def _is_close_to_goal(self):
body_pose = self.robot_body.pose()
parts_xyz = np.array([p.pose().xyz() for p in self.parts.values()]).flatten()
self.body_xyz = (
parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2]) # torso z is more informative than mean z
dist_to_goal = np.linalg.norm([self.body_xyz[0] - self.target_pos[0], self.body_xyz[1] - self.target_pos[1]])
return dist_to_goal < 2
def calc_state(self): j = np.array([j.current_relative_position() for j in self.ordered_joints], dtype=np.float32).flatten() # even elements [0::2] position, scaled to -1..+1 between limits # odd elements [1::2] angular speed, scaled to show -1..+1 self.joint_speeds = j[1::2] self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99) body_pose = self.robot_body.pose() parts_xyz = np.array([p.pose().xyz() for p in self.parts.values()]).flatten() self.body_xyz = ( parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2]) # torso z is more informative than mean z self.body_rpy = body_pose.rpy() z = self.body_xyz[2] if self.initial_z is None: self.initial_z = z r, p, yaw = self.body_rpy self.walk_target_theta = np.arctan2(self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]) self.walk_target_dist = np.linalg.norm( [self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]]) angle_to_target = self.walk_target_theta - yaw rot_speed = np.array( [[np.cos(-yaw), -np.sin(-yaw), 0], [np.sin(-yaw), np.cos(-yaw), 0], [ 0, 0, 1]] ) vx, vy, vz = np.dot(rot_speed, self.robot_body.speed()) # rotate speed back to body point of view more = np.array([ z-self.initial_z, np.sin(angle_to_target), np.cos(angle_to_target), 0.3* vx , 0.3* vy , 0.3* vz , # 0.3 is just scaling typical speed into -1..+1, no physical sense here r, p], dtype=np.float32) return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
def calc_state(self): j = np.array([j.current_relative_position() for j in self.ordered_joints], dtype=np.float32).flatten() # even elements [0::2] position, scaled to -1..+1 between limits # odd elements [1::2] angular speed, scaled to show -1..+1 self.joint_speeds = j[1::2] self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99) body_pose = self.robot_body.pose() parts_xyz = np.array([p.pose().xyz() for p in self.parts.values()]).flatten() self.body_xyz = ( parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2]) # torso z is more informative than mean z self.body_rpy = body_pose.rpy() z = self.body_xyz[2] if self.initial_z == None: self.initial_z = z r, p, yaw = self.body_rpy self.walk_target_theta = np.arctan2(self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]) self.walk_target_dist = np.linalg.norm( [self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]]) angle_to_target = self.walk_target_theta - yaw rot_speed = np.array( [[np.cos(-yaw), -np.sin(-yaw), 0], [np.sin(-yaw), np.cos(-yaw), 0], [ 0, 0, 1]] ) vx, vy, vz = np.dot(rot_speed, self.robot_body.speed()) # rotate speed back to body point of view more = np.array([ z-self.initial_z, np.sin(angle_to_target), np.cos(angle_to_target), 0.3* vx , 0.3* vy , 0.3* vz , # 0.3 is just scaling typical speed into -1..+1, no physical sense here r, p], dtype=np.float32) return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
def calc_state(self):
j = np.array([j.get_joint_relative_state() for j in self.ordered_joints], dtype=np.float32).flatten()
self.joint_speeds = j[1::2]
self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99)
body_pose = self.robot_body.pose()
parts_xyz = np.array([p.pose().xyz() for p in self.parts.values()]).flatten()
self.body_xyz = (
parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2]) # torso z is more informative than mean z
self.body_rpy = body_pose.rpy()
z = self.body_xyz[2]
if self.initial_z == None:
self.initial_z = z
r, p, yaw = self.body_rpy
self.walk_target_theta = np.arctan2(self.target_pos[1] - self.body_xyz[1],
self.target_pos[0] - self.body_xyz[0])
self.walk_target_dist = np.linalg.norm(
[self.target_pos[1] - self.body_xyz[1], self.target_pos[0] - self.body_xyz[0]])
self.walk_target_dist_xyz = np.linalg.norm(
[self.target_pos[2] - self.body_xyz[2], self.target_pos[0] - self.body_xyz[1], self.target_pos[0] - self.body_xyz[0]])
angle_to_target = self.walk_target_theta - yaw
self.angle_to_target = angle_to_target
self.walk_height_diff = np.abs(self.target_pos[2] - self.body_xyz[2])
self.dist_to_start = np.linalg.norm(np.array(self.body_xyz) - np.array(self.initial_pos))
debugmode= 0
if debugmode:
print("Robot dsebug mode: walk_height_diff", self.walk_height_diff)
print("Robot dsebug mode: walk_target_z", self.target_pos[2])
print("Robot dsebug mode: body_xyz", self.body_xyz[2])
rot_speed = np.array(
[[np.cos(-yaw), -np.sin(-yaw), 0],
[np.sin(-yaw), np.cos(-yaw), 0],
[ 0, 0, 1]]
)
vx, vy, vz = np.dot(rot_speed, self.robot_body.speed()) # rotate speed back to body point of view
debugmode=0
if debugmode:
print("Robot state", self.target_pos[1] - self.body_xyz[1], self.target_pos[0] - self.body_xyz[0])
more = np.array([ z-self.initial_z,
np.sin(angle_to_target), np.cos(angle_to_target),
0.3* vx , 0.3* vy , 0.3* vz , # 0.3 is just scaling typical speed into -1..+1, no physical sense here
r, p], dtype=np.float32)
if debugmode:
print("Robot more", more)
if not 'nonviz_sensor' in self.env.config["output"]:
j.fill(0)
more.fill(0)
return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
def is_close_to_goal(self):
body_pose = self.robot_body.pose()
parts_xyz = np.array([p.pose().xyz()
for p in self.parts.values()]).flatten()
self.body_xyz = (parts_xyz[0::3].mean(), parts_xyz[1::3].mean(),
body_pose.xyz()[2]
) # torso z is more informative than mean z
dist_to_goal = np.linalg.norm([
self.body_xyz[0] - self.walk_target_x,
self.body_xyz[1] - self.walk_target_y,
self.body_xyz[2] - self.walk_target_z
])
debugmode = 0
if debugmode:
print(
np.linalg.norm([
self.body_xyz[0] - self.walk_target_x,
self.body_xyz[1] - self.walk_target_y,
self.body_xyz[2] - self.walk_target_z
]), [self.body_xyz[0], self.body_xyz[1], self.body_xyz[2]],
[self.walk_target_x, self.walk_target_y, self.walk_target_z])
return dist_to_goal < 0.5
def calc_state(self):
j = np.array(
[j.get_joint_relative_state() for j in self.ordered_joints],
dtype=np.float32).flatten()
self.joint_speeds = j[1::2]
self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99)
body_pose = self.robot_body.pose()
parts_xyz = np.array([p.pose().xyz()
for p in self.parts.values()]).flatten()
self.body_xyz = (parts_xyz[0::3].mean(), parts_xyz[1::3].mean(),
body_pose.xyz()[2]
) # torso z is more informative than mean z
self.body_rpy = body_pose.rpy()
z = self.body_xyz[2]
if self.initial_z == None:
self.initial_z = z
r, p, yaw = self.body_rpy
robot_orn = self.get_orientation()
self.walk_target_theta = np.arctan2(
self.target_pos[1] - self.body_xyz[1],
self.target_pos[0] - self.body_xyz[0])
self.walk_target_dist = np.linalg.norm([
self.target_pos[1] - self.body_xyz[1],
self.target_pos[0] - self.body_xyz[0]
])
self.walk_target_dist_xyz = np.linalg.norm([
self.target_pos[2] - self.body_xyz[2],
self.target_pos[1] - self.body_xyz[1],
self.target_pos[0] - self.body_xyz[0]
])
self.angle_to_target = self.walk_target_theta - yaw
if self.angle_to_target > np.pi:
self.angle_to_target -= 2 * np.pi
elif self.angle_to_target < -np.pi:
self.angle_to_target += 2 * np.pi
debug = 0
if debug:
print("Walk Target Theta: {:.3g}, Yaw: {:.3g}".format(
self.walk_target_theta, yaw))
print("Angle Target: {:.3g}".format(self.angle_to_target))
self.walk_height_diff = np.abs(self.target_pos[2] - self.body_xyz[2])
self.dist_to_start = np.linalg.norm(
np.array(self.body_xyz) - np.array(self.initial_pos))
debugmode = 0
if debugmode:
print("Robot dsebug mode: walk_height_diff", self.walk_height_diff)
print("Robot dsebug mode: walk_target_z", self.target_pos[2])
print("Robot dsebug mode: body_xyz", self.body_xyz[2])
rot_speed = np.array([[np.cos(-yaw), -np.sin(-yaw), 0],
[np.sin(-yaw), np.cos(-yaw), 0], [0, 0, 1]])
vx, vy, vz = np.dot(
rot_speed,
self.robot_body.speed()) # rotate speed back to body point of view
debugmode = 0
if debugmode:
print("Robot state y:%.3f x:%.3f" %
(self.target_pos[1] - self.body_xyz[1],
self.target_pos[0] - self.body_xyz[0]))
more = np.array(
[
z - self.initial_z,
np.sin(self.angle_to_target),
np.cos(self.angle_to_target),
0.3 * vx,
0.3 * vy,
0.3 *
vz, # 0.3 is just scaling typical speed into -1..+1, no physical sense here
r,
p
],
dtype=np.float32)
#more = np.array([np.sin(self.angle_to_target), np.cos(self.angle_to_target),
# 0.3 * vx, 0.3 * vy, 0.3 * vz,
# # 0.3 is just scaling typical speed into -1..+1, no physical sense here
# r, p], dtype=np.float32)
debugmode = 0
if debugmode:
print("Robot more", more)
if not 'nonviz_sensor' in self.env.config["output"]:
j.fill(0)
more.fill(0)
d = self.dist_to_target()
'''if self.env.config["waypoint_active"]:
if (d <= 0.2): # Pass next waypoint
self.point += 1
# self.point = np.clip(self.point, 0, 4) #Aloha_way_custom için geçerli
self.point = np.clip(self.point, 0, 1)
self.set_target_position(self.way_target[self.point])
print("Reached Waypoint %i" % self.point)
'''
return np.clip(np.concatenate([more] + [j] + [self.feet_contact]), -5,
+5)
