syfffffjj
07027e8fde
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
# Copyright (c) 2025 Deep Robotics
|
|
# SPDX-License-Identifier: BSD 3-Clause
|
|
|
|
# Copyright (c) 2024-2025 Ziqi Fan
|
|
# SPDX-License-Identifier: Apache-2.0
|
|
|
|
import torch
|
|
|
|
import isaaclab.utils.math as math_utils
|
|
|
|
|
|
def camera_follow(env):
|
|
if not hasattr(camera_follow, "smooth_camera_positions"):
|
|
camera_follow.smooth_camera_positions = []
|
|
robot_pos = env.unwrapped.scene["robot"].data.root_pos_w[0]
|
|
robot_quat = env.unwrapped.scene["robot"].data.root_quat_w[0]
|
|
camera_offset = torch.tensor([-3.0, 0.0, 0.5], dtype=torch.float32, device=env.device)
|
|
camera_pos = math_utils.transform_points(
|
|
camera_offset.unsqueeze(0), pos=robot_pos.unsqueeze(0), quat=robot_quat.unsqueeze(0)
|
|
).squeeze(0)
|
|
# camera_pos[2] = torch.clamp(camera_pos[2], min=0.1)
|
|
window_size = 50
|
|
camera_follow.smooth_camera_positions.append(camera_pos)
|
|
if len(camera_follow.smooth_camera_positions) > window_size:
|
|
camera_follow.smooth_camera_positions.pop(0)
|
|
smooth_camera_pos = torch.mean(torch.stack(camera_follow.smooth_camera_positions), dim=0)
|
|
env.unwrapped.viewport_camera_controller.set_view_env_index(env_index=0)
|
|
env.unwrapped.viewport_camera_controller.update_view_location(
|
|
eye=smooth_camera_pos.cpu().numpy(), lookat=robot_pos.cpu().numpy()
|
|
)
|
|
|
|
|
|
|
|
|
|
import os
|
|
import pickle
|
|
from typing import Any
|
|
|
|
def reindex_feet(vec):
|
|
return vec[:, [1, 0, 3, 2]]
|
|
|
|
def reindex(vec):
|
|
return vec[:, [3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]]
|
|
|