(sim_cfg, robot_cfg, gauger_cfg)
def update_args_to_cfg(self, sim_cfg, gauger_cfg, robot_cfg, args):
if args.headless is not None:
sim_cfg.viewer.headless = args.headless
if args.save_video is not None:
sim_cfg.render.save_video = args.save_video
task_register = TaskRegister()