Go2Py_SIM/examples/walk_these_ways_real.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.interface.dds import GO2Real\n",
    "import numpy as np\n",
    "robot = GO2Real(mode='lowlevel')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.fsm import FSM\n",
    "from Go2Py.robot.remote import KeyboardRemote\n",
    "from Go2Py.robot.safety import SafetyHypervisor\n",
    "from Go2Py.control.walk_these_ways import *\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "class walkTheseWaysController:\n",
    "    def __init__(self, robot, remote, checkpoint):\n",
    "        self.remote = remote\n",
    "        self.robot = robot\n",
    "        self.cfg = loadParameters(checkpoint)\n",
    "        self.policy = Policy(checkpoint)\n",
    "        self.command_profile = CommandInterface()\n",
    "        self.agent = WalkTheseWaysAgent(self.cfg, self.command_profile, self.robot)\n",
    "        self.agent = HistoryWrapper(self.agent)\n",
    "        self.init()\n",
    "\n",
    "    def init(self):\n",
    "        self.obs = self.agent.reset()\n",
    "        self.policy_info = {}\n",
    "        self.command_profile.yaw_vel_cmd = 0.0\n",
    "        self.command_profile.x_vel_cmd = 0.0\n",
    "        self.command_profile.y_vel_cmd = 0.0\n",
    "        self.command_profile.stance_width_cmd=0.25\n",
    "        self.command_profile.footswing_height_cmd=0.08\n",
    "        self.command_profile.step_frequency_cmd = 3.0\n",
    "        self.command_profile.bodyHeight = 0.00\n",
    "\n",
    "    def update(self, robot, remote):\n",
    "        action = self.policy(self.obs, self.policy_info)\n",
    "        self.obs, self.ret, self.done, self.info = self.agent.step(action)\n",
    "        vy = -robot.getRemoteState().lx\n",
    "        vx = robot.getRemoteState().ly\n",
    "        omega = -robot.getRemoteState().rx*2.2\n",
    "        self.command_profile.x_vel_cmd = vx*1.5\n",
    "        self.command_profile.y_vel_cmd = vy*1.5\n",
    "        self.command_profile.yaw_vel_cmd = omega\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "class BaseRemote:\n",
    "    def __init__(self):\n",
    "        pass\n",
    "    def startSeq(self):\n",
    "        return False\n",
    "    def standUpDownSeq(self):\n",
    "        return False\n",
    "\n",
    "    def flushStates(self):\n",
    "        pass\n",
    "\n",
    "    def getEstop(self):\n",
    "        return False\n",
    "\n",
    "class UnitreeRemote(BaseRemote):\n",
    "    def __init__(self, robot):\n",
    "        self.robot = robot\n",
    "\n",
    "    def startSeq(self):\n",
    "        remote = self.robot.getRemoteState()\n",
    "        if remote.btn.start:\n",
    "            return True\n",
    "        else:\n",
    "            return False\n",
    "\n",
    "    def standUpDownSeq(self):\n",
    "        remote = self.robot.getRemoteState()\n",
    "        if remote.btn.L2 and remote.btn.A:\n",
    "            return True\n",
    "        else:\n",
    "            return False\n",
    "\n",
    "    def getEstop(self):\n",
    "        remote = self.robot.getRemoteState()\n",
    "        if remote.btn.L2 and remote.btn.R2:\n",
    "            return True\n",
    "        else:\n",
    "            return False\n",
    "        "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "remote = UnitreeRemote(robot)\n",
    "safety_hypervisor = SafetyHypervisor(robot)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "checkpoint = \"/home/rstaion/projects/rooholla/locomotion/Go2Py/Go2Py/assets/checkpoints/walk_these_ways/\"\n",
    "# checkpoint = \"/home/rstaion/projects/rooholla/walk-these-ways/runs/gait-conditioned-agility/pretrain-v0/train/025417.456545\"\n",
    "\n",
    "controller = walkTheseWaysController(robot, remote, checkpoint)\n",
    "fsm = FSM(robot, remote, safety_hypervisor, user_controller_callback=controller.update)\n",
    "safety_hypervisor = SafetyHypervisor(robot)\n",
    "fsm.control_dT = 1./56."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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