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Go2Py_SIM
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go2 with arm and mpc example added.

This commit is contained in:
Rooholla-KhorramBakht 2024-12-06 10:19:54 -05:00
parent b6bdcda7e3
commit 09612fec48
6 changed files with 461 additions and 229 deletions
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8
.devcontainer/Dockerfile
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@ -48,10 +48,10 @@ ENV CONDA_PREFIX /opt/conda
# cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
# Install Python dependencies
RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
RUN pip install matplotlib opencv-python proxsuite scipy isort black
RUN pip install warp-lang scikit-learn casadi
RUN pip install onnx onnxruntime
# RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
# RUN pip install matplotlib opencv-python proxsuite scipy isort black
# RUN pip install warp-lang scikit-learn casadi
# RUN pip install onnx onnxruntime
# RUN pip install cyclonedds pygame pynput jupyter ipykernel
RUN pip install meshcat mujoco
RUN conda install -y -c conda-forge \

4
.devcontainer/devcontainer.json
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@ -1,9 +1,9 @@
// https://containers.dev/implementors/json_reference/
{
"name": "go2py",
"name": "go2py-mpc",
"dockerComposeFile": "docker-compose.yaml",
"workspaceFolder": "/home/Go2py",
"service": "go2py",
"service": "go2py-mpc",
"remoteUser": "root",
"postCreateCommand": "cd /home/Go2py && pip install -e . && make ddscfg",
"customizations": {

2
.devcontainer/docker-compose.yaml
View File

@ -1,6 +1,6 @@
version: "3.9"
services:
go2py:
go2py-mpc:
build: .
# container_name: go2py
network_mode: host

34
Go2Py/assets/urdf/go2.urdf
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@ -17,7 +17,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/base.dae"/>
<mesh filename="../go2_assets/dae/base.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -77,7 +77,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/hip.dae"/>
<mesh filename="../go2_assets/dae/hip.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -107,7 +107,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/thigh.dae"/>
<mesh filename="../go2_assets/dae/thigh.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -137,7 +137,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/calf.dae"/>
<mesh filename="../go2_assets/dae/calf.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -195,7 +195,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/foot.dae"/>
<mesh filename="../go2_assets/dae/foot.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -223,7 +223,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/hip.dae"/>
<mesh filename="../go2_assets/dae/hip.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -253,7 +253,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/thigh_mirror.dae"/>
<mesh filename="../go2_assets/dae/thigh_mirror.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -283,7 +283,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/calf_mirror.dae"/>
<mesh filename="../go2_assets/dae/calf_mirror.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -341,7 +341,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/foot.dae"/>
<mesh filename="../go2_assets/dae/foot.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -369,7 +369,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 3.1415 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/hip.dae"/>
<mesh filename="../go2_assets/dae/hip.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -399,7 +399,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/thigh.dae"/>
<mesh filename="../go2_assets/dae/thigh.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -429,7 +429,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/calf.dae"/>
<mesh filename="../go2_assets/dae/calf.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -487,7 +487,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/foot.dae"/>
<mesh filename="../go2_assets/dae/foot.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -515,7 +515,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="3.1415 3.1415 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/hip.dae"/>
<mesh filename="../go2_assets/dae/hip.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -545,7 +545,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/thigh_mirror.dae"/>
<mesh filename="../go2_assets/dae/thigh_mirror.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -575,7 +575,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/calf_mirror.dae"/>
<mesh filename="../go2_assets/dae/calf_mirror.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@ -633,7 +633,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../dae/foot.dae"/>
<mesh filename="../go2_assets/dae/foot.dae"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>

62
Go2Py/sim/mujoco.py
View File

@ -5,7 +5,7 @@ import numpy as np
from Go2Py import ASSETS_PATH
import os
from scipy.spatial.transform import Rotation
import cv2
# import cv2
pnt = np.array([-0.2, 0, 0.05])
lidar_angles = np.linspace(0.0, 2 * np.pi, 1024).reshape(-1, 1)
@ -244,15 +244,20 @@ class Go2Sim:
camera_resolution = (640, 480),
camera_depth_range = (0.35, 3.0),
friction_model = None,
with_arm = False,
):
self.with_arm = with_arm
if xml_path is None:
xml = 'mujoco/go2.xml' if not with_arm else 'mujoco/go2_with_arm.xml'
self.model = mujoco.MjModel.from_xml_path(
os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
os.path.join(ASSETS_PATH, xml)
)
else:
self.model = mujoco.MjModel.from_xml_path(xml_path)
self.nv = self.model.nv
self.nq = self.model.nq
self.data = mujoco.MjData(self.model)
if height_map is not None:
try:
self.updateHeightMap(height_map)
@ -260,7 +265,6 @@ class Go2Sim:
raise Exception('Could not set height map. Are you sure the XML contains the required asset?')
self.friction_model = friction_model
self.simulated = True
self.data = mujoco.MjData(self.model)
self.dt = dt
_render_dt = 1 / 60
self.render_ds_ratio = max(1, _render_dt // dt)
@ -281,20 +285,29 @@ class Go2Sim:
self.render = render
self.step_counter = 0
self.prestanding_q = np.array([0.0, 1.26186061, -2.5,
self.prestanding_q = [0.0, 1.26186061, -2.5,
0.0, 1.25883281, -2.5,
0.0, 1.27193761, -2.6,
0.0, 1.27148342, -2.6])
0.0, 1.27148342, -2.6]
self.sitting_q = np.array([-0.02495611, 1.26249647, -2.82826662,
self.sitting_q = [-0.02495611, 1.26249647, -2.82826662,
0.04563564, 1.2505368, -2.7933557,
-0.30623949, 1.28283751, -2.82314873,
0.26400229, 1.29355574, -2.84276843])
0.26400229, 1.29355574, -2.84276843]
self.standing_q = np.array([0.0, 0.77832842, -1.56065452,
self.standing_q = [0.0, 0.77832842, -1.56065452,
0.0, 0.76754963, -1.56634164,
0.0, 0.76681757, -1.53601146,
0.0, 0.75422204, -1.53229916])
0.0, 0.75422204, -1.53229916]
if self.with_arm:
self.prestanding_q = np.array(self.prestanding_q+8*[0])
self.sitting_q = np.array(self.sitting_q+8*[0])
self.standing_q = np.array(self.standing_q+8*[0])
else:
self.prestanding_q = np.array(self.prestanding_q)
self.sitting_q = np.array(self.sitting_q)
self.standing_q = np.array(self.standing_q)
self.q0 = self.sitting_q
self.pos0 = np.array([0., 0., 0.1])
@ -303,18 +316,17 @@ class Go2Sim:
mujoco.mj_step(self.model, self.data)
if self.render:
self.viewer.sync()
self.nv = self.model.nv
self.jacp = np.zeros((3, self.nv))
self.jacr = np.zeros((3, self.nv))
self.M = np.zeros((self.nv, self.nv))
self.q_des = np.zeros(12)
self.dq_des = np.zeros(12)
self.tau_ff = np.zeros(12)
self.kp = np.zeros(12)
self.kv = np.zeros(12)
self.q_des = np.zeros(self.nv)
self.dq_des = np.zeros(self.nv)
self.tau_ff = np.zeros(self.nv)
self.kp = np.zeros(self.nv)
self.kv = np.zeros(self.nv)
self.latest_command_stamp = time.time()
self.actuator_tau = np.zeros(12)
self.actuator_tau = np.zeros(self.nv)
self.mode = mode
if self.mode == 'highlevel':
from Go2Py.control.walk_these_ways import CommandInterface, loadParameters, Policy, WalkTheseWaysAgent, HistoryWrapper
@ -355,10 +367,10 @@ class Go2Sim:
[self.pos0.squeeze(), self.rot0.squeeze(), self.q0.squeeze()]
)
else:
assert q0.shape == (19,), 'Invalid q0 shape. The shape should be (19,)'
assert q0.shape == (self.nq,), f'Invalid q0 shape. The shape should be ({self.nq},)'
self.q_nominal = q0
self.data.qpos = self.q_nominal
self.data.qvel = np.zeros(18)
self.data.qvel = np.zeros(self.nv)
self.ex_sum=0
self.ey_sum=0
self.e_omega_sum=0
@ -402,6 +414,14 @@ class Go2Sim:
return self.data.sensordata[6:10]
def setCommands(self, q_des, dq_des, kp, kv, tau_ff):
if q_des.shape == 12 and self.with_arm: # If the robot is with arm but the policy is just for the robot
self.q_des[:12] = q_des
self.dq_des[:12] = dq_des
self.kp[:12] = kp
self.kv[:12] = kv
self.tau_ff [:12]= tau_ff
self.latest_command_stamp = time.time()
else:
self.q_des = q_des
self.dq_des = dq_des
self.kp = kp
@ -412,8 +432,8 @@ class Go2Sim:
def stepLowlevel(self):
state = self.getJointStates()
q, dq = state['q'], state['dq']
tau = np.diag(self.kp) @ (self.q_des - q).reshape(12, 1) + \
np.diag(self.kv) @ (self.dq_des - dq).reshape(12, 1) + self.tau_ff.reshape(12, 1)
tau = np.diag(self.kp) @ (self.q_des - q).reshape(self.nv-6, 1) + \
np.diag(self.kv) @ (self.dq_des - dq).reshape(self.nv-6, 1) + self.tau_ff.reshape(self.nv-6, 1)
# Apply the friction model if it is provided to the simulator
if self.friction_model is not None:
tau = tau.squeeze()-self.friction_model(dq)

566
examples/09-crododdyl.ipynb
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