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Update g1_benchmark_task.py #3

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89 changes: 54 additions & 35 deletions module/spark_task/spark_task/task/g1_benchmark/g1_benchmark_task.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,33 +9,36 @@ def __init__(self, **kwargs):
self.velocity = kwargs.get("velocity", 1.0)
self.bound = kwargs.get("bound", np.zeros((3,2)))
self.smooth_weight = kwargs.get("smooth_weight", 1.0)
self.last_direction = np.zeros(3)
self.last_direction = kwargs.get("direction", np.array([-1.0,0.0,0.0]))
self.step_counter = 0
self.keep_direction_step = kwargs.get("keep_direction_step", 1)

def move(self, mode="Brownian"):

def move(self, mode):
if mode == "Brownian":
if self.step_counter % self.keep_direction_step == 0:
direction = np.random.normal(loc=0.0, size=3)
direction = self.velocity * direction / np.linalg.norm(direction)
else:
direction = self.last_direction
self.last_frame = self.frame.copy()
update_step = (1 - self.smooth_weight) * self.last_direction + self.smooth_weight * direction
self.frame[:3,3] += update_step

for dim in range(3):
if self.frame[dim,3] < self.bound[dim][0]:
self.frame[dim,3] = self.last_frame[dim,3] - update_step[dim]
elif self.frame[dim,3] > self.bound[dim][1]:
self.frame[dim,3] = self.last_frame[dim,3] - update_step[dim]

self.last_direction = self.frame[:3,3] - self.last_frame[:3,3]
update_step = (1 - self.smooth_weight) * self.last_direction + self.smooth_weight * direction
self.frame[:3, 3] += update_step

self.last_direction = self.frame[:3, 3] - self.last_frame[:3, 3]

elif mode == "Velocity":
update_step = self.velocity * self.last_direction
self.frame[:3, 3] += update_step

# Enforce bounds
for dim in range(3):
if self.frame[dim, 3] < self.bound[dim][0]:
self.frame[dim, 3] = self.bound[dim][0]
elif self.frame[dim, 3] > self.bound[dim][1]:
self.frame[dim, 3] = self.bound[dim][1]

self.step_counter += 1




class G1BenchmarkTask(BaseTask):
def __init__(self, robot_cfg, robot_kinematics, agent, **kwargs):
Expand All @@ -44,6 +47,16 @@ def __init__(self, robot_cfg, robot_kinematics, agent, **kwargs):
self.task_name = kwargs.get("task_name", "G1BenchmarkTask")
self.max_episode_length = kwargs.get("max_episode_length", -1)
self.num_obstacle_task = kwargs.get("num_obstacle", 3) # todo online update
self.mode = kwargs.get("mode", "Brownian") #kwargs.get("mode", "Brownian")
self.obstacle_init = kwargs.get("obstacle_init", np.array([0.2,0.0,1.0]))
self.obstacle_velocity = kwargs.get("obstacle_velocity", 0.001)
self.obstacle_direction = kwargs.get("obstacle_direction", np.array([-1.0,0.0,0.0]))
self.goal_left_init = kwargs.get("goal_left_init", np.array([0.25, 0.25, 0.1]))
self.goal_left_velocity = kwargs.get("goal_left_velocity", 0.001)
self.goal_left_direction = kwargs.get("goal_left_direction", np.array([1.0,0.0,0.0]))
self.goal_right_init = kwargs.get("goal_right_init", np.array([0.25, -0.25, 0.1]))
self.goal_right_velocity = kwargs.get("goal_right_velocity", 0.001)
self.goal_right_direction = kwargs.get("goal_right_direction", np.array([1.0, 0.0, 0.0]))

self.reset()

Expand All @@ -57,42 +70,48 @@ def reset(self):
self.obstacle_task_geom = []

for _ in range(self.num_obstacle_task):
obstacle = TaskObject3D(velocity=0.01,
obstacle = TaskObject3D(velocity=self.obstacle_velocity,
direction=self.obstacle_direction,
keep_direction_step = 500,
bound=np.array([[-0.3, 0.5],
[-0.3, 0.5],
[0.8, 1.0]]))
obstacle.frame[:3,3] = np.array([np.random.uniform(low, high) for low, high in obstacle.bound])
if self.mode == 'Velocity':
obstacle.frame[:3,3] = self.obstacle_init # need to deal with multiple init later
else:
obstacle.frame[:3,3] = np.array([np.random.uniform(low, high) for low, high in obstacle.bound])

self.obstacle_task.append(obstacle)
self.obstacle_task_geom.append(Geometry(type="sphere", radius=0.05, color=VizColor.obstacle_task))

# --------------------------------- init goal -------------------------------- #
self.goal_teleop = {}
self.goal_teleop["left"] = np.array([[1., 0., 0., 0.25],
[0., 1., 0., 0.25],
[0., 0., 1., 0.1],
[0., 0., 0., 1.]])
self.goal_teleop["right"] = np.array([[1., 0., 0., 0.25],
[0., 1., 0., -0.25],
[0., 0., 1., 0.1],
[0., 0., 0., 1.]])

self.robot_goal_left = TaskObject3D(velocity=0.001,

self.robot_goal_left = TaskObject3D(velocity=self.goal_left_velocity,
direction=self.goal_left_direction,
keep_direction_step = 10,
bound=np.array([[0.1, 0.4],
[0.1, 0.4],
[0.0, 0.2]]),
smooth_weight = 0.8)
self.robot_goal_left.frame[:3,3] = np.array([np.random.uniform(low, high) for low, high in self.robot_goal_left.bound])

self.robot_goal_right = TaskObject3D(velocity=0.001,

self.robot_goal_right = TaskObject3D(velocity=self.goal_right_velocity,
direction=self.goal_right_direction,
keep_direction_step = 10,
bound=np.array([[0.1, 0.4],
[-0.4, -0.1],
[0.0, 0.2]]),
smooth_weight = 0.8)
self.robot_goal_right.frame[:3,3] = np.array([np.random.uniform(low, high) for low, high in self.robot_goal_right.bound])

if self.mode == 'Velocity':
self.robot_goal_left.frame[:3,3] = self.goal_left_init
self.robot_goal_right.frame[:3,3] = self.goal_right_init
else:
self.robot_goal_left.frame[:3,3] = np.array([np.random.uniform(low, high) for low, high in self.robot_goal_left.bound])
self.robot_goal_right.frame[:3,3] = np.array([np.random.uniform(low, high) for low, high in self.robot_goal_right.bound])

self.goal_teleop = {}
self.goal_teleop["left"] = self.robot_goal_left.frame
self.goal_teleop["right"] = self.robot_goal_right.frame


# --------------------------------- init info -------------------------------- #
Expand All @@ -105,12 +124,12 @@ def reset(self):
self.info["robot_state"] = {}

def update_robot_goal(self):
self.robot_goal_left.move()
self.robot_goal_right.move()
self.robot_goal_left.move(self.mode)
self.robot_goal_right.move(self.mode)

def update_obstacle_task(self):
for obstacle in self.obstacle_task:
obstacle.move()
obstacle.move(self.mode)

def step(self, feedback):

Expand Down