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

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This commit is contained in:
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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4
robogauge/tasks/gauge/metrics/vel_metrics.py
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@@ -28,6 +28,8 @@ class LinVelErrMetric(BaseMetric):
cmds = cfg_commands.get(name)
if cmds is not None:
max_ranges.append(max(abs(cmds[0]), abs(cmds[1])))
if not max_ranges:
raise ValueError("[LinVelErrMetric] No linear velocity commands found in robot configuration.")
self.norm_vel = np.linalg.norm(max_ranges)
def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
@@ -52,6 +54,8 @@ class AngVelErrMetric(BaseMetric):
cmds = cfg_commands.get(name)
if cmds is not None:
max_ranges.append(max(abs(cmds[0]), abs(cmds[1])))
if not max_ranges:
raise ValueError("[AngVelErrMetric] No angular velocity commands found in robot configuration.")
self.norm_vel = np.linalg.norm(max_ranges)
def __call__(self, sim_data: SimData, goal_data: GoalData) -> float: