82 lines
2.5 KiB
Python
82 lines
2.5 KiB
Python
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import os
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import socket
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import numpy as np
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from experiment_launcher import Launcher
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from experiment_launcher.utils import is_local
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########################################################################################################################
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# EXPERIMENT PARAMETERS SETUP
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# SELECT ONE
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env_id, robot_id, num_contexts, num_trajectories_per_context, threshold_start_goal_pos, obstacle_cutoff_margin = 'EnvSimple2D', 'RobotPointMass', 500, 20, 1, 0.02
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# env_id, robot_id, num_contexts, num_trajectories_per_context, threshold_start_goal_pos, obstacle_cutoff_margin = 'EnvNarrowPassageDense2D', 'RobotPointMass', 500, 20, 1, 0.02
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# env_id, robot_id, num_contexts, num_trajectories_per_context, threshold_start_goal_pos, obstacle_cutoff_margin = 'EnvDense2D', 'RobotPointMass', 500, 20, 1, 0.02
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# env_id, robot_id, num_contexts, num_trajectories_per_context, threshold_start_goal_pos, obstacle_cutoff_margin = 'EnvSpheres3D', 'RobotPanda', 500, 20, 1.83, 0.05 # 1.83 = 7 * np.deg2rad(15)
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########################################################################################################################
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# LAUNCHER
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hostname = socket.gethostname()
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LOCAL = is_local()
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TEST = False
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# USE_CUDA = True
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USE_CUDA = False
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N_SEEDS = num_contexts
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N_EXPS_IN_PARALLEL = 15 if not USE_CUDA else 1
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# N_CORES = N_EXPS_IN_PARALLEL
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N_CORES = 8
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MEMORY_SINGLE_JOB = 12000
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MEMORY_PER_CORE = N_EXPS_IN_PARALLEL * MEMORY_SINGLE_JOB // N_CORES
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PARTITION = 'gpu' if USE_CUDA else 'amd3,amd2,amd'
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GRES = 'gpu:1' if USE_CUDA else None # gpu:rtx2080:1, gpu:rtx3080:1, gpu:rtx3090:1, gpu:a5000:1
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CONDA_ENV = 'mpd-public'
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exp_name = f'generate_trajectories'
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os.environ["HDF5_USE_FILE_LOCKING"] = "FALSE"
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launcher = Launcher(
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exp_name=exp_name,
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exp_file='generate_trajectories',
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# project_name='project01234',
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n_seeds=N_SEEDS,
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n_exps_in_parallel=N_EXPS_IN_PARALLEL,
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n_cores=N_CORES,
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memory_per_core=MEMORY_PER_CORE,
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days=0,
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hours=7,
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minutes=59,
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seconds=0,
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partition=PARTITION,
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conda_env=CONDA_ENV,
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gres=GRES,
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use_timestamp=True
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)
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########################################################################################################################
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# RUN
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launcher.add_experiment(
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env_id__=env_id,
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robot_id__=robot_id,
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num_trajectories=num_trajectories_per_context,
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threshold_start_goal_pos=threshold_start_goal_pos,
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obstacle_cutoff_margin=obstacle_cutoff_margin,
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device='cuda' if USE_CUDA else 'cpu',
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debug=False
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)
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launcher.run(LOCAL, TEST)
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