Add Pipeline diagram
This commit is contained in:
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.gitignore
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.gitignore
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@@ -8,4 +8,5 @@ __pycache__/
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# Logger
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# Logger
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logs/
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logs/
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.aim/
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.aim/
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*.bkp
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15
README.md
15
README.md
@@ -63,6 +63,7 @@
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| 1 | `max_velocity` | 单一维度的最大线/角速度 | 每次执行一个方向的指令, 再急停 | 6 |
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| 1 | `max_velocity` | 单一维度的最大线/角速度 | 每次执行一个方向的指令, 再急停 | 6 |
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| 2 | `diagonal_velocity` | 对角线速度变化 | 每次执行一对对角指令 | 8 |
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| 2 | `diagonal_velocity` | 对角线速度变化 | 每次执行一对对角指令 | 8 |
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| 3 | `target_pos_velocity` | 比例差分控制到达目标位置 | 到达目标位置或超时 | 1 |
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## 创建新任务
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## 创建新任务
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评测任务注册在[`tasks/__init__.py`](./robogauge/tasks/__init__.py)中完成, 包含四个部分:
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评测任务注册在[`tasks/__init__.py`](./robogauge/tasks/__init__.py)中完成, 包含四个部分:
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@@ -81,3 +82,17 @@
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### 导入新机器人/控制模型
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### 导入新机器人/控制模型
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1. 在Robot中创建新的机器人xml文件时, 需包含力矩控制`actuator`, 传感器`sensor - jointpos, jointvel, imu (framequat, gyro, accelerometer)`, 参考[`go2.xml`](resources/robots/go2/go2.xml), **注意: actuator的顺序需要和joint顺序一致, 该顺序称为mujoco关节顺序**
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1. 在Robot中创建新的机器人xml文件时, 需包含力矩控制`actuator`, 传感器`sensor - jointpos, jointvel, imu (framequat, gyro, accelerometer)`, 参考[`go2.xml`](resources/robots/go2/go2.xml), **注意: actuator的顺序需要和joint顺序一致, 该顺序称为mujoco关节顺序**
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2. 控制模型相关位置位于[`RobotConfig.control`](robogauge/tasks/robots/base_robot_config.py)中, 不同仿真中关节顺序可能不同, 需保证`mj2model_dof_indices`从mujoco映射到模型训练的关节次序配置正确 (IsaacGym次序和Mujoco相同), 其他模型配置需保持一致
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2. 控制模型相关位置位于[`RobotConfig.control`](robogauge/tasks/robots/base_robot_config.py)中, 不同仿真中关节顺序可能不同, 需保证`mj2model_dof_indices`从mujoco映射到模型训练的关节次序配置正确 (IsaacGym次序和Mujoco相同), 其他模型配置需保持一致
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## 代码架构
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### Pipeline逻辑
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[BasePipeline](./robogauge/tasks/pipeline/base_pipeline.py)用于管理仿真`sim`, 度量器(控制指令, 指标计算)`gauge`, 机器人运控模型`robot`三者的调度, 并包含异常处理, 域随机化, 观测噪声的添加.
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[MultiPipeline](./robogauge/tasks/pipeline/multi_pipeline.py)用于多进程启动不同seed, 域随机化参数下的`BasePipeline`, 并合并结果文件.
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[LevelPipeline](./robogauge/tasks/pipeline/level_pipeline.py)对于当前的环境配置, 找到环境地形下模型能稳定通过(三个seed均通过)的最高地形难度.
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132
assets/robogauge_basepipeline.drawio
Normal file
132
assets/robogauge_basepipeline.drawio
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<mxfile host="Electron" agent="Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/29.0.3 Chrome/140.0.7339.249 Electron/38.7.0 Safari/537.36" version="29.0.3">
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<diagram name="第 1 页" id="8v6NF5F31sSyrdGHMDpO">
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<root>
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<mxCell id="0" />
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<mxCell id="1" parent="0" />
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<mxGeometry relative="1" as="geometry">
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</root>
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</mxGraphModel>
|
||||||
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</diagram>
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||||||
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</mxfile>
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BIN
assets/robogauge_basepipeline.png
Normal file
BIN
assets/robogauge_basepipeline.png
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Binary file not shown.
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After Width: | Height: | Size: 26 KiB |
158
assets/robogauge_levelpipeline.drawio
Normal file
158
assets/robogauge_levelpipeline.drawio
Normal file
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|||||||
|
<mxfile host="Electron" agent="Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/29.0.3 Chrome/140.0.7339.249 Electron/38.7.0 Safari/537.36" version="29.0.3">
|
||||||
|
<diagram name="第 1 页" id="8v6NF5F31sSyrdGHMDpO">
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|
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<root>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-16" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-7" target="LAeri6nIJ74vq4yU8XOa-13">
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</mxCell>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-24" value="<font face="Lucida Console"><span style="font-size: 11px;">l &lt; r</span></font>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;fillColor=default;" vertex="1" parent="1">
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|
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</mxCell>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-27" value="<font face="Lucida Console">level</font><div><font face="Lucida Console">result.yaml</font></div>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" vertex="1" parent="1">
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</mxCell>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-34" value="<font face="Lucida Console" style="font-size: 11px;">BasePipeline</font>" style="rounded=0;whiteSpace=wrap;html=1;align=center;verticalAlign=middle;dashed=1;strokeColor=none;" vertex="1" parent="1">
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<mxGeometry x="404.67" y="71" width="83.33" height="10" as="geometry" />
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</mxCell>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-36" value="<font face="Lucida Console" style="font-size: 11px;">BasePipeline</font>" style="rounded=0;whiteSpace=wrap;html=1;align=center;verticalAlign=middle;dashed=1;strokeColor=none;" vertex="1" parent="1">
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<mxGeometry x="404.67" y="111" width="83.33" height="10" as="geometry" />
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</mxCell>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-37" value="<font face="Lucida Console" style="font-size: 11px;">BasePipeline</font>" style="rounded=0;whiteSpace=wrap;html=1;align=center;verticalAlign=middle;dashed=1;strokeColor=none;" vertex="1" parent="1">
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<mxGeometry x="404.67" y="151" width="83.33" height="10" as="geometry" />
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|
</mxCell>
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|
</root>
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|
</mxGraphModel>
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|
</diagram>
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|
</mxfile>
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||||||
BIN
assets/robogauge_levelpipeline.png
Normal file
BIN
assets/robogauge_levelpipeline.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 29 KiB |
Reference in New Issue
Block a user