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v0.1.5

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wty-yy
2025-12-01 18:01:12 +08:00
parent a91ea5b62e
commit ad907089a8
24 changed files with 324 additions and 120 deletions
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14
robogauge/utils/task_register.py
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@@ -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: