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v0.1.11

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wty-yy
2025-12-21 00:16:07 +08:00
parent 939dc69b7e
commit 4546be76bf
14 changed files with 246 additions and 45 deletions
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31
robogauge/tasks/gauge/base_gauge.py
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@@ -22,7 +22,7 @@ from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.goals import BaseGoal, MaxVelocityGoal, DiagonalVelocityGoal
from robogauge.tasks.gauge.goals import *
from robogauge.tasks.gauge.metrics import *
class BaseGauge:
@@ -40,7 +40,8 @@ class BaseGauge:
self.goals: List[BaseGoal] = []
self.metrics: List[function] = []
self.info = {'goal': [], 'metric': []}
self.results = {} # {'goal/sub_goal': {'metric': result}}
self.results = {
} # {'goal/sub_goal': {'metric': result}}
log_str = "Initialized Gauge with Goals and Metrics:\n"
for name, kwargs in self.goals_cfg.items():
@@ -51,6 +52,9 @@ class BaseGauge:
elif name == 'diagonal_velocity':
self.goals.append(DiagonalVelocityGoal(robot_cfg.control.control_dt, robot_cfg.commands, **kwargs))
log_str += f" - Diagonal Velocity Goal: {kwargs}\n"
elif name == 'target_pos_velocity':
self.goals.append(TargetPosVelocityGoal(robot_cfg.control.control_dt,**kwargs))
log_str += f" - Target Position Velocity Goal: {kwargs}\n"
else:
raise NotImplementedError(f"Goal '{name}' is not implemented in BaseGauge.")
self.info['goal'].append(name)
@@ -97,21 +101,23 @@ class BaseGauge:
# ang_vel_yaw=-5.0,
# )
# )
if self.goal_idx >= len(self.goals):
logger.error("All goals have been exhausted.")
return None
goal_obj = self.goals[self.goal_idx]
goal = goal_obj.get_goal(sim_data)
if goal_obj.pre_get_goal(sim_data):
metrics = goal_obj.goal_mean_metrics
if hasattr(goal_obj, 'success'): # target position goal
metrics['success'] = {'mean': float(goal_obj.success)}
key = f"{goal_obj.name}"
self.results[key] = metrics
if goal is None: # goal obj finished
self.results[goal_obj.name] = goal_obj.goal_mean_metrics
self.goal_idx += 1
self.create_new_goal_logger()
return None
goal = goal_obj.get_goal(sim_data)
now_goal_str = str(goal_obj)
if now_goal_str != self.goal_str: # sub goal changed
self.goal_str = now_goal_str
if f"{goal_obj.count+1}_{now_goal_str}" != self.goal_str: # sub goal changed
self.goal_str = f"{goal_obj.count+1}_{now_goal_str}"
logger.info(f"New Goal [{self.goal_idx+1}/{len(self.goals)}] [{goal_obj.count+1}/{goal_obj.total}]: {self.goal_str}")
return goal
@@ -142,9 +148,10 @@ class BaseGauge:
self.results['summary'][metric_name][quantile] = f"{mean:.4f} ± {std:.4f}"
save_path = Path(logger.log_dir) / "results.yaml"
self.results["terrain"] = f"{self.cfg.assets.terrain_name}"
with open(save_path, 'w') as file:
yaml.dump(self.results, file, allow_unicode=True)
yaml_str = yaml.dump(self.results, allow_unicode=True)
yaml.dump(self.results, file, allow_unicode=True, sort_keys=False)
yaml_str = yaml.dump(self.results, allow_unicode=True, sort_keys=False)
logger.info(
f"""\n{'='*20} Goals and Metrics results {'='*20}\n"""
f"""{yaml_str}"""