v0.1.2

2025-11-27 16:04:14 +08:00
parent 14ce318bdd
commit fc7e184741
48 changed files with 759751 additions and 2 deletions
--- a/robogauge/tasks/pipeline/base_pipeline.py
+++ b/robogauge/tasks/pipeline/base_pipeline.py
@@ -0,0 +1,58 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : base_pipeline.py
+@Time    : 2025/11/27 15:53:26
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Pipeline for Robogauge
+'''
+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.gauge import BaseGauge, BaseGaugeConfig
+
+class BasePipeline:
+    def __init__(self, 
+        simulator_cfg: MujocoConfig,
+        robot_cfg: RobotConfig,
+        gauge_cfg: BaseGaugeConfig
+    ):
+        self.simulator_cfg = simulator_cfg
+        self.robot_cfg = robot_cfg
+        self.gauge_cfg = gauge_cfg
+
+        self.sim: MujocoSimulator = eval(simulator_cfg.simulator_class)(simulator_cfg)
+        self.robot: BaseRobot = eval(robot_cfg.robot_class)(robot_cfg)
+        self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg)
+    
+    def load(self):
+        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
+        )
+    
+    def run(self):
+        try:
+            self.load()
+            info = 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...")
+            while not self.gauge.is_done():
+                goal = self.gauge.get_goal()
+                obs = self.robot.build_observation(info, goal)
+                action = self.robot.get_action(obs)
+                for _ in range(frame_skip):
+                    self.sim.apply_action(action)
+                    info = self.sim.step()
+                    self.gauge.update_metrics(info)
+                if self.gauge.is_reset():
+                    self.sim.reset()
+                    info = self.sim.step()
+        finally:
+            self.sim.close_viewer()
+            logger.info("Pipeline execution finished.")