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v1.1.6; fix terrain_weighted_summary bug

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wty-yy
2026-03-24 21:55:53 +08:00
parent f713f70561
commit 1ab6c58fd1
10 changed files with 202 additions and 28 deletions
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6
robogauge/tasks/gauge/metrics/stable_metric.py
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@@ -142,9 +142,9 @@ class FrictionMarginMetric(BaseMetric):
if force_data['normal'] <= self.force_threshold:
continue
if force_data['friction_limit'] <= self.force_threshold:
logger.warning(
f"Friction margin metric got too small friction limit on foot {foot_name}, returning 0 for this foot."
)
# logger.warning(
# f"Friction margin metric got too small friction limit on foot {foot_name}, returning 0 for this foot."
# )
foot_margins.append(0.0)
foot_normal_forces.append(force_data['normal'])
utilization_values.append(float('inf'))

2
robogauge/tasks/pipeline/multi_pipeline.py
View File

@@ -172,7 +172,7 @@ class MultiPipeline:
for mean_name, values in means.items():
twv = float(np.mean(values))
if summary['terrain_name'] in SEARCH_LEVELS_TERRAINS:
twv = 0.09 * (summary['terrain_level'] - 1) + 0.19 * v
twv = 0.09 * (summary['terrain_level'] - 1) + 0.19 * twv
summary['terrain_weighted_summary'][metric][mean_name] = f"{twv:.4f} ± {float(np.std(values)):.4f}"
save_path = multi_logger.log_dir / "aggregated_results.yaml"