diff --git a/CMD.md b/CMD.md
index 2ad0487..e52fa8e 100644
--- a/CMD.md
+++ b/CMD.md
@@ -23,11 +23,18 @@ python robogauge/scripts/run.py \
--headless
```
-# Radar Plot
+# Radar/Bar Plot
将Multi Run结果绘制在雷达图中
```bash
-python robogauge/utils/radar_plot.py \
+# 可选--out保存到图片
+python robogauge/utils/visualize_results.py \
aggregated_results_1.yaml \
aggregated_results_2.yaml \
- --out logs/go2_flat_vs_moe_flat.png
+ --out logs/1.jpg
+
+# 绘制下全部 *.yaml, 可选range控制radar, bar y轴显示范围
+python robogauge/utils/visualize_results.py \
+ /home/xfy/Coding/robot_gauge/mytest/results \
+ --range 0.35 1.0 \
+ --out logs/1.jpg
```
\ No newline at end of file
diff --git a/UPDATE.md b/UPDATE.md
index 81c733d..edc902d 100644
--- a/UPDATE.md
+++ b/UPDATE.md
@@ -1,8 +1,9 @@
# UPDATE
-TODO: 在模型崩溃时也记录下最后的gauge信息
+TODO: 即使模型崩溃也要继续测完后续的goals
## 20251221
### v0.1.12
1. 在模型崩溃时也记录下最后的gauge信息, 修改single/multi pipeline逻辑
+2. 添加slope全等级地形, 关系式: 斜率$0.1+0.47d$，角度范围$5.7\sim29.7^\circ$, 发现29.7度在2.4摩擦系数下可以稳定通过
## 20251220
### v0.1.11
1. 加入`os.environ["OMP_NUM_THREADS"] = "2"; os.environ["MKL_NUM_THREADS"] = "2"`避免并行时cpu线程爆炸, `--multi`模式能稳定提高速度了
diff --git a/resources/models/go2/go2_cts_83501.pt b/resources/models/go2/go2_cts_83501.pt
deleted file mode 100644
index cc975c3..0000000
Binary files a/resources/models/go2/go2_cts_83501.pt and /dev/null differ
diff --git a/resources/models/go2/go2_cts_cmd-1,1_38k.pt b/resources/models/go2/go2_cts_cmd-1,1_38k.pt
deleted file mode 100644
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Binary files a/resources/models/go2/go2_cts_cmd-1,1_38k.pt and /dev/null differ
diff --git a/resources/models/go2/go2_cts_max2_100k.pt b/resources/models/go2/go2_cts_max2_100k.pt
new file mode 100644
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diff --git a/resources/models/go2/go2_moe_cts_8experts_2cmd_100k.pt b/resources/models/go2/go2_moe_cts_8experts_2cmd_100k.pt
new file mode 100644
index 0000000..5762923
Binary files /dev/null and b/resources/models/go2/go2_moe_cts_8experts_2cmd_100k.pt differ
diff --git a/resources/terrains/slope/slope_1.xml b/resources/terrains/slope/slope_1.xml
new file mode 100644
index 0000000..f8c90ac
--- /dev/null
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new file mode 100644
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diff --git a/resources/terrains/slope/slope_2.xml b/resources/terrains/slope/slope_2.xml
new file mode 100644
index 0000000..8e8b7a0
--- /dev/null
+++ b/resources/terrains/slope/slope_2.xml
@@ -0,0 +1,19 @@
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diff --git a/resources/terrains/slope/slope_3.xml b/resources/terrains/slope/slope_3.xml
new file mode 100644
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+++ b/resources/terrains/slope/slope_3.xml
@@ -0,0 +1,19 @@
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diff --git a/resources/terrains/slope/slope_4.xml b/resources/terrains/slope/slope_4.xml
new file mode 100644
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+++ b/resources/terrains/slope/slope_4.xml
@@ -0,0 +1,19 @@
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diff --git a/resources/terrains/slope/slope_5.xml b/resources/terrains/slope/slope_5.xml
new file mode 100644
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+++ b/resources/terrains/slope/slope_5.xml
@@ -0,0 +1,19 @@
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diff --git a/resources/terrains/slope/slope_6.xml b/resources/terrains/slope/slope_6.xml
new file mode 100644
index 0000000..d53ac48
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+++ b/resources/terrains/slope/slope_6.xml
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diff --git a/resources/terrains/slope/slope_7.xml b/resources/terrains/slope/slope_7.xml
new file mode 100644
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diff --git a/resources/terrains/slope/slope_8.xml b/resources/terrains/slope/slope_8.xml
new file mode 100644
index 0000000..c9d9170
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+++ b/resources/terrains/slope/slope_8.xml
@@ -0,0 +1,19 @@
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diff --git a/resources/terrains/slope/slope_9.xml b/resources/terrains/slope/slope_9.xml
new file mode 100644
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+++ b/resources/terrains/slope/slope_9.xml
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diff --git a/resources/terrains/slope_5.xml b/resources/terrains/slope_5.xml
new file mode 100644
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--- /dev/null
+++ b/resources/terrains/slope_5.xml
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diff --git a/resources/terrains/slope_5_old.xml b/resources/terrains/slope_5_old.xml
new file mode 100644
index 0000000..d89c807
--- /dev/null
+++ b/resources/terrains/slope_5_old.xml
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diff --git a/robogauge/tasks/__init__.py b/robogauge/tasks/__init__.py
index 1cf91b2..2074fa3 100644
--- a/robogauge/tasks/__init__.py
+++ b/robogauge/tasks/__init__.py
@@ -4,8 +4,10 @@ from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig
from robogauge.tasks.pipeline import BasePipeline
from robogauge.tasks.gauge import BaseGaugeConfig
-from robogauge.tasks.custom.go2_flat_task import Go2FlatGaugeConfig, Go2FlatConfig, Go2MoEFlatConfig, Go2MoEFlatMujocoConfig
+from robogauge.tasks.custom.go2 import *
task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
-task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2FlatConfig)
-task_register.register('go2_moe_flat', BasePipeline, Go2MoEFlatMujocoConfig, Go2FlatGaugeConfig, Go2MoEFlatConfig)
+task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
+task_register.register('go2_moe_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
+task_register.register('go2_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2Config)
+task_register.register('go2_moe_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2MoEConfig)
\ No newline at end of file
diff --git a/robogauge/tasks/custom/go2/__init__.py b/robogauge/tasks/custom/go2/__init__.py
new file mode 100644
index 0000000..3d67a3f
--- /dev/null
+++ b/robogauge/tasks/custom/go2/__init__.py
@@ -0,0 +1,10 @@
+# -*- coding: utf-8 -*-
+'''
+@File : __init__.py
+@Time : 2025/12/21 17:10:59
+@Author : wty-yy
+@Version : 1.0
+@Blog : https://wty-yy.github.io/
+'''
+from .go2_flat_task import Go2FlatGaugeConfig
+from .go2_slope_task import Go2SlopeGaugeConfig, Go2SlopeMujocoConfig
diff --git a/robogauge/tasks/custom/go2_flat_task.py b/robogauge/tasks/custom/go2/go2_flat_task.py
similarity index 66%
rename from robogauge/tasks/custom/go2_flat_task.py
rename to robogauge/tasks/custom/go2/go2_flat_task.py
index af53a8e..c07aaa1 100644
--- a/robogauge/tasks/custom/go2_flat_task.py
+++ b/robogauge/tasks/custom/go2/go2_flat_task.py
@@ -37,24 +37,3 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
ang_vel_yaw = 1.5 # +/- rad/s
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1 # [m] distance threshold to consider the target reached
-
-class Go2FlatConfig(Go2Config):
- class commands(Go2Config.commands):
- lin_vel_x = [-1.8, 1.8] # min max [m/s]
- lin_vel_y = [-1.8, 1.8] # min max [m/s]
- ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
-
-class Go2MoEFlatConfig(Go2MoEConfig):
- class commands(Go2Config.commands):
- lin_vel_x = [-1.8, 1.8] # min max [m/s]
- lin_vel_y = [-1.8, 1.8] # min max [m/s]
- ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
-
- class control(Go2Config.control):
- model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
- # model_path = "/home/xfy/Coding/kaiwu2025/rob_finals/sim2real/models/v6-2_106503/kaiwu_script_v6-2_106503.pt"
-
-class Go2MoEFlatMujocoConfig(MujocoConfig):
- class domain_rand(MujocoConfig.domain_rand):
- base_mass = 0.0
- friction = 1.0
diff --git a/robogauge/tasks/custom/go2/go2_slope_task.py b/robogauge/tasks/custom/go2/go2_slope_task.py
new file mode 100644
index 0000000..8dff561
--- /dev/null
+++ b/robogauge/tasks/custom/go2/go2_slope_task.py
@@ -0,0 +1,24 @@
+# -*- coding: utf-8 -*-
+'''
+@File : go2_slope_task.py
+@Time : 2025/12/21 17:06:27
+@Author : wty-yy
+@Version : 1.0
+@Blog : https://wty-yy.github.io/
+@Desc : Go2 Slope Task Configuration
+'''
+from robogauge.tasks.robots import Go2Config, Go2MoEConfig
+from robogauge.tasks.gauge import SlopeGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2SlopeGaugeConfig(SlopeGaugeConfig):
+ class metrics(SlopeGaugeConfig.metrics):
+ class dof_limits(SlopeGaugeConfig.metrics.dof_limits):
+ enabled = True
+ soft_dof_limit_ratio = 0.7
+ dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
+
+class Go2SlopeMujocoConfig(MujocoConfig):
+ class domain_rand(MujocoConfig.domain_rand):
+ action_delay = True
+ friction = 2.4
diff --git a/robogauge/tasks/gauge/__init__.py b/robogauge/tasks/gauge/__init__.py
index c40b81b..1ce2ec5 100644
--- a/robogauge/tasks/gauge/__init__.py
+++ b/robogauge/tasks/gauge/__init__.py
@@ -1,3 +1,4 @@
from .base_gauge import BaseGauge
from .base_gauge_config import BaseGaugeConfig
from .gauge_configs.flat_gauge_config import FlatGaugeConfig
+from .gauge_configs.slope_gauge_config import SlopeGaugeConfig
diff --git a/robogauge/tasks/gauge/base_gauge_config.py b/robogauge/tasks/gauge/base_gauge_config.py
index e3c39fa..1ccffd1 100644
--- a/robogauge/tasks/gauge/base_gauge_config.py
+++ b/robogauge/tasks/gauge/base_gauge_config.py
@@ -20,18 +20,19 @@ class BaseGaugeConfig(Config):
class goals:
class max_velocity: # goal with maximum velocity
- enabled = True
+ enabled = False
cmd_duration = 5.0 # [s] duration for each velocity command
class diagonal_velocity: # goal with diagonal velocity changes
- enabled = True
+ enabled = False
cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
class target_pos_velocity: # goal to reach a target position by velocity command
- enabled = True
+ enabled = False
target_pos = [5, 0, 0] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
- ang_vel_yaw = 1.0 # +/- rad/s
+ lin_vel_y = 1.0 # +/- m/s
+ ang_vel_yaw = 1.5 # +/- rad/s
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1
diff --git a/robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py b/robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
index f1aa193..e74f918 100644
--- a/robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
+++ b/robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
@@ -16,40 +16,3 @@ class FlatGaugeConfig(BaseGaugeConfig):
terrain_name = "flat_0" # {type}_{level}
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
terrain_spawn_pos = [0, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
-
- class goals(BaseGaugeConfig.goals):
- class max_velocity: # goal with maximum velocity
- enabled = True
- move_duration = 5.0 # [s] duration for each velocity command
- end_stance = True # whether to end with zero velocity command
- standce_duration = 2.0 # [s] duration for the ending stance command
-
- class diagonal_velocity: # goal with diagonal velocity changes
- enabled = True
- cmd_duration = 6.0 # [s] duration for a pair of diagonal velocity commands
-
- class target_pos_velocity: # goal to reach a target position by velocity command, config target at assets.target_pos
- enabled = True
- target_pos = [5, 0, 0] # x y z [m], target position in the environment, used for target position goal
- lin_vel_x = 1.0 # +/- m/s
- ang_vel_yaw = 1.0 # +/- rad/s
- max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
- reach_threshold = 0.1
-
- class metrics(BaseGaugeConfig.metrics):
- metric_dt = 0.1 # [s] frequency to compute metrics
- class dof_limits:
- enabled = True
- soft_dof_limit_ratio = 0.9
- dof_names = None # List of DOF names to monitor, None for all
-
- class visualization:
- enabled = True
- dof_torque = True
- dof_pos = True
-
- class lin_vel_err:
- enabled = True
-
- class ang_vel_err:
- enabled = True
diff --git a/robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py b/robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py
new file mode 100644
index 0000000..3a59d22
--- /dev/null
+++ b/robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py
@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+'''
+@File : slope_gauge_config.py
+@Time : 2025/12/21 17:02:23
+@Author : wty-yy
+@Version : 1.0
+@Blog : https://wty-yy.github.io/
+@Desc : Slope Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class SlopeGaugeConfig(BaseGaugeConfig):
+ gauge_class = 'BaseGauge'
+
+ class assets(BaseGaugeConfig.assets):
+ terrain_name = "slope_5" # {type}_{level}
+ terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.xml'
+ terrain_spawn_pos = [0, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
+
+ class goals:
+ class target_pos_velocity: # goal to reach a target position by velocity command
+ enabled = True
+ target_pos = [4, 0, 2.0] # x y z [m], target position in the environment, used for target position goal
+ lin_vel_x = 1.0 # +/- m/s
+ lin_vel_y = 1.0 # +/- m/s
+ ang_vel_yaw = 1.5 # +/- rad/s
+ max_cmd_duration = 20.0 # [s] maximum duration to reach the target position
+ reach_threshold = 0.1
diff --git a/robogauge/tasks/pipeline/base_pipeline.py b/robogauge/tasks/pipeline/base_pipeline.py
index c2970c1..235cdd2 100644
--- a/robogauge/tasks/pipeline/base_pipeline.py
+++ b/robogauge/tasks/pipeline/base_pipeline.py
@@ -9,6 +9,7 @@
'''
import yaml
import random
+import traceback
import numpy as np
from pathlib import Path
from copy import deepcopy
@@ -104,7 +105,7 @@ class BasePipeline:
if self.gauge.is_reset(sim_data):
sim_data = self.reset_sim(sim_data)
except Exception as e:
- logger.error(f"❌ Pipeline execution failed with error: {e}")
+ logger.error(f"❌ Pipeline execution failed with error: {e},\n{traceback.format_exc()}")
self.gauge.switch_to_next_goal() # save current goal metrics
self.gauge.save_results()
return logger.log_dir, e
diff --git a/robogauge/tasks/robots/base_robot_config.py b/robogauge/tasks/robots/base_robot_config.py
index 30d6414..9fa7664 100644
--- a/robogauge/tasks/robots/base_robot_config.py
+++ b/robogauge/tasks/robots/base_robot_config.py
@@ -21,7 +21,7 @@ class RobotConfig(Config):
class control:
device = 'cpu'
# torch script model path
- model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
+ model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_max2_100k.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control
support_goal: Literal['velocity', 'position'] = 'velocity'
diff --git a/robogauge/tasks/robots/go2/go2_config.py b/robogauge/tasks/robots/go2/go2_config.py
index 04562a3..f927675 100644
--- a/robogauge/tasks/robots/go2/go2_config.py
+++ b/robogauge/tasks/robots/go2/go2_config.py
@@ -20,7 +20,7 @@ class Go2Config(RobotConfig):
class control(RobotConfig.control):
device = 'cpu'
- model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
+ model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_max2_100k.pt"
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_cmd-1,1_38k.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control
@@ -47,8 +47,8 @@ class Go2Config(RobotConfig):
cmd = [2.0, 2.0, 0.25]
class commands(RobotConfig.commands):
- lin_vel_x = [-1.5, 1.5] # min max [m/s]
- lin_vel_y = [-1, 1] # min max [m/s]
+ lin_vel_x = [-2.0, 2.0] # min max [m/s]
+ lin_vel_y = [-1.0, 1.0] # min max [m/s]
lin_vel_z = None # min max [m/s]
ang_vel_roll = None # min max [rad/s]
ang_vel_pitch = None # min max [rad/s]
diff --git a/robogauge/tasks/robots/go2/go2_moe.py b/robogauge/tasks/robots/go2/go2_moe.py
index 67015ac..b75254d 100644
--- a/robogauge/tasks/robots/go2/go2_moe.py
+++ b/robogauge/tasks/robots/go2/go2_moe.py
@@ -15,7 +15,12 @@ from robogauge.tasks.robots.go2.go2 import Go2
class Go2MoE(Go2):
def get_action(self, obs: np.ndarray):
obs_tensor = torch.tensor(obs, dtype=torch.float32).unsqueeze(0).to(self.device)
- action, weights = self.model(obs_tensor)
+ action, results = self.model(obs_tensor)
+ if isinstance(results, tuple):
+ weights, latent = results
+ latent = latent.detach().cpu().numpy().squeeze(0)
+ else:
+ weights = results
action = action.detach().cpu().numpy().squeeze(0)[self.model2mj_idx]
weights = weights.detach().cpu().numpy().squeeze(0)
self.last_action = action
diff --git a/robogauge/utils/radar_plot.py b/robogauge/utils/radar_plot.py
deleted file mode 100644
index 80dbb9f..0000000
--- a/robogauge/utils/radar_plot.py
+++ /dev/null
@@ -1,183 +0,0 @@
-"""
-python robogauge/utils/radar_plot.py \
- /home/xfy/Coding/robot_gauge/logs/go2_moe_flat_debug_multi/20251218-22-49-29_run_multi/aggregated_results.yaml \
- /home/xfy/Coding/robot_gauge/logs/go2_flat_debug_multi/20251218-22-59-04_run_multi/aggregated_results.yaml \
- --out logs/go2_flat_vs_moe_flat.png
-"""
-import matplotlib.pyplot as plt
-config = {
- "font.family": 'serif', # 衬线字体
- "figure.figsize": (6, 6), # 图像大小
- "font.size": 14, # 字号大小
- "mathtext.fontset": 'cm', # 渲染数学公式字体
- 'axes.unicode_minus': False # 显示负号
-}
-plt.rcParams.update(config)
-
-import numpy as np
-import yaml
-import argparse
-import os
-import sys
-
-# 设置字体，尝试匹配参考图的衬线体风格 (如果系统没有会回退到默认)
-plt.rcParams['font.family'] = 'serif'
-plt.rcParams['font.serif'] = ['Times New Roman', 'DejaVu Serif', 'serif']
-
-def parse_value_string(val_str):
- if isinstance(val_str, (int, float)):
- return float(val_str)
- if isinstance(val_str, str):
- if '±' in val_str:
- return float(val_str.split('±')[0].strip())
- return float(val_str)
- return 0.0
-
-def load_data(file_paths):
- all_data = []
-
- # 指标键名
- metric_keys = [
- 'lin_vel_err',
- 'ang_vel_err',
- 'orientation_stability',
- 'dof_limits',
- 'torque_smoothness',
- 'dof_power'
- ]
-
- # 标签 (增加换行以避免拥挤)
- labels_map = {
- 'lin_vel_err': 'Lin Vel\nAccuracy',
- 'ang_vel_err': 'Ang Vel\nAccuracy',
- 'dof_limits': 'Joint Limits\nMargin',
- 'dof_power': 'Energy\nEfficiency',
- 'orientation_stability': 'Orientation\nStability',
- 'torque_smoothness': 'Torque\nSmoothness',
- }
-
- for path in file_paths:
- if not os.path.exists(path):
- continue
-
- with open(path, 'r', encoding='utf-8') as f:
- content = yaml.safe_load(f)
-
- raw_path = content.get('model_path', 'Unknown_Model')
- # 简化图例名称：只取文件名，去掉 .pt
- model_name = os.path.basename(raw_path).replace('.pt', '')
-
- # 如果名称过长，可以考虑进一步截断，例如：
- # if len(model_name) > 20: model_name = model_name[:10] + "..." + model_name[-5:]
-
- values = []
- for k in metric_keys:
- if k in content:
- raw_val = content[k]['mean']
- values.append(parse_value_string(raw_val))
- else:
- values.append(0.0)
-
- all_data.append({'name': model_name, 'values': values})
-
- return all_data, [labels_map[k] for k in metric_keys]
-
-def plot_radar(data_list, labels, output_file=None):
- if not data_list:
- print("No data to plot.")
- return
-
- num_vars = len(labels)
- angles = np.linspace(0, 2 * np.pi, num_vars, endpoint=False).tolist()
- angles += angles[:1] # 闭合
-
- # --- 颜色设置 ---
- # 使用参考图类似的配色 (深蓝、浅蓝、绿等)
- # 或者使用 'tab10', 'Set2' 等
- colors = plt.cm.get_cmap("tab10", len(data_list))
-
- # 创建画布，稍微宽一点以便放图例
- fig, ax = plt.subplots(figsize=(10, 8), subplot_kw=dict(polar=True))
-
- # --- 核心修改：调整布局 ---
- # left=0.1, bottom=0.1, top=0.9 是为了给标题留空
- # right=0.75 是关键！这意味着图表只占画布左边 75% 的宽度，右边 25% 留给图例
- plt.subplots_adjust(left=0.05, right=0.75, top=0.9, bottom=0.1)
-
- # 设置方向
- ax.set_theta_offset(np.pi / 2)
- ax.set_theta_direction(-1)
-
- # --- 绘制标签 ---
- plt.xticks(angles[:-1], labels, color='#444444', size=13)
-
- # 标签对齐优化
- for label, angle in zip(ax.get_xticklabels(), angles[:-1]):
- if angle in (0, np.pi):
- label.set_horizontalalignment('center')
- elif 0 < angle < np.pi:
- label.set_horizontalalignment('left')
- else:
- label.set_horizontalalignment('right')
-
- # --- 绘制刻度 ---
- ax.set_rlabel_position(0)
- # 字体稍微调淡一点，不要抢眼
- plt.yticks([0.25, 0.50, 0.75, 1.00], ["0.25", "0.50", "0.75", "1.00"],
- color="grey", size=10)
- plt.ylim(0, 1.05)
-
- # 网格线：点状虚线，稍微粗一点
- ax.grid(True, color='gray', linestyle=':', linewidth=1.5, alpha=0.5)
- ax.spines['polar'].set_visible(False)
-
- # --- 绘制数据 ---
- # 加粗线条以匹配 bsuite 风格
- linewidth = 3.0
-
- for idx, item in enumerate(data_list):
- values = item['values']
- name = item['name']
- values_closed = values + values[:1]
-
- color = colors(idx)
-
- ax.plot(angles, values_closed, linewidth=linewidth, linestyle='-', label=name, color=color)
- ax.fill(angles, values_closed, color=color, alpha=0.2) # 填充透明度低一点
-
- # --- 核心修改：图例位置 ---
- # bbox_to_anchor=(1.1, 0.2) 的意思是：
- # 锚点位于坐标轴右侧(1.1倍宽位置)，垂直方向在底部(0.2倍高位置)
- # loc='upper left' 意思是图例的左上角对齐这个锚点
- legend = plt.legend(
- loc='upper left',
- bbox_to_anchor=(1.0, 0.1), # 调整这里的 0.3 可以上下移动图例
- title="Models",
- title_fontsize=16,
- fontsize=12,
- frameon=False, # 无边框
- labelspacing=0.8 # 图例行间距
- )
-
- # 设置图例标题对齐方式 (左对齐)
- legend._legend_box.align = "left"
-
- plt.title('Multi-Model Performance Comparison', size=18, y=1.08, color='#333333')
-
- if output_file:
- plt.savefig(output_file, dpi=300, bbox_inches='tight') # bbox_inches='tight' 会自动裁剪白边
- print(f"Plot saved to {output_file}")
- else:
- plt.show()
-
-if __name__ == "__main__":
- parser = argparse.ArgumentParser()
- parser.add_argument('files', metavar='F', type=str, nargs='+', help='YAML files')
- parser.add_argument('--out', type=str, default=None, help='Output file')
-
- # 调试用（如果你直接运行脚本，请取消注释并填入你的文件名）
- # sys.argv = ['plot.py', 'aggregated_results.yaml', 'aggregated_results2.yaml', '--out', 'fixed_radar.png']
-
- args = parser.parse_args()
- data, metrics_labels = load_data(args.files)
- plot_radar(data, metrics_labels, output_file=args.out)
diff --git a/robogauge/utils/visualize_results.py b/robogauge/utils/visualize_results.py
new file mode 100644
index 0000000..9ee2aa3
--- /dev/null
+++ b/robogauge/utils/visualize_results.py
@@ -0,0 +1,170 @@
+import matplotlib.pyplot as plt
+from pathlib import Path
+import numpy as np
+import yaml
+import argparse
+import os
+
+# --- 配置 Matplotlib 样式 ---
+config = {
+ "font.family": 'serif',
+ "figure.figsize": (8, 6),
+ "font.size": 12,
+ "mathtext.fontset": 'cm',
+ 'axes.unicode_minus': False
+}
+plt.rcParams.update(config)
+plt.rcParams['font.serif'] = ['Times New Roman', 'DejaVu Serif', 'serif']
+
+def parse_value_string(val_str):
+ if isinstance(val_str, (int, float)):
+ return float(val_str)
+ if isinstance(val_str, str):
+ if '±' in val_str:
+ return float(val_str.split('±')[0].strip())
+ return float(val_str)
+ return 0.0
+
+def load_data(file_paths):
+ all_data = []
+ metric_keys = ['lin_vel_err', 'ang_vel_err', 'orientation_stability', 'dof_limits', 'torque_smoothness', 'dof_power']
+ labels_map = {
+ 'lin_vel_err': 'Lin Vel\nAccuracy',
+ 'ang_vel_err': 'Ang Vel\nAccuracy',
+ 'dof_limits': 'Joint Limits\nMargin',
+ 'dof_power': 'Energy\nEfficiency',
+ 'orientation_stability': 'Orientation\nStability',
+ 'torque_smoothness': 'Torque\nSmoothness',
+ }
+
+ for path in file_paths:
+ if not os.path.exists(path):
+ print(f"[ERROR] File not found: {path}")
+ continue
+ with open(path, 'r', encoding='utf-8') as f:
+ content = yaml.safe_load(f)
+
+ raw_path = content.get('model_path', 'Unknown_Model')
+ model_name = os.path.basename(raw_path).replace('.pt', '')
+
+ values = []
+ for k in metric_keys:
+ if k in content:
+ raw_val = content[k]['mean@50']
+ values.append(parse_value_string(raw_val))
+ else:
+ values.append(0.0)
+ all_data.append({'name': model_name, 'values': values})
+
+ return all_data, [labels_map[k] for k in metric_keys]
+
+def plot_radar(data_list, labels, output_file=None, r_range=(0, 1.05)):
+ """绘制雷达图"""
+ if not data_list:
+ return
+
+ num_vars = len(labels)
+ angles = np.linspace(0, 2 * np.pi, num_vars, endpoint=False).tolist()
+ angles += angles[:1]
+
+ colors = plt.cm.get_cmap("tab10", len(data_list))
+ fig, ax = plt.subplots(figsize=(10, 8), subplot_kw=dict(polar=True))
+ plt.subplots_adjust(left=0.05, right=0.75, top=0.9, bottom=0.1)
+
+ ax.set_theta_offset(np.pi / 2)
+ ax.set_theta_direction(-1)
+
+ plt.xticks(angles[:-1], labels, color='#444444', size=11)
+
+ for label, angle in zip(ax.get_xticklabels(), angles[:-1]):
+ if angle in (0, np.pi): label.set_horizontalalignment('center')
+ elif 0 < angle < np.pi: label.set_horizontalalignment('left')
+ else: label.set_horizontalalignment('right')
+
+ r_min, r_max = r_range
+ ax.set_ylim(r_min, r_max)
+
+ ticks = np.linspace(r_min, r_max, 5)
+ plt.yticks(ticks, [f"{t:.2f}" for t in ticks], color="grey", size=10)
+
+ ax.set_rlabel_position(180)
+ ax.grid(True, color='gray', linestyle=':', linewidth=1.5, alpha=0.5)
+ ax.spines['polar'].set_visible(False)
+
+ linewidth = 2.5
+ for idx, item in enumerate(data_list):
+ values_closed = item['values'] + [item['values'][0]]
+ color = colors(idx)
+ ax.plot(angles, values_closed, linewidth=linewidth, label=item['name'], color=color)
+ ax.fill(angles, values_closed, color=color, alpha=0.15)
+
+ plt.legend(loc='lower left', bbox_to_anchor=(0.82, 0.0), title="Models", frameon=False)
+ plt.title('Performance Comparison (Radar)', size=16, y=1.06)
+
+ if output_file:
+ plt.savefig(output_file, dpi=300, bbox_inches='tight')
+ print(f"Radar plot saved to {output_file}")
+
+def plot_bar(data_list, labels, output_file=None, h_range=(0, 1.05)):
+ """绘制柱状图"""
+ if not data_list:
+ return
+
+ num_models = len(data_list)
+ num_metrics = len(labels)
+
+ # 设置柱状图参数
+ x = np.arange(num_metrics)
+ width = 0.8 / num_models # 自动计算柱子宽度
+
+ fig, ax = plt.subplots(figsize=(12, 6))
+ colors = plt.cm.get_cmap("tab10", num_models)
+
+ for idx, item in enumerate(data_list):
+ # 计算每个模型柱子的偏移量
+ offset = (idx - (num_models - 1) / 2) * width
+ ax.bar(x + offset, item['values'], width, label=item['name'], color=colors(idx), alpha=0.8)
+
+ ax.set_ylabel('Score / Value')
+ ax.set_title('Performance Comparison (Bar)', size=16)
+ ax.set_xticks(x)
+ # 将标签中的换行符去掉或处理，使其在柱状图中更美观
+ clean_labels = [l.replace('\n', ' ') for l in labels]
+ ax.set_xticklabels(clean_labels, rotation=15, ha='right')
+ ax.legend(title="Models", bbox_to_anchor=(1.05, 1), loc='upper left', frameon=False)
+ ax.grid(axis='y', linestyle='--', alpha=0.7)
+ if h_range:
+ ax.set_ylim(h_range)
+
+ plt.tight_layout()
+
+ if output_file:
+ plt.savefig(output_file, dpi=300, bbox_inches='tight')
+ print(f"Bar plot saved to {output_file}")
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser()
+ parser.add_argument('files_or_dir', metavar='F', type=str, nargs='+', help='YAML files or directory')
+ parser.add_argument('--out', type=str, help='Base name for output files')
+ parser.add_argument('--range', type=float, nargs=2, default=[0.0, 1.0], help='Axis range for radar and bar plots')
+ args = parser.parse_args()
+
+ # 获取文件列表
+ files = args.files_or_dir
+ if Path(args.files_or_dir[0]).is_dir():
+ dir_path = Path(args.files_or_dir[0])
+ files = [str(p) for p in dir_path.glob('*.yaml')]
+
+ data, metrics_labels = load_data(files)
+
+ # 处理输出文件名
+ radar_out, bar_out = None, None
+ if args.out:
+ out_path = Path(args.out)
+ radar_out = str(out_path.with_name(f"{out_path.stem}_radar{out_path.suffix}"))
+ bar_out = str(out_path.with_name(f"{out_path.stem}_bar{out_path.suffix}"))
+
+ # 分别调用绘图函数
+ plot_radar(data, metrics_labels, output_file=radar_out, r_range=args.range)
+ plot_bar(data, metrics_labels, output_file=bar_out, h_range=args.range)
+ plt.show()