Genesis - MacOS環境での実行メモ（サンプルの学習と実行まで）
大まかな流れは以下の記事を参照して実行しました。
https://qiita.com/hEnka/items/cc5fd872eb0bf7cd3abc
MacOS用に環境構築とコードの変更をいくつか加えて実行しています。
環境構築
まず最初に、pythonのバージョンに制限があるためpyenvで環境指定して環境構築します。
https://github.com/Genesis-Embodied-AI/Genesis/issues/313#issuecomment-2562407431
cd <workspace>
# pyenv settings
pyenv install miniconda3-3.10-24.9.2-0
pyenv local miniconda3-3.10-24.9.2-0
# install dependencies
pip3 install torch torchvision torchaudio
pip install genesis-world
Exampleの実行
cd <workspace>
# get Genesis examples
git clone https://github.com/Genesis-Embodied-AI/Genesis.git
cd <workspace>/Genesis
# run macos example (need --vis option)
python3 examples/render_on_macos.py --vis
> [Genesis] [15:52:13] [WARNING] Non-linux system detected. In order to use the interactive viewer, you need to manually run simulation in a separate thread and then start viewer. See `examples/render_on_macos.py`.
学習の実行
cd <workspace>
git clone https://github.com/leggedrobotics/rsl_rl
cd <workspace>/rsl_rl
git checkout v1.0.2 && pip install -e .
pip install tensorboard
cd <workspace>/Genesis
python examples/locomotion/go2_train.py
> File "~/.pyenv/versions/miniconda3-3.10-24.9.2-0/lib/python3.10/site-packages/torch/cuda/__init__.py", line 310, in _lazy_init
raise AssertionError("Torch not compiled with CUDA enabled")
AssertionError: Torch not compiled with CUDA enabled
MacBookにはNvidiaデバイスがないので代わりにmpsを利用する。データがcpuとgpuのメモリに分散しているとエラーが発生したのでその修正も加えた以下の変更を行う。
diff --git a/examples/locomotion/go2_env.py b/examples/locomotion/go2_env.py
index 0ff5825..497e91f 100644
--- a/examples/locomotion/go2_env.py
+++ b/examples/locomotion/go2_env.py
@@ -9,7 +9,7 @@ def gs_rand_float(lower, upper, shape, device):
class Go2Env:
- def __init__(self, num_envs, env_cfg, obs_cfg, reward_cfg, command_cfg, show_viewer=False, device="cuda"):
+ def __init__(self, num_envs, env_cfg, obs_cfg, reward_cfg, command_cfg, show_viewer=False, device="mps"):
self.device = torch.device(device)
self.num_envs = num_envs
diff --git a/examples/locomotion/go2_train.py b/examples/locomotion/go2_train.py
index 7c77990..db9003b 100644
--- a/examples/locomotion/go2_train.py
+++ b/examples/locomotion/go2_train.py
@@ -142,7 +142,7 @@ def main():
parser.add_argument("--max_iterations", type=int, default=100)
args = parser.parse_args()
- gs.init(logging_level="warning")
+ gs.init(backend=gs.gpu, logging_level="warning")
log_dir = f"logs/{args.exp_name}"
env_cfg, obs_cfg, reward_cfg, command_cfg = get_cfgs()
@@ -156,7 +156,7 @@ def main():
num_envs=args.num_envs, env_cfg=env_cfg, obs_cfg=obs_cfg, reward_cfg=reward_cfg, command_cfg=command_cfg
)
- runner = OnPolicyRunner(env, train_cfg, log_dir, device="cuda:0")
+ runner = OnPolicyRunner(env, train_cfg, log_dir, device="mps:0")
pickle.dump(
[env_cfg, obs_cfg, reward_cfg, command_cfg, train_cfg],
実行すると数分で終了する。実際の実行時間は以下に記載。
python3 examples/locomotion/go2_train.py 173.21s user 31.67s system 55% cpu 6:11.18 total
学習結果の評価
シミュレーションの実行には以下の変更を加える。
--- a/examples/locomotion/go2_eval.py
+++ b/examples/locomotion/go2_eval.py
@@ -15,7 +15,7 @@ def main():
parser.add_argument("--ckpt", type=int, default=100)
args = parser.parse_args()
- gs.init()
+ gs.init(backend=gs.gpu)
log_dir = f"logs/{args.exp_name}"
env_cfg, obs_cfg, reward_cfg, command_cfg, train_cfg = pickle.load(open(f"logs/{args.exp_name}/cfgs.pkl", "rb"))
@@ -30,17 +30,20 @@ def main():
show_viewer=True,
)
- runner = OnPolicyRunner(env, train_cfg, log_dir, device="cuda:0")
+ runner = OnPolicyRunner(env, train_cfg, log_dir, device="mps:0")
resume_path = os.path.join(log_dir, f"model_{args.ckpt}.pt")
runner.load(resume_path)
- policy = runner.get_inference_policy(device="cuda:0")
+ policy = runner.get_inference_policy(device="mps:0")
+ gs.tools.run_in_another_thread(fn=run_sim, args=(env, policy))
+ env.scene.viewer.start()
+def run_sim(env, policy):
obs, _ = env.reset()
with torch.no_grad():
while True:
actions = policy(obs)
obs, _, rews, dones, infos = env.step(actions)
-
+ env.scene.viewer.stop()
if __name__ == "__main__":
main()
下記のコマンドで実行可能
python examples/locomotion/go2_eval.py -e go2-walking
無事、歩いてくれました。