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Improved get load path #33

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Improved get load path #33

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3ac7c66
make format
henri123lemoine Dec 2, 2024
7d72e0d
get_load_path to handle numbers for load_run
henri123lemoine Dec 2, 2024
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6 changes: 1 addition & 5 deletions sim/play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -144,11 +144,7 @@ def play(args: argparse.Namespace) -> None:
video = cv2.VideoWriter(dir, fourcc, 50.0, (1920, 1080))

cmd_manager = CommandManager(
num_envs=env_cfg.env.num_envs,
mode=CMD_MODE,
default_cmd=DEFAULT_COMMAND,
device=env.device,
env_cfg=env_cfg
num_envs=env_cfg.env.num_envs, mode=CMD_MODE, default_cmd=DEFAULT_COMMAND, device=env.device, env_cfg=env_cfg
)

for t in tqdm(range(stop_state_log)):
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59 changes: 37 additions & 22 deletions sim/utils/cmd_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,22 +41,27 @@ def __init__(
self.osc_amplitude = (self.max_x_vel - self.min_x_vel) / 2
self.osc_offset = (self.max_x_vel + self.min_x_vel) / 2
elif self.mode == CommandMode.RANDOM:
self.cmd_ranges = {
'lin_vel_x': env_cfg.commands.ranges.lin_vel_x,
'lin_vel_y': env_cfg.commands.ranges.lin_vel_y,
'ang_vel_yaw': env_cfg.commands.ranges.ang_vel_yaw,
'heading': env_cfg.commands.ranges.heading
} if env_cfg else {
'lin_vel_x': [-0.05, 0.23],
'lin_vel_y': [-0.05, 0.05],
'ang_vel_yaw': [-0.5, 0.5],
'heading': [-np.pi, np.pi]
}
self.cmd_ranges = (
{
"lin_vel_x": env_cfg.commands.ranges.lin_vel_x,
"lin_vel_y": env_cfg.commands.ranges.lin_vel_y,
"ang_vel_yaw": env_cfg.commands.ranges.ang_vel_yaw,
"heading": env_cfg.commands.ranges.heading,
}
if env_cfg
else {
"lin_vel_x": [-0.05, 0.23],
"lin_vel_y": [-0.05, 0.05],
"ang_vel_yaw": [-0.5, 0.5],
"heading": [-np.pi, np.pi],
}
)
self.resampling_time = env_cfg.commands.resampling_time if env_cfg else 8.0
self.last_sample_time = 0.0
elif self.mode == CommandMode.KEYBOARD:
try:
import pygame

pygame.init()
pygame.display.set_mode((100, 100))
self.x_vel_cmd = 0.0
Expand All @@ -82,17 +87,27 @@ def update(self, dt: float) -> torch.Tensor:
if self.time - self.last_sample_time >= self.resampling_time:
self.last_sample_time = self.time
# Generate random commands within training ranges
new_commands = torch.tensor([
np.random.uniform(*self.cmd_ranges['lin_vel_x']),
np.random.uniform(*self.cmd_ranges['lin_vel_y']),
0.0,
np.random.uniform(*self.cmd_ranges['heading'])
], device=self.device) if self.env_cfg and self.env_cfg.commands.heading_command else torch.tensor([
np.random.uniform(*self.cmd_ranges['lin_vel_x']),
np.random.uniform(*self.cmd_ranges['lin_vel_y']),
np.random.uniform(*self.cmd_ranges['ang_vel_yaw']),
0.0
], device=self.device)
new_commands = (
torch.tensor(
[
np.random.uniform(*self.cmd_ranges["lin_vel_x"]),
np.random.uniform(*self.cmd_ranges["lin_vel_y"]),
0.0,
np.random.uniform(*self.cmd_ranges["heading"]),
],
device=self.device,
)
if self.env_cfg and self.env_cfg.commands.heading_command
else torch.tensor(
[
np.random.uniform(*self.cmd_ranges["lin_vel_x"]),
np.random.uniform(*self.cmd_ranges["lin_vel_y"]),
np.random.uniform(*self.cmd_ranges["ang_vel_yaw"]),
0.0,
],
device=self.device,
)
)
self.commands = new_commands.repeat(self.num_envs, 1)
elif self.mode == CommandMode.KEYBOARD:
self._handle_keyboard_input()
Expand Down
38 changes: 30 additions & 8 deletions sim/utils/helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
import copy
import os
import random
from datetime import datetime
from typing import Any, Tuple, Union

import numpy as np
Expand Down Expand Up @@ -108,18 +109,39 @@ def parse_sim_params(args, cfg):
return sim_params


def get_load_path(root, load_run=-1, checkpoint=-1):
def get_load_path(root, load_run: Union[int, str] = -1, checkpoint: Union[int, str] = -1):
try:
runs = os.listdir(root)
# TODO sort by date to handle change of month
runs.sort()

def parse_run_time(run_name):
try:
return datetime.strptime(run_name[:14], "%b%d_%H-%M-%S")
except:
return datetime.min

runs.sort(key=parse_run_time)

if "exported" in runs:
runs.remove("exported")
last_run = os.path.join(root, runs[-1])
except:
raise ValueError("No runs in this directory: " + root)
if load_run == -1:
load_run = last_run

# Keep only runs with model files
runs = [run for run in runs if any("model" in file for file in os.listdir(os.path.join(root, run)))]
if not runs:
raise ValueError("No runs with model files in this directory: " + root)

except Exception as e:
raise ValueError("Error accessing directory: " + root) from e

# Handle load_run selection
if isinstance(load_run, str) and load_run.lstrip("-").isdigit():
load_run = int(load_run)

if isinstance(load_run, int):
try:
run_name = runs[load_run]
load_run = os.path.join(root, run_name)
except IndexError:
raise ValueError(f"Run index {load_run} out of range. Available runs: {len(runs)}")
else:
load_run = os.path.join(root, load_run)

Expand Down