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v1.1.0; fix metrics bugs

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wty-yy
2026-01-10 02:11:44 +08:00
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UPDATE.md
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# UPDATE
## 20260110
### v1.1.0
1. 修复三个Metric计算错误
1. DofLimitsMetric中soft_lower_limit, soft_upper_limit范围计算错误，通过原来比例为0.7但是按照整个范围对单边做限制，修改为0.4比例等价之前的限制，表示关节超过总范围的40%开始惩罚
2. OrientationStabilityMetric中错误将roll计算成了pitch，修改为正确的roll计算，不然slope会一直扣分
3. TorqueSmoothnessMetric计算错误，之前的last_torque一直忘记更新了，完全错误，修改为上一步的torque
2. 修复delay action中actions_start_decimation随机数范围错误，之前是[0, frame_skip]，修改为[0, frame_skip-1]，避免出现不执行action的bug
## 20260106
### v1.0.5
1. `robogauge/scripts/server.py`加入`--port`设置端口配置选项, 加入`--num-processes`设置并行进程数量