cyy/RoboGauge
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v1.0.0

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wty-yy
2025-12-29 23:41:09 +08:00
parent c28bb64b0a
commit 587d014683
44 changed files with 196 additions and 714 deletions
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3
robogauge/tasks/pipeline/base_pipeline.py
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@@ -56,7 +56,8 @@ class BasePipeline:
self.gauge_cfg.assets.terrain_xmls,
self.robot_cfg.assets.robot_xml,
self.gauge_cfg.assets.terrain_spawn_pos,
self.robot_cfg.control.default_dof_pos
self.robot_cfg.control.default_dof_pos,
self.gauge_cfg.backward,
)
def run(self):

12
robogauge/tasks/pipeline/stress_pipeline.py
View File

@@ -192,11 +192,10 @@ class StressPipeline:
continue
summary[key] = result['results']
if terrain_name != 'stairs_down': # skip stairs_down for metrics means calculation
for metric, means in result['results']['terrain_weighted_summary'].items():
for mean_name, value_str in means.items():
value = float(value_str.split(' ± ')[0])
metric_collections[metric][mean_name].append(value)
for metric, means in result['results']['terrain_weighted_summary'].items():
for mean_name, value_str in means.items():
value = float(value_str.split(' ± ')[0])
metric_collections[metric][mean_name].append(value)
for mean_name, value in result['results']['terrain_quality_score'].items():
terrain_collections[terrain_name][mean_name].append(value)
@@ -214,8 +213,7 @@ class StressPipeline:
values.extend([0.0] * zero_terrain_count[terrain_name]) # include zero terrains
robust_score[terrain_name][mean_name] = float(np.mean(values))
scores[terrain_name] = robust_score[terrain_name]['mean@50']
if terrain_name != 'stairs_down': # skip stairs_down for benchmark score calculation
robust_scores.append(robust_score[terrain_name]['mean@50'])
robust_scores.append(robust_score[terrain_name]['mean@50'])
summary['robust_score'] = dict(robust_score)
summary['benchmark_score'] = float(np.mean(robust_scores))
scores['benchmark'] = summary['benchmark_score']