cleanup
This commit is contained in:
Rooholla-Khorrambakht
parent
5562a7313c
commit
11923da1d7
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@ -1,91 +1,5 @@
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{
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"cells": [
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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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"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.bodyHeight = 0.00\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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" vy = -robot.getRemoteState().lx\n",
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" vx = robot.getRemoteState().ly\n",
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" omega = -robot.getRemoteState().rx*2.2\n",
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" self.command_profile.x_vel_cmd = vx*1.5\n",
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" self.command_profile.y_vel_cmd = vy*1.5\n",
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" self.command_profile.yaw_vel_cmd = omega"
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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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"class BaseRemote:\n",
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" def __init__(self):\n",
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" pass\n",
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" def startSeq(self):\n",
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" return False\n",
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" def standUpDownSeq(self):\n",
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" return False\n",
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"\n",
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" def flushStates(self):\n",
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" pass\n",
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"\n",
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" def getEstop(self):\n",
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" return False\n",
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"\n",
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"class UnitreeRemote(BaseRemote):\n",
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" def __init__(self, robot):\n",
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" self.robot = robot\n",
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"\n",
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" def startSeq(self):\n",
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" remote = self.robot.getRemoteState()\n",
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" if remote.btn.start:\n",
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" return True\n",
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" else:\n",
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" return False\n",
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"\n",
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" def standUpDownSeq(self):\n",
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" remote = self.robot.getRemoteState()\n",
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" if remote.btn.L2 and remote.btn.A:\n",
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" return True\n",
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" else:\n",
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" return False\n",
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"\n",
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" def getEstop(self):\n",
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" remote = self.robot.getRemoteState()\n",
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" if remote.btn.L2 and remote.btn.R2:\n",
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" return True\n",
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" else:\n",
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" return False\n",
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" "
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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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@ -132,14 +46,37 @@
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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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"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.bodyHeight = 0.00\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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" vy = -robot.getRemoteState().lx\n",
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" vx = robot.getRemoteState().ly\n",
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" omega = -robot.getRemoteState().rx*2.2\n",
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" self.command_profile.x_vel_cmd = vx*1.5\n",
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" self.command_profile.y_vel_cmd = vy*1.5\n",
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" self.command_profile.yaw_vel_cmd = omega"
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]
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},
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{
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@ -153,6 +90,22 @@
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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": 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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@ -176,7 +129,7 @@
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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.remote import UnitreeRemote\n",
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"from Go2Py.robot.safety import SafetyHypervisor\n",
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"from Go2Py.control.walk_these_ways import *"
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]
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@ -187,7 +140,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.robot.interface.dds import GO2Real\n",
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"from Go2Py.robot.interface import GO2Real\n",
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"import numpy as np\n",
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"robot = GO2Real(mode='lowlevel')"
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]
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@ -202,6 +155,45 @@
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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": null,
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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.bodyHeight = 0.00\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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" vy = -robot.getRemoteState().lx\n",
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" vx = robot.getRemoteState().ly\n",
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" omega = -robot.getRemoteState().rx*2.2\n",
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" self.command_profile.x_vel_cmd = vx*1.5\n",
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" self.command_profile.y_vel_cmd = vy*1.5\n",
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" self.command_profile.yaw_vel_cmd = omega"
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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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