v0.1.10

robogauge/tasks/gauge/metrics/visualization.py

@@ -1,3 +1,12 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : visualization.py
+@Time    : 2025/12/18 20:19:09
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Visualization Metric Implementation
+'''
 from robogauge.tasks.robots import RobotConfig
 from robogauge.tasks.gauge.metrics.base_metric import BaseMetric, SimData, GoalData
 
@@ -9,20 +18,20 @@ class VisualizationMetric(BaseMetric):
 
     def __init__(self,
         robot_cfg: RobotConfig,
-        dof_force: bool = False,
+        dof_torque: bool = False,
         dof_pos: bool = False,
         **kwargs
     ):
         super().__init__(robot_cfg)
-        self.dof_force = dof_force
+        self.dof_torque = dof_torque
         self.dof_pos = dof_pos
 
     def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
-        for i in range(len(sim_data.proprio.joint.force)):
+        for i in range(len(sim_data.proprio.joint.torque)):
             name = sim_data.proprio.joint.names[i]
-            if self.dof_force:
-                force = sim_data.proprio.joint.force[i]
-                logger.log(force, f'dof_force/{name}', step=sim_data.n_step)
+            if self.dof_torque:
+                torque = sim_data.proprio.joint.torque[i]
+                logger.log(torque, f'dof_torque/{name}', step=sim_data.n_step)
             if self.dof_pos:
                 pos = sim_data.proprio.joint.pos[i]
                 logger.log(pos, f'dof_pos/{name}', step=sim_data.n_step)