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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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28
robogauge/tasks/gauge/metrics/vel_metrics.py
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@@ -1,11 +1,10 @@
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.goals.base_goal import GoalData
from robogauge.tasks.gauge.metrics.base_metric import BaseMetric, SimData, GoalData
from robogauge.utils.logger import logger
from robogauge.utils.helpers import class_to_dict
class LinVelErrMetric(BaseMetric):
@@ -15,13 +14,11 @@ class LinVelErrMetric(BaseMetric):
def __init__(self, robot_cfg: RobotConfig, **kwargs):
super().__init__(robot_cfg)
max_ranges = []
cfg_commands = class_to_dict(robot_cfg.commands)
for name in ['lin_vel_x', 'lin_vel_y', 'lin_vel_z']:
max_ranges.append(
max(
abs(getattr(robot_cfg.commands, name)[0]),
abs(getattr(robot_cfg.commands, name)[1])
)
)
cmds = cfg_commands.get(name)
if cmds is not None:
max_ranges.append(max(abs(cmds[0]), abs(cmds[1])))
self.norm_vel = np.linalg.norm(max_ranges)
def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
@@ -41,16 +38,11 @@ class AngVelErrMetric(BaseMetric):
def __init__(self, robot_cfg: RobotConfig, **kwargs):
super().__init__(robot_cfg)
max_ranges = []
cfg_commands = class_to_dict(robot_cfg.commands)
for name in ['ang_vel_roll', 'ang_vel_pitch', 'ang_vel_yaw']:
cmd_range = getattr(robot_cfg.commands, name)
if cmd_range is None:
cmd_range = [0, 0]
max_ranges.append(
max(
abs(cmd_range[0]),
abs(cmd_range[1])
)
)
cmds = cfg_commands.get(name)
if cmds is not None:
max_ranges.append(max(abs(cmds[0]), abs(cmds[1])))
self.norm_vel = np.linalg.norm(max_ranges)
def __call__(self, sim_data: SimData, goal_data: GoalData) -> float: