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v1.1.0; fix metrics bugs

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wty-yy
2026-01-10 02:11:44 +08:00
parent 0f2dc29dfc
commit a82f3d8930
10 changed files with 31 additions and 14 deletions
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7
UPDATE.md
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@@ -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

2
robogauge/tasks/custom/go2/go2_flat_task.py
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@@ -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):

2
robogauge/tasks/custom/go2/go2_obstacle_task.py
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@@ -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

4
robogauge/tasks/custom/go2/go2_slope_task.py
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@@ -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

4
robogauge/tasks/custom/go2/go2_stairs_task.py
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@@ -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

2
robogauge/tasks/custom/go2/go2_wave_task.py
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@@ -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

13
robogauge/tasks/gauge/metrics/dof_metrics.py
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@@ -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

7
robogauge/tasks/gauge/metrics/stable_metric.py
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@@ -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]
metric_value = 1 - abs(projected_x) # consider roll only
logger.log(abs(projected_x), f'stable_metric/projected_x_abs', step=sim_data.n_step)
projected_y = projected_gravity[1]
metric_value = 1 - abs(projected_y) # consider roll only
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)

2
robogauge/tasks/pipeline/base_pipeline.py
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@@ -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):

2
setup.py
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@@ -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",