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201 lines
8.8 KiB
Python
201 lines
8.8 KiB
Python
from agent.Base_Agent import Base_Agent
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from behaviors.custom.Step.Step_Generator import Step_Generator
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from math_ops.Math_Ops import Math_Ops as M
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import math
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import numpy as np
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class Env():
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def __init__(self, base_agent : Base_Agent) -> None:
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self.world = base_agent.world
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self.ik = base_agent.inv_kinematics
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# State space
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self.obs = np.zeros(63, np.float32)
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# Step behavior defaults
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self.STEP_DUR = 8
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self.STEP_Z_SPAN = 0.02
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self.STEP_Z_MAX = 0.70
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# IK
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nao_specs = self.ik.NAO_SPECS
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self.leg_length = nao_specs[1] + nao_specs[3] # upper leg height + lower leg height
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feet_y_dev = nao_specs[0] * 1.12 # wider step
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sample_time = self.world.robot.STEPTIME
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max_ankle_z = nao_specs[5]
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self.step_generator = Step_Generator(feet_y_dev, sample_time, max_ankle_z)
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self.DEFAULT_ARMS = np.array([-90,-90,8,8,90,90,70,70],np.float32)
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self.walk_rel_orientation = None
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self.walk_rel_target = None
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self.walk_distance = None
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def observe(self, init=False):
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r = self.world.robot
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if init: # reset variables
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self.act = np.zeros(16, np.float32) # memory variable
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self.step_counter = 0
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# index observation naive normalization
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self.obs[0] = min(self.step_counter,15*8) /100 # simple counter: 0,1,2,3...
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self.obs[1] = r.loc_head_z *3 # z coordinate (torso)
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self.obs[2] = r.loc_head_z_vel /2 # z velocity (torso)
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self.obs[3] = r.imu_torso_roll /15 # absolute torso roll in deg
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self.obs[4] = r.imu_torso_pitch /15 # absolute torso pitch in deg
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self.obs[5:8] = r.gyro /100 # gyroscope
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self.obs[8:11] = r.acc /10 # accelerometer
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self.obs[11:17] = r.frp.get('lf', np.zeros(6)) * (10,10,10,0.01,0.01,0.01) # left foot: relative point of origin (p) and force vector (f) -> (px,py,pz,fx,fy,fz)*
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self.obs[17:23] = r.frp.get('rf', np.zeros(6)) * (10,10,10,0.01,0.01,0.01) # right foot: relative point of origin (p) and force vector (f) -> (px,py,pz,fx,fy,fz)*
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# *if foot is not touching the ground, then (px=0,py=0,pz=0,fx=0,fy=0,fz=0)
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# Joints: Forward kinematics for ankles + feet rotation + arms (pitch + roll)
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rel_lankle = self.ik.get_body_part_pos_relative_to_hip("lankle") # ankle position relative to center of both hip joints
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rel_rankle = self.ik.get_body_part_pos_relative_to_hip("rankle") # ankle position relative to center of both hip joints
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lf = r.head_to_body_part_transform("torso", r.body_parts['lfoot'].transform ) # foot transform relative to torso
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rf = r.head_to_body_part_transform("torso", r.body_parts['rfoot'].transform ) # foot transform relative to torso
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lf_rot_rel_torso = np.array( [lf.get_roll_deg(), lf.get_pitch_deg(), lf.get_yaw_deg()] ) # foot rotation relative to torso
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rf_rot_rel_torso = np.array( [rf.get_roll_deg(), rf.get_pitch_deg(), rf.get_yaw_deg()] ) # foot rotation relative to torso
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# pose
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self.obs[23:26] = rel_lankle * (8,8,5)
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self.obs[26:29] = rel_rankle * (8,8,5)
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self.obs[29:32] = lf_rot_rel_torso / 20
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self.obs[32:35] = rf_rot_rel_torso / 20
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self.obs[35:39] = r.joints_position[14:18] /100 # arms (pitch + roll)
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# velocity
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self.obs[39:55] = r.joints_target_last_speed[2:18] # predictions == last action
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'''
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Expected observations for walking state:
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Time step R 0 1 2 3 4 5 6 7 0
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Progress 1 0 .14 .28 .43 .57 .71 .86 1 0
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Left leg active T F F F F F F F F T
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'''
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if init: # the walking parameters refer to the last parameters in effect (after a reset, they are pointless)
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self.obs[55] = 1 # step progress
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self.obs[56] = 1 # 1 if left leg is active
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self.obs[57] = 0 # 1 if right leg is active
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else:
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self.obs[55] = self.step_generator.external_progress # step progress
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self.obs[56] = float(self.step_generator.state_is_left_active) # 1 if left leg is active
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self.obs[57] = float(not self.step_generator.state_is_left_active) # 1 if right leg is active
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'''
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Create internal target with a smoother variation
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'''
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MAX_LINEAR_DIST = 0.5
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MAX_LINEAR_DIFF = 0.014 # max difference (meters) per step
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MAX_ROTATION_DIFF = 1.6 # max difference (degrees) per step
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MAX_ROTATION_DIST = 45
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if init:
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self.internal_rel_orientation = 0
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self.internal_target = np.zeros(2)
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previous_internal_target = np.copy(self.internal_target)
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#---------------------------------------------------------------- compute internal linear target
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rel_raw_target_size = np.linalg.norm(self.walk_rel_target)
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if rel_raw_target_size == 0:
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rel_target = self.walk_rel_target
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else:
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rel_target = self.walk_rel_target / rel_raw_target_size * min(self.walk_distance, MAX_LINEAR_DIST)
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internal_diff = rel_target - self.internal_target
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internal_diff_size = np.linalg.norm(internal_diff)
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if internal_diff_size > MAX_LINEAR_DIFF:
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self.internal_target += internal_diff * (MAX_LINEAR_DIFF / internal_diff_size)
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else:
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self.internal_target[:] = rel_target
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#---------------------------------------------------------------- compute internal rotation target
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internal_ori_diff = np.clip( M.normalize_deg( self.walk_rel_orientation - self.internal_rel_orientation ), -MAX_ROTATION_DIFF, MAX_ROTATION_DIFF)
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self.internal_rel_orientation = np.clip(M.normalize_deg( self.internal_rel_orientation + internal_ori_diff ), -MAX_ROTATION_DIST, MAX_ROTATION_DIST)
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#----------------------------------------------------------------- observations
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internal_target_vel = self.internal_target - previous_internal_target
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self.obs[58] = self.internal_target[0] / MAX_LINEAR_DIST
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self.obs[59] = self.internal_target[1] / MAX_LINEAR_DIST
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self.obs[60] = self.internal_rel_orientation / MAX_ROTATION_DIST
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self.obs[61] = internal_target_vel[0] / MAX_LINEAR_DIFF
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self.obs[62] = internal_target_vel[0] / MAX_LINEAR_DIFF
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return self.obs
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def execute_ik(self, l_pos, l_rot, r_pos, r_rot):
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r = self.world.robot
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# Apply IK to each leg + Set joint targets
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# Left leg
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indices, self.values_l, error_codes = self.ik.leg(l_pos, l_rot, True, dynamic_pose=False)
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r.set_joints_target_position_direct(indices, self.values_l, harmonize=False)
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# Right leg
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indices, self.values_r, error_codes = self.ik.leg(r_pos, r_rot, False, dynamic_pose=False)
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r.set_joints_target_position_direct(indices, self.values_r, harmonize=False)
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def execute(self, action):
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r = self.world.robot
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# Actions:
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# 0,1,2 left ankle pos
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# 3,4,5 right ankle pos
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# 6,7,8 left foot rotation
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# 9,10,11 right foot rotation
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# 12,13 left/right arm pitch
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# 14,15 left/right arm roll
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internal_dist = np.linalg.norm( self.internal_target )
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action_mult = 1 if internal_dist > 0.2 else (0.7/0.2) * internal_dist + 0.3
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# exponential moving average
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self.act = 0.8 * self.act + 0.2 * action * action_mult * 0.7
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# execute Step behavior to extract the target positions of each leg (we will override these targets)
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lfy,lfz,rfy,rfz = self.step_generator.get_target_positions(self.step_counter == 0, self.STEP_DUR, self.STEP_Z_SPAN, self.leg_length * self.STEP_Z_MAX)
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# Leg IK
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a = self.act
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l_ankle_pos = (a[0]*0.02, max(0.01, a[1]*0.02 + lfy), a[2]*0.01 + lfz) # limit y to avoid self collision
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r_ankle_pos = (a[3]*0.02, min(a[4]*0.02 + rfy, -0.01), a[5]*0.01 + rfz) # limit y to avoid self collision
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l_foot_rot = a[6:9] * (3,3,5)
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r_foot_rot = a[9:12] * (3,3,5)
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# Limit leg yaw/pitch
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l_foot_rot[2] = max(0,l_foot_rot[2] + 7)
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r_foot_rot[2] = min(0,r_foot_rot[2] - 7)
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# Arms actions
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arms = np.copy(self.DEFAULT_ARMS) # default arms pose
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arm_swing = math.sin(self.step_generator.state_current_ts / self.STEP_DUR * math.pi) * 6
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inv = 1 if self.step_generator.state_is_left_active else -1
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arms[0:4] += a[12:16]*4 + (-arm_swing*inv,arm_swing*inv,0,0) # arms pitch+roll
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# Set target positions
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self.execute_ik(l_ankle_pos, l_foot_rot, r_ankle_pos, r_foot_rot) # legs
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r.set_joints_target_position_direct( slice(14,22), arms, harmonize=False ) # arms
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self.step_counter += 1 |