v1.0.3; fix multiprocess global variables bug

UPDATE.md

@@ -1,4 +1,7 @@
 # UPDATE
+## 20260101
+### v1.0.3
+Fix bug: 修复多进程中修改全局参数配置的问题, 同一个进程池中修改的全局变量会被保留, 因此task_register中需要实例化对象
 ## 20251231
 ### v1.0.2
 1. 删除pyproject.toml文件, 使用`pip install -e .`就可以安装到pip easy-install.pth中, vscode能找到robogauge包

robogauge/tasks/pipeline/base_pipeline.py

@@ -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})

robogauge/tasks/pipeline/stress_pipeline.py

@@ -38,6 +38,7 @@ GOALS = {
 }
 
 def run_pipeline(args, progress_queue, data):
+    try:
         args = deepcopy(args)
         task_id = data['task_id']
         search = data['search_max_level']
@@ -86,6 +87,17 @@ def run_pipeline(args, progress_queue, data):
         }
         report_progress(progress_data, ProgressTypes.FINISH, desc=f"✅ Done (Lv {level})")
         return results
+    except Exception as e:
+        error_context = (
+            f"\n{'='*20} 💥 CRASH CONTEXT 💥 {'='*20}\n"
+            f"Terrain   : {data.get('terrain_name')}\n"
+            f"Friction  : {data.get('friction')}\n"
+            f"Base Mass : {data.get('base_mass')}\n"
+            f"Task ID   : {data.get('task_id')}\n"
+            f"Original Error: {str(e)}\n"
+            f"{'='*60}"
+        )
+        raise RuntimeError(error_context) from e
 
 class StressPipeline:
     def __init__(self, args):

robogauge/utils/task_register.py

@@ -33,9 +33,9 @@ class TaskRegister():
     def get_cfgs(self, name):
         if name not in self.sim_cfgs:
             raise ValueError(f"Task '{name}' is not registered, checkout '{ROBOGAUGE_ROOT_DIR}/robogauge/tasks/__init__.py'.")
-        sim_cfg = self.sim_cfgs[name]
-        gauger_cfg = self.gauger_cfgs[name]
-        robot_cfg = self.robot_cfgs[name]
+        sim_cfg = self.sim_cfgs[name]()
+        gauger_cfg = self.gauger_cfgs[name]()
+        robot_cfg = self.robot_cfgs[name]()
         return sim_cfg, gauger_cfg, robot_cfg
     
     def make_pipeline(self, args=None, sim_cfg=None, gauger_cfg=None, robot_cfg=None, create_logger=True):
@@ -55,7 +55,7 @@ class TaskRegister():
         run_name = args.run_name + f'_{args.seed}'
         if create_logger:
             logger.create(args.experiment_name, run_name)
-        return pipeline_class(run_name, sim_cfg, robot_cfg, gauger_cfg)
+        return pipeline_class(run_name, sim_cfg, robot_cfg, gauger_cfg, args)
 
     def update_args_to_cfg(self, sim_cfg, gauger_cfg, robot_cfg, args):
         if args.model_path is not None: