walk these ways controller and example updated

.devcontainer/docker-compose.yaml

@@ -12,6 +12,6 @@ services:
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
-    # runtime: nvidia
+    runtime: nvidia
     stdin_open: true
     tty: true

Go2Py/control/walk_these_ways.py

@@ -425,8 +425,8 @@ class WalkTheseWaysAgent:
         self.actions = torch.clip(actions[0:1, :], -clip_actions, clip_actions)
         self.publish_action(self.actions, hard_reset=hard_reset)
         # time.sleep(max(self.dt - (time.time() - self.time), 0))
-        if self.timestep % 100 == 0:
+        # if self.timestep % 100 == 0:
-            print(f"frq: {1 / (time.time() - self.time)} Hz")
+        #     print(f"frq: {1 / (time.time() - self.time)} Hz")
         self.time = time.time()
         obs = self.get_obs()
 

examples/00-robot-interface.ipynb

@@ -103,7 +103,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.18"
+   "version": "3.10.12"
   }
  },
  "nbformat": 4,

examples/05-walk-these-ways-RL-controller.ipynb

@@ -9,7 +9,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -22,7 +22,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -31,18 +31,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
     "remote = KeyboardRemote()\n",
-    "robot.standUpReset()\n",
+    "robot.sitDownReset()\n",
     "safety_hypervisor = SafetyHypervisor(robot)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -71,9 +71,9 @@
     "    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",
+    "        vy = 0. # Update these based on your implementation of the remote controller\n",
-    "        vx = robot.getRemoteState().ly\n",
+    "        vx = 0.\n",
-    "        omega = -robot.getRemoteState().rx*2.2\n",
+    "        omega = 0.\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"
@@ -81,9 +81,38 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 5,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "p_gains: [20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20.]\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "frq: 0.06860146952866389 Hz\n",
+      "frq: 43.78233593252539 Hz\n",
+      "frq: 44.41613012538123 Hz\n",
+      "frq: 46.552687074074896 Hz\n",
+      "frq: 46.25288370349132 Hz\n",
+      "frq: 45.19091075603633 Hz\n",
+      "frq: 46.16786095609198 Hz\n",
+      "frq: 45.455376979181345 Hz\n",
+      "frq: 45.34774899450763 Hz\n",
+      "frq: 46.05987129647932 Hz\n",
+      "frq: 45.999758721663504 Hz\n",
+      "frq: 46.80150414532633 Hz\n",
+      "frq: 45.81385238828631 Hz\n",
+      "frq: 45.29241401652179 Hz\n",
+      "frq: 45.742902947880424 Hz\n"
+     ]
+    }
+   ],
    "source": [
     "checkpoint = \"../Go2Py/assets/checkpoints/walk_these_ways/\"\n",
     "controller = walkTheseWaysController(robot, remote, checkpoint)\n",
@@ -92,7 +121,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -106,9 +135,16 @@
     "controller.command_profile.setGaitType(\"trotting\")"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Pressing `u` on the keyboard will make the robot stand up. This is equivalent to the `L2+A` combo of the Go2 builtin state machine. After the the robot is on its feet, pressing `s` will hand over the control the RL policy. This action is equivalent to the `start` key of the builtin controller. When you want to stop, pressing `u` again will act similarly to the real robot and locks it in standing mode. Finally, pressing `u` again will command the robot to sit down."
+   ]
+  },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -230,6 +266,13 @@
     "fsm = FSM(robot, remote, safety_hypervisor, user_controller_callback=controller.update)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Pressing `L2+A` to command the robot to stand up. After the the robot is on its feet, pressing `start` will hand over the control the RL policy. When you want to stop, pressing `L2+A` again will act similarly to the factory controller and locks the robot in standing mode. Finally, pressing `L2+A` again will command the robot to sit down."
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -256,7 +299,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.18"
+   "version": "3.10.12"
   }
  },
  "nbformat": 4,