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v1.1.1; fix base vel calc bug, fix last_torque reset bug

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wty-yy
2026-01-13 12:12:43 +08:00
parent a82f3d8930
commit a96ce5e350
7 changed files with 26 additions and 8 deletions
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8
robogauge/tasks/gauge/base_gauge.py
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@@ -39,7 +39,7 @@ class BaseGauge:
self.goal_str = "Init"
self.goal_idx = 0
self.goals: List[BaseGoal] = []
self.metrics: List[function] = []
self.metrics: List[BaseMetric] = []
self.info = {'goal': [], 'metric': []}
self.results = {} # {'goal/sub_goal': {'metric': result}}
@@ -134,7 +134,7 @@ class BaseGauge:
self.create_new_goal_logger()
def update_metrics(self, sim_data: SimData, goal_data: GoalData):
if sim_data.n_step % int(self.cfg.metrics.metric_dt / sim_data.sim_dt) != 0:
if sim_data.n_step % int(self.cfg.metrics.metric_dt / sim_data.sim_dt + 1e-9) != 0:
return
metrics_results = {}
for metric_name, metric_obj in zip(self.info['metric'], self.metrics):
@@ -142,6 +142,10 @@ class BaseGauge:
if metric_name not in ['visualization']:
metrics_results[metric_name] = val
self.goals[self.goal_idx].update_metrics(metrics_results)
def reset_metrics(self):
for metric in self.metrics:
metric.reset()
def save_results(self):
""" Save the results to a yaml file. """