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Environment.hpp
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Environment.hpp
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#pragma once
#include <stdlib.h>
#include <set>
#include <random>
#include "../../RaisimGymEnv.hpp"
#include <fstream>
#include <string>
#include <vector>
#include <math.h>
namespace raisim {
struct Node {
int id;
std::vector<Node*> neighbour;
std::vector<int> neighbour_weight;
std::vector<int> original_weight;
int max_weight;
int weight;
};
class ENVIRONMENT : public RaisimGymEnv {
public:
explicit ENVIRONMENT(const std::string& resourceDir, const Yaml::Node& cfg, bool visualizable) :
RaisimGymEnv(resourceDir, cfg), visualizable_(visualizable) {
/// create world
world_ = std::make_unique<raisim::World>();
/// add objects
walker_ = world_->addArticulatedSystem(resourceDir_+"/humanoid.urdf");
walker_->setName("walker");
walker_->setControlMode(raisim::ControlMode::PD_PLUS_FEEDFORWARD_TORQUE);
world_->addGround(0, "steel");
world_->setERP(1.0);
world_->setMaterialPairProp("default", "ball", 1.0, 0.8, 0.0001);
world_->setMaterialPairProp("default", "steel", 5.0, 0.0, 0.0001);
soccer_ = world_->addArticulatedSystem(resourceDir_+"/ball3D.urdf");
soccer_->setIntegrationScheme(raisim::ArticulatedSystem::IntegrationScheme::RUNGE_KUTTA_4);
ball_gc_init_.setZero(7);
ball_gv_init_.setZero(6);
ball_gc_init_[3] = 1;
ball_gc_.setZero(7);
ball_gc_[3] = 1;
ball_gv_.setZero(6);
ball_gc_init_[0] = 0.2;
ball_gc_init_[1] = 0.15;
ball_reference_.setZero(7);
ball_reference_vel_.setZero(6);
soccer_->setState(ball_gc_init_, ball_gv_init_);
/// get robot data
gcDim_ = walker_->getGeneralizedCoordinateDim();
gvDim_ = walker_->getDOF();
nJoints_ = gvDim_ - 6;
/// initialize containers
gc_.setZero(gcDim_); gc_init_.setZero(gcDim_);
gv_.setZero(gvDim_); gv_init_.setZero(gvDim_);
pTarget_.setZero(gcDim_); vTarget_.setZero(gvDim_); pTarget12_.setZero(nJoints_);
reference_.setZero(gcDim_);
around_the_world_reference_ = Eigen::MatrixXd::Zero(30, 43);
around_the_world_ball_reference_ = Eigen::MatrixXd::Zero(30, 3);
read_around_the_world();
around_the_world_right_reference_ = Eigen::MatrixXd::Zero(30, 43);
around_the_world_ball_right_reference_ = Eigen::MatrixXd::Zero(30, 3);
read_around_the_world_right();
/// this is nominal configuration of anymal
gc_init_ << 0, 0, 1.707, 0.707, 0.707, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0,
0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0;
reference_ << 0, 0, 1.707, 0.707, 0.707, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0,
0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0;
/// set pd gains
Eigen::VectorXd jointPgain(gvDim_), jointDgain(gvDim_);
jointPgain.setZero(); jointPgain.tail(nJoints_).setConstant(250.0);//250
jointDgain.setZero(); jointDgain.tail(nJoints_).setConstant(25.);//25
jointPgain.segment(9, 3).setConstant(50.0); jointDgain.segment(9, 3).setConstant(5.0);
jointPgain.segment(12, 8).setConstant(100.0); jointDgain.segment(12, 8).setConstant(10.0);
jointPgain.segment(24, 3).setConstant(150.0); jointDgain.segment(24, 3).setConstant(15.0);
jointPgain.segment(31, 3).setConstant(150.0); jointDgain.segment(31, 3).setConstant(15.0);
jointPgain.segment(12, 8).setConstant(50.0); jointDgain.segment(12, 8).setConstant(5.0);
walker_->setPdGains(jointPgain, jointDgain);
walker_->setGeneralizedForce(Eigen::VectorXd::Zero(gvDim_));
/// MUST BE DONE FOR ALL ENVIRONMENTS
obDim_ = 88 + 3 * num_task_;//94;
actionDim_ = nJoints_; actionMean_.setZero(actionDim_); actionStd_.setZero(actionDim_);
obDouble_.setZero(obDim_);
stateDim_ = gcDim_ + 7;
stateDouble_.setZero(stateDim_ * 2);
/// action scaling
//actionMean_ = gc_init_.tail(nJoints_);
actionStd_.setConstant(1);
/// Reward coefficients
rewards_.initializeFromConfigurationFile (cfg["reward"]);
task_vector_.setZero(num_task_), next_task_vector_.setZero(num_task_), next_next_task_vector_.setZero(num_task_);
//initialize control graph
psuduo_node_->id = -1;
psuduo_node_->max_weight = 0;
int id = 0;
foot_juggle_down_node_->id = id; //0
foot_juggle_down_node_->weight = 1;
id++;
foot_juggle_up_node_->id = id; // 1
foot_juggle_up_node_->weight = 1;
id++;
around_the_world_up_node_->id = id; //2
around_the_world_up_node_->weight = 1;
id++;
around_the_world_down_node_->id = id; //3
around_the_world_down_node_->weight = 1;
id++;
foot_stall_enter_node_->id = id; //4
foot_stall_enter_node_->weight = 1;
id++;
foot_stall_exit_node_->id = id;// 5
foot_stall_exit_node_->weight = 1;
id++;
chest_stall_node_->id = id; //6
chest_stall_node_->weight = 1;
id++;
chest_juggle_up_node_->id = id; //7
chest_juggle_up_node_->weight = 1;
id++;
chest_juggle_down_node_->id = id; //8
chest_juggle_down_node_->weight = 1;
id++;
head_juggle_down_node_->id = id; //9
head_juggle_down_node_->weight = 1;
id++;
head_juggle_up_node_->id = id; //10
head_juggle_up_node_->weight = 1;
id++;
head_stall_node_->id = id; //11
head_stall_node_->weight = 1;
id++;
head_stall_exit_node_->id = id; //12
head_stall_exit_node_->weight = 1;
id++;
knee_juggle_down_node_->id = id;//13
knee_juggle_down_node_->weight = 1;
id++;
knee_juggle_up_node_->id = id; //14
knee_juggle_up_node_->weight = 1;
id++;
right_foot_juggle_down_node_->id = id; //15
right_foot_juggle_down_node_->weight = 1;
id++;
right_foot_juggle_up_node_->id = id; //16
right_foot_juggle_up_node_->weight = 1;
id++;
right_knee_juggle_down_node_->id = id; //17
right_knee_juggle_down_node_->weight = 1;
id++;
right_knee_juggle_up_node_->id = id; //18
right_knee_juggle_up_node_->weight = 1;
id++;
right_around_the_world_down_node_->id = id; //19
right_around_the_world_down_node_->weight = 1;
id++;
right_around_the_world_up_node_->id = id; //20
right_around_the_world_up_node_->weight = 1;
id++;
right_foot_stall_node_->id = id; // 21
right_foot_stall_node_->weight = 1;
id++;
right_foot_stall_exit_node_->id = id; //22
right_foot_stall_exit_node_->weight = 1;
foot_juggle_down_node_->neighbour.push_back(foot_juggle_up_node_);
foot_juggle_down_node_->neighbour_weight.push_back(1);
foot_juggle_down_node_->original_weight.push_back(1);
foot_juggle_down_node_->neighbour.push_back(around_the_world_up_node_);
foot_juggle_down_node_->neighbour_weight.push_back(1);
foot_juggle_down_node_->original_weight.push_back(1);
// foot_juggle_down_node_->neighbour.push_back(foot_stall_enter_node_);
// foot_juggle_down_node_->neighbour_weight.push_back(1);
// foot_juggle_down_node_->original_weight.push_back(1);
foot_juggle_down_node_->max_weight = 2;
foot_juggle_up_node_->neighbour.push_back(foot_juggle_down_node_);
foot_juggle_up_node_->neighbour_weight.push_back(1);
foot_juggle_up_node_->original_weight.push_back(1);
// foot_juggle_up_node_->neighbour.push_back(chest_juggle_down_node_);
// foot_juggle_up_node_->neighbour_weight.push_back(1);
// foot_juggle_up_node_->original_weight.push_back(1);
foot_juggle_up_node_->neighbour.push_back(head_juggle_down_node_);
foot_juggle_up_node_->neighbour_weight.push_back(1);
foot_juggle_up_node_->original_weight.push_back(1);
foot_juggle_up_node_->neighbour.push_back(knee_juggle_down_node_);
foot_juggle_up_node_->neighbour_weight.push_back(1);
foot_juggle_up_node_->original_weight.push_back(1);
foot_juggle_up_node_->neighbour.push_back(right_foot_juggle_down_node_);
foot_juggle_up_node_->neighbour_weight.push_back(1);
foot_juggle_up_node_->original_weight.push_back(1);
foot_juggle_up_node_->neighbour.push_back(right_knee_juggle_down_node_);
foot_juggle_up_node_->neighbour_weight.push_back(1);
foot_juggle_up_node_->original_weight.push_back(1);
foot_juggle_up_node_->max_weight = 5;
around_the_world_up_node_->neighbour.push_back(around_the_world_down_node_);
around_the_world_up_node_->neighbour_weight.push_back(1);
around_the_world_up_node_->original_weight.push_back(1);
around_the_world_up_node_->max_weight = 1;
around_the_world_down_node_->neighbour.push_back(around_the_world_up_node_);
around_the_world_down_node_->neighbour_weight.push_back(1);
around_the_world_down_node_->original_weight.push_back(1);
around_the_world_down_node_->neighbour.push_back(foot_juggle_up_node_);
around_the_world_down_node_->neighbour_weight.push_back(1);
around_the_world_down_node_->original_weight.push_back(1);
around_the_world_down_node_->max_weight = 2;
foot_stall_enter_node_->neighbour.push_back(foot_stall_enter_node_);
foot_stall_enter_node_->neighbour_weight.push_back(30);
foot_stall_enter_node_->original_weight.push_back(30);
foot_stall_enter_node_->neighbour.push_back(foot_stall_exit_node_);
foot_stall_enter_node_->neighbour_weight.push_back(1);
foot_stall_enter_node_->original_weight.push_back(1);
foot_stall_enter_node_->max_weight = 31;
foot_stall_exit_node_->neighbour.push_back(foot_juggle_up_node_);
foot_stall_exit_node_->neighbour_weight.push_back(1);
foot_stall_exit_node_->original_weight.push_back(1);
foot_stall_exit_node_->max_weight = 1;
chest_stall_node_->neighbour.push_back(chest_stall_node_);
chest_stall_node_->neighbour_weight.push_back(1);
chest_stall_node_->original_weight.push_back(1);
chest_stall_node_->max_weight = 1;
chest_juggle_down_node_->neighbour.push_back(chest_juggle_up_node_);
chest_juggle_down_node_->neighbour_weight.push_back(1);
chest_juggle_down_node_->original_weight.push_back(1);
chest_juggle_down_node_->max_weight = 1;
chest_juggle_up_node_->neighbour.push_back(foot_juggle_down_node_);
chest_juggle_up_node_->neighbour_weight.push_back(1);
chest_juggle_up_node_->original_weight.push_back(1);
// chest_juggle_up_node_->neighbour.push_back(knee_juggle_down_node_);
// chest_juggle_up_node_->neighbour_weight.push_back(1);
// chest_juggle_up_node_->original_weight.push_back(1);
chest_juggle_up_node_->neighbour.push_back(right_foot_juggle_down_node_);
chest_juggle_up_node_->neighbour_weight.push_back(1);
chest_juggle_up_node_->original_weight.push_back(1);
// chest_juggle_up_node_->neighbour.push_back(right_knee_juggle_down_node_);
// chest_juggle_up_node_->neighbour_weight.push_back(1);
// chest_juggle_up_node_->original_weight.push_back(1);
chest_juggle_up_node_->max_weight = 2;
head_juggle_down_node_->neighbour.push_back(head_juggle_up_node_);
head_juggle_down_node_->neighbour_weight.push_back(1);
head_juggle_down_node_->original_weight.push_back(1);
// head_juggle_down_node_->neighbour.push_back(head_stall_node_);
// head_juggle_down_node_->neighbour_weight.push_back(1);
// head_juggle_down_node_->original_weight.push_back(1);
head_juggle_down_node_->max_weight = 1;
head_juggle_up_node_->neighbour.push_back(foot_juggle_down_node_);
head_juggle_up_node_->neighbour_weight.push_back(1);
head_juggle_up_node_->original_weight.push_back(1);
head_juggle_up_node_->neighbour.push_back(head_juggle_down_node_);
head_juggle_up_node_->neighbour_weight.push_back(1);
head_juggle_up_node_->original_weight.push_back(1);
head_juggle_up_node_->neighbour.push_back(knee_juggle_down_node_);
head_juggle_up_node_->neighbour_weight.push_back(1);
head_juggle_up_node_->original_weight.push_back(1);
head_juggle_up_node_->neighbour.push_back(right_foot_juggle_down_node_);
head_juggle_up_node_->neighbour_weight.push_back(1);
head_juggle_up_node_->original_weight.push_back(1);
head_juggle_up_node_->neighbour.push_back(right_knee_juggle_down_node_);
head_juggle_up_node_->neighbour_weight.push_back(1);
head_juggle_up_node_->original_weight.push_back(1);
head_juggle_up_node_->max_weight = 5;
head_stall_node_->neighbour.push_back(head_stall_node_);
head_stall_node_->neighbour_weight.push_back(30);
head_stall_node_->original_weight.push_back(30);
head_stall_node_->neighbour.push_back(head_stall_exit_node_);
head_stall_node_->neighbour_weight.push_back(1);
head_stall_node_->original_weight.push_back(1);
head_stall_node_->max_weight = 31;
head_stall_exit_node_->neighbour.push_back(head_juggle_up_node_);
head_stall_exit_node_->neighbour_weight.push_back(1);
head_stall_exit_node_->original_weight.push_back(1);
head_stall_exit_node_->max_weight = 1;
knee_juggle_down_node_->neighbour.push_back(knee_juggle_up_node_);
knee_juggle_down_node_->neighbour_weight.push_back(1);
knee_juggle_down_node_->original_weight.push_back(1);
knee_juggle_down_node_->max_weight = 1;
knee_juggle_up_node_->neighbour.push_back(knee_juggle_down_node_);
knee_juggle_up_node_->neighbour_weight.push_back(1);
knee_juggle_up_node_->original_weight.push_back(1);
knee_juggle_up_node_->neighbour.push_back(foot_juggle_down_node_);
knee_juggle_up_node_->neighbour_weight.push_back(1);
knee_juggle_up_node_->original_weight.push_back(1);
// knee_juggle_up_node_->neighbour.push_back(chest_juggle_down_node_);
// knee_juggle_up_node_->neighbour_weight.push_back(1);
// knee_juggle_up_node_->original_weight.push_back(1);
knee_juggle_up_node_->neighbour.push_back(head_juggle_down_node_);
knee_juggle_up_node_->neighbour_weight.push_back(1);
knee_juggle_up_node_->original_weight.push_back(1);
knee_juggle_up_node_->neighbour.push_back(right_foot_juggle_down_node_);
knee_juggle_up_node_->neighbour_weight.push_back(1);
knee_juggle_up_node_->original_weight.push_back(1);
knee_juggle_up_node_->neighbour.push_back(right_knee_juggle_down_node_);
knee_juggle_up_node_->neighbour_weight.push_back(1);
knee_juggle_up_node_->original_weight.push_back(1);
knee_juggle_up_node_->max_weight = 5;
right_foot_juggle_down_node_->neighbour.push_back(right_foot_juggle_up_node_);
right_foot_juggle_down_node_->neighbour_weight.push_back(1);
right_foot_juggle_down_node_->original_weight.push_back(1);
// right_foot_juggle_down_node_->neighbour.push_back(right_foot_stall_node_);
// right_foot_juggle_down_node_->neighbour_weight.push_back(1);
// right_foot_juggle_down_node_->original_weight.push_back(1);
right_foot_juggle_down_node_->neighbour.push_back(right_around_the_world_up_node_);
right_foot_juggle_down_node_->neighbour_weight.push_back(1);
right_foot_juggle_down_node_->original_weight.push_back(1);
right_foot_juggle_down_node_->max_weight = 2;
right_foot_juggle_up_node_->neighbour.push_back(right_foot_juggle_down_node_);
right_foot_juggle_up_node_->neighbour_weight.push_back(1);
right_foot_juggle_up_node_->original_weight.push_back(1);
right_foot_juggle_up_node_->neighbour.push_back(right_knee_juggle_down_node_);
right_foot_juggle_up_node_->neighbour_weight.push_back(1);
right_foot_juggle_up_node_->original_weight.push_back(1);
right_foot_juggle_up_node_->neighbour.push_back(foot_juggle_down_node_);
right_foot_juggle_up_node_->neighbour_weight.push_back(1);
right_foot_juggle_up_node_->original_weight.push_back(1);
right_foot_juggle_up_node_->neighbour.push_back(knee_juggle_down_node_);
right_foot_juggle_up_node_->neighbour_weight.push_back(1);
right_foot_juggle_up_node_->original_weight.push_back(1);
right_foot_juggle_up_node_->neighbour.push_back(head_juggle_down_node_);
right_foot_juggle_up_node_->neighbour_weight.push_back(1);
right_foot_juggle_up_node_->original_weight.push_back(1);
// right_foot_juggle_up_node_->neighbour.push_back(chest_juggle_down_node_);
// right_foot_juggle_up_node_->neighbour_weight.push_back(1);
// right_foot_juggle_up_node_->original_weight.push_back(1);
right_foot_juggle_up_node_->max_weight = 5;
right_knee_juggle_down_node_->neighbour.push_back(right_knee_juggle_up_node_);
right_knee_juggle_down_node_->neighbour_weight.push_back(1);
right_knee_juggle_down_node_->original_weight.push_back(1);
right_knee_juggle_down_node_->max_weight = 1;
right_knee_juggle_up_node_->neighbour.push_back(right_knee_juggle_down_node_);
right_knee_juggle_up_node_->neighbour_weight.push_back(1);
right_knee_juggle_up_node_->original_weight.push_back(1);
right_knee_juggle_up_node_->neighbour.push_back(right_foot_juggle_down_node_);
right_knee_juggle_up_node_->neighbour_weight.push_back(1);
right_knee_juggle_up_node_->original_weight.push_back(1);
right_knee_juggle_up_node_->neighbour.push_back(foot_juggle_down_node_);
right_knee_juggle_up_node_->neighbour_weight.push_back(1);
right_knee_juggle_up_node_->original_weight.push_back(1);
right_knee_juggle_up_node_->neighbour.push_back(knee_juggle_down_node_);
right_knee_juggle_up_node_->neighbour_weight.push_back(1);
right_knee_juggle_up_node_->original_weight.push_back(1);
right_knee_juggle_up_node_->neighbour.push_back(head_juggle_down_node_);
right_knee_juggle_up_node_->neighbour_weight.push_back(1);
right_knee_juggle_up_node_->original_weight.push_back(1);
// right_knee_juggle_up_node_->neighbour.push_back(chest_juggle_down_node_);
// right_knee_juggle_up_node_->neighbour_weight.push_back(1);
// right_knee_juggle_up_node_->original_weight.push_back(1);
right_knee_juggle_up_node_->max_weight = 5;
right_around_the_world_up_node_->neighbour.push_back(right_around_the_world_down_node_);
right_around_the_world_up_node_->neighbour_weight.push_back(1);
right_around_the_world_up_node_->original_weight.push_back(1);
right_around_the_world_up_node_->max_weight = 1;
right_around_the_world_down_node_->neighbour.push_back(right_around_the_world_up_node_);
right_around_the_world_down_node_->neighbour_weight.push_back(1);
right_around_the_world_down_node_->original_weight.push_back(1);
right_around_the_world_down_node_->neighbour.push_back(right_foot_juggle_up_node_);
right_around_the_world_down_node_->neighbour_weight.push_back(1);
right_around_the_world_down_node_->original_weight.push_back(1);
right_around_the_world_down_node_->max_weight = 2;
right_foot_stall_node_->neighbour.push_back(right_foot_stall_node_);
right_foot_stall_node_->neighbour_weight.push_back(30);
right_foot_stall_node_->original_weight.push_back(30);
right_foot_stall_node_->neighbour.push_back(right_foot_stall_exit_node_);
right_foot_stall_node_->neighbour_weight.push_back(1);
right_foot_stall_node_->original_weight.push_back(1);
right_foot_stall_node_->max_weight = 31;
right_foot_stall_exit_node_->neighbour.push_back(right_foot_juggle_up_node_);
right_foot_stall_exit_node_->neighbour_weight.push_back(1);
right_foot_stall_exit_node_->original_weight.push_back(1);
right_foot_stall_exit_node_->max_weight = 1;
initial_node.push_back(foot_juggle_down_node_);
initial_node.push_back(head_juggle_down_node_);
// initial_node.push_back(chest_juggle_down_node_);
//initial_node.push_back(chest_stall_node_);
initial_node.push_back(around_the_world_down_node_);
initial_node.push_back(knee_juggle_down_node_);
initial_node.push_back(right_foot_juggle_down_node_);
initial_node.push_back(right_knee_juggle_down_node_);
initial_node.push_back(right_around_the_world_down_node_);
/// visualize if it is the first environment
if (visualizable_) {
server_ = std::make_unique<raisim::RaisimServer>(world_.get());
server_->launchServer();
server_->focusOn(walker_);
}
}
void init() final { }
int select_next_node(Node* node) {
int selection = rand() % node->max_weight;
int index = 0;
int current_weight = 0;
while (selection >= node->neighbour_weight[index] + current_weight && current_weight < node->max_weight) {
current_weight += node->neighbour_weight[index];
index++;
}
if (previous_choice_ == -1) {
previous_choice_ = index;
previous_previous_choice_ = -1;
}
else if (previous_previous_choice_ == -1) {
previous_previous_choice_ = previous_choice_;
previous_choice_ = index;
}
else {
previous_previous_previous_choice_ = previous_previous_choice_;
previous_previous_choice_ = previous_choice_;
previous_choice_ = index;
}
return index;
}
void update_previous_node() {
//return;
previous_node_->max_weight -= previous_node_->original_weight[previous_previous_previous_choice_];
previous_node_->neighbour_weight[previous_previous_previous_choice_] -= previous_node_->original_weight[previous_previous_previous_choice_];
if (previous_node_->neighbour_weight[previous_previous_previous_choice_] > previous_node_->original_weight[previous_previous_previous_choice_]) {
previous_node_->max_weight -= 1;
previous_node_->neighbour_weight[previous_previous_previous_choice_] -= 1;
}
}
void update_current_node() {
//return;
if (current_node_->neighbour_weight[previous_previous_choice_] > 100 * current_node_->original_weight[previous_previous_choice_]) {
int difference = (current_node_->neighbour_weight[previous_previous_choice_] - 100 * current_node_->original_weight[previous_previous_choice_]);
current_node_->neighbour_weight[previous_previous_choice_] -= difference;
current_node_->max_weight -= difference;
}
current_node_->neighbour_weight[previous_previous_choice_] += current_node_->original_weight[previous_previous_choice_];
current_node_->max_weight += current_node_->original_weight[previous_previous_choice_];
}
void reset() final {
previous_choice_ = -1, previous_previous_choice_ = -1;
speed = 0.0;//(double(rand() % 8) - 2.0) / 10.0;
phase_ = 0;//rand() % max_phase_;
phase_speed_ = (4.0 + (double)rand() / RAND_MAX * 2);
next_phase_speed_ = (4.0 + (double)rand() / RAND_MAX * 2);
sim_step_ = 0;
total_reward_ = 0;
//initialize task
previous_node_ = psuduo_node_;
current_node_ = initial_node[(rand() % initial_node.size())];
next_node_ = current_node_->neighbour[select_next_node(current_node_)];
next_next_node_ = next_node_->neighbour[select_next_node(next_node_)];
task_vector_.setZero();
contact_terminal_flag_ = false;
task_vector_[current_node_->id] = 1;
next_task_vector_.setZero();
next_task_vector_[next_node_->id] = 1;
next_next_task_vector_.setZero();
next_next_task_vector_[next_next_node_->id] = 1;
switch (current_node_->id) {
case 5:
desired_max_height_ = 2.0;
break;
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
desired_max_height_ = 2.0;
break;
default:
desired_max_height_ = 1.4;
}
calculate_phase_speed(desired_max_height_);
switch (next_next_node_->id) {
case 0:
case 1:
case 13:
case 14:
case 15:
case 16:
case 17:
case 18:
if (current_node_->id == 7 or current_node_->id == 8 or current_node_->id == 9 or current_node_->id == 10)
desired_max_height_ = 2.0;
else
desired_max_height_ = 1.4;
break;
case 5:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 22:
desired_max_height_ = 2.0;
break;
default:
desired_max_height_ = 1.4;
}
if (current_node_->id == 9 or current_node_->id == 10) {
setReferenceMotionHead();
setBallReference();
}
else if (current_node_->id == 0 or current_node_->id == 1 or current_node_->id == 13
or current_node_->id == 14 or current_node_->id == 15 or current_node_->id == 16
or current_node_->id == 17 or current_node_->id == 18) {
setReferenceMotion();
setBallReference();
}
else if (current_node_->id == 2 or current_node_->id == 3)
setReferenceMotionAroundTheWorld();
else if (current_node_->id == 19 or current_node_->id == 20)
setReferenceMotionAroundTheWorldRight();
else if (current_node_->id == 7 or current_node_->id == 8) {
setChestMotion();
setBallReference();
}
walker_->setState(reference_, gv_init_);
soccer_->setState(ball_reference_, ball_reference_vel_ * 0);
updateObservation();
}
void setEnvironmentTask(int i) final {
use_head_ = i;
}
float step(const Eigen::Ref<EigenVec>& action) final {
if (current_node_->id == 9 or current_node_->id == 10) {
setReferenceMotionHead();
setBallReference();
}
else if (current_node_->id == 0 or current_node_->id == 1 or current_node_->id == 13 or current_node_->id == 14
or current_node_->id == 15 or current_node_->id == 16 or current_node_->id == 17 or current_node_->id == 18){
setReferenceMotion();
setBallReference();
}
else if (current_node_->id == 2 or current_node_->id == 3) {
setReferenceMotionAroundTheWorld();
phase_speed_ = max_phase_ / 30;
}
else if (current_node_->id == 19 or current_node_->id == 20) {
setReferenceMotionAroundTheWorldRight();
phase_speed_ = max_phase_ / 30;
}
else if (current_node_->id == 4 || current_node_->id == 5 || current_node_->id == 21 || current_node_->id == 22) {
setReferenceMotion();
setBallReference();
phase_speed_ = 0;
}
else if (current_node_->id == 6) {
setChestStallMotion();
phase_speed_ = 0;
}
else if (current_node_->id == 7 or current_node_->id == 8) {
setChestMotion();
setBallReference();
}
else if (current_node_->id == 11 or current_node_->id == 12) {
setReferenceMotionHead();
setBallReference();
phase_speed_ = 0;
}
pTarget_.tail(36) = reference_.tail(36);
//walker_->setState(reference_, gv_init_);
//soccer_->setState(ball_reference_, ball_reference_vel_);
walker_->setPdTarget(pTarget_, vTarget_);
Eigen::VectorXd torque = Eigen::VectorXd::Zero(gvDim_);
torque.segment(6, 28) = action.cast<double>() * 100.0;
torque.segment(9, 3) *= 0.5;
torque.segment(20, 4) *= 2.5;
torque.segment(24, 3) *= 1.5;
torque.segment(31, 3) *= 1.5;
torque.segment(27, 4) *= 2.5;
torque.segment(12, 8) *= 0.5;
int num_contact = 0;
for(int i=0; i< int(control_dt_ / simulation_dt_ + 1e-10); i++){
if(server_) server_->lockVisualizationServerMutex();
// walker_->getState(gc_, gv_);
walker_->setGeneralizedForce(torque);
world_->integrate();
if(server_) server_->unlockVisualizationServerMutex();
for(auto& contact: soccer_->getContacts()) {
num_contact++;
if (phase_speed_ > 0.1 && (phase_ < max_phase_ / 2 - 3 * phase_speed_ || phase_ > max_phase_ / 2 + 3 * phase_speed_))
{
contact_terminal_flag_ = true;
break;
}
soccer_->getState(ball_gc_, ball_gv_);
if (ball_gc_[2] < 0.2) {
contact_terminal_flag_ = true;
break;
}
auto& pair_contact = world_->getObject(contact.getPairObjectIndex())->getContacts()[contact.getPairContactIndexInPairObject()];
switch (current_node_->id) {
case 9:
case 10:
case 11:
case 12:
if (walker_->getBodyIdx("neck") != pair_contact.getlocalBodyIndex()){
contact_terminal_flag_ = true;
}
break;
case 13:
case 14:
if (walker_->getBodyIdx("left_hip") != pair_contact.getlocalBodyIndex()
&& walker_->getBodyIdx("left_knee") != pair_contact.getlocalBodyIndex())
contact_terminal_flag_ = true;
break;
case 17:
case 18:
if (walker_->getBodyIdx("right_hip") != pair_contact.getlocalBodyIndex()
&& walker_->getBodyIdx("right_knee") != pair_contact.getlocalBodyIndex())
contact_terminal_flag_ = true;
break;
case 0:
case 1:
case 2:
case 3:
case 4:
case 5:
if (walker_->getBodyIdx("left_ankle") != pair_contact.getlocalBodyIndex()
&& walker_->getBodyIdx("left_knee") != pair_contact.getlocalBodyIndex())
contact_terminal_flag_ = true;
break;
case 6:
case 7:
case 8:
if (walker_->getBodyIdx("chest") != pair_contact.getlocalBodyIndex() && walker_->getBodyIdx("neck") != pair_contact.getlocalBodyIndex())
contact_terminal_flag_ = true;
break;
case 15:
case 16:
case 19:
case 20:
case 21:
case 22:
if (walker_->getBodyIdx("right_ankle") != pair_contact.getlocalBodyIndex()
&& walker_->getBodyIdx("right_knee") != pair_contact.getlocalBodyIndex())
contact_terminal_flag_ = true;
break;
default:
contact_terminal_flag_ = false;
}
}
}
if ((previous_node_->id == 4 || previous_node_->id == 5 || previous_node_->id == 6 ||
previous_node_->id == 11 || previous_node_->id == 12 || previous_node_->id == 21 || previous_node_->id == 22)
&& phase_speed_ < 0.1) {
raisim::Vec<3> footPosition;
if (previous_node_->id == 4 || previous_node_->id == 5) {
auto footFrameIndex = walker_->getFrameIdxByName("left_ankle");
walker_->getFramePosition(footFrameIndex, footPosition);
}
else if (previous_node_->id == 21 or previous_node_->id == 22) {
auto footFrameIndex = walker_->getFrameIdxByName("right_ankle");
walker_->getFramePosition(footFrameIndex, footPosition);
}
soccer_->getState(ball_gc_, ball_gv_);
float foot_ball_distance = std::pow(footPosition[0] - ball_gc_[0], 2) + std::pow(footPosition[1] - ball_gc_[1], 2)
+ std::pow(footPosition[2] - ball_gc_[2], 2);
if (foot_ball_distance > 0.09) {
contact_terminal_flag_ = true;
}
}
phase_ += phase_speed_;
sim_step_ += 1;
if ((phase_ > max_phase_ / 2 - phase_speed_ / 2 && phase_ < max_phase_ / 2 + phase_speed_ / 2) ||
current_node_->id == 4 || current_node_->id == 5 || current_node_->id == 6 || current_node_->id == 11 || current_node_->id == 12
|| current_node_->id == 21 || current_node_->id == 22) {
phase_ = max_phase_ / 2;
if (previous_node_->id != -1) {
update_previous_node();
}
update_current_node();
previous_node_ = current_node_;
current_node_ = next_node_;
next_node_ = next_next_node_;
next_next_node_ = next_node_->neighbour[select_next_node(next_node_)];
if (current_node_->id == 0 or current_node_->id == 1 or current_node_->id == 7 or current_node_->id == 8 or
current_node_->id == 9 or current_node_->id == 10 or current_node_->id == 13 or current_node_->id == 14
or current_node_->id == 15 or current_node_->id == 16 or current_node_->id == 17 or current_node_->id == 18)
calculate_phase_speed(desired_max_height_);
else if (current_node_->id == 2 or current_node_->id == 3 or current_node_->id == 19 or current_node_->id == 20)
phase_speed_ = max_phase_ / 30;
else if (current_node_->id == 4 or current_node_->id == 5 or current_node_->id == 11 or current_node_->id == 12
or current_node_->id == 21 or current_node_->id == 22)
phase_speed_ = 0;
task_vector_.setZero();
task_vector_[current_node_->id] = 1;
next_task_vector_.setZero();
next_task_vector_[next_node_->id] = 1;
next_next_task_vector_.setZero();
next_next_task_vector_[next_next_node_->id] = 1;
}
else if (phase_ >= max_phase_){
phase_ = 0;
update_previous_node();
update_current_node();
previous_node_ = current_node_;
current_node_ = next_node_;
next_node_ = next_next_node_;
next_next_node_ = next_node_->neighbour[select_next_node(next_node_)];
// update contact height
task_vector_.setZero();
task_vector_[current_node_->id] = 1;
next_task_vector_.setZero();
next_task_vector_[next_node_->id] = 1;
next_next_task_vector_.setZero();
next_next_task_vector_[next_next_node_->id] = 1;
// update phase speed
if (current_node_->id == 0 or current_node_->id == 1 or current_node_->id == 13 or current_node_->id == 14
or current_node_->id == 15 or current_node_->id == 16 or current_node_->id == 17 or current_node_->id == 18)
calculate_phase_speed(desired_max_height_);
else if (current_node_->id == 7 or current_node_->id == 8 or current_node_->id == 9 or current_node_->id == 10)
calculate_phase_speed(desired_max_height_);
else if (current_node_->id == 2 or current_node_->id == 3 or current_node_->id == 19 or current_node_->id == 20)
phase_speed_ = max_phase_ / 30;
//update next desired max height
switch (next_next_node_->id) {
case 9:
case 10:
case 11:
case 12:
desired_max_height_ = 2.0;
break;
case 0:
case 1:
case 13:
case 14:
case 15:
case 16:
case 17:
case 18:
if (current_node_->id == 7 or current_node_->id == 8 or current_node_->id == 9 or current_node_->id == 10
or current_node_->id == 11 or current_node_->id == 12)
desired_max_height_ = 2.0;
else
desired_max_height_ = 1.4;
break;
case 7:
case 8:
desired_max_height_ = 2.0;
break;
default:
desired_max_height_ = 1.4;
}
}
updateObservation();
computeReward();
double current_reward = rewards_.sum() * 0.5 + (rewards_["position"] + rewards_["orientation"] + rewards_["joint"]) * rewards_["ball position"] * 0.0;
total_reward_ += current_reward;
return current_reward;
}
void computeReward() {
float joint_reward = 0, position_reward = 0, orientation_reward = 0;
//compute joint reward
raisim::Vec<4> quat, quat2, quat_error;
raisim::Mat<3,3> rot, rot2, rot_error;
for (int j = 0; j < 12; j++) {
if (j == 0 or j == 1 or j == 2 or j == 4 or j == 6 or j == 8 or j == 9 or j == 11) {
quat[0] = gc_[joint_start_index[j]]; quat[1] = gc_[joint_start_index[j]+1];
quat[2] = gc_[joint_start_index[j]+2]; quat[3] = gc_[joint_start_index[j]+3];
quat2[0] = reference_[joint_start_index[j]]; quat2[1] = reference_[joint_start_index[j]+1];
quat2[2] = reference_[joint_start_index[j]+2]; quat2[3] = reference_[joint_start_index[j]+3];
raisim::quatToRotMat(quat, rot);
raisim::quatToRotMat(quat2, rot2);
raisim::mattransposematmul(rot, rot2, rot_error);
raisim::rotMatToQuat(rot_error, quat_error);
joint_reward += 1*(std::pow(quat_error[1], 2) + std::pow(quat_error[2], 2) + std::pow(quat_error[3], 2));
}
else {
joint_reward += std::pow(gc_[joint_start_index[j]] - reference_[joint_start_index[j]], 2);
}
}
position_reward += 1.0 * std::pow(gv_[0]-speed, 2) + std::pow(gv_[1]-0, 2) + std::pow(gc_[2]-reference_[2], 2);
orientation_reward += (std::pow(gc_[4]-reference_[4], 2)) + (std::pow(gc_[5]-reference_[5], 2)) + (std::pow(gc_[6]-reference_[6], 2));
float ball_position_reward = 0;
ball_position_reward += std::pow(ball_reference_[0] - ball_gc_[0] + gc_[0], 2) +
std::pow(ball_reference_[1] - ball_gc_[1] + gc_[1], 2) + 5 * std::pow(ball_reference_[2] - ball_gc_[2], 2);
rewards_.record("position", std::exp(-position_reward));
rewards_.record("orientation", std::exp(-2 * orientation_reward));
rewards_.record("joint", std::exp(-3*joint_reward));
rewards_.record("ball position", std::exp(-ball_position_reward));
}
void updateObservation() {
soccer_->getState(ball_gc_, ball_gv_);
walker_->getState(gc_, gv_);
obDouble_ << gc_[2], /// body height
(gc_[3] - 0.707) * 4, (gc_[4] - 0.707) * 4, gc_[5] * 4, gc_[6] * 4,/// body orientation
gc_[7], gc_[8] * 2, gc_[9] * 2, gc_[10] * 2, //chest
gc_[11], gc_[12] * 2, gc_[13] * 2, gc_[14] * 2, //chest
gc_.tail(28), /// joint angles
gv_[0], gv_[1], gv_[2], gv_[3], gv_[4], gv_[5],/// body linear&angular velocity
gv_.tail(28) / 10.0, /// joint velocity
speed, //speed
ball_gc_[0] - gc_[0], ball_gc_[1] - gc_[1], ball_gc_[2] - gc_[2],
ball_gv_[0]/10.0, ball_gv_[1]/10.0, ball_gv_[2]/10.0, ball_gv_[3]/10.0, ball_gv_[4]/10.0, ball_gv_[5]/10.0,
phase_speed_ / 10.0, //next_phase_speed_ / 10.0,
std::cos(phase_ * 3.1415 * 2 / max_phase_), std::sin(phase_ * 3.1415 * 2 / max_phase_),// phase;
task_vector_.tail(num_task_), next_task_vector_.tail(num_task_), next_next_task_vector_.tail(num_task_);
}
void observe(Eigen::Ref<EigenVec> ob) final {
/// convert it to float
ob = obDouble_.cast<float>();
}
void getState(Eigen::Ref<EigenVec> ob) final {
stateDouble_ << gc_.tail(gcDim_), ball_gc_.tail(7), reference_.tail(gcDim_), ball_reference_.tail(7);
ob = stateDouble_.cast<float>();
}
bool time_limit_reached() {
return sim_step_ > max_sim_step_;
}
float get_total_reward() {
return float(total_reward_);
}
bool isTerminalState(float& terminalReward) final {
terminalReward = float(terminalRewardCoeff_) * 0.0f;
raisim::Vec<4> quat, quat2, quat_error;
raisim::Mat<3,3> rot, rot2, rot_error;
quat[0] = gc_[3]; quat[1] = gc_[4];
quat[2] = gc_[5]; quat[3] = gc_[6];
quat2[0] = 0.707; quat2[1] = 0.707;
quat2[2] = 0; quat2[3] = 0;
raisim::quatToRotMat(quat, rot);
raisim::quatToRotMat(quat2, rot2);
raisim::mattransposematmul(rot, rot2, rot_error);
raisim::rotMatToQuat(rot_error, quat_error);
if ((std::pow(quat_error[1], 2) + std::pow(quat_error[2], 2) + std::pow(quat_error[3], 2)) > 0.06) {
return true;
}
if (std::abs(gc_[2]) < 0.6) {
return true;
}
if (std::abs(ball_gc_[0] - gc_[0] - ball_reference_[0]) > 1.0 ||
std::abs(ball_gc_[1] - gc_[1] - ball_reference_[1]) > 0.5 || ball_gc_[2] < 0.2) {
return true;
}
if (contact_terminal_flag_) {
return true;
}
auto footFrameIndex = walker_->getFrameIdxByName("left_ankle"); // the URDF has a joint named "foot_joint"
raisim::Vec<3> footPosition;
walker_->getFramePosition(footFrameIndex, footPosition);
if ((current_node_->id == 2 || current_node_->id == 3) && (phase_ < max_phase_ - phase_speed_ && phase_ > phase_speed_)) {
float ball_foot_angle_tan = atan2(footPosition[2] - ball_gc_[2], footPosition[1] - ball_gc_[1]);
int index = int(phase_ - phase_speed_) % int(max_phase_) / max_phase_ * 30;
if (
(std::pow(cos(ball_foot_angle_tan) - around_the_world_cos_constraint[index], 2)+
std::pow(sin(ball_foot_angle_tan) - around_the_world_sin_constraint[index], 2) > 1)){
return true;
}
}
auto rightfootFrameIndex = walker_->getFrameIdxByName("right_ankle"); // the URDF has a joint named "foot_joint"
walker_->getFramePosition(rightfootFrameIndex, footPosition);
if ((current_node_->id == 19 || current_node_->id == 20) && (phase_ < max_phase_ - phase_speed_ && phase_ > phase_speed_)) {
float ball_foot_angle_tan = atan2(footPosition[2] - ball_gc_[2], footPosition[1] - ball_gc_[1]);
int index = int(phase_ - phase_speed_) % int(max_phase_) / max_phase_ * 30;
if (
(std::pow(cos(ball_foot_angle_tan) + around_the_world_cos_constraint[index], 2)+
std::pow(sin(ball_foot_angle_tan) - around_the_world_sin_constraint[index], 2) > 1)){
return true;
}
}
if (current_node_->id == 11 or current_node_->id == 12) {
if (std::abs(gc_[26]) > 0.01 or std::abs(gc_[27]) > 0.01 or std::abs(gc_[28]) > 0.01
or std::abs(gc_[35]) > 0.01 or std::abs(gc_[36]) > 0.01 or std::abs(gc_[37]) > 0.01)
return true;
}
return false;
}
void setReferenceMotion() {
reference_ << 0, 0, 1.707, 0.707, 0.707, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0,
0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0;
reference_[0] = speed * 0.02 * sim_step_;
reference_[2] = 0.9;
//kicking with one foot
reference_[25 + 9 * ((current_node_->id == 0 || current_node_->id==1 || current_node_->id == 4 || current_node_->id == 5
|| current_node_->id == 13 || current_node_->id == 14) % 2) + 4]
= -1.57 * std::sin(phase_ * 1.0 / max_phase_ * 3.1415);
raisim::Vec<4> quat;
raisim::Vec<3> euler;
euler[0] = 0;
euler[1] = 0;
euler[2] = 1.57 * std::sin(phase_ * 1.0 / max_phase_ * 3.1415);
raisim::eulerVecToQuat(euler, quat);
reference_.segment(25 + 9 * ((current_node_->id == 0 || current_node_->id==1 || current_node_->id == 4 ||
current_node_->id == 5 || current_node_->id == 13 || current_node_->id == 14) % 2), 4)
<< quat[0], quat[1], quat[2], quat[3];
reference_[19] = 1.57;
reference_[24] = 1.57;
euler[0] = 0.7;
euler[1] = 0;
euler[2] = 0;
raisim::eulerVecToQuat(euler, quat);
reference_.segment(15, 4) << quat[0], -quat[1], quat[2], quat[3];
reference_.segment(20, 4) << quat[0], quat[1], quat[2], quat[3];
}
void setReferenceMotionHead() {
reference_ << 0, 0, 1.707, 0.707, 0.707, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0,
0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0;
reference_[0] = speed * 0.02 * sim_step_;
reference_[2] = 0.9;
float final_angle = 0.7;
raisim::Vec<4> quat;
raisim::Vec<3> euler;
if (phase_ < max_phase_ / 2) {