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v0.1.13 finish all goals eval (even crash)

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wty-yy
2025-12-22 20:37:43 +08:00
parent 989332b951
commit 6bbdceee2f
13 changed files with 94 additions and 29 deletions
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49
robogauge/tasks/pipeline/base_pipeline.py
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@@ -61,15 +61,16 @@ class BasePipeline:
def run(self):
logger.info(f"🚀 Starting single run: {self.run_name}")
try:
self.load()
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():
self.load()
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...")
error = None
while not self.gauge.is_done():
try:
if self.first_reset: # wait for robot to be still
goal_data = GoalData(
goal_type=self.robot_cfg.control.support_goal,
@@ -82,7 +83,7 @@ class BasePipeline:
goal_data = self.gauge.get_goal(sim_data)
if goal_data is None: # Change goal
sim_data = self.reset_sim(sim_data)
sim_data = self.reset_sim_and_robot(sim_data)
continue
if goal_data.visualization_pos is not None:
@@ -103,25 +104,27 @@ class BasePipeline:
sim_data = self.sim.step()
self.gauge.update_metrics(sim_data, goal_data)
if self.gauge.is_reset(sim_data):
sim_data = self.reset_sim(sim_data)
except Exception as e:
logger.error(f"❌ Pipeline execution failed with error: {e},\n{traceback.format_exc()}")
self.gauge.switch_to_next_goal() # save current goal metrics
self.gauge.save_results()
return logger.log_dir, e
finally:
self.sim.close_viewer()
self.sim.close_video_writer()
logger.info("✅ Pipeline execution finished.")
logger.info(f"📁 Logging saved at: {logger.log_dir}")
sim_data = self.reset_sim_and_robot(sim_data)
except Exception as e:
error = e
logger.error(f"❌ Goal '{self.gauge.goal_str}' failed with error: {e},\n{traceback.format_exc()}")
self.gauge.switch_to_next_goal() # save current goal metrics
sim_data = self.reset_sim_and_robot(sim_data)
logger.info("⏩ Pipeline recovered from error and continued next goal 🎯.")
return logger.log_dir, None
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, error
def reset_sim(self, sim_data: SimData):
def reset_sim_and_robot(self, sim_data: SimData):
self.sim.reset()
self.last_reset_time = sim_data.sim_time
self.first_reset = True
sim_data = self.sim.step()
self.robot.reset()
return sim_data
def add_noise(self, sim_data: SimData):