264 lines
6.9 KiB
Plaintext
264 lines
6.9 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Basic Test"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.sim.mujoco import Go2Sim\n",
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"import numpy as np"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"robot = Go2Sim()\n",
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"robot.standUpReset()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.control.walk_these_ways import *\n",
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"# checkpoint_path = \"/home/rstaion/projects/rooholla/locomotion/Go2Py/Go2Py/assets/checkpoints/walk_these_ways/\"\n",
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"checkpoint_path = \"/home/rstaion/projects/rooholla/walk-these-ways/runs/gait-conditioned-agility/pretrain-v0/train/025417.456545\"\n",
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"\n",
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"\n",
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"cfg = loadParameters(checkpoint_path)\n",
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"policy = Policy(checkpoint_path)\n",
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"command_profile = CommandInterface()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"p_gains: [20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20.]\n"
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]
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}
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],
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"source": [
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"agent = WalkTheseWaysAgent(cfg, command_profile, robot)\n",
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"agent = HistoryWrapper(agent)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {},
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"outputs": [],
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"source": [
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"control_dt = cfg[\"control\"][\"decimation\"] * cfg[\"sim\"][\"dt\"]\n",
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"simulation_dt = robot.dt\n",
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"obs = agent.reset()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 6,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"frq: 15.967047985229458 Hz\n",
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"frq: 42.47353444522081 Hz\n",
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"frq: 43.69977078558033 Hz\n",
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"frq: 40.20806211954177 Hz\n"
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]
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}
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],
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"source": [
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"robot.reset()\n",
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"obs = agent.reset()\n",
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"for i in range(50000):\n",
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" policy_info = {}\n",
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" action = policy(obs, policy_info)\n",
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" if i % (control_dt // simulation_dt) == 0:\n",
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" obs, ret, done, info = agent.step(action)\n",
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" robot.step()\n",
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" command_profile.yaw_vel_cmd = 0.0\n",
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" command_profile.x_vel_cmd = 0.0\n",
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" command_profile.y_vel_cmd = 0.0\n",
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" time.sleep(robot.dt/4)"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Full System With FSM"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.robot.fsm import FSM\n",
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"from Go2Py.robot.remote import KeyboardRemote\n",
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"from Go2Py.robot.safety import SafetyHypervisor\n",
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"from Go2Py.sim.mujoco import Go2Sim\n",
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"from Go2Py.control.walk_these_ways import *\n",
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"import numpy as np"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"robot = Go2Sim()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"class walkTheseWaysController:\n",
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" def __init__(self, robot, remote, checkpoint):\n",
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" self.remote = remote\n",
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" self.robot = robot\n",
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" self.cfg = loadParameters(checkpoint)\n",
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" self.policy = Policy(checkpoint)\n",
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" self.command_profile = CommandInterface()\n",
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" self.agent = WalkTheseWaysAgent(self.cfg, self.command_profile, self.robot)\n",
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" self.agent = HistoryWrapper(self.agent)\n",
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" self.init()\n",
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"\n",
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" def init(self):\n",
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" self.obs = self.agent.reset()\n",
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" self.policy_info = {}\n",
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" self.command_profile.yaw_vel_cmd = 0.0\n",
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" self.command_profile.x_vel_cmd = 0.0\n",
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" self.command_profile.y_vel_cmd = 0.0\n",
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" self.command_profile.stance_width_cmd=0.25\n",
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" self.command_profile.footswing_height_cmd=0.08\n",
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" self.command_profile.step_frequency_cmd = 3.0\n",
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" self.command_profile.body_height_cmd = 0.5\n",
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"\n",
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" def update(self, robot, remote):\n",
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" action = self.policy(self.obs, self.policy_info)\n",
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" self.obs, self.ret, self.done, self.info = self.agent.step(action)\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"outputs": [],
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"source": [
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"remote = KeyboardRemote()\n",
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"robot.standUpReset()\n",
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"safety_hypervisor = SafetyHypervisor(robot)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"p_gains: [20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20.]\n"
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]
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}
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],
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"source": [
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"checkpoint = \"/home/rstaion/projects/rooholla/locomotion/Go2Py/Go2Py/assets/checkpoints/walk_these_ways/\"\n",
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"# checkpoint = \"/home/rstaion/projects/rooholla/walk-these-ways/runs/gait-conditioned-agility/pretrain-v0/train/025417.456545\"\n",
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"controller = walkTheseWaysController(robot, remote, checkpoint)\n",
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"fsm = FSM(robot, remote, safety_hypervisor, user_controller_callback=controller.update)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 6,
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"metadata": {},
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"outputs": [],
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"source": [
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"controller.command_profile.pitch_cmd=0.0\n",
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"controller.command_profile.body_height_cmd=0.0\n",
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"controller.command_profile.footswing_height_cmd=0.08\n",
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"controller.command_profile.roll_cmd=0.0\n",
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"controller.command_profile.stance_width_cmd=0.2\n",
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"controller.command_profile.x_vel_cmd=-0.2\n",
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"controller.command_profile.y_vel_cmd=0.01\n",
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"controller.command_profile.setGaitType(\"trotting\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"controller.command_profile.pitch_cmd=0.0\n",
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"controller.command_profile.body_height_cmd=0.0\n",
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"controller.command_profile.footswing_height_cmd=0.08\n",
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"controller.command_profile.roll_cmd=0.0\n",
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"controller.command_profile.stance_width_cmd=0.2\n",
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"controller.command_profile.x_vel_cmd=-0.2\n",
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"controller.command_profile.y_vel_cmd=0.01\n",
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"controller.command_profile.setGaitType(\"trotting\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"fsm.close()"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "b1-env",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.8.18"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 2
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}
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