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v0.1.11

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This commit is contained in:
wty-yy
2025-12-21 00:16:07 +08:00
parent 939dc69b7e
commit 4546be76bf
14 changed files with 246 additions and 45 deletions
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30
robogauge/tasks/pipeline/base_pipeline.py
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@@ -38,6 +38,7 @@ class BasePipeline:
self.robot: BaseRobot = eval(robot_cfg.robot_class)(robot_cfg)
self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg, robot_cfg)
self.first_reset = True
self.last_reset_time = 0.0
# save configs
@@ -61,7 +62,6 @@ class BasePipeline:
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, \
@@ -69,20 +69,26 @@ class BasePipeline:
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():
if first_reset: # wait for robot to be still
if self.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
self.first_reset = False
else:
goal_data = self.gauge.get_goal(sim_data)
if goal_data is None:
if goal_data is None: # Change goal
sim_data = self.reset_sim(sim_data)
continue
if goal_data.visualization_pos is not None:
self.sim.set_target_pos(goal_data.visualization_pos)
else:
self.sim.set_target_pos(None)
obs = self.robot.build_observation(self.add_noise(sim_data), goal_data)
action, p_gains, d_gains, control_type = self.robot.get_action(obs)
@@ -96,10 +102,7 @@ class BasePipeline:
sim_data = self.sim.step()
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()
sim_data = self.reset_sim(sim_data)
except Exception as e:
logger.error(f"❌ Pipeline execution failed with error: {e}")
raise e
@@ -110,6 +113,13 @@ class BasePipeline:
logger.info(f"📁 Logging saved at: {logger.log_dir}")
return logger.log_dir
def reset_sim(self, sim_data: SimData):
self.sim.reset()
self.last_reset_time = sim_data.sim_time
self.first_reset = True
sim_data = self.sim.step()
return sim_data
def add_noise(self, sim_data: SimData):
sim_data = deepcopy(sim_data)