v0.1.6.1

robogauge/tasks/gauge/metrics/__init__.py

@@ -1,70 +1,4 @@
-import numpy as np
-
-from robogauge.tasks.robots import RobotConfig
-from robogauge.tasks.simulator.sim_data import SimData
-
-from robogauge.utils.logger import logger
-
-def example_metric(
-    sim_data: SimData,
-    robot_cfg: RobotConfig,
-    **kwargs
-) -> float:
-    """ An example metric function. """
-    value = 0.0
-    # Compute some metric value based on sim_data and robot_cfg
-    logger.log(value, 'example_metric', step=sim_data.n_step)
-    return value
-
-def dof_limits_metric(
-    sim_data: SimData,
-    robot_cfg: RobotConfig,
-    soft_dof_limit_ratio: float = 0.9,
-    dof_names: list = None,
-    **kwargs
-) -> float:
-    """ Metric to log DOF limit violations. """
-    values = []
-    for i in range(len(sim_data.proprio.joint.limits)):
-        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 - soft_dof_limit_ratio) * dof_range
-        soft_upper_limit = upper_limit - (1 - soft_dof_limit_ratio) * dof_range
-
-        pos = sim_data.proprio.joint.pos[i]
-        dof_name = sim_data.proprio.joint.names[i]
-        value = 0
-        if pos < soft_lower_limit:
-            value = soft_lower_limit - pos
-        elif pos > soft_upper_limit:
-            value = pos - soft_upper_limit
-        value /= dof_range  # Normalize by DOF range
-        logger.log(value, f'dof_limits/{dof_name}', step=sim_data.n_step)
-        if dof_names is not None:
-            for use_name in dof_names:
-                if use_name in dof_name:
-                    values.append(value)
-        else:
-            values.append(value)
-    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
-
-def visualization_metric(
-    sim_data: SimData,
-    robot_cfg: RobotConfig,
-    dof_force: bool = False,
-    dof_pos: bool = False,
-    **kwargs,
-):
-    """ Metric to visualize various robot states in the simulator. """
-    for i in range(len(sim_data.proprio.joint.force)):
-        name = sim_data.proprio.joint.names[i]
-        if dof_force:
-            force = sim_data.proprio.joint.force[i]
-            logger.log(force, f'dof_force/{name}', step=sim_data.n_step)
-        if dof_pos:
-            pos = sim_data.proprio.joint.pos[i]
-            logger.log(pos, f'dof_pos/{name}', step=sim_data.n_step)
-    return 0.0
+from .base_metric import BaseMetric
+from .dof_metrics import DofLimitsMetric
+from .visualization import VisualizationMetric
+from .vel_metrics import LinVelErrMetric, AngVelErrMetric

robogauge/tasks/gauge/metrics/base_metric.py

@@ -0,0 +1,15 @@
+from robogauge.utils.logger import logger
+from robogauge.tasks.robots import RobotConfig
+from robogauge.tasks.simulator.sim_data import SimData
+
+class BaseMetric:
+    """ Base class for all metric functions. """
+    name = 'base_metric'
+
+    def __init__(self, robot_cfg: RobotConfig, **kwargs):
+        self.robot_cfg = robot_cfg
+
+    def __call__(self, sim_data: SimData) -> float:
+        value = 0.0
+        logger.log(value, self.name, step=sim_data.n_step)
+        return value

robogauge/tasks/gauge/metrics/dof_metrics.py

@@ -0,0 +1,50 @@
+import numpy as np
+
+from robogauge.tasks.robots import RobotConfig
+from robogauge.tasks.simulator.sim_data import SimData
+from robogauge.tasks.gauge.metrics.base_metric import BaseMetric
+
+from robogauge.utils.logger import logger
+
+
+class DofLimitsMetric(BaseMetric):
+    """ Metric to log DOF limit violations. """
+    name = 'dof_limits_metric'
+
+    def __init__(self,
+        robot_cfg: RobotConfig,
+        soft_dof_limit_ratio: float = 0.9,
+        dof_names: list = None,
+        **kwargs
+    ):
+        super().__init__(robot_cfg)
+        self.soft_dof_limit_ratio = soft_dof_limit_ratio
+        self.calc_dof_names = dof_names
+    
+    def __call__(self, sim_data: SimData) -> float:
+        values = []
+        for i in range(len(sim_data.proprio.joint.limits)):
+            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
+
+            pos = sim_data.proprio.joint.pos[i]
+            dof_name = sim_data.proprio.joint.names[i]
+            value = 0
+            if pos < soft_lower_limit:
+                value = soft_lower_limit - pos
+            elif pos > soft_upper_limit:
+                value = pos - soft_upper_limit
+            value /= dof_range  # Normalize by DOF range
+            logger.log(value, f'dof_limits/{dof_name}', step=sim_data.n_step)
+            if self.calc_dof_names is not None:
+                for use_name in self.calc_dof_names:
+                    if use_name in dof_name:
+                        values.append(value)
+            else:
+                values.append(value)
+        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/vel_metrics.py

@@ -0,0 +1,64 @@
+import numpy as np
+
+from robogauge.tasks.robots import RobotConfig
+from robogauge.tasks.simulator.sim_data import SimData
+from robogauge.tasks.gauge.metrics.base_metric import BaseMetric
+from robogauge.tasks.gauge.goals.base_goal import GoalData
+
+from robogauge.utils.logger import logger
+
+
+class LinVelErrMetric(BaseMetric):
+    """ Metric to log linear velocity error. """
+    name = 'lin_vel_err_metric'
+
+    def __init__(self, robot_cfg: RobotConfig, **kwargs):
+        super().__init__(robot_cfg)
+        max_ranges = []
+        for name in ['lin_vel_x', 'lin_vel_y', 'lin_vel_z']:
+            max_ranges.append(
+                max(
+                    abs(getattr(robot_cfg.commands, name)[0]),
+                    abs(getattr(robot_cfg.commands, name)[1])
+                )
+            )
+        self.norm_vel = np.linalg.norm(max_ranges)
+    
+    def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
+        if goal_data.goal_type != 'velocity':
+            logger.warning("LinVelErrMetric can only be used with VelocityGoal.")
+            return 0.0
+        lin_vel = sim_data.proprio.base.lin_vel
+        target_lin_vel = [goal_data.velocity_goal.lin_vel_x, goal_data.velocity_goal.lin_vel_y, goal_data.velocity_goal.lin_vel_z]
+        vel_err = np.linalg.norm(lin_vel - target_lin_vel) / self.norm_vel
+        logger.log(vel_err, f'vel_metrics/lin_vel_err', step=sim_data.n_step)
+        return 1 - vel_err
+
+class AngVelErrMetric(BaseMetric):
+    """ Metric to log angular velocity error. """
+    name = 'ang_vel_err_metric'
+
+    def __init__(self, robot_cfg: RobotConfig, **kwargs):
+        super().__init__(robot_cfg)
+        max_ranges = []
+        for name in ['ang_vel_roll', 'ang_vel_pitch', 'ang_vel_yaw']:
+            cmd_range = getattr(robot_cfg.commands, name)
+            if cmd_range is None:
+                cmd_range = [0, 0]
+            max_ranges.append(
+                max(
+                    abs(cmd_range[0]),
+                    abs(cmd_range[1])
+                )
+            )
+        self.norm_vel = np.linalg.norm(max_ranges)
+    
+    def __call__(self, sim_data: SimData, goal_data: GoalData) -> float:
+        if goal_data.goal_type != 'velocity':
+            logger.warning("AngVelErrMetric can only be used with VelocityGoal.")
+            return 0.0
+        ang_vel = sim_data.proprio.base.ang_vel
+        target_ang_vel = [goal_data.velocity_goal.ang_vel_roll, goal_data.velocity_goal.ang_vel_pitch, goal_data.velocity_goal.ang_vel_yaw]
+        vel_err = np.linalg.norm(ang_vel - target_ang_vel) / self.norm_vel
+        logger.log(vel_err, f'vel_metrics/ang_vel_err', step=sim_data.n_step)
+        return 1 - vel_err

robogauge/tasks/gauge/metrics/visualization.py

@@ -0,0 +1,30 @@
+from robogauge.tasks.robots import RobotConfig
+from robogauge.tasks.simulator.sim_data import SimData
+from robogauge.tasks.gauge.metrics.base_metric import BaseMetric
+
+from robogauge.utils.logger import logger
+
+class VisualizationMetric(BaseMetric):
+    """ Metric to visualize various robot states in the simulator. """
+    name = 'visualization_metric'
+
+    def __init__(self,
+        robot_cfg: RobotConfig,
+        dof_force: bool = False,
+        dof_pos: bool = False,
+        **kwargs
+    ):
+        super().__init__(robot_cfg)
+        self.dof_force = dof_force
+        self.dof_pos = dof_pos
+
+    def __call__(self, sim_data: SimData) -> float:
+        for i in range(len(sim_data.proprio.joint.force)):
+            name = sim_data.proprio.joint.names[i]
+            if self.dof_force:
+                force = sim_data.proprio.joint.force[i]
+                logger.log(force, f'dof_force/{name}', step=sim_data.n_step)
+            if self.dof_pos:
+                pos = sim_data.proprio.joint.pos[i]
+                logger.log(pos, f'dof_pos/{name}', step=sim_data.n_step)
+        return 0.0