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[fix] Fix the bug of absolute height for h1 locomotion policy #8

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merged 1 commit into from
Jul 26, 2024
Merged

[fix] Fix the bug of absolute height for h1 locomotion policy #8

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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -123,5 +123,8 @@ work_dirs/
/asset
/assets

# user scripts
/scripts

# sphinx build dir
docs/en/_build
2 changes: 2 additions & 0 deletions demo/configs/h1_house.yaml
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Expand Up @@ -24,5 +24,7 @@ tasks:
- name: "move_with_keyboard"
- name: "web_chat"
sensor_params:
- name: "camera"
enable: false
- name: "tp_camera"
enable: false
4 changes: 3 additions & 1 deletion grutopia_extension/controllers/humanoid_move_by_speed_controller.py
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Expand Up @@ -130,7 +130,9 @@ def forward(
joint_pos -= default_dof_pos

base_height = base_pose_w[0][2]
heights = np.clip(base_height - 0.5 - np.zeros(121), -1., 1.) * 5.0
ankle_height = self.robot.get_ankle_height()
relative_base_height = base_height - ankle_height
heights = np.clip(relative_base_height - 0.5 - np.zeros(121), -1., 1.) * 5.0

# Set action command.
tracking_command = np.array([forward_speed, lateral_speed, rotation_speed, 0.0], dtype=np.float32)
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6 changes: 6 additions & 0 deletions grutopia_extension/robots/humanoid.py
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Expand Up @@ -205,13 +205,19 @@ def __init__(self, config: Config, robot_model: RobotModel, scene: Scene):
self._robot_ik_base = None

self._robot_base = RigidPrim(prim_path=config.prim_path + '/pelvis', name=config.name + '_base')
self._robot_right_ankle = RigidPrim(prim_path=config.prim_path + '/right_ankle_link', name=config.name + 'right_ankle')
self._robot_left_ankle = RigidPrim(prim_path=config.prim_path + '/left_ankle_link', name=config.name + 'left_ankle')

def post_reset(self):
super().post_reset()
self.isaac_robot._process_actuators_cfg()
if self._gains is not None:
self.isaac_robot.set_gains(self._gains)


def get_ankle_height(self):
return np.min([self._robot_right_ankle.get_world_pose()[0][2], self._robot_left_ankle.get_world_pose()[0][2]])

def get_robot_scale(self):
return self._robot_scale

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