Update README
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README.md
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README.md
@@ -100,7 +100,7 @@ Example integration: `update_robogauge` in [`go2_rl_gym - on_policy_runner.py`](
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> You can launch training with evaluation enabled via `python legged_gym/scripts/train.py --task=xxx --robogauge`. The trainer waits for the evaluation client to be available. Results are saved under `logs/{experiment_name}` and visualized in TensorBoard.
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> You can launch training with evaluation enabled via `python legged_gym/scripts/train.py --task=xxx --robogauge`. The trainer waits for the evaluation client to be available. Results are saved under `logs/{experiment_name}` and visualized in TensorBoard.
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## Metrics / Goals / Terrains
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## Env Params / Metrics / Goals
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Metrics are computed by sending fixed commands to the environment for a fixed duration, reading required signals from MuJoCo, and aggregating them.
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Metrics are computed by sending fixed commands to the environment for a fixed duration, reading required signals from MuJoCo, and aggregating them.
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@@ -201,7 +201,11 @@ Create a new robot implementation and control-model configuration under `robogau
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- `assets/`: documentation assets
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- `assets/`: documentation assets
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- `scripts/`: helper shell scripts for running experiments
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- `scripts/`: helper shell scripts for running experiments
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### Pipeline Logic
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### RoboGauge Framework
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| Details | Diagram |
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| RoboGauge evaluation framework consists of three parts as shown in the diagram on the right: <br> Part A: BasePipeline handles a single evaluation environment, including terrain, robot, domain randomization, and raw metric computation. <br> Part B: MultiPipeline launches multiple BasePipelines in parallel processes for multi-seed evaluation, while LevelPipeline calls MultiPipeline to find the highest difficulty terrain that the policy can handle. <br> Part C: StressPipeline handles testing across all terrains, providing an overall RoboGauge score.|  |
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[BasePipeline](./robogauge/tasks/pipeline/base_pipeline.py) manages scheduling among the simulator `sim`, the gauge (command generation + metric computation) `gauge`, and the locomotion policy wrapper `robot`. It also includes exception handling, domain randomization, and observation noise.
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[BasePipeline](./robogauge/tasks/pipeline/base_pipeline.py) manages scheduling among the simulator `sim`, the gauge (command generation + metric computation) `gauge`, and the locomotion policy wrapper `robot`. It also includes exception handling, domain randomization, and observation noise.
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@@ -224,4 +228,4 @@ Cause: MuJoCo cannot create an OpenGL context in headless mode.
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Fix: In `robogauge/scripts/run.py` and `robogauge/scripts/server.py`, set `os.environ['MUJOCO_GL']` to `egl` (GPU) or `osmesa` (CPU, slower).
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Fix: In `robogauge/scripts/run.py` and `robogauge/scripts/server.py`, set `os.environ['MUJOCO_GL']` to `egl` (GPU) or `osmesa` (CPU, slower).
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## Thanks
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## Thanks
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Thanks to [@windigal](https://github.com/windigal) for editing the videos.
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Thanks to [@windigal](https://github.com/windigal) for terrains generation and editing the videos.
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12
README_zh.md
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README_zh.md
@@ -89,7 +89,7 @@ while True:
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> 可通过`python legged_gym/scripts/train.py --task=xxx --robogauge`启动带有评估的训练，会等待客户端启动，结果会在`logs/{experiment_name}`目录下保存，并绘制tensorboard
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> 可通过`python legged_gym/scripts/train.py --task=xxx --robogauge`启动带有评估的训练，会等待客户端启动，结果会在`logs/{experiment_name}`目录下保存，并绘制tensorboard
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## 指标/目标/地形
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## 环境参数/指标/目标
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指标的计算方法是通过在环境中发送固定指令及持续时长, 通过Mujoco获取所需参数并计算.
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指标的计算方法是通过在环境中发送固定指令及持续时长, 通过Mujoco获取所需参数并计算.
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### 环境参数
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### 环境参数
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@@ -106,6 +106,8 @@ while True:
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1. 支持legged_gym中的部分地形, 包括: `wave, slope, stairs up, stairs down, obstacles, flat`, 除`flat`地形外其他地形可进行难度系数提升
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1. 支持legged_gym中的部分地形, 包括: `wave, slope, stairs up, stairs down, obstacles, flat`, 除`flat`地形外其他地形可进行难度系数提升
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2. 地面类型 (影响接触摩擦系数, 弹性摩擦系数), 包括: 橡胶地, 木地板, 瓷砖地
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2. 地面类型 (影响接触摩擦系数, 弹性摩擦系数), 包括: 橡胶地, 木地板, 瓷砖地
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地形生成代码：[windigal - mujoco_terrains](https://github.com/windigal/mujoco_terrains)
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### 指标
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### 指标
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目前在每个`env.step`后可度量的指标, 所有指标均要求**越大越好**, 目前支持:
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目前在每个`env.step`后可度量的指标, 所有指标均要求**越大越好**, 目前支持:
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@@ -177,7 +179,11 @@ while True:
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- `assets/`：文档资源
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- `assets/`：文档资源
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- `scripts/`：实验运行的辅助 shell 脚本
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- `scripts/`：实验运行的辅助 shell 脚本
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### Pipeline逻辑
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### RoboGauge评估框架
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| 说明 | 框架图 |
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| RoboGauge评估框架如右图中三部分组成：<br> Part A: BasePipeline负责单一评估环境，包含地形、机器人、域随机化、原始指标计算功能 <br> Part B: MultiPipeline通过多进程启动多个BasePipeline，进行多seed评估，LevelPipeline负责调用MultiPipeline寻找最高难度地形 <br> Part C: StressPipeline负责全地形下测试，给出整体RoboGauge评分|  |
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[BasePipeline](./robogauge/tasks/pipeline/base_pipeline.py)用于管理仿真`sim`, 度量器(控制指令, 指标计算)`gauge`, 机器人运控模型`robot`三者的调度, 并包含异常处理, 域随机化, 观测噪声的添加.
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[BasePipeline](./robogauge/tasks/pipeline/base_pipeline.py)用于管理仿真`sim`, 度量器(控制指令, 指标计算)`gauge`, 机器人运控模型`robot`三者的调度, 并包含异常处理, 域随机化, 观测噪声的添加.
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@@ -196,4 +202,4 @@ while True:
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解决方案: 在`robogauge/scripts/run.py`和`robogauge/scripts/server.py`中, 将`os.environ['MUJOCO_GL']`设置为`egl`(GPU)或`osmesa`(CPU, 慢)
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解决方案: 在`robogauge/scripts/run.py`和`robogauge/scripts/server.py`中, 将`os.environ['MUJOCO_GL']`设置为`egl`(GPU)或`osmesa`(CPU, 慢)
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## 致谢
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## 致谢
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感谢[@windigal](https://github.com/windigal)剪辑视频
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感谢[@windigal](https://github.com/windigal)地形生成及视频剪辑
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Binary file not shown.
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BIN
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|
<mxCell id="LAeri6nIJ74vq4yU8XOa-8" edge="1" parent="1" source="C1xzxP5kP4-2OWV6bNVM-17" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-6">
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<mxGeometry relative="1" as="geometry" />
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<mxGeometry relative="1" as="geometry" />
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</mxCell>
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</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-9" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="C1xzxP5kP4-2OWV6bNVM-17" target="LAeri6nIJ74vq4yU8XOa-7">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-9" edge="1" parent="1" source="C1xzxP5kP4-2OWV6bNVM-17" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-7">
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<mxGeometry relative="1" as="geometry">
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<mxGeometry relative="1" as="geometry">
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<Array as="points">
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<Array as="points">
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<mxPoint x="320" y="125" />
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<mxPoint x="320" y="125" />
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||||||
@@ -41,42 +41,42 @@
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|||||||
</Array>
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</mxGeometry>
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</mxGeometry>
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</mxCell>
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<mxCell id="C1xzxP5kP4-2OWV6bNVM-17" value="<div><font face="Lucida Console">level</font></div>" style="rounded=1;whiteSpace=wrap;html=1;" parent="1" vertex="1">
|
<mxCell id="C1xzxP5kP4-2OWV6bNVM-17" parent="1" style="rounded=1;whiteSpace=wrap;html=1;" value="<div><font face="Lucida Console">level</font></div>" vertex="1">
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<mxGeometry x="240" y="110" width="60" height="30" as="geometry" />
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<mxGeometry height="30" width="60" x="240" y="110" as="geometry" />
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</mxCell>
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</mxCell>
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<mxCell id="LAeri6nIJ74vq4yU8XOa-1" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="C1xzxP5kP4-2OWV6bNVM-3" target="C1xzxP5kP4-2OWV6bNVM-11">
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<mxCell id="LAeri6nIJ74vq4yU8XOa-1" edge="1" parent="1" source="C1xzxP5kP4-2OWV6bNVM-3" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" target="C1xzxP5kP4-2OWV6bNVM-11" value="">
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<mxGeometry relative="1" as="geometry">
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<mxGeometry relative="1" as="geometry">
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<mxPoint x="180" y="125" as="targetPoint" />
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<mxPoint x="90" y="125" as="sourcePoint" />
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<mxPoint x="90" y="125" as="sourcePoint" />
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||||||
|
<mxPoint x="180" y="125" as="targetPoint" />
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</mxGeometry>
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</mxGeometry>
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||||||
</mxCell>
|
</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-2" value="<font face="Lucida Console">run</font>" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="LAeri6nIJ74vq4yU8XOa-1">
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<mxCell id="LAeri6nIJ74vq4yU8XOa-2" connectable="0" parent="LAeri6nIJ74vq4yU8XOa-1" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" value="<font face="Lucida Console">run</font>" vertex="1">
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<mxGeometry relative="1" as="geometry">
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<mxGeometry relative="1" as="geometry">
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<mxPoint x="-3" y="-10" as="offset" />
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<mxPoint x="-3" y="-10" as="offset" />
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</mxGeometry>
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</mxGeometry>
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</mxCell>
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</mxCell>
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||||||
<mxCell id="C1xzxP5kP4-2OWV6bNVM-11" value="<font face="Lucida Console">binary</font><div><font face="Lucida Console">search</font></div><div><font face="Lucida Console">(l, r)</font></div>" style="rounded=1;whiteSpace=wrap;html=1;" parent="1" vertex="1">
|
<mxCell id="C1xzxP5kP4-2OWV6bNVM-11" parent="1" style="rounded=1;whiteSpace=wrap;html=1;" value="<font face="Lucida Console">binary</font><div><font face="Lucida Console">search</font></div><div><font face="Lucida Console">(l, r)</font></div>" vertex="1">
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||||||
<mxGeometry x="130" y="100" width="80" height="50" as="geometry" />
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<mxGeometry height="50" width="80" x="130" y="100" as="geometry" />
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</mxCell>
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</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-11" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-4" target="LAeri6nIJ74vq4yU8XOa-10">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-11" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-4" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" target="LAeri6nIJ74vq4yU8XOa-10" value="">
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<mxGeometry relative="1" as="geometry" />
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<mxGeometry relative="1" as="geometry" />
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</mxCell>
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</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-4" value="<div><font face="Lucida Console">seed_0</font></div>" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-4" parent="1" style="rounded=1;whiteSpace=wrap;html=1;" value="<div><font face="Lucida Console">seed_0</font></div>" vertex="1">
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||||||
<mxGeometry x="338" y="70" width="60" height="30" as="geometry" />
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<mxGeometry height="30" width="60" x="338" y="70" as="geometry" />
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</mxCell>
|
</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-15" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-6" target="LAeri6nIJ74vq4yU8XOa-12">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-15" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-6" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-12">
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<mxGeometry relative="1" as="geometry" />
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<mxGeometry relative="1" as="geometry" />
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</mxCell>
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</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-6" value="<div><font face="Lucida Console">seed_1</font></div>" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-6" parent="1" style="rounded=1;whiteSpace=wrap;html=1;" value="<div><font face="Lucida Console">seed_1</font></div>" vertex="1">
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||||||
<mxGeometry x="338" y="110" width="60" height="30" as="geometry" />
|
<mxGeometry height="30" width="60" x="338" y="110" as="geometry" />
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</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-16" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-7" target="LAeri6nIJ74vq4yU8XOa-13">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-16" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-7" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-13">
|
||||||
<mxGeometry relative="1" as="geometry" />
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<mxGeometry relative="1" as="geometry" />
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||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-7" value="<div><font face="Lucida Console">seed_2</font></div>" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-7" parent="1" style="rounded=1;whiteSpace=wrap;html=1;" value="<div><font face="Lucida Console">seed_2</font></div>" vertex="1">
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||||||
<mxGeometry x="338" y="150" width="60" height="30" as="geometry" />
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<mxGeometry height="30" width="60" x="338" y="150" as="geometry" />
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</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-38" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-10" target="LAeri6nIJ74vq4yU8XOa-17">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-38" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-10" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-17">
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<mxGeometry relative="1" as="geometry">
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<mxGeometry relative="1" as="geometry">
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<Array as="points">
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<Array as="points">
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<mxPoint x="620" y="85" />
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<mxPoint x="620" y="85" />
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||||||
@@ -84,16 +84,16 @@
|
|||||||
</Array>
|
</Array>
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||||||
</mxGeometry>
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</mxGeometry>
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||||||
</mxCell>
|
</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-10" value="<div><font face="Lucida Console">result_0.yaml</font></div>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-10" parent="1" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" value="<div><font face="Lucida Console">result_0.yaml</font></div>" vertex="1">
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||||||
<mxGeometry x="500" y="70" width="100" height="30" as="geometry" />
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<mxGeometry height="30" width="100" x="500" y="70" as="geometry" />
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</mxCell>
|
</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-39" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-12" target="LAeri6nIJ74vq4yU8XOa-17">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-39" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-12" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-17">
|
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<mxGeometry relative="1" as="geometry" />
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<mxGeometry relative="1" as="geometry" />
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||||||
</mxCell>
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</mxCell>
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||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-12" value="<div><font face="Lucida Console">result_1.yaml</font></div>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-12" parent="1" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" value="<div><font face="Lucida Console">result_1.yaml</font></div>" vertex="1">
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||||||
<mxGeometry x="500" y="110" width="100" height="30" as="geometry" />
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<mxGeometry height="30" width="100" x="500" y="110" as="geometry" />
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</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-40" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-13" target="LAeri6nIJ74vq4yU8XOa-17">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-40" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-13" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-17">
|
||||||
<mxGeometry relative="1" as="geometry">
|
<mxGeometry relative="1" as="geometry">
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||||||
<Array as="points">
|
<Array as="points">
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||||||
<mxPoint x="620" y="165" />
|
<mxPoint x="620" y="165" />
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||||||
@@ -101,16 +101,16 @@
|
|||||||
</Array>
|
</Array>
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||||||
</mxGeometry>
|
</mxGeometry>
|
||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-13" value="<div><font face="Lucida Console">result_2.yaml</font></div>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-13" parent="1" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" value="<div><font face="Lucida Console">result_2.yaml</font></div>" vertex="1">
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||||||
<mxGeometry x="500" y="150" width="100" height="30" as="geometry" />
|
<mxGeometry height="30" width="100" x="500" y="150" as="geometry" />
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||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-44" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-17" target="LAeri6nIJ74vq4yU8XOa-24">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-44" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-17" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;endArrow=none;endFill=0;" target="LAeri6nIJ74vq4yU8XOa-24">
|
||||||
<mxGeometry relative="1" as="geometry" />
|
<mxGeometry relative="1" as="geometry" />
|
||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-17" value="<div><font face="Lucida Console">aggregated</font></div><div><font face="Lucida Console">result.yaml</font></div>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-17" parent="1" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" value="<div><font face="Lucida Console">aggregated</font></div><div><font face="Lucida Console">result.yaml</font></div>" vertex="1">
|
||||||
<mxGeometry x="647" y="105" width="100" height="40" as="geometry" />
|
<mxGeometry height="40" width="100" x="647" y="105" as="geometry" />
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||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-45" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-24" target="LAeri6nIJ74vq4yU8XOa-27">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-45" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-24" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" target="LAeri6nIJ74vq4yU8XOa-27">
|
||||||
<mxGeometry relative="1" as="geometry">
|
<mxGeometry relative="1" as="geometry">
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||||||
<Array as="points">
|
<Array as="points">
|
||||||
<mxPoint x="670" y="165" />
|
<mxPoint x="670" y="165" />
|
||||||
@@ -118,7 +118,7 @@
|
|||||||
</Array>
|
</Array>
|
||||||
</mxGeometry>
|
</mxGeometry>
|
||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-46" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-24" target="C1xzxP5kP4-2OWV6bNVM-11">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-46" edge="1" parent="1" source="LAeri6nIJ74vq4yU8XOa-24" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" target="C1xzxP5kP4-2OWV6bNVM-11">
|
||||||
<mxGeometry relative="1" as="geometry">
|
<mxGeometry relative="1" as="geometry">
|
||||||
<Array as="points">
|
<Array as="points">
|
||||||
<mxPoint x="670" y="165" />
|
<mxPoint x="670" y="165" />
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||||||
@@ -127,30 +127,30 @@
|
|||||||
</Array>
|
</Array>
|
||||||
</mxGeometry>
|
</mxGeometry>
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||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-47" value="<font face="Lucida Console">Yes</font>" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="LAeri6nIJ74vq4yU8XOa-46">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-47" connectable="0" parent="LAeri6nIJ74vq4yU8XOa-46" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" value="<font face="Lucida Console">Yes</font>" vertex="1">
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||||||
<mxGeometry x="-0.1813" y="-2" relative="1" as="geometry">
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<mxGeometry relative="1" x="-0.1813" y="-2" as="geometry">
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||||||
<mxPoint as="offset" />
|
<mxPoint as="offset" />
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||||||
</mxGeometry>
|
</mxGeometry>
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||||||
</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-24" value="<font face="Lucida Console"><span style="font-size: 11px;">l &lt; r</span></font>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;fillColor=default;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-24" parent="1" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;fillColor=default;" value="<font face="Lucida Console"><span style="font-size: 11px;">l &lt; r</span></font>" vertex="1">
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||||||
<mxGeometry x="678.88" y="155" width="36.25" height="20" as="geometry" />
|
<mxGeometry height="20" width="36.25" x="678.88" y="155" as="geometry" />
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</mxCell>
|
</mxCell>
|
||||||
<mxCell id="LAeri6nIJ74vq4yU8XOa-27" value="<font face="Lucida Console">level</font><div><font face="Lucida Console">result.yaml</font></div>" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" vertex="1" parent="1">
|
<mxCell id="LAeri6nIJ74vq4yU8XOa-27" parent="1" style="rounded=1;whiteSpace=wrap;html=1;strokeColor=none;" value="<font face="Lucida Console">level</font><div><font face="Lucida Console">result.yaml</font></div>" vertex="1">
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<mxGeometry x="717.12" y="180" width="90" height="40" as="geometry" />
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<mxGeometry height="40" width="90" x="717.12" y="180" as="geometry" />
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</mxCell>
|
</mxCell>
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Before Width: | Height: | Size: 29 KiB After Width: | Height: | Size: 31 KiB |
Reference in New Issue
Block a user