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Control humanoid velocity from config. #2060

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Control humanoid velocity from config. #2060

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24 changes: 20 additions & 4 deletions habitat-lab/habitat/articulated_agent_controllers/humanoid_rearrange_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
DIST_TO_STOP: float = (
1e-9 # If the amount to move is this distance, just stop the character
)
DEFINE_VELOCITY_FROM_CONFIG: bool = True

from typing import List, Tuple

Expand Down Expand Up @@ -83,6 +84,7 @@ def __init__(

self.prev_orientation = None
self.walk_mocap_frame = 0
self.meters_per_step = 0.0

self.hand_processed_data = {}
self._hand_names = ["left_hand", "right_hand"]
Expand Down Expand Up @@ -125,8 +127,8 @@ def set_framerate_for_linspeed(
"""

seconds_per_step = 1.0 / ctrl_freq
meters_per_step = lin_speed * seconds_per_step
frames_per_step = meters_per_step / self.dist_per_step_size
self.meters_per_step = lin_speed * seconds_per_step
frames_per_step = self.meters_per_step / self.dist_per_step_size
self.motion_fps = self.walk_motion.fps / frames_per_step
rotate_amount = ang_speed * seconds_per_step
rotate_amount = rotate_amount * 180.0 / np.pi
Expand Down Expand Up @@ -270,7 +272,14 @@ def calculate_walk_pose(
# The base_transform here is independent of transforms caused by the current
# motion pose.
obj_transform_base = look_at_path_T
forward_V_dist = forward_V * dist_diff * distance_multiplier

# TODO: Switch between animation-driven speed and config-driven speed.
if DEFINE_VELOCITY_FROM_CONFIG:
forward_V_dist = (
forward_V * self.meters_per_step * distance_multiplier
)
else:
forward_V_dist = forward_V * dist_diff * distance_multiplier
obj_transform_base.translation += forward_V_dist

rot_offset = mn.Matrix4.rotation(
Expand Down Expand Up @@ -445,7 +454,14 @@ def calculate_walk_pose_directional(
# The base_transform here is independent of transforms caused by the current
# motion pose.
obj_transform_base = look_at_path_T
forward_V_dist = forward_V * dist_diff * distance_multiplier

# TODO: Switch between animation-driven speed and config-driven speed.
if DEFINE_VELOCITY_FROM_CONFIG:
forward_V_dist = (
forward_V * self.meters_per_step * distance_multiplier
)
else:
forward_V_dist = forward_V * dist_diff * distance_multiplier
obj_transform_base.translation += forward_V_dist

rot_offset = mn.Matrix4.rotation(
Expand Down