66 lines
2.2 KiB
Python
66 lines
2.2 KiB
Python
# -*- coding: utf-8 -*-
|
|
'''
|
|
@File : helpers.py
|
|
@Time : 2025/11/27 15:26:37
|
|
@Author : wty-yy
|
|
@Version : 1.0
|
|
@Blog : https://wty-yy.github.io/
|
|
@Desc : Helpers for robogauge, include:
|
|
- Argument parsing
|
|
- Class to dict conversion
|
|
- Path parsing
|
|
'''
|
|
import yaml
|
|
from argparse import ArgumentParser
|
|
from pathlib import Path
|
|
from robogauge import ROBOGAUGE_ROOT_DIR
|
|
|
|
def parse_path(path):
|
|
if "{ROBOGAUGE_ROOT_DIR}" in str(path):
|
|
path = str(path).replace("{ROBOGAUGE_ROOT_DIR}", ROBOGAUGE_ROOT_DIR)
|
|
return path
|
|
|
|
def class_to_dict(obj) -> dict:
|
|
# From https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/utils/helpers.py
|
|
if not hasattr(obj, "__dict__"):
|
|
return obj
|
|
result = {}
|
|
for key in dir(obj):
|
|
if key.startswith("_"):
|
|
continue
|
|
element = []
|
|
val = getattr(obj, key)
|
|
if isinstance(val, list):
|
|
for item in val:
|
|
element.append(class_to_dict(item))
|
|
else:
|
|
element = class_to_dict(val)
|
|
result[key] = element
|
|
return result
|
|
|
|
def str2bool(v):
|
|
if v.lower() in ('yes', 'true', 't', 'y', '1'):
|
|
return True
|
|
elif v.lower() in ('no', 'false', 'f', 'n', '0'):
|
|
return False
|
|
raise TypeError('Boolean value expected.')
|
|
|
|
def parse_args():
|
|
parser = ArgumentParser()
|
|
parameters = [
|
|
{"name": "--task-name", "type": str, "default": "base", "help": "Name of the task to run."},
|
|
{"name": "--experiment-name", "type": str, "help": "Name of the experiment to run."},
|
|
{"name": "--run-name", "type": str, "default": "run1", "help": "Name of the run."},
|
|
{"name": "--model-path", "type": str, "help": "Path to the model file."},
|
|
{"name": "--headless", "action": "store_true", "default": False, "help": "Run in headless mode."},
|
|
{"name": "--save-video", "action": "store_true", "default": False, "help": "Save video output."},
|
|
]
|
|
for param in parameters:
|
|
parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
|
|
args = parser.parse_args()
|
|
if args.experiment_name is not None:
|
|
args.experiment_name = f"{args.task_name}_{args.experiment_name}"
|
|
else:
|
|
args.experiment_name = args.task_name
|
|
return args
|