v1.1.0; fix metrics bugs

UPDATE.md

@@ -1,4 +1,11 @@
 # 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

robogauge/tasks/custom/go2/go2_flat_task.py

@@ -14,7 +14,7 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
     class metrics(FlatGaugeConfig.metrics):
         class dof_limits(FlatGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
 
     class goals(FlatGaugeConfig.goals):

robogauge/tasks/custom/go2/go2_obstacle_task.py

@@ -14,5 +14,5 @@ class Go2ObstacleGaugeConfig(ObstacleGaugeConfig):
     class metrics(ObstacleGaugeConfig.metrics):
         class dof_limits(ObstacleGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/custom/go2/go2_slope_task.py

@@ -14,12 +14,12 @@ class Go2SlopeForwardGaugeConfig(SlopeForwardGaugeConfig):
     class metrics(SlopeForwardGaugeConfig.metrics):
         class dof_limits(SlopeForwardGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
 
 class Go2SlopeBackwardGaugeConfig(SlopeBackwardGaugeConfig):
     class metrics(SlopeBackwardGaugeConfig.metrics):
         class dof_limits(SlopeBackwardGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/custom/go2/go2_stairs_task.py

@@ -14,12 +14,12 @@ class Go2StairsForwardGaugeConfig(StairsForwardGaugeConfig):
     class metrics(StairsForwardGaugeConfig.metrics):
         class dof_limits(StairsForwardGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
 
 class Go2StairsBackwardGaugeConfig(StairsBackwardGaugeConfig):
     class metrics(StairsBackwardGaugeConfig.metrics):
         class dof_limits(StairsBackwardGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/custom/go2/go2_wave_task.py

@@ -14,5 +14,5 @@ class Go2WaveGaugeConfig(WaveGaugeConfig):
     class metrics(WaveGaugeConfig.metrics):
         class dof_limits(WaveGaugeConfig.metrics.dof_limits):
             enabled = True
-            soft_dof_limit_ratio = 0.7
+            soft_dof_limit_ratio = 0.4
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/gauge/metrics/dof_metrics.py

@@ -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
+            if dof_range <= 1e-6:
-            soft_upper_limit = upper_limit - (1 - self.soft_dof_limit_ratio) * dof_range
+                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

robogauge/tasks/gauge/metrics/stable_metric.py

@@ -28,9 +28,9 @@ class OrientationStabilityMetric(BaseMetric):
     
     def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
         projected_gravity = get_projected_gravity(sim_data.proprio.base.quat)
-        projected_x = projected_gravity[0]
+        projected_y = projected_gravity[1]
-        metric_value = 1 - abs(projected_x)  # consider roll only
+        metric_value = 1 - abs(projected_y)  # consider roll only
-        logger.log(abs(projected_x), f'stable_metric/projected_x_abs', step=sim_data.n_step)
+        logger.log(abs(projected_y), f'stable_metric/projected_y_abs', step=sim_data.n_step)
         return metric_value
 
 class TorqueSmoothnessMetric(BaseMetric):
@@ -55,6 +55,7 @@ class TorqueSmoothnessMetric(BaseMetric):
             self.last_torque = current_torque
             return 1.0  # No change at first step
         torque_diff = current_torque - self.last_torque
+        self.last_torque = current_torque
         rms_value = np.sqrt(np.mean(np.square(torque_diff)))
         metric_value = 1.0 - rms_value / self.scaling_factor
         logger.log(rms_value, f'stable_metric/torque_rms_diff', step=sim_data.n_step)

robogauge/tasks/pipeline/base_pipeline.py

@@ -101,7 +101,7 @@ class BasePipeline:
                 action, p_gains, d_gains, control_type = self.robot.get_action(obs)
 
                 if self.sim_cfg.domain_rand.action_delay:
-                    actions_start_decimation = random.randint(0, frame_skip)
+                    actions_start_decimation = random.randint(0, frame_skip - 1)
                 else:
                     self.sim.setup_action(action, p_gains, d_gains, control_type)
                 for i in range(frame_skip):

setup.py

@@ -2,7 +2,7 @@ from setuptools import setup, find_packages
 
 setup(
     name="robogauge",  # 包名
-    version="1.0.5",   # 版本号
+    version="1.1.0",   # 版本号
     author="Wu Tianyang", # 你的名字
     author_email="993660140@qq.com",
     description="A generic robot RL model evaluation library based on MuJoCo",