Go2Py_SIM/examples/05-walk-these-ways-RL-contr...

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{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Test In Simulation"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"pygame 2.6.1 (SDL 2.28.4, Python 3.10.12)\n",
"Hello from the pygame community. https://www.pygame.org/contribute.html\n"
]
}
],
"source": [
"from Go2Py.robot.fsm import FSM\n",
"from Go2Py.robot.remote import KeyboardRemote\n",
"from Go2Py.robot.safety import SafetyHypervisor\n",
"from Go2Py.sim.mujoco import Go2Sim\n",
"from Go2Py.control.walk_these_ways import *"
]
},
{
"cell_type": "code",
"execution_count": 20,
"metadata": {},
"outputs": [],
"source": [
"robot = Go2Sim()"
]
},
{
"cell_type": "code",
"execution_count": 21,
"metadata": {},
"outputs": [],
"source": [
"map = np.zeros((1200, 1200))\n",
"map[:200, :200] = 255\n",
"robot.updateHeightMap(map)"
]
},
{
"cell_type": "code",
"execution_count": 22,
"metadata": {},
"outputs": [],
"source": [
"remote = KeyboardRemote()\n",
"robot.sitDownReset()\n",
"safety_hypervisor = SafetyHypervisor(robot)"
]
},
{
"cell_type": "code",
"execution_count": 23,
"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.hist_data = {}\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 = 0.8 # Update these based on your implementation of the remote controller\n",
" vx = 0.\n",
" omega = 0.8\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",
" for key, value in self.info.items():\n",
" if key in self.hist_data:\n",
" self.hist_data[key].append(value)\n",
" else:\n",
" self.hist_data[key] = [value]"
]
},
{
"cell_type": "code",
"execution_count": 24,
"metadata": {},
"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": [
"controller timeout\n"
]
}
],
"source": [
"checkpoint = \"../Go2Py/assets/checkpoints/walk_these_ways/\"\n",
"controller = walkTheseWaysController(robot, remote, checkpoint)\n",
"fsm = FSM(robot, remote, safety_hypervisor, user_controller_callback=controller.update)"
]
},
{
"cell_type": "code",
"execution_count": 26,
"metadata": {},
"outputs": [],
"source": [
"import time\n",
"contacts = []\n",
"feet_vels = []\n",
"\n",
"for i in range(2000):\n",
" contact_state = robot.getFootContact()>15\n",
" sites = ['FR_foot', 'FL_foot', 'RR_foot', 'RL_foot']\n",
" feet_vel = [np.linalg.norm(robot.getFootVelInWorld(s)) for s in sites]\n",
" contacts.append(contact_state)\n",
" feet_vels.append(feet_vel)\n",
" time.sleep(0.01)\n",
"\n",
"feet_vels = np.stack(feet_vels)\n",
"contacts = np.stack(contacts)"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [
{
"data": {
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",
"text/plain": [
"<Figure size 640x480 with 1 Axes>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import matplotlib.pyplot as plt\n",
"start = 250\n",
"end = 500\n",
"plt.plot(contacts[start:end,0])\n",
"plt.plot(feet_vels[start:end,0])\n",
"plt.legend(['contact state', 'foot velocity'])\n",
"plt.grid(True)\n",
"plt.tight_layout()\n",
"plt.savefig('walk.png')"
]
},
{
"cell_type": "code",
"execution_count": 27,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
"<Figure size 640x480 with 1 Axes>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import matplotlib.pyplot as plt\n",
"start = 250\n",
"end = 500\n",
"plt.plot(contacts[start:end,0])\n",
"plt.plot(feet_vels[start:end,0])\n",
"plt.legend(['contact state', 'foot velocity'])\n",
"plt.grid(True)\n",
"plt.tight_layout()\n",
"plt.savefig('walk_these_ways_random_adaptation.png')"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"controller.policy.adaptation_module"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
"controller.command_profile.pitch_cmd=0.0\n",
"controller.command_profile.body_height_cmd=0.0\n",
"controller.command_profile.footswing_height_cmd=0.08\n",
"controller.command_profile.roll_cmd=0.0\n",
"controller.command_profile.stance_width_cmd=0.2\n",
"controller.command_profile.x_vel_cmd=-0.2\n",
"controller.command_profile.y_vel_cmd=0.01\n",
"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": 18,
"metadata": {},
"outputs": [],
"source": [
"fsm.close()\n",
"robot.close()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import matplotlib.pyplot as plt\n",
"# Assuming 'controller.hist_data[\"foot_contact_forces_mag\"]' is a dictionary with foot contact force magnitudes\n",
"foot_contact_forces_mag = np.array(controller.hist_data[\"foot_contact_forces_mag\"])\n",
"\n",
"# Number of feet (foot_nb)\n",
"foot_nb = foot_contact_forces_mag.shape[1]\n",
"\n",
"# Number of rows needed for the grid, with 3 columns per row\n",
"n_cols = 3\n",
"n_rows = int(np.ceil(foot_nb / n_cols))\n",
"\n",
"# Create the figure and axes for subplots\n",
"fig, axes = plt.subplots(n_rows, n_cols, figsize=(15, 5 * n_rows))\n",
"\n",
"# Flatten the axes array for easy indexing (in case of multiple rows)\n",
"axes = axes.flatten()\n",
"\n",
"# Plot each foot's contact force magnitude\n",
"for i in range(foot_nb):\n",
" axes[i].plot(foot_contact_forces_mag[:, i])\n",
" axes[i].set_title(f'Foot {i+1} Contact Force Magnitude')\n",
" axes[i].set_xlabel('Time')\n",
" axes[i].set_ylabel('Force Magnitude')\n",
"\n",
"# Remove any empty subplots if foot_nb is not a multiple of 3\n",
"for j in range(foot_nb, len(axes)):\n",
" fig.delaxes(axes[j])\n",
"\n",
"# Adjust layout\n",
"plt.tight_layout()\n",
"plt.savefig(\"foot_contact_profile.png\")\n",
"plt.show()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Test on Real Robot"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.robot.fsm import FSM\n",
"from Go2Py.robot.remote import UnitreeRemote\n",
"from Go2Py.robot.safety import SafetyHypervisor\n",
"from Go2Py.control.walk_these_ways import *"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.robot.interface import GO2Real\n",
"import numpy as np\n",
"robot = GO2Real(mode='lowlevel')"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"remote = UnitreeRemote(robot)\n",
"safety_hypervisor = SafetyHypervisor(robot)"
]
},
{
"cell_type": "code",
"execution_count": 4,
"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"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"checkpoint = \"../Go2Py/assets/checkpoints/walk_these_ways/\"\n",
"controller = walkTheseWaysController(robot, remote, checkpoint)\n",
"safety_hypervisor = SafetyHypervisor(robot)"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
"controller.command_profile.pitch_cmd=0.0\n",
"controller.command_profile.body_height_cmd=0.0\n",
"controller.command_profile.footswing_height_cmd=0.04\n",
"controller.command_profile.roll_cmd=0.0\n",
"controller.command_profile.stance_width_cmd=0.2\n",
"controller.command_profile.x_vel_cmd=-0.2\n",
"controller.command_profile.y_vel_cmd=0.01\n",
"controller.command_profile.setGaitType(\"trotting\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"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,
"metadata": {},
"outputs": [],
"source": [
"fsm.close()"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "b1-env",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
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