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walk-these-ways-go2
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update for hardware test (#4)

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Liao Dengting 2024-03-10 21:53:11 +08:00 committed by GitHub
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28
README.md
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@ -38,12 +38,12 @@ python play.py
Go2 pretrained model is provided in [./runs](runs/gait-conditioned-agility/pretrain-go2), you can choose whether to use provide pretrained model by modifying the label line `label = "gait-conditioned-agility/pretrain-go2/train"` to your own trained model.
### Known Issues
* `flip_visual_attachments` in [go1_config](go1_gym/envs/go1/go1_config.py) should be set to `True`, otherwise errors would occur when visualizing.
* To change configuration parameters of env or the robot, you should modify parameters in [go1_config](go1_gym/envs/go1/go1_config.py), not in [legged_robot_config](go1_gym/envs/base/legged_robot_config.py)
* `flip_visual_attachments` in [go2_config](go2_gym/envs/go2/go2_config.py) should be set to `True`, otherwise errors would occur when visualizing.
* To change configuration parameters of env or the robot, you should modify parameters in [go2_config](go2_gym/envs/go2/go2_config.py), not in [legged_robot_config](go2_gym/envs/base/legged_robot_config.py)
---
## Deploy
## Deploy on PC
Trained policy is only supported to be deployed through your PC or laptop now, because I am not familiar with Jetson Orin, and hope I can fix it and deploy on Jetson Orin.
### Requirements
@ -132,11 +132,19 @@ Open a new terminate and run:
cd go2_gym_deploy/scripts
python deploy_policy.py
```
According to the hints shown in terminal, Press button [R2] to start the controller. You can check RC mapping in the following subsection.
### Joystick Mapping
![Joystick Mapping](media/rc_map.png)
To view the details of joystick mapping or even modify default mapping logic, please refer to the `get_command` function within the [cheetah_state_estimator.py](go2_gym_deploy/utils/cheetah_state_estimator.py) file. In this project, the default gait is set to trot.
According to the hints shown in terminal, Press [R2] to start the controller. You can check RC mapping from [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) page.
**Caution**:
* Press [L2+B] if any unexpected situation occurs!!!
* Press [L2+B] to switch to damping mode if any unexpected situation occurs!!!
* This is research code; use at your own risk; we do not take responsibility for any damage.
Test Video on Unitree Go2:
@ -144,7 +152,15 @@ Test Video on Unitree Go2:
- Test by other contributors: https://www.bilibili.com/video/BV1Ut421H7Fr/?spm_id_from=333.1007.top_right_bar_window_history.content.click&vd_source=07873ebe2a113dac57775e264a210929
**Please star this repository if it does help you! Many Thanks!**
---
## Deploy on Nvidia Jetson Orin
To be continue:
---
🌟🌟🌟 **Please star this repository if it does help you! Many Thanks!**
## Acknowledgements
* Many thanks to [Leolar](https://github.com/NihaoyaLeolar), who provide Nvidia 3060ti and supporting.

50
go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp
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@ -359,12 +359,28 @@ void Custom::LowCmdWrite(){
low_cmd.motor_cmd()[i].kd() = 5;
low_cmd.motor_cmd()[i].tau() = 0;
}
std::cout << "======= Switch to Damping Mode, and the thread is sleeping ========"<<std::endl;
sleep(10);
std::cout << "======= Damping is about to exit ========"<<std::endl;
sleep(10);
std::cout << "======= Damping exit ========"<<std::endl;
exit(0);
std::cout << "======= Switched to Damping Mode, and the thread is sleeping ========"<<std::endl;
sleep(0.5);
while (true)
{
sleep(0.5);
if ((int)key.components.B==1 && (int)key.components.L2==1) // [L2+B] is pressed again
{
exit(0);
}else if ((int)key.components.A==1 && (int)key.components.L2==1)
{
std::cout << "======= activate sport_mode service ========"<<std::endl;
rsc.ServiceSwitch("sport_mode", 1);
sleep(1);
exit(0);
}else
{ std::cout << "======= Press [L2+B] again to exit ========"<<std::endl;
std::cout << "======= If the robot is set to nominal pose manually, Press [L2+A] to activate sport_mode service ========"<<std::endl;
continue;
}
}
}
else{
for (int i = 0; i < 12; i++)
@ -431,35 +447,41 @@ int main(int argc, char **argv)
exit(-1);
}
std::cout << "Caution: Remember to shut down Unitree sport_mode Service." << std::endl
<< "Communication level is set to LOW-level." << std::endl
std::cout << "Communication level is set to LOW-level." << std::endl
<< "WARNING: Make sure the robot is hung up." << std::endl
<< "Caution: The scripts is about to shutdown Unitree sport_mode Service." << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); // 传入benji的网卡地址
unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); // 传入本机的网卡地址（PC or Jetson Orin）
Custom custom;
custom.InitRobotStateClient();
while(custom.queryServiceStatus("sport_mode"))
if(custom.queryServiceStatus("sport_mode"))
{
std::cout<<"Trying to deactivate the service: " << "sport_mode" << std::endl;
custom.activateService("sport_mode",0);
sleep(1);
} else{
std::cout <<"sportd_mode is already deactivated now" << std::endl
<<"next step is setting up communication" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
}
std::cout<<"sportd_mode is deactivated now" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
custom.Init();
std::cout<<"Communicatino is set up successfully" << std::endl;
std::cout<<"LCM <<<------------>>> Unitree SDK2" << std::endl;
std::cout<<"------------------------------------" << std::endl;
std::cout<<"------------------------------------" << std::endl;
std::cout<<"Press L2+B if any unexpected error occurs" << std::endl;
custom.Loop();
while (1)
while (true)
{
sleep(10);
}

12
go2_gym_deploy/utils/cheetah_state_estimator.py
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@ -192,28 +192,28 @@ class StateEstimator:
cmd_ori_pitch = -0.4 * self.right_stick[1]
# gait buttons
if self.mode == 0:
if self.mode == 0: # Press Button 'A' -> 'Bound'
self.cmd_phase = 0.5
self.cmd_offset = 0.0
self.cmd_bound = 0.0
self.cmd_duration = 0.5
elif self.mode == 1:
elif self.mode == 1: # Press Button 'B' -> 'Trot'
self.cmd_phase = 0.0
self.cmd_offset = 0.0
self.cmd_bound = 0.0
self.cmd_duration = 0.5
elif self.mode == 2:
elif self.mode == 2: # Press Button 'X' -> 'Pace'
self.cmd_phase = 0.0
self.cmd_offset = 0.5
self.cmd_bound = 0.0
self.cmd_duration = 0.5
elif self.mode == 3:
elif self.mode == 3: # Press Button 'Y' -> 'Pronk'
self.cmd_phase = 0.0
self.cmd_offset = 0.0
self.cmd_bound = 0.5
self.cmd_duration = 0.5
else:
self.cmd_phase = 0.5
else: # Default Gait -> 'Trot'
self.cmd_phase = 0.0
self.cmd_offset = 0.0
self.cmd_bound = 0.0
self.cmd_duration = 0.5