cyy/RoboGauge
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v0.1.3

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wty-yy
2025-11-28 22:08:32 +08:00
parent 4cc0687114
commit c58ac0ab89
39 changed files with 406 additions and 114 deletions
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25
robogauge/tasks/pipeline/base_pipeline.py
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@@ -10,15 +10,17 @@
import traceback
from robogauge.utils.logger import logger
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig
from robogauge.tasks.robots import BaseRobot, RobotConfig
from robogauge.tasks.robots import BaseRobot, RobotConfig, Go2Config, Go2
from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
class BasePipeline:
def __init__(self,
run_name: str,
simulator_cfg: MujocoConfig,
robot_cfg: RobotConfig,
gauge_cfg: BaseGaugeConfig
):
self.run_name = run_name
self.simulator_cfg = simulator_cfg
self.robot_cfg = robot_cfg
self.gauge_cfg = gauge_cfg
@@ -28,31 +30,34 @@ class BasePipeline:
self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg)
def load(self):
logger.create_tensorboard(self.run_name)
self.sim.load(
self.gauge_cfg.assets.terrain_xml,
self.robot_cfg.assets.robot_xml,
self.gauge_cfg.assets.terrain_spawn_xy,
self.robot_cfg.assets.robot_spawn_height
self.robot_cfg.assets.robot_spawn_height,
self.robot_cfg.control.default_dof_pos
)
def run(self):
try:
self.load()
info = self.sim.step()
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}")
logger.info("Starting pipeline...")
logger.info("Running pipeline...")
while not self.gauge.is_done():
goal = self.gauge.get_goal()
obs = self.robot.build_observation(info, goal)
action = self.robot.get_action(obs)
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):
self.sim.apply_action(action)
info = self.sim.step()
self.gauge.update_metrics(info)
sim_data = self.sim.step()
self.gauge.update_metrics(sim_data)
if self.gauge.is_reset():
self.sim.reset()
info = self.sim.step()
sim_data = self.sim.step()
finally:
self.sim.close_viewer()
logger.info("Pipeline execution finished.")
logger.info(f"Logging saved at: {logger.log_dir}")