159 lines
6.7 KiB
Python
159 lines
6.7 KiB
Python
# -*- 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 yaml
|
|
import random
|
|
import traceback
|
|
import numpy as np
|
|
from pathlib import Path
|
|
from copy import deepcopy
|
|
|
|
from robogauge.utils.logger import logger
|
|
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig, SimData
|
|
from robogauge.tasks.robots import (
|
|
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE
|
|
)
|
|
from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
|
|
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal
|
|
from robogauge.utils.helpers import class_to_dict
|
|
|
|
class BasePipeline:
|
|
def __init__(self,
|
|
run_name: str,
|
|
simulator_cfg: MujocoConfig,
|
|
robot_cfg: RobotConfig,
|
|
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)
|
|
self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg, robot_cfg)
|
|
|
|
self.first_reset = True
|
|
self.last_reset_time = 0.0
|
|
|
|
# save configs
|
|
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})
|
|
with open(Path(logger.log_dir) / "configs.yaml", 'w') as file:
|
|
yaml.dump(cfg, file)
|
|
|
|
def load(self):
|
|
self.sim.load(
|
|
self.gauge_cfg.assets.terrain_xmls,
|
|
self.robot_cfg.assets.robot_xml,
|
|
self.gauge_cfg.assets.terrain_spawn_pos,
|
|
self.robot_cfg.control.default_dof_pos,
|
|
self.gauge_cfg.backward,
|
|
)
|
|
|
|
def run(self):
|
|
logger.info(f"🚀 Starting single run: {self.run_name}")
|
|
self.load()
|
|
sim_data = self.sim.step()
|
|
frame_skip = int(self.robot_cfg.control.control_dt / self.sim_cfg.physics.simulation_dt)
|
|
assert frame_skip * self.sim_cfg.physics.simulation_dt == self.robot_cfg.control.control_dt, \
|
|
"Control dt must be multiple of simulation dt."
|
|
logger.info(f"Sim FPS: {1.0 / self.sim_cfg.physics.simulation_dt:.2f}, Control FPS: {1.0 / self.robot_cfg.control.control_dt:.2f}, Frame Skip: {frame_skip:d}")
|
|
logger.info("Running pipeline...")
|
|
warning, error = None, None
|
|
while not self.gauge.is_done():
|
|
try:
|
|
if self.first_reset: # wait for robot to be still
|
|
goal_data = GoalData(
|
|
goal_type=self.robot_cfg.control.support_goal,
|
|
velocity_goal=VelocityGoal(), # zero velocity
|
|
position_goal=PositionGoal(), # current position
|
|
)
|
|
if (
|
|
(np.linalg.norm(sim_data.proprio.base.lin_vel) < 0.05 and sim_data.sim_time - self.last_reset_time > 0.1) or # robot is still
|
|
(sim_data.sim_time - self.last_reset_time) > 3.0 # wait max 3s
|
|
):
|
|
self.first_reset = False
|
|
else:
|
|
goal_data = self.gauge.get_goal(sim_data)
|
|
|
|
if goal_data is None: # Change goal
|
|
sim_data = self.reset_sim_and_robot(sim_data)
|
|
continue
|
|
|
|
if goal_data.visualization_pos is not None:
|
|
self.sim.set_target_pos(goal_data.visualization_pos)
|
|
else:
|
|
self.sim.set_target_pos(None)
|
|
|
|
obs = self.robot.build_observation(self.add_noise(sim_data), goal_data)
|
|
action, p_gains, d_gains, control_type = self.robot.get_action(obs)
|
|
|
|
if self.sim_cfg.domain_rand.action_delay:
|
|
actions_start_decimation = random.randint(0, frame_skip - 1)
|
|
else:
|
|
self.sim.setup_action(action, p_gains, d_gains, control_type)
|
|
for i in range(frame_skip):
|
|
if self.sim_cfg.domain_rand.action_delay and i == actions_start_decimation:
|
|
self.sim.setup_action(action, p_gains, d_gains, control_type)
|
|
sim_data = self.sim.step()
|
|
self.gauge.update_metrics(sim_data, goal_data)
|
|
if not self.first_reset and self.gauge.is_reset(sim_data):
|
|
sim_data = self.reset_sim_and_robot(sim_data)
|
|
except Exception as e:
|
|
if str(e).startswith("[Penetration Error]"):
|
|
warning = e
|
|
logger.warning(f"⚠️ Penetration detected! Reset current goal and continue..., error: {e}")
|
|
self.gauge.reset_current_goal()
|
|
logger.info("⏩ Pipeline recovered from penetration and continued current goal 🎯.")
|
|
else:
|
|
error = e
|
|
logger.error(f"❌ Goal '{self.gauge.goal_str}' failed with error: {e},\n{traceback.format_exc()}")
|
|
self.gauge.switch_to_next_goal() # skip to next goal
|
|
logger.info("⏩ Pipeline recovered from error and continued next goal 🎯.")
|
|
sim_data = self.reset_sim_and_robot(sim_data)
|
|
|
|
self.sim.close_viewer()
|
|
self.sim.close_video_writer()
|
|
logger.info("✅ Pipeline execution finished.")
|
|
logger.info(f"📁 Logging saved at: {logger.log_dir}")
|
|
|
|
return self.gauge.results, warning, error
|
|
|
|
def reset_sim_and_robot(self, sim_data: SimData):
|
|
self.sim.reset()
|
|
self.last_reset_time = sim_data.sim_time
|
|
self.first_reset = True
|
|
sim_data = self.sim.step()
|
|
self.robot.reset()
|
|
return sim_data
|
|
|
|
def add_noise(self, sim_data: SimData):
|
|
sim_data = deepcopy(sim_data)
|
|
noise_cfg = self.sim_cfg.noise
|
|
if not noise_cfg.enabled:
|
|
return sim_data
|
|
proprio = sim_data.proprio
|
|
def add_uniform_noise(data, noise_level):
|
|
for i in range(len(data)):
|
|
noise = random.uniform(-noise_level, noise_level)
|
|
data[i] += noise
|
|
add_uniform_noise(proprio.joint.pos, noise_cfg.joint_pos)
|
|
add_uniform_noise(proprio.joint.vel, noise_cfg.joint_vel)
|
|
add_uniform_noise(proprio.base.lin_vel, noise_cfg.lin_vel)
|
|
add_uniform_noise(proprio.base.ang_vel, noise_cfg.ang_vel)
|
|
add_uniform_noise(proprio.imu.lin_vel, noise_cfg.lin_vel)
|
|
add_uniform_noise(proprio.imu.ang_vel, noise_cfg.ang_vel)
|
|
return sim_data
|