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v0.1.8

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wty-yy
2025-12-06 17:11:40 +08:00
parent a05d047b39
commit 9d509829a5
19 changed files with 364 additions and 60 deletions
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5
robogauge/tasks/gauge/metrics/dof_metrics.py
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@@ -1,8 +1,7 @@
import numpy as np
from robogauge.tasks.robots import RobotConfig
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.metrics.base_metric import BaseMetric
from robogauge.tasks.gauge.metrics.base_metric import BaseMetric, GoalData, SimData
from robogauge.utils.logger import logger
@@ -21,7 +20,7 @@ class DofLimitsMetric(BaseMetric):
self.soft_dof_limit_ratio = soft_dof_limit_ratio
self.calc_dof_names = dof_names
def __call__(self, sim_data: SimData) -> float:
def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
values = []
for i in range(len(sim_data.proprio.joint.limits)):
lower_limit = sim_data.proprio.joint.limits[i, 0]