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v0.1.9

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wty-yy
2025-12-18 13:50:23 +08:00
parent 9d509829a5
commit 1e1a04b4c0
18 changed files with 195 additions and 60 deletions
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28
robogauge/tasks/pipeline/base_pipeline.py
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@@ -9,8 +9,9 @@
'''
import yaml
import random
from copy import deepcopy
import numpy as np
from pathlib import Path
from copy import deepcopy
from robogauge.utils.logger import logger
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig, SimData
@@ -18,6 +19,7 @@ from robogauge.tasks.robots import (
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE
)
from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal
from robogauge.utils.helpers import class_to_dict
class BasePipeline:
@@ -35,6 +37,8 @@ class BasePipeline:
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, robot_cfg)
self.last_reset_time = 0.0
# save configs
cfg = {}
@@ -52,17 +56,31 @@ class BasePipeline:
self.gauge_cfg.assets.terrain_spawn_pos,
self.robot_cfg.control.default_dof_pos
)
def run(self):
logger.info(f"🚀 Starting single run: {self.run_name}")
try:
self.load()
first_reset = True
sim_data = self.sim.step()
frame_skip = int(self.robot_cfg.control.control_dt / self.sim_cfg.physics.simulation_dt)
assert frame_skip * self.sim_cfg.physics.simulation_dt == self.robot_cfg.control.control_dt, \
"Control dt must be multiple of simulation dt."
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}")
logger.info("Running pipeline...")
while not self.gauge.is_done():
goal_data = self.gauge.get_goal(sim_data)
if first_reset: # wait for robot to be still
goal_data = GoalData(
goal_type=self.robot_cfg.control.support_goal,
velocity_goal=VelocityGoal(), # zero velocity
position_goal=PositionGoal(), # current position
)
lin_vel = np.linalg.norm(sim_data.proprio.base.lin_vel)
# print(lin_vel, sim_data.sim_time - self.last_reset_time)
if np.linalg.norm(sim_data.proprio.base.lin_vel) < 0.05 and sim_data.sim_time - self.last_reset_time > 0.1:
first_reset = False
else:
goal_data = self.gauge.get_goal(sim_data)
if goal_data is None:
continue
obs = self.robot.build_observation(self.add_noise(sim_data), goal_data)
@@ -79,13 +97,15 @@ class BasePipeline:
self.gauge.update_metrics(sim_data, goal_data)
if self.gauge.is_reset(sim_data):
self.sim.reset()
first_reset = True
self.last_reset_time = sim_data.sim_time
sim_data = self.sim.step()
finally:
self.sim.close_viewer()
self.sim.close_video_writer()
logger.info("✅ Pipeline execution finished.")
logger.info(f"📁 Logging saved at: {logger.log_dir}")
return logger.log_dir
def add_noise(self, sim_data: SimData):