New function to generate humanoid walking motion #2067
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| from typing import List, Tuple | |||
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| def bin_search(v, a, b, target_value): | |||
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| @@ -279,6 +296,80 @@ def calculate_walk_pose( | |||
| self.obj_transform_base = obj_transform_base @ rot_offset | |||
| self.joint_pose = joint_pose | |||
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| def translate_and_rotate_with_gait( | |||
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This function is not being called anywhere. It probably should be the default from now on.
It would be worth replacing all calls to calculate_walk_pose_directional and deprecating it.
| @@ -279,6 +296,80 @@ def calculate_walk_pose( | |||
| self.obj_transform_base = obj_transform_base @ rot_offset | |||
| self.joint_pose = joint_pose | |||
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| def translate_and_rotate_with_gait( | |||
| self, forward_delta: float, rot_delta: float | |||
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Because agent velocity is driven from config, we should consider having forward_delta a value between -1.0 and 1.0, and having this function multiply it with the agent's lin_speed.
If we do this, there would be a single source of truth to determine the humanoid agent's velocity.
This would eliminate any discrepancy caused by the implementer failing to read the right config field, and would ease agent config refactoring.
While we're at it, we could use the same velocity variable as the other agents.
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This multiplication happens in the BaseVelocityAction, this way we have parity with how the robot moves around.
Here is where we calculate how much to move: https://github.com/facebookresearch/habitat-llm/blob/main_improve_planner/habitat_llm/agent/env/actions.py#L116
This is similar to the robot action, which computes delta and then transforms in here:
https://github.com/facebookresearch/habitat-lab/blob/main/habitat-lab/habitat/tasks/rearrange/actions/actions.py#L489
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| right = mid - 1 | ||
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| return min(left, len(v) - 1) |
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It would be worthwhile unit testing this one.
We could also use bisect to solve this.
Motivation and Context
New method to select humanoid walking motion without changing humanoid pace. This change allows to better control humanoid using speed, thus providing better support for HITL and a controller more similar to the robot one.
How Has This Been Tested
Ran Base Velocity with it.
Types of changes
Checklist