v0.1.5

robogauge/utils/helpers.py

@@ -10,6 +10,7 @@
 - Class to dict conversion
 - Path parsing
 '''
+import yaml
 from argparse import ArgumentParser
 from pathlib import Path
 from robogauge import ROBOGAUGE_ROOT_DIR
@@ -49,6 +50,8 @@ def parse_args():
     parameters = [
         {"name": "--task-name", "type": str, "default": "base", "help": "Name of the task to run."},
         {"name": "--experiment-name", "type": str, "help": "Name of the experiment to run."},
+        {"name": "--run-name", "type": str, "default": "run1", "help": "Name of the run."},
+        {"name": "--model-path", "type": str, "help": "Path to the model file."},
         {"name": "--headless", "action": "store_true", "default": False, "help": "Run in headless mode."},
         {"name": "--save-video", "action": "store_true", "default": False, "help": "Save video output."},
     ]
@@ -56,5 +59,5 @@ def parse_args():
         parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
     args = parser.parse_args()
     if args.experiment_name is None:
-        args.experiment_name = f"{args.task_name}_exp"
+        args.experiment_name = f"exp"
     return args

robogauge/utils/logger.py

@@ -13,7 +13,7 @@
 import time
 import logging
 from pathlib import Path
-from robogauge import ROBOGAUGE_ROOT_DIR
+from robogauge import ROBOGAUGE_LOGS_DIR
 from torch.utils.tensorboard import SummaryWriter
 
 class LogColor:
@@ -56,6 +56,7 @@ class Logger:
 
     def create(self,
         experiment_name,
+        run_name,
         console_output=True, color_output=True,
         log_level=logging.DEBUG, save_file_mode='a'
     ):
@@ -75,6 +76,9 @@ class Logger:
         self.logger = logging.getLogger(experiment_name + "_logger")
         self.logger.setLevel(log_level)
         self.logger.propagate = False
+        self.time_tag = time.strftime("%Y%m%d-%H-%M-%S")
+        self.tag = f"{self.time_tag}_{run_name}"
+        self.experiment_name = experiment_name
 
         console_formatter = ColorFormatter(    # console output format
             fmt="%(asctime)s - %(color_level)s - %(filename)s:%(lineno)d - %(message)s",
@@ -91,19 +95,21 @@ class Logger:
             sh.setFormatter(console_formatter)
             self.logger.addHandler(sh)
 
-        self.log_dir = Path(ROBOGAUGE_ROOT_DIR) / "logs" / experiment_name / time.strftime("%Y%m%d-%H-%M-%S")
+        self.log_dir = Path(ROBOGAUGE_LOGS_DIR) / experiment_name / self.tag
         self.log_dir.mkdir(parents=True, exist_ok=True)
         path_log_file = self.log_dir / "stdout.log"
         if path_log_file:
             fh = logging.FileHandler(path_log_file, mode=save_file_mode, encoding='utf-8')
             fh.setFormatter(file_formatter)
             self.logger.addHandler(fh)
+        self.info(f"Logs saved at: {path_log_file}")
     
-    def create_tensorboard(self, run_name: str):
+    def create_tensorboard(self, robot_name: str, model_name: str, goal_name: str):
         if self.writer is not None:
             self.writer.close()
-        self.writer = SummaryWriter(str(self.log_dir / run_name))
-        self.info(f"Tensorboard writer created at: {self.log_dir / run_name}")
+        data_path = Path(ROBOGAUGE_LOGS_DIR) / self.experiment_name / 'data' / robot_name / model_name / goal_name / self.tag
+        self.writer = SummaryWriter(str(data_path))
+        self.info(f"Tensorboard writer created at: {data_path}")
 
     def debug(self, msg, *args, **kwargs):
         self.logger.debug(msg, *args, **kwargs, stacklevel=2)

robogauge/utils/measure.py

@@ -0,0 +1,13 @@
+class Average:
+    def __init__(self):
+        self.avg = 0.0
+        self.count = 0
+    
+    def update(self, value: float):
+        self.avg += (value - self.avg) / (self.count + 1)
+        self.count += 1
+        return self.avg
+    
+    @property
+    def mean(self):
+        return self.avg

robogauge/utils/task_register.py

@@ -7,6 +7,8 @@
 @Blog    : https://wty-yy.github.io/
 @Desc    : Task Registration Utility
 '''
+from robogauge.utils.helpers import parse_args
+
 class TaskRegister():
     def __init__(self):
         self.pipeline_classes = {}
@@ -33,8 +35,10 @@ class TaskRegister():
         robot_cfg = self.robot_cfgs[name]
         return sim_cfg, gauger_cfg, robot_cfg
     
-    def make_pipeline(self, name, args=None, sim_cfg=None, gauger_cfg=None, robot_cfg=None, run_name='0'):
-        default_cfgs = self.get_cfgs(name)
+    def make_pipeline(self, args=None, sim_cfg=None, gauger_cfg=None, robot_cfg=None):
+        if args is None:
+            args = parse_args()
+        default_cfgs = self.get_cfgs(args.task_name)
         if sim_cfg is None:
             sim_cfg = default_cfgs[0]
         if gauger_cfg is None:
@@ -43,10 +47,12 @@ class TaskRegister():
             robot_cfg = default_cfgs[2]
         if args is not None:
             self.update_args_to_cfg(sim_cfg, gauger_cfg, robot_cfg, args)
-        pipeline_class = self.get_pipeline_class(name)
-        return pipeline_class(run_name, sim_cfg, robot_cfg, gauger_cfg)
+        pipeline_class = self.get_pipeline_class(args.task_name)
+        return pipeline_class(args.run_name, sim_cfg, robot_cfg, gauger_cfg)
 
     def update_args_to_cfg(self, sim_cfg, gauger_cfg, robot_cfg, args):
+        if args.model_path is not None:
+            robot_cfg.control.model_path = args.model_path
         if args.headless is not None:
             sim_cfg.viewer.headless = args.headless
         if args.save_video is not None: