cyy/RoboGauge
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v0.1.6.1

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wty-yy
2025-12-06 04:21:52 +08:00
parent 9f7db42f9f
commit d2ceb72eec
12 changed files with 198 additions and 77 deletions
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13
robogauge/tasks/gauge/base_gauge.py
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@@ -13,7 +13,7 @@ from pathlib import Path
from functools import partial
from robogauge.utils.logger import logger
from robogauge.utils.helpers import class_to_dict
from robogauge.utils.helpers import class_to_dict, snake_to_pascal
from robogauge.tasks.robots import RobotConfig
from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
@@ -52,10 +52,11 @@ class BaseGauge:
for name, enabled in self.metrics_cfg.items():
if not enabled: continue
if name in ['metric_dt']: continue
metric_func = eval(f"{name}_metric")
self.metrics.append(partial(metric_func, robot_cfg=robot_cfg, **self.metrics_cfg[name]))
metric_class_name = f"{snake_to_pascal(name)}Metric"
metric_class = eval(metric_class_name)
self.metrics.append(metric_class(robot_cfg=robot_cfg, **self.metrics_cfg[name]))
log_str += f" - Metric: {name}\n"
self.info['metric'].append(name)
self.info['metric'].append(metric_class_name)
logger.info(log_str.strip())
if len(self.goals) == 0:
@@ -112,8 +113,8 @@ class BaseGauge:
if sim_data.n_step % int(self.cfg.metrics.metric_dt / sim_data.sim_dt) != 0:
return
metrics_results = {}
for metric_name, metric_func in zip(self.info['metric'], self.metrics):
val = metric_func(sim_data)
for metric_name, metric_obj in zip(self.info['metric'], self.metrics):
val = metric_obj(sim_data)
if metric_name not in ['visualization']:
metrics_results[metric_name] = val
self.goals[self.goal_idx].update_metrics(metrics_results)