tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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fix: robot direction to target

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This commit is contained in:
Tibo De Peuter 2026-04-30 21:10:17 +02:00
parent be78fb15bd
commit 86a53ee9f7
Signed by: tdpeuter
SSH key fingerprint: SHA256:u/h/LVoqKF1Iz02uOyxe6hcjmoZASCGV2HM0TG9ZMoU
4 changed files with 107 additions and 20 deletions
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10
src/brittle_star_project/environment/env_config.py
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@ -70,21 +70,21 @@ class ObservationBoundsConfig:
# Based on max. ctrlrange (0.78539816339744828) in XML, but empirical testing went slightly over
joint_position: list[float] = field(default_factory=lambda: [-0.8, 0.8])
# Empirical testing showed max. 3.22, adding buffer to be safe
# Empirical testing showed max. 3.22, adding buffer to be safe. Consider higher values "fast".
joint_velocity: list[float] = field(default_factory=lambda: [-5.0, 5.0])
# Based on max. forceRange in XML, verified with empirical testing
joint_actuator_force: list[float] = field(default_factory=lambda: [-3.75, 3.75])
# Based on intuition and reasoning
segment_contact: list[float] = field(default_factory=lambda: [0.0, 1.0])
unit_xy_direction_to_target: list[float] = field(default_factory=lambda: [-1.0, 1.0])
robot_direction_to_target: list[float] = field(default_factory=lambda: [-1.0, 1.0])
disk_z_tilt: list[float] = field(default_factory=lambda: [0.0, 3.141592653589793])
def to_bounds_dict(self) -> dict[str, tuple[float, float]]:
return {
"disk_z_tilt": tuple(self.disk_z_tilt),
"joint_actuator_force": tuple(self.joint_actuator_force),
"joint_position": tuple(self.joint_position),
"joint_velocity": tuple(self.joint_velocity),
"joint_actuator_force": tuple(self.joint_actuator_force),
"robot_direction_to_target": tuple(self.robot_direction_to_target),
"segment_contact": tuple(self.segment_contact),
"unit_xy_direction_to_target": tuple(self.unit_xy_direction_to_target),
"disk_z_tilt": tuple(self.disk_z_tilt),
}

11
src/brittle_star_project/environment/obs_processing.py
View file

@ -26,6 +26,15 @@ def create_obs_processor(
if "disk_rotation" in new_obs:
rot = new_obs["disk_rotation"]
new_obs["disk_z_tilt"] = jnp.sqrt(jnp.pow(rot[0], 2) + jnp.pow(rot[1], 2))
if "unit_xy_direction_to_target" in new_obs:
yaw = rot[2]
unit_x, unit_y = new_obs["unit_xy_direction_to_target"]
cos_yaw, sin_yaw = jnp.cos(yaw), jnp.sin(yaw)
new_x = unit_x * cos_yaw + unit_y * sin_yaw
new_y = -unit_x * sin_yaw + unit_y * cos_yaw
new_obs["robot_direction_to_target"] = jnp.stack([new_x, new_y])
return new_obs
def _normalize_features(obs: dict) -> dict:
@ -61,8 +70,8 @@ def create_obs_processor(
"joint_actuator_force",
"joint_position",
"joint_velocity",
"robot_direction_to_target",
"segment_contact",
"unit_xy_direction_to_target",
]
values = []
for key in ordered_keys: