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75 lines
2.3 KiB
Python
75 lines
2.3 KiB
Python
"""Small, deterministic helpers shared by the chapter 9 robotics labs.
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The labs deliberately avoid pretending that a Mac MPS run is a CUDA/ManiSkill
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run. They expose the accelerator used in the evidence and fail closed when a
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caller asks for an accelerator that is not available.
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"""
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from __future__ import annotations
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import hashlib
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import json
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import os
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import random
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from pathlib import Path
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from typing import Any
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import numpy as np
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import torch
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def seed_everything(seed: int) -> None:
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"""Seed every local RNG used by the self-contained experiments."""
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os.environ["PYTHONHASHSEED"] = str(seed)
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random.seed(seed)
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np.random.seed(seed)
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torch.manual_seed(seed)
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if torch.cuda.is_available():
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torch.cuda.manual_seed_all(seed)
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def select_device(require_accelerator: bool = True) -> torch.device:
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"""Prefer CUDA, then Apple MPS, and optionally reject CPU fallback."""
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if torch.cuda.is_available():
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return torch.device("cuda")
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if getattr(torch.backends, "mps", None) is not None and torch.backends.mps.is_available():
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return torch.device("mps")
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if require_accelerator:
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raise RuntimeError("no local GPU accelerator is available (expected CUDA or Apple MPS)")
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return torch.device("cpu")
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def device_info(device: torch.device) -> dict[str, Any]:
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info: dict[str, Any] = {"device": str(device), "torch": torch.__version__}
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if device.type == "cuda":
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info["name"] = torch.cuda.get_device_name(device)
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info["capability"] = list(torch.cuda.get_device_capability(device))
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elif device.type == "mps":
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info["name"] = "Apple Metal Performance Shaders"
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else:
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info["name"] = "CPU"
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return info
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def sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as handle:
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for chunk in iter(lambda: handle.read(1024 * 1024), b""):
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digest.update(chunk)
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return digest.hexdigest()
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def write_json(path: Path, value: dict[str, Any]) -> None:
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path.parent.mkdir(parents=True, exist_ok=True)
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path.write_text(json.dumps(value, indent=2, sort_keys=True) + "\n", encoding="utf-8")
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def relative_or_absolute(path: Path, root: Path) -> str:
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try:
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return str(path.resolve().relative_to(root.resolve()))
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except ValueError:
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return str(path.resolve())
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