from __future__ import annotations
import re
import torch
from genesis import gs
from genesis_forge.genesis_env import GenesisEnv
from genesis_forge.values import ensure_dof_pattern
from .position_action_manager import PositionActionManager
from genesis_forge.managers.actuator import ActuatorManager
[docs]
class PositionWithinLimitsActionManager(PositionActionManager):
"""
This is similar to `PositionActionManager` but converts actions from the range -1.0 - 1.0 to DOF positions within the limits of the actuators.
Args:
env: The environment to manage the DOF actuators for.
actuator_manager: The actuator manager which is used to setup and control the DOF joints.
actuator_joints: Which joints of the actuator manager that this action manager will control.
These can be full names or regular expressions.
limit: A dictionary of DOF name patterns and their position limits.
If omitted, the limits will be set to the limits of the actuators defined in the model.
soft_limit_scale_factor: Scales the range of all limits by this factor to establish a safety region within the limits. Defaults to 1.0.
quiet_action_errors: Whether to quiet action errors.
delay_step: The number of steps to delay the actions for.
This is an easy way to emulate the latency in the system.
Simple example using the limits defined in the model::
class MyEnv(ManagedEnvironment):
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
def config(self):
self.actuator_manager = ActuatorManager(
self,
joint_names=".*",
default_pos={".*": 0.0},
kp={".*": 50},
kv={".*": 0.5},
)
self.action_manager = PositionalActionManager(
self,
actuator_manager=self.actuator_manager,
actuator_joints=[".*"], # optional joint filter
)
Example defining custom limits::
class MyEnv(ManagedEnvironment):
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
def config(self):
self.actuator_manager = ActuatorManager(
self,
joint_names=".*",
default_pos={".*": 0.0},
kp={".*": 50},
kv={".*": 0.5},
)
self.action_manager = PositionalActionManager(
self,
actuator_manager=self.actuator_manager,
limit = {
".*_Hip": (-1.0, 1.0),
".*_Femur": (-1.5, 1.2),
},
)
"""
def __init__(
self,
env: GenesisEnv,
actuator_manager: ActuatorManager | None = None,
actuator_joints: list[str] | str = ".*",
quiet_action_errors: bool = False,
limit: tuple[float, float] | dict[str, tuple[float, float]] = {},
soft_limit_scale_factor: float = 1.0,
delay_step: int = 0,
**kwargs,
):
super().__init__(
env,
actuator_manager=actuator_manager,
actuator_joints=actuator_joints,
quiet_action_errors=quiet_action_errors,
delay_step=delay_step,
**kwargs,
)
self._limit_cfg = ensure_dof_pattern(limit)
self._soft_limit_scale_factor = soft_limit_scale_factor
"""
Lifecycle Operations
"""
[docs]
def build(self):
"""
Builds the manager and initialized all the buffers.
"""
super().build()
lower, upper = self._get_dof_limits()
lower = lower.unsqueeze(0).expand(self.env.num_envs, -1)
upper = upper.unsqueeze(0).expand(self.env.num_envs, -1)
self._offset = (upper + lower) * 0.5
self._scale = (upper - lower) * 0.5 * self._soft_limit_scale_factor
[docs]
def process_actions(self, actions: torch.Tensor) -> torch.Tensor:
"""
Convert the actions to position commands within the limits.
Args:
actions: The incoming step actions to handle.
Returns:
The actions as position commands.
"""
# Convert the action from -1 to 1, to absolute position within the actuator limits
actions = actions.clamp(-1.0, 1.0)
actions = actions * self._scale + self._offset
return actions
"""
Internal methods
"""
def _get_dof_limits(self) -> tuple[torch.Tensor, torch.Tensor]:
"""
Define the position limits for the DOFs
"""
lower, upper = self.get_dofs_limits()
is_set = [False] * self.num_actions
dof_names = list[str](self.dofs.keys())
for pattern, value in self._limit_cfg.items():
found = False
for i, name in enumerate[str](dof_names):
if not is_set[i] and re.match(f"^{pattern}$", name):
is_set[i] = True
lower[i] = value[0]
upper[i] = value[1]
found = True
if not found:
raise RuntimeError(f"Joint DOF '{pattern}' not found.")
return lower, upper
