v0.1.9
This commit is contained in:
wty-yy
@@ -9,8 +9,9 @@
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'''
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import yaml
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import random
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from copy import deepcopy
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import numpy as np
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from pathlib import Path
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from copy import deepcopy
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from robogauge.utils.logger import logger
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from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig, SimData
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@@ -18,6 +19,7 @@ from robogauge.tasks.robots import (
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BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE
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)
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from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
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from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal
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from robogauge.utils.helpers import class_to_dict
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class BasePipeline:
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@@ -35,6 +37,8 @@ class BasePipeline:
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self.sim: MujocoSimulator = eval(simulator_cfg.simulator_class)(simulator_cfg)
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self.robot: BaseRobot = eval(robot_cfg.robot_class)(robot_cfg)
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self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg, robot_cfg)
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self.last_reset_time = 0.0
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# save configs
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cfg = {}
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@@ -52,17 +56,31 @@ class BasePipeline:
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self.gauge_cfg.assets.terrain_spawn_pos,
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self.robot_cfg.control.default_dof_pos
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)
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def run(self):
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logger.info(f"🚀 Starting single run: {self.run_name}")
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try:
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self.load()
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first_reset = True
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sim_data = self.sim.step()
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frame_skip = int(self.robot_cfg.control.control_dt / self.sim_cfg.physics.simulation_dt)
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assert frame_skip * self.sim_cfg.physics.simulation_dt == self.robot_cfg.control.control_dt, \
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"Control dt must be multiple of simulation dt."
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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}")
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logger.info("Running pipeline...")
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while not self.gauge.is_done():
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goal_data = self.gauge.get_goal(sim_data)
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if first_reset: # wait for robot to be still
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goal_data = GoalData(
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goal_type=self.robot_cfg.control.support_goal,
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velocity_goal=VelocityGoal(), # zero velocity
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position_goal=PositionGoal(), # current position
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)
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lin_vel = np.linalg.norm(sim_data.proprio.base.lin_vel)
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# print(lin_vel, sim_data.sim_time - self.last_reset_time)
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if np.linalg.norm(sim_data.proprio.base.lin_vel) < 0.05 and sim_data.sim_time - self.last_reset_time > 0.1:
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first_reset = False
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else:
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goal_data = self.gauge.get_goal(sim_data)
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if goal_data is None:
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continue
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obs = self.robot.build_observation(self.add_noise(sim_data), goal_data)
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@@ -79,13 +97,15 @@ class BasePipeline:
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self.gauge.update_metrics(sim_data, goal_data)
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if self.gauge.is_reset(sim_data):
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self.sim.reset()
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first_reset = True
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self.last_reset_time = sim_data.sim_time
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sim_data = self.sim.step()
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finally:
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self.sim.close_viewer()
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self.sim.close_video_writer()
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logger.info("✅ Pipeline execution finished.")
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logger.info(f"📁 Logging saved at: {logger.log_dir}")
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return logger.log_dir
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def add_noise(self, sim_data: SimData):
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@@ -8,6 +8,7 @@
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@Desc : Multiprocessing Pipeline for Robogauge
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'''
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import yaml
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import traceback
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import functools
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import numpy as np
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from tqdm import tqdm
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@@ -26,6 +27,8 @@ def run_single_process(args, data):
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seed, base_mass, friction = data
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local_args = deepcopy(args)
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local_args.seed = seed
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local_args.friction = friction
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local_args.base_mass = base_mass
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run_name = f"{local_args.run_name}_{seed}_baseMass{base_mass}_friction{friction}"
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logger.create(
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experiment_name=local_args.experiment_name,
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@@ -33,8 +36,22 @@ def run_single_process(args, data):
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console_output=False
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)
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pipeline = task_register.make_pipeline(args=local_args, create_logger=False)
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log_dir = pipeline.run()
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return log_dir
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try:
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log_dir = pipeline.run()
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ret = {
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'status': 'success',
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'log_dir': log_dir,
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'model_path': pipeline.robot_cfg.control.model_path,
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}
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except Exception as e:
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logger.error(f"❌ Process with seed={seed}, base_mass={base_mass}, friction={friction} failed with error: {e}")
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ret = {
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'status': 'error',
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'data': data,
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'error_msg': str(e),
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'traceback': traceback.format_exc()
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}
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return ret
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class MultiPipeline:
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def __init__(self, args):
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@@ -43,26 +60,52 @@ class MultiPipeline:
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self.frictions = args.frictions
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self.base_masses = args.base_masses
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self.num_processes = args.num_processes
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self.model_path = None
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logger.create(args.experiment_name+'_multi', args.run_name+'_multi')
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def run(self):
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logger.info(f"🚀 Starting Multi-Process Evaluation with {self.num_processes} processes.")
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logger.info(f"🔢 Seeds: {self.seeds}, Frictions: {self.frictions}, Base masses: {self.base_masses}")
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process_args = list(product(self.seeds, self.base_masses, self.frictions))
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workers_data = list(product(self.seeds, self.base_masses, self.frictions))
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ctx = multiprocessing.get_context('spawn')
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worker_func = functools.partial(run_single_process, self.args)
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result_log_dirs = []
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success_flags = []
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with ctx.Pool(processes=self.num_processes) as pool:
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iterator = pool.imap_unordered(worker_func, process_args)
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for log_dir in tqdm(iterator, total=len(process_args), desc="Evaluation"):
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result_log_dirs.append(log_dir)
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iterator = pool.imap_unordered(worker_func, workers_data)
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for results in tqdm(iterator, total=len(workers_data), desc="Evaluation"):
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success_flags.append(results['status'] == 'success')
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if results['status'] == 'success':
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result_log_dirs.append(results['log_dir'])
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if self.model_path is None:
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self.model_path = results['model_path']
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else:
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assert self.model_path == results['model_path'], "Model paths do not match across runs."
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else:
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data = results['data']
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logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}")
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logger.info("✅ Multi-Process Evaluation Completed.")
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self.aggregate_results(result_log_dirs)
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self.aggregate_results(result_log_dirs, success_flags, workers_data)
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def aggregate_results(self, log_dirs):
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def aggregate_results(self, log_dirs, success_flags, workers_data):
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""" Process results.yaml from each log_dir """
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logger.info("📊 Aggregating Results from all runs...")
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summary = {'model_path': self.model_path, 'success': {}}
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finish_msg = (
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f"""\n{'='*20} Run Finish Summary {'='*20}\n"""
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f"""{'Seed':^10}{'Base Mass':^15}{'Friction':^15}{'Status':^10}\n"""
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)
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for success, data in zip(success_flags, workers_data):
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seed, base_mass, friction = data
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status_str = "✅" if success else "❌"
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finish_msg += f"{seed:^10}{base_mass:^15}{friction:^15}{status_str:^10}\n"
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summary['success'][f"Seed_{seed}_BaseMass_{base_mass}_Friction_{friction}"] = True if success else False
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finish_msg += f"""{'='*88}"""
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logger.info(finish_msg)
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all_results = []
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all_yaml_paths = []
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for path in log_dirs:
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@@ -94,7 +137,6 @@ class MultiPipeline:
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for mean_name, mean_value in means.items():
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value_collections[metric][mean_name].append(float(mean_value.split(' ')[0]))
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summary = {}
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for metric, means in value_collections.items():
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summary[metric] = {}
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for mean_name, values in means.items():
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