Merge branch 'master' of https://github.com/wty-yy/go2_rl_gym
This commit is contained in:
wty-yy
@@ -1,7 +1,7 @@
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<div align="center">
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<h1 align="center">Go2 RL GYM</h1>
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<p align="center">
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<span>🌎 English</span> | <a href="README_zh.md">🇨🇳 中文</a>
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<span>🌎 English</span> | <a href="README_zh.md">🇨🇳 中文</a> | <a href="https://arxiv.org/abs/2602.00678">📄 Paper</a>
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</p>
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</div>
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@@ -1,7 +1,7 @@
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<div align="center">
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<h1 align="center">Go2 RL GYM</h1>
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<p align="center">
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<a href="README.md">🌎 English</a> | <span>🇨🇳 中文</span>
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<a href="README.md">🌎 English</a> | <span>🇨🇳 中文</span> | <a href="https://arxiv.org/abs/2602.00678">📄 Paper</a>
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</p>
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</div>
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@@ -1,3 +1,6 @@
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# 20260325
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## v1.0.2-rc2
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1. 修复robogauge评估中返回None导致的训练中断问题
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# 20260126
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## v1.0.2-rc1
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1. 修改高速移动的训练文件到最终版，删除配置中无用注释
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@@ -1,272 +0,0 @@
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import time
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import mujoco.viewer
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import mujoco
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import numpy as np
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from legged_gym import LEGGED_GYM_ROOT_DIR
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import torch
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import yaml
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import os
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import imageio
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from pathlib import Path
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from argparse import ArgumentParser
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import pygame
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# from matplotlib import pyplot as plt # 移除 matplotlib
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def get_gravity_orientation(quaternion):
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qw = quaternion[0]
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qx = quaternion[1]
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qy = quaternion[2]
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qz = quaternion[3]
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gravity_orientation = np.zeros(3)
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gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
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gravity_orientation[1] = -2 * (qz * qy + qw * qx)
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gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
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return gravity_orientation
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def pd_control(target_q, q, kp, target_dq, dq, kd):
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"""Calculates torques from position commands"""
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return (target_q - q) * kp + (target_dq - dq) * kd
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def get_xbox_command(joystick, max_cmd):
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# 注意：如果开启了 Pygame 显示窗口，这里 event.pump 也是必要的
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pygame.event.pump()
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dead_zone = 0.1
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if joystick is not None:
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lx = joystick.get_axis(0)
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ly = joystick.get_axis(1)
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rx = joystick.get_axis(3)
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if abs(lx) < dead_zone: lx = 0
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if abs(ly) < dead_zone: ly = 0
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if abs(rx) < dead_zone: rx = 0
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cmd_x = -ly * max_cmd[0]
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cmd_y = -lx * max_cmd[1]
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cmd_yaw = -rx * max_cmd[2]
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return np.array([cmd_x, cmd_y, cmd_yaw], dtype=np.float32)
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return np.zeros(3, dtype=np.float32)
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def draw_moe_weights(screen, weights, width, height):
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"""使用 Pygame 绘制 MoE 权重"""
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screen.fill((255, 255, 255)) # 白底
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num_experts = len(weights)
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if num_experts == 0:
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return
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# 设置边距
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margin = 5
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bar_width = (width - 2 * margin) / num_experts
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max_bar_height = height - 2 * margin
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for i, w in enumerate(weights):
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# 限制 w 在 [0, 1] 之间用于显示
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w_clamped = max(0.0, min(1.0, w))
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bar_height = int(w_clamped * max_bar_height)
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# 计算矩形位置 (Pygame 坐标原点在左上角)
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# left, top, width, height
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x = margin + i * bar_width
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y = height - margin - bar_height # 从底部向上长
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# 绘制矩形 (蓝色)
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# 在 bar 之间留一点空隙 (width - 2)
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pygame.draw.rect(screen, (50, 100, 255), (x, y, bar_width - 2, bar_height))
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pygame.display.flip()
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if __name__ == "__main__":
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parser = ArgumentParser()
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parser.add_argument("--save-video", action="store_true", help="Whether to save video of the simulation.")
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parser.add_argument("--visualize-moe-weights", action="store_true", help="Whether to visualize mixture of experts weights.")
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args = parser.parse_args()
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save_video = args.save_video
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visualize_moe_weights = args.visualize_moe_weights
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config_file = "go2.yaml"
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# Pygame 初始化
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pygame.init()
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use_joystick = False
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joystick = None
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if pygame.joystick.get_count() > 0:
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joystick = pygame.joystick.Joystick(0)
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joystick.init()
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use_joystick = True
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print(f"Detected Joystick: {joystick.get_name()}")
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else:
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print("No Joystick detected. Using default commands from config.")
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# 如果需要可视化权重，设置 Pygame 窗口
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screen = None
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win_width, win_height = 400, 200
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if visualize_moe_weights:
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# 创建一个独立的窗口用于显示权重
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screen = pygame.display.set_mode((win_width, win_height))
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pygame.display.set_caption("MoE Weights Visualization")
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with open(f"{LEGGED_GYM_ROOT_DIR}/deploy/deploy_mujoco/configs/{config_file}", "r") as f:
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config = yaml.load(f, Loader=yaml.FullLoader)
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policy_path = config["policy_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
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xml_path = config["xml_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
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simulation_duration = config["simulation_duration"]
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simulation_dt = config["simulation_dt"]
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control_decimation = config["control_decimation"]
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kps = np.array(config["kps"], dtype=np.float32)
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kds = np.array(config["kds"], dtype=np.float32)
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default_angles = np.array(config["default_angles"], dtype=np.float32)
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lin_vel_scale = config["lin_vel_scale"]
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ang_vel_scale = config["ang_vel_scale"]
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dof_pos_scale = config["dof_pos_scale"]
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dof_vel_scale = config["dof_vel_scale"]
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action_scale = config["action_scale"]
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cmd_scale = np.array(config["cmd_scale"], dtype=np.float32)
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num_actions = config["num_actions"]
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num_obs = config["num_obs"]
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cmd = np.array(config["cmd_init"], dtype=np.float32)
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idx_model2mj = idx_mj2model = list(range(num_actions))
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if 'mujoco_joint_names' in config and 'model_joint_names' in config:
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mujoco_joint_names = config["mujoco_joint_names"]
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model_joint_names = config["model_joint_names"]
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idx_model2mj = [model_joint_names.index(joint) for joint in mujoco_joint_names]
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idx_mj2model = [mujoco_joint_names.index(joint) for joint in model_joint_names]
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video_save_dir = str(Path(__file__).parent / "videos")
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os.makedirs(video_save_dir, exist_ok=True)
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model_name = os.path.basename(policy_path).split('.')[0]
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cmd_str = f"cmd_{cmd[0]}_{cmd[1]}_{cmd[2]}"
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video_filename = f"{model_name}_{cmd_str}.mp4"
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video_path = os.path.join(video_save_dir, video_filename)
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print(f"Video recording will be saved to: {video_path}")
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# define context variables
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action = np.zeros(num_actions, dtype=np.float32)
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last_action = np.zeros(num_actions, dtype=np.float32)
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target_dof_pos = default_angles.copy()
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obs = np.zeros(num_obs, dtype=np.float32)
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counter = 0
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# Load robot model
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m = mujoco.MjModel.from_xml_path(xml_path)
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d = mujoco.MjData(m)
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m.opt.timestep = simulation_dt
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renderer = mujoco.Renderer(m, height=360, width=640)
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# load policy
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policy = torch.jit.load(policy_path)
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if save_video:
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video_fps = 50
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sim_fps = 1.0 / m.opt.timestep
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frame_skip = int(sim_fps / video_fps)
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if frame_skip < 1:
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frame_skip = 1
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writer = imageio.get_writer(video_path, fps=video_fps)
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print(f"Sim FPS: {sim_fps:.2f}, Video FPS: {video_fps}, Frame Skip: {frame_skip}, Save at: {video_path}")
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# 移除了 plt 初始化逻辑
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with mujoco.viewer.launch_passive(m, d) as viewer:
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# set viewer.camera to follow robot
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viewer.cam.type = mujoco.mjtCamera.mjCAMERA_TRACKING
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viewer.cam.trackbodyid = 1
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viewer.cam.distance = 3.0
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viewer.cam.elevation = -30.0
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viewer.cam.azimuth = 0.0
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# Close the viewer automatically after simulation_duration wall-seconds.
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start = time.time()
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while viewer.is_running() and time.time() - start < simulation_duration:
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step_start = time.time()
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if use_joystick and counter % control_decimation == 0:
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cmd = get_xbox_command(joystick, config["max_cmd"])
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print(f"Cmd: Vx={cmd[0]:.2f}, Vy={cmd[1]:.2f}, Wz={cmd[2]:.2f}", end='\r')
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elif visualize_moe_weights and counter % control_decimation == 0:
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# 如果没有手柄但开了可视化，也需要 pump 事件，防止窗口卡死
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pygame.event.pump()
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tau = pd_control(target_dof_pos, d.qpos[7:], kps, np.zeros_like(kds), d.qvel[6:], kds)
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d.ctrl[:] = tau
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mujoco.mj_step(m, d)
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if save_video and counter % frame_skip == 0:
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try:
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renderer.update_scene(d, camera=viewer.cam)
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frame = renderer.render()
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writer.append_data(frame)
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except Exception as e:
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print(f"Error rendering frame: {e}")
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counter += 1
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if counter % control_decimation == 0:
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# Apply control signal here.
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# create observation
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qj = d.qpos[7:]
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dqj = d.qvel[6:]
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quat = d.qpos[3:7]
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lin_vel = d.qvel[:3]
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ang_vel = d.qvel[3:6]
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qj = (qj - default_angles) * dof_pos_scale
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dqj = dqj * dof_vel_scale
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gravity_orientation = get_gravity_orientation(quat)
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lin_vel = lin_vel * lin_vel_scale
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ang_vel = ang_vel * ang_vel_scale
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obs[:3] = ang_vel
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obs[3:6] = gravity_orientation
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obs[6:9] = cmd * cmd_scale
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obs[9 : 9 + num_actions] = qj[idx_mj2model]
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obs[9 + num_actions : 9 + 2 * num_actions] = dqj[idx_mj2model]
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obs[9 + 2 * num_actions : 9 + 3 * num_actions] = action[idx_mj2model]
|
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obs_tensor = torch.from_numpy(obs).unsqueeze(0)
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# policy inference
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last_action = action
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result = policy(obs_tensor)
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|
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# 处理 MoE 和 绘图
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if isinstance(result, tuple):
|
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action, (weights, latent) = result # moe
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action = action.detach().numpy().squeeze()[idx_model2mj]
|
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weights = weights.detach().numpy().squeeze()
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if visualize_moe_weights and screen is not None:
|
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draw_moe_weights(screen, weights, win_width, win_height)
|
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|
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else:
|
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action = result.detach().numpy().squeeze()[idx_model2mj]
|
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|
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# transform action to target_dof_pos
|
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target_dof_pos = action * action_scale + default_angles
|
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|
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# Pick up changes to the physics state, apply perturbations, update options from GUI.
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viewer.sync()
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|
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# 如果需要严格同步时间，可以解开下面的注释
|
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# time_until_next_step = m.opt.timestep - (time.time() - step_start)
|
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# if time_until_next_step > 0:
|
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# time.sleep(time_until_next_step)
|
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|
||||
if save_video:
|
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writer.close()
|
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|
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# 退出时清理 Pygame
|
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pygame.quit()
|
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print(f"Video saved successfully to {video_path}")
|
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@@ -253,38 +253,56 @@ class OnPolicyRunner:
|
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if self.robogauge_client is None:
|
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return
|
||||
|
||||
if it % 500 == 0 or last_model:
|
||||
# export jit model
|
||||
jit_dir = os.path.join(self.log_dir, 'jit_models')
|
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jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
|
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export_policy_as_jit(self.alg.actor_critic, jit_dir, filename=f'policy_jit_{it}.pt')
|
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# upload to robogauge
|
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task_name = 'go2'
|
||||
self.robogauge_client.submit_task(
|
||||
model_path=jit_path,
|
||||
step=it,
|
||||
task_name=task_name,
|
||||
experiment_name=self.cfg["experiment_name"]
|
||||
)
|
||||
try:
|
||||
if it % 500 == 0 or last_model:
|
||||
# export jit model
|
||||
jit_dir = os.path.join(self.log_dir, 'jit_models')
|
||||
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
|
||||
export_policy_as_jit(self.alg.actor_critic, jit_dir, filename=f'policy_jit_{it}.pt')
|
||||
# upload to robogauge
|
||||
task_name = 'go2'
|
||||
self.robogauge_client.submit_task(
|
||||
model_path=jit_path,
|
||||
step=it,
|
||||
task_name=task_name,
|
||||
experiment_name=self.cfg["experiment_name"]
|
||||
)
|
||||
except Exception as e:
|
||||
print(f"[WARN] RoboGauge submit failed at step {it}: {e}")
|
||||
return
|
||||
check_times = 1
|
||||
if last_model:
|
||||
check_times = int(1e9) # keep checking until the last model is evaluated
|
||||
while check_times > 0:
|
||||
check_times -= 1
|
||||
self.robogauge_client.monitor_tasks()
|
||||
try:
|
||||
self.robogauge_client.monitor_tasks()
|
||||
except Exception as e:
|
||||
print(f"[WARN] RoboGauge monitor failed at step {it}: {e}")
|
||||
break
|
||||
results_dir = os.path.join(self.log_dir, 'robogauge_results')
|
||||
os.makedirs(results_dir, exist_ok=True)
|
||||
result_received = False
|
||||
for task_id, resp in self.robogauge_client.response_data.items():
|
||||
scores = resp['results']['scores']
|
||||
step = resp['step']
|
||||
if not isinstance(resp, dict):
|
||||
print(f"[WARN] RoboGauge returned an invalid response for task {task_id}: {resp}")
|
||||
continue
|
||||
results = resp.get('results')
|
||||
step = resp.get('step', it)
|
||||
if results is None:
|
||||
print(f"[WARN] RoboGauge returned empty results for task {task_id} at step {step}.")
|
||||
continue
|
||||
scores = results.get('scores')
|
||||
if scores is None:
|
||||
print(f"[WARN] RoboGauge results for task {task_id} at step {step} do not contain 'scores'.")
|
||||
continue
|
||||
if step == it:
|
||||
result_received = True
|
||||
for key, val in scores.items():
|
||||
self.writer.add_scalar(f'RoboGauge/{key}', val, step)
|
||||
results_path = os.path.join(results_dir, f'results_{step}.yaml')
|
||||
with open(results_path, 'w', encoding='utf-8') as f:
|
||||
yaml.dump(resp['results'], f, allow_unicode=True, sort_keys=False)
|
||||
yaml.dump(results, f, allow_unicode=True, sort_keys=False)
|
||||
|
||||
if last_model and result_received:
|
||||
print(f"RoboGauge result for step {it} received. Exiting wait loop.")
|
||||
|
||||
@@ -298,38 +298,56 @@ class OnPolicyRunnerCTS:
|
||||
if self.robogauge_client is None:
|
||||
return
|
||||
|
||||
if it % 500 == 0 or last_model:
|
||||
# export jit model
|
||||
jit_dir = os.path.join(self.log_dir, 'jit_models')
|
||||
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
|
||||
export_policy_as_jit(self.alg.model, jit_dir, filename=f'policy_jit_{it}.pt')
|
||||
# upload to robogauge
|
||||
task_name = 'go2_moe' # Both cts, moe-cts actor return a tuple `action, (latent, ...)`
|
||||
self.robogauge_client.submit_task(
|
||||
model_path=jit_path,
|
||||
step=it,
|
||||
task_name=task_name,
|
||||
experiment_name=self.cfg["experiment_name"]
|
||||
)
|
||||
try:
|
||||
if it % 500 == 0 or last_model:
|
||||
# export jit model
|
||||
jit_dir = os.path.join(self.log_dir, 'jit_models')
|
||||
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
|
||||
export_policy_as_jit(self.alg.model, jit_dir, filename=f'policy_jit_{it}.pt')
|
||||
# upload to robogauge
|
||||
task_name = 'go2_moe' # Both cts, moe-cts actor return a tuple `action, (latent, ...)`
|
||||
self.robogauge_client.submit_task(
|
||||
model_path=jit_path,
|
||||
step=it,
|
||||
task_name=task_name,
|
||||
experiment_name=self.cfg["experiment_name"]
|
||||
)
|
||||
except Exception as e:
|
||||
print(f"[WARN] RoboGauge submit failed at step {it}: {e}")
|
||||
return
|
||||
check_times = 1
|
||||
if last_model:
|
||||
check_times = int(1e9) # keep checking until manually stopped
|
||||
while check_times > 0:
|
||||
check_times -= 1
|
||||
self.robogauge_client.monitor_tasks()
|
||||
try:
|
||||
self.robogauge_client.monitor_tasks()
|
||||
except Exception as e:
|
||||
print(f"[WARN] RoboGauge monitor failed at step {it}: {e}")
|
||||
break
|
||||
results_dir = os.path.join(self.log_dir, 'robogauge_results')
|
||||
os.makedirs(results_dir, exist_ok=True)
|
||||
result_received = False
|
||||
for task_id, resp in self.robogauge_client.response_data.items():
|
||||
scores = resp['results']['scores']
|
||||
step = resp['step']
|
||||
if not isinstance(resp, dict):
|
||||
print(f"[WARN] RoboGauge returned an invalid response for task {task_id}: {resp}")
|
||||
continue
|
||||
results = resp.get('results')
|
||||
step = resp.get('step', it)
|
||||
if results is None:
|
||||
print(f"[WARN] RoboGauge returned empty results for task {task_id} at step {step}.")
|
||||
continue
|
||||
scores = results.get('scores')
|
||||
if scores is None:
|
||||
print(f"[WARN] RoboGauge results for task {task_id} at step {step} do not contain 'scores'.")
|
||||
continue
|
||||
if step == it:
|
||||
result_received = True
|
||||
for key, val in scores.items():
|
||||
self.writer.add_scalar(f'RoboGauge/{key}', val, step)
|
||||
results_path = os.path.join(results_dir, f'results_{step}.yaml')
|
||||
with open(results_path, 'w', encoding='utf-8') as f:
|
||||
yaml.dump(resp['results'], f, allow_unicode=True, sort_keys=False)
|
||||
yaml.dump(results, f, allow_unicode=True, sort_keys=False)
|
||||
|
||||
if last_model and result_received:
|
||||
print(f"RoboGauge result for step {it} received. Exiting wait loop.")
|
||||
|
||||
@@ -36,7 +36,39 @@ def fast_read(event_file_path, tag_names):
|
||||
if value.tag in tag_names:
|
||||
tag_data[event.step][value.tag] = value.simple_value
|
||||
|
||||
return pd.DataFrame(tag_data).T
|
||||
df = pd.DataFrame(tag_data).T
|
||||
df.index.name = 'step'
|
||||
return df
|
||||
|
||||
def normalize_tb_df(tb_df):
|
||||
tb_df = tb_df.copy()
|
||||
|
||||
if 'step' not in tb_df.columns:
|
||||
first_col = tb_df.columns[0] if len(tb_df.columns) > 0 else None
|
||||
if first_col is not None and str(first_col).startswith('Unnamed:'):
|
||||
tb_df = tb_df.rename(columns={first_col: 'step'})
|
||||
elif tb_df.index.name == 'step':
|
||||
tb_df = tb_df.reset_index()
|
||||
else:
|
||||
tb_df = tb_df.reset_index().rename(columns={'index': 'step'})
|
||||
|
||||
tb_df['step'] = pd.to_numeric(tb_df['step'], errors='coerce')
|
||||
tb_df = tb_df.dropna(subset=['step'])
|
||||
tb_df['step'] = tb_df['step'].astype(int)
|
||||
return tb_df
|
||||
|
||||
def get_tb_value(tb_df, step, candidate_tags):
|
||||
row = tb_df[tb_df['step'] == step]
|
||||
if row.empty:
|
||||
raise KeyError(f"No tensorboard entry found for step={step}.")
|
||||
|
||||
for tag in candidate_tags:
|
||||
if tag not in row.columns:
|
||||
continue
|
||||
values = row[tag].dropna().values
|
||||
if len(values) > 0:
|
||||
return float(values[0])
|
||||
raise KeyError(f"No tensorboard value found for step={step} in tags: {candidate_tags}")
|
||||
|
||||
class Collector:
|
||||
def __init__(self, log_dirs):
|
||||
@@ -58,14 +90,14 @@ class Collector:
|
||||
self.output_tb = self.output_dir / "tb.csv"
|
||||
if self.output_tb.exists():
|
||||
print(f"Loading existing tensorboard data from {self.output_tb}")
|
||||
self.tb_df = pd.read_csv(self.output_tb)
|
||||
self.tb_df = normalize_tb_df(pd.read_csv(self.output_tb))
|
||||
else:
|
||||
start_time = time.time()
|
||||
print(f"Start reading tensorboard events at {time.ctime(start_time)}")
|
||||
self.tb_df = fast_read(str(self.log_dirs.glob("events.out.tfevents.*").__next__()), [
|
||||
self.tb_df = normalize_tb_df(fast_read(str(self.log_dirs.glob("events.out.tfevents.*").__next__()), [
|
||||
'Terrain/terrain_level_all', 'Episode/terrain_level_all',
|
||||
'RoboGauge/benchmark'
|
||||
])
|
||||
]))
|
||||
print(f"Finished reading tensorboard events in {time.time() - start_time:.2f} seconds.")
|
||||
self.tb_df.to_csv(self.output_tb, index=False)
|
||||
print(f"Saved tensorboard data to {self.output_tb}")
|
||||
@@ -109,7 +141,11 @@ class Collector:
|
||||
self.datas[f'{terrain_name}_mean@25'].append(float(data['robust_score'][terrain_name]['mean@25']))
|
||||
self.datas[f'{terrain_name}_mean@50'].append(float(data['robust_score'][terrain_name]['mean@50']))
|
||||
|
||||
self.datas['terrain_level'].append(float(self.tb_df[self.tb_df['step'] == it]['value'].values[0]))
|
||||
self.datas['terrain_level'].append(get_tb_value(
|
||||
self.tb_df,
|
||||
it,
|
||||
['Terrain/terrain_level_all', 'Episode/terrain_level_all']
|
||||
))
|
||||
df = pd.DataFrame(self.datas)
|
||||
df.to_csv(self.output_csv, index=False)
|
||||
print(f"Saved merged results to {self.output_csv}")
|
||||
@@ -117,6 +153,8 @@ class Collector:
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--log-dirs")
|
||||
parser.add_argument("--read-robogauge", default=True, type=lambda x: (str(x).lower() in ['true', '1']), help="Whether to read robogauge_results")
|
||||
args = parser.parse_args()
|
||||
collector = Collector(args.log_dirs)
|
||||
# collector.collect()
|
||||
if args.read_robogauge:
|
||||
collector.collect()
|
||||
|
||||
Reference in New Issue
Block a user