Fix controller #1202
Fix controller #1202
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examples/interactive_play.py
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| pose, | ||
| root_trans_offset, | ||
| root_trans_base, | ||
| ) = humanoid_controller.get_walk_pose(relative_pos) | ||
| base_action = humanoid_controller.vectorize_pose( | ||
| pose, root_trans_offset, root_trans_base | ||
| ) |
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A tiny bit awkward that the 3 outputs of get_walk_pose are passed to vectorize_pose. Would it be simpler to have a humanoid_controller.action_from_relative_position that takes as input relative_pos and returns base_action (under the hood it would just call get_walk_pose then vectorize_pose.
If this is the only place this is used, maybe doing
full_pose = humanoid_controller.get_walk_pose(relative_pos)
base_action = humanoid_controller.vectorize_pose(* full_pose)
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Yes, I like that. I would like to keep the original functions that return the different components, in case we want to use part of the transform lately (for instance, compute the joint changes but not the base transform), but I can have a function that calls + vectorize under the hood.
habitat-lab/habitat/articulated_agent_controllers/humanoid_rearrange_controller.py
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habitat-lab/habitat/articulated_agent_controllers/humanoid_rearrange_controller.py
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habitat-lab/habitat/articulated_agent_controllers/humanoid_rearrange_controller.py
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Thanks for the comments! I think everything is addressed |
…into fix_controller merge from main
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Could you add some unit tests for the human controller and add end to end tests with the gym environments (create env, reset and do a few random actions on it) |
* fix path human armature * update controller * fix * improving code for humanoid controller and moving to habitat-lab * renaming docstring * clean conversion degree_to_grads * improved controller * fix * adding tests humanoid
* fix path human armature * update controller * fix * improving code for humanoid controller and moving to habitat-lab * renaming docstring * clean conversion degree_to_grads * improved controller * fix * adding tests humanoid
Motivation and Context
This change improves the humanoid controller to support relative transforms without changing the base pose.
This allows to run path planner smoothly even when there are relative transforms caused by the walking gait.
It also moves the controller code from baselines into habitat-lab.
How Has This Been Tested
Passes tests
Ran Interactive Play Demo
Types of changes
Checklist