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v0.1.8

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This commit is contained in:
wty-yy
2025-12-06 17:11:40 +08:00
parent a05d047b39
commit 9d509829a5
19 changed files with 364 additions and 60 deletions
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55
robogauge/tasks/pipeline/base_pipeline.py
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@@ -8,10 +8,12 @@
@Desc : Base Pipeline for Robogauge
'''
import yaml
import random
from copy import deepcopy
from pathlib import Path
from robogauge.utils.logger import logger
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig, SimData
from robogauge.tasks.robots import (
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE
)
@@ -26,7 +28,7 @@ class BasePipeline:
gauge_cfg: BaseGaugeConfig
):
self.run_name = run_name
self.simulator_cfg = simulator_cfg
self.sim_cfg = simulator_cfg
self.robot_cfg = robot_cfg
self.gauge_cfg = gauge_cfg
@@ -36,7 +38,7 @@ class BasePipeline:
# save configs
cfg = {}
for name in ['simulator_cfg', 'robot_cfg', 'gauge_cfg']:
for name in ['sim_cfg', 'robot_cfg', 'gauge_cfg']:
obj = getattr(self, name)
obj_dict = class_to_dict(obj)
cfg.update({name: obj_dict})
@@ -52,27 +54,54 @@ 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.simulator_cfg.physics.simulation_dt)
logger.info(f"Sim FPS: {1.0 / self.simulator_cfg.physics.simulation_dt:.2f}, Control FPS: {1.0 / self.robot_cfg.control.control_dt:.2f}, Frame Skip: {frame_skip:d}")
frame_skip = int(self.robot_cfg.control.control_dt / self.sim_cfg.physics.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 = self.gauge.get_goal(sim_data)
if goal is None:
goal_data = self.gauge.get_goal(sim_data)
if goal_data is None:
continue
obs = self.robot.build_observation(sim_data, goal)
obs = self.robot.build_observation(self.add_noise(sim_data), goal_data)
action, p_gains, d_gains, control_type = self.robot.get_action(obs)
self.sim.setup_action(action, p_gains, d_gains, control_type)
for _ in range(frame_skip):
if self.sim_cfg.domain_rand.action_delay:
actions_start_decimation = random.randint(0, frame_skip)
else:
self.sim.setup_action(action, p_gains, d_gains, control_type)
for i in range(frame_skip):
if self.sim_cfg.domain_rand.action_delay and i == actions_start_decimation:
self.sim.setup_action(action, p_gains, d_gains, control_type)
sim_data = self.sim.step()
self.gauge.update_metrics(sim_data)
self.gauge.update_metrics(sim_data, goal_data)
if self.gauge.is_reset(sim_data):
self.sim.reset()
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}")
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):
sim_data = deepcopy(sim_data)
noise_cfg = self.sim_cfg.noise
if not noise_cfg.enabled:
return sim_data
proprio = sim_data.proprio
def add_uniform_noise(data, noise_level):
for i in range(len(data)):
noise = random.uniform(-noise_level, noise_level)
data[i] += noise
add_uniform_noise(proprio.joint.pos, noise_cfg.joint_pos)
add_uniform_noise(proprio.joint.vel, noise_cfg.joint_vel)
add_uniform_noise(proprio.base.lin_vel, noise_cfg.lin_vel)
add_uniform_noise(proprio.base.ang_vel, noise_cfg.ang_vel)
add_uniform_noise(proprio.imu.lin_vel, noise_cfg.lin_vel)
add_uniform_noise(proprio.imu.ang_vel, noise_cfg.ang_vel)
return sim_data