103 lines
4.3 KiB
Python
103 lines
4.3 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : helpers.py
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@Time : 2025/11/27 15:26:37
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@Author : wty-yy
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@Version : 1.0
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@Blog : https://wty-yy.github.io/
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@Desc : Helpers for robogauge, include:
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- Argument parsing
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- Class to dict conversion
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- Path parsing
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'''
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import yaml
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from argparse import ArgumentParser
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from pathlib import Path
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from robogauge import ROBOGAUGE_ROOT_DIR
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def parse_path(path):
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if "{ROBOGAUGE_ROOT_DIR}" in str(path):
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path = str(path).replace("{ROBOGAUGE_ROOT_DIR}", ROBOGAUGE_ROOT_DIR)
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return path
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def class_to_dict(obj) -> dict:
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# From https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/utils/helpers.py
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if not hasattr(obj, "__dict__"):
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return obj
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result = {}
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for key in dir(obj):
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if key.startswith("_"):
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continue
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element = []
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val = getattr(obj, key)
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if isinstance(val, list):
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for item in val:
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element.append(class_to_dict(item))
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else:
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element = class_to_dict(val)
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result[key] = element
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return result
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def set_seed(seed: int):
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import os
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import torch
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import random
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import numpy as np
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assert seed >= 0, "Seed must be non-negative."
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random.seed(seed)
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np.random.seed(seed)
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torch.manual_seed(seed)
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os.environ['PYTHONHASHSEED'] = str(seed)
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if torch.cuda.is_available():
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torch.cuda.manual_seed(seed)
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torch.cuda.manual_seed_all(seed)
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def str2bool(v):
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if v.lower() in ('yes', 'true', 't', 'y', '1'):
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return True
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elif v.lower() in ('no', 'false', 'f', 'n', '0'):
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return False
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raise TypeError('Boolean value expected.')
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def parse_args():
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parser = ArgumentParser()
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parameters = [
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# Single run parameters
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{"name": "--task-name", "type": str, "default": "base", "help": "Name of the task to run."},
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{"name": "--experiment-name", "type": str, "help": "Name of the experiment to run."},
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{"name": "--run-name", "type": str, "default": "run", "help": "Name of the run."},
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{"name": "--model-path", "type": str, "help": "Path to the model file."},
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{"name": "--headless", "action": "store_true", "default": False, "help": "Run in headless mode."},
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{"name": "--save-video", "action": "store_true", "default": False, "help": "Save video output."},
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{"name": "--seed", "type": int, "default": 42, "help": "Random seed."},
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{"name": "--write-tensorboard", "action": "store_true", "default": False, "help": "Write tensorboard logs."},
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{"name": "--plot-radar", "action": "store_true", "default": False, "help": "Plot radar charts for metrics."},
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{"name": "--base-mass", "type": float, "default": 0.0, "help": "Set the base mass of the robot."},
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{"name": "--friction", "type": float, "default": 1.0, "help": "Set the ground friction coefficient."},
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{"name": "--level", "type": int, "help": "Set the difficulty level of the environment, range 1-10 (flat is 0)."},
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# Multiprocessing parameters, with different seeds
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{"name": "--multi", "action": "store_true", "default": False, "help": "Enable multiprocessing."},
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{"name": "--num-processes", "type": int, "default": 2, "help": "Number of parallel processes."},
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{"name": "--seeds", "type": int, "nargs": "+", "default": [0], "help": "List of random seeds for multiple runs."},
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{"name": "--base-masses", "type": float, "nargs": "+", "default": [0], "help": "List of base masses for the model."},
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{"name": "--frictions", "type": float, "nargs": "+", "default": [0.4, 0.7, 1.0, 1.3, 1.6], "help": "List of friction coefficients for the model."},
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# Level pipeline parameters
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{"name": "--search-max-level", "action": "store_true", "default": False, "help": "Use level pipeline to search maximum level."},
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]
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for param in parameters:
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parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
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args = parser.parse_args()
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if args.experiment_name is not None:
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args.experiment_name = f"{args.task_name}_{args.experiment_name}"
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else:
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args.experiment_name = args.task_name
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return args
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def snake_to_pascal(s: str) -> str:
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""" 'snake_case' to 'PascalCase' conversion """
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parts = [p for p in s.split('_') if p]
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return ''.join(p[0].upper() + p[1:] if p else '' for p in parts)
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