cyy/RoboGauge
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

v1.1.0; fix metrics bugs

Browse Source
This commit is contained in:
wty-yy
2026-01-10 02:11:44 +08:00
parent 0f2dc29dfc
commit a82f3d8930
10 changed files with 31 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
robogauge/tasks/gauge/metrics/dof_metrics.py
View File

@@ -35,8 +35,12 @@ class DofLimitsMetric(BaseMetric):
lower_limit = sim_data.proprio.joint.limits[i, 0]
upper_limit = sim_data.proprio.joint.limits[i, 1]
dof_range = upper_limit - lower_limit
soft_lower_limit = lower_limit + (1 - self.soft_dof_limit_ratio) * dof_range
soft_upper_limit = upper_limit - (1 - self.soft_dof_limit_ratio) * dof_range
if dof_range <= 1e-6:
logger.warning(f"DOF range for {sim_data.proprio.joint.names[i]} is too small ({dof_range:.6f}), skipping metric calculation.")
continue
soft_lower_limit = lower_limit + (1 - self.soft_dof_limit_ratio) * dof_range / 2
soft_upper_limit = upper_limit - (1 - self.soft_dof_limit_ratio) * dof_range / 2
pos = sim_data.proprio.joint.pos[i]
dof_name = sim_data.proprio.joint.names[i]
@@ -53,6 +57,11 @@ class DofLimitsMetric(BaseMetric):
values.append(value)
else:
values.append(value)
if len(values) == 0:
logger.warning("No DOF limit values calculated, returning 0.0.")
return 0.0
rms_value = 1 - np.sqrt(np.mean(np.square(values)))
logger.log(1 - rms_value, f'dof_limits/rms', step=sim_data.n_step)
return rms_value