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v0.1.12 last gauge info

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wty-yy
2025-12-21 14:53:33 +08:00
parent 4546be76bf
commit 59522777c9
7 changed files with 44 additions and 26 deletions
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28
robogauge/tasks/gauge/base_gauge.py
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@@ -40,8 +40,7 @@ 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():
@@ -102,16 +101,8 @@ class BaseGauge:
# )
# )
goal_obj = self.goals[self.goal_idx]
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
self.goal_idx += 1
self.create_new_goal_logger()
if goal_obj.pre_get_goal(sim_data): # goal finished
self.switch_to_next_goal()
return None
goal = goal_obj.get_goal(sim_data)
@@ -121,6 +112,19 @@ class BaseGauge:
logger.info(f"New Goal [{self.goal_idx+1}/{len(self.goals)}] [{goal_obj.count+1}/{goal_obj.total}]: {self.goal_str}")
return goal
def switch_to_next_goal(self):
""" Switch to the next goal and log the metrics of the current goal. """
goal_obj = self.goals[self.goal_idx]
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
self.goal_idx += 1
self.create_new_goal_logger()
def update_metrics(self, sim_data: SimData, goal_data: GoalData):
if sim_data.n_step % int(self.cfg.metrics.metric_dt / sim_data.sim_dt) != 0:
return