cyy/RoboGauge
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v1.0.3; fix multiprocess global variables bug

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This commit is contained in:
wty-yy
2026-01-02 11:06:06 +08:00
parent 82683ba394
commit c81bdec934
4 changed files with 69 additions and 52 deletions
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6
robogauge/tasks/pipeline/base_pipeline.py
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@@ -28,12 +28,14 @@ class BasePipeline:
run_name: str,
simulator_cfg: MujocoConfig,
robot_cfg: RobotConfig,
gauge_cfg: BaseGaugeConfig
gauge_cfg: BaseGaugeConfig,
args,
):
self.run_name = run_name
self.sim_cfg = simulator_cfg
self.robot_cfg = robot_cfg
self.gauge_cfg = gauge_cfg
self.args = args
self.sim: MujocoSimulator = eval(simulator_cfg.simulator_class)(simulator_cfg)
self.robot: BaseRobot = eval(robot_cfg.robot_class)(robot_cfg)
@@ -44,7 +46,7 @@ class BasePipeline:
# save configs
cfg = {}
for name in ['sim_cfg', 'robot_cfg', 'gauge_cfg']:
for name in ['args', 'sim_cfg', 'robot_cfg', 'gauge_cfg']:
obj = getattr(self, name)
obj_dict = class_to_dict(obj)
cfg.update({name: obj_dict})