cyy/RoboGauge
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

v0.1.14; add wave terrain; finish LevelPipeline

Browse Source
This commit is contained in:
wty-yy
2025-12-25 00:02:43 +08:00
parent 50126ec9aa
commit 11908747ce
19 changed files with 296 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
View File

@@ -22,5 +22,16 @@ class TerrainLevelsConfig(Config):
class wave:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
targets = []
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],
]

8
robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
View File

@@ -14,14 +14,14 @@ class WaveGaugeConfig(BaseGaugeConfig):
class assets(BaseGaugeConfig.assets):
terrain_name = "wave"
terrain_level = 1 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_1.xml'
terrain_spawn_pos = [1.5, 0, 1] # x y z [m], robot freejoint spawn position on the terrain
terrain_level = 10 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.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 = [4, 0, 1.0] # x y z [m], target position in the environment, used for target position goal
target_pos = [6.5, 0.0, 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

2
robogauge/tasks/pipeline/base_pipeline.py
View File

@@ -117,7 +117,7 @@ class BasePipeline:
logger.info("✅ Pipeline execution finished.")
logger.info(f"📁 Logging saved at: {logger.log_dir}")
return logger.log_dir, error
return self.gauge.results, error
def reset_sim_and_robot(self, sim_data: SimData):
self.sim.reset()

30
robogauge/tasks/pipeline/level_pipeline.py
View File

@@ -16,7 +16,6 @@ class LevelPipeline:
def __init__(self, args):
self.args = args
self.seeds = args.seeds
self.model_path = None
logger.create(args.experiment_name+'_level', args.run_name)
def run(self):
@@ -25,30 +24,39 @@ class LevelPipeline:
# binary search levels
l, r = 0, 10
all_level_results = {}
while l < r:
level = (l + r + 1) // 2
if self.test_level(level):
all_success, results = self.test_level(level)
all_level_results[level] = results
if all_success:
l = level
else:
r = level - 1
if l >= 1:
logger.info(f"🏆 Found maximum level: {l}")
level = l
level_results = all_level_results.get(l, {
'model_path': results['model_path'],
'terrain_name': results['terrain_name'],
'terrain_level': 0,
})
if level >= 1:
logger.info(f"🏆 Found maximum level: {level}")
else:
logger.info(f"❌ No valid level found [1-10].")
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)
log_dir = multi_pipeline.run()
# load results.yaml
with open(log_dir / "aggregated_results.yaml", 'r') as f:
results = yaml.safe_load(f)
self.model_path = results['model_path']
success_mean = float(results['success']['mean'].split(' ')[0])
aggregated_results = multi_pipeline.run()
success_mean = float(aggregated_results['success']['mean'].split(' ')[0])
all_success = success_mean == 1.0
if all_success:
logger.info(f"✅ Level {level} passed all tests.")
else:
logger.info(f"❌ Level {level} failed some tests.")
return all_success
return all_success, aggregated_results

58
robogauge/tasks/pipeline/multi_pipeline.py
View File

@@ -36,18 +36,19 @@ def run_single_process(args, data):
console_output=False
)
pipeline = task_register.make_pipeline(args=local_args, create_logger=False)
log_dir, error = pipeline.run()
results, error = pipeline.run()
if error is None:
ret = {
'status': 'success',
'log_dir': log_dir,
'results': results,
'model_path': pipeline.robot_cfg.control.model_path,
}
else:
logger.error(f"❌ Process with seed={seed}, base_mass={base_mass}, friction={friction} failed with error: {error}")
ret = {
'status': 'error',
'log_dir': log_dir,
'results': results,
'model_path': pipeline.robot_cfg.control.model_path,
'data': data,
'error_msg': str(error),
'traceback': traceback.format_exc()
@@ -61,8 +62,14 @@ class MultiPipeline:
self.frictions = args.frictions
self.base_masses = args.base_masses
self.num_processes = args.num_processes
self.model_path = None
self.static_info = {}
logger.create(args.experiment_name+'_multi', args.run_name+'_multi')
def add_static_info(self, key: str, value):
if key not in self.static_info:
self.static_info[key] = value
else:
assert self.static_info[key] == value, f"Static info key '{key}' has conflicting values: {self.static_info[key]} vs {value}"
def run(self):
logger.info(f"🚀 Starting Multi-Process Evaluation with {self.num_processes} processes.")
@@ -71,32 +78,30 @@ class MultiPipeline:
workers_data = list(product(self.seeds, self.base_masses, self.frictions))
ctx = multiprocessing.get_context('spawn')
worker_func = functools.partial(run_single_process, self.args)
result_log_dirs = []
results_list = []
success_flags = []
with ctx.Pool(processes=self.num_processes) as pool:
iterator = pool.imap_unordered(worker_func, workers_data)
for results in tqdm(iterator, total=len(workers_data), desc="Evaluation"):
success_flags.append(results['status'] == 'success')
result_log_dirs.append(results['log_dir'])
if results['status'] == 'success':
if self.model_path is None:
self.model_path = results['model_path']
else:
assert self.model_path == results['model_path'], "Model paths do not match across runs."
else:
results_list.append(results['results'])
self.add_static_info('model_path', results['model_path'])
self.add_static_info('terrain_name', results['results']['terrain_name'])
self.add_static_info('terrain_level', results['results']['terrain_level'])
if results['status'] != 'success':
data = results['data']
logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}")
logger.info("✅ Multi-Process Evaluation Completed.")
self.aggregate_results(result_log_dirs, success_flags, workers_data)
return logger.log_dir
aggregated_results = self.aggregate_results(results_list, success_flags, workers_data)
return aggregated_results
def aggregate_results(self, log_dirs, success_flags, workers_data):
""" Process results.yaml from each log_dir """
def aggregate_results(self, all_results, success_flags, workers_data):
""" Process results from all processes and aggregate them. """
logger.info("📊 Aggregating Results from all runs...")
summary = {'model_path': self.model_path, 'success': {}}
summary = {'success': {}, **self.static_info}
finish_msg = (
f"""\n{'='*20} Run Finish Summary {'='*20}\n"""
f"""{'Seed':^10}{'Base Mass':^15}{'Friction':^15}{'Status':^10}\n"""
@@ -109,27 +114,9 @@ class MultiPipeline:
finish_msg += f"""{'='*88}"""
logger.info(finish_msg)
all_results = []
all_yaml_paths = []
for path in log_dirs:
yaml_path = Path(path) / "results.yaml"
if not yaml_path.exists():
logger.warning(f"Results file not found: {yaml_path}, skipping.")
continue
with open(yaml_path, 'r') as file:
data = yaml.safe_load(file)
if data:
all_results.append(data)
all_yaml_paths.append(yaml_path)
if not all_results:
logger.error("No results to aggregate.")
return
yaml_paths_str = '\n'.join([str(p) for p in all_yaml_paths])
logger.info(
f"""\n{'='*20} Results Files {'='*20}\n"""
f"""{yaml_paths_str}\n"""
f"""{'='*56}"""
)
value_collections = defaultdict(lambda: defaultdict(list))
for result in all_results:
@@ -156,3 +143,4 @@ class MultiPipeline:
f"""{yaml.dump(summary, allow_unicode=True)}"""
f"""{'='*60}"""
)
return summary