From c7e01dcc84398162ca74c148458bcb9e0a1525b0 Mon Sep 17 00:00:00 2001 From: Liao Dengting <540614105@qq.com> Date: Sun, 10 Mar 2024 21:53:11 +0800 Subject: [PATCH] update for hardware test (#4) --- README.md | 28 ++++++++--- .../unitree_sdk2_bin/lcm_position_go2.cpp | 50 +++++++++++++------ .../utils/cheetah_state_estimator.py | 12 ++--- 3 files changed, 64 insertions(+), 26 deletions(-) diff --git a/README.md b/README.md index 84c6314..4e9fe17 100755 --- a/README.md +++ b/README.md @@ -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. diff --git a/go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp b/go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp index 93c945d..78e644f 100644 --- a/go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp +++ b/go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp @@ -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 ========"<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); } diff --git a/go2_gym_deploy/utils/cheetah_state_estimator.py b/go2_gym_deploy/utils/cheetah_state_estimator.py index 589640f..285787c 100755 --- a/go2_gym_deploy/utils/cheetah_state_estimator.py +++ b/go2_gym_deploy/utils/cheetah_state_estimator.py @@ -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