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v1.1.4; Add ZMP margin metric

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This commit is contained in:
wty-yy
2026-03-23 11:24:00 +08:00
parent be054d02b0
commit fe35afea22
17 changed files with 782 additions and 19 deletions
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3
robogauge/tasks/pipeline/base_pipeline.py
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@@ -107,7 +107,8 @@ class BasePipeline:
if self.sim_cfg.domain_rand.action_delay and i == actions_start_decimation:
self.sim.setup_action(action, p_gains, d_gains, control_type)
sim_data = self.sim.step()
self.gauge.update_metrics(sim_data, goal_data)
if self.gauge.update_metrics(sim_data, goal_data):
self.sim.update_visuals(sim_data)
if not self.first_reset and self.gauge.is_reset(sim_data):
sim_data = self.reset_sim_and_robot(sim_data)
except Exception as e: