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v0.1.4

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This commit is contained in:
wty-yy
2025-12-01 00:08:01 +08:00
parent c58ac0ab89
commit a91ea5b62e
21 changed files with 299 additions and 60 deletions
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8
robogauge/tasks/pipeline/base_pipeline.py
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@@ -27,7 +27,7 @@ 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)
self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg, robot_cfg)
def load(self):
logger.create_tensorboard(self.run_name)
@@ -47,14 +47,16 @@ class BasePipeline:
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}")
logger.info("Running pipeline...")
while not self.gauge.is_done():
goal = self.gauge.get_goal()
goal = self.gauge.get_goal(sim_data)
if goal is None:
continue
obs = self.robot.build_observation(sim_data, goal)
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):
sim_data = self.sim.step()
self.gauge.update_metrics(sim_data)
if self.gauge.is_reset():
if self.gauge.is_reset(sim_data):
self.sim.reset()
sim_data = self.sim.step()
finally: