77 lines
1.8 KiB
Markdown
77 lines
1.8 KiB
Markdown
# Single Pipeline
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```bash
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python robogauge/scripts/run.py \
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--task go2_moe.flat \
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--experiment-name debug \
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--headless
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```
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# Multi Pipeline
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```bash
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python robogauge/scripts/run.py \
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--task go2_moe.flat \
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--experiment-name debug \
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--multi \
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--num-processes 5 \
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--seeds 0 1 2 3 4 \
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--frictions 0.5 1.0 1.5 2.0 2.5 \
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--compress-logs \
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--headless
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# Terrain with Level, need specify goals (default is target_pos)
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python robogauge/scripts/run.py \
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--task go2_moe.slope \
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--experiment-name debug \
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--multi \
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--num-processes 5 \
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--seeds 0 1 2 3 4 \
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--frictions 1.0 \
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--level 3 \
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--goals max_velocity diagonal_velocity\
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--compress-logs \
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--headless
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```
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# Level Pipeline
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```bash
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# Must specify single frictions for LevelPipeline!
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python robogauge/scripts/run.py \
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--task go2_moe.slope \
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--experiment-name debug \
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--search-max-level \
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--seeds 0 1 2 3 4 \
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--frictions 1.0 \
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--compress-logs \
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--headless
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```
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# Stress Pipeline
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```bash
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python robogauge/scripts/run.py \
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--task go2_moe \
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--experiment-name debug \
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--stress-benchmark \
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--stress-terrain-names flat slope stairs_up stairs_down wave \
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--stress-num-processes 2 \
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--num-processes 3 \
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--seeds 0 1 2 3 4 \
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--frictions 0.5 1.0 1.5 2.0 2.5 \
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--compress-logs \
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--headless
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```
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# Radar/Bar Plot
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将Multi Run结果绘制在雷达图中
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```bash
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# 可选--out保存到图片
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python robogauge/utils/visualize_results.py \
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aggregated_results_1.yaml \
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aggregated_results_2.yaml \
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--out logs/1.jpg
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# 绘制下全部 *.yaml, 可选range控制radar, bar y轴显示范围
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python robogauge/utils/visualize_results.py \
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/home/xfy/Coding/robot_gauge/mytest/results \
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--range 0.35 1.0 \
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--out logs/1.jpg
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``` |