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walk-these-ways-go2
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Build Go2 Config and Env with verifications

This commit is contained in:
Liao Dengting 2024-03-07 17:34:10 +08:00
parent 5e0e6ec1aa
commit e6bb33155d
49 changed files with 285 additions and 1428 deletions
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2
.gitignore vendored
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@ -1,5 +1,5 @@
# 忽略VScode配置文件 # 忽略VScode配置文件
/.vscode/ .vscode/
# 忽略临时文件 # 忽略临时文件
# 这意味着任何文件名以 temp 开头的文件都不会被添加到Git的版本控制中，从而避免了将这些临时文件提交到代码仓库中。 # 这意味着任何文件名以 temp 开头的文件都不会被添加到Git的版本控制中，从而避免了将这些临时文件提交到代码仓库中。

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README.md
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@ -26,11 +26,12 @@ Start training:
python scripts/train.py python scripts/train.py
``` ```
For convenience, [urdf file path](go1_gym/envs/go1/go1_config.py) is directly swtitched from `go1.urdf` to [`go2.urdf`](https://support.unitree.com/home/zh/developer/rl_example). `go2_gym` and `go2_gym_learn` folders are the main folders for training process.
Play the model: Play the model:
```bash ```bash
python scripts/play.py cd scripts
python play.py
``` ```
![Alt text](media/go2_training.jpg) ![Alt text](media/go2_training.jpg)
@ -49,7 +50,7 @@ Trained policy is only supported to be deployed through your PC or laptop now, b
#### Install LCM #### Install LCM
Since [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) implement an interface based on Lightweight Communications and Marshalling ([LCM](https://github.com/lcm-proj/lcm)) to pass sensor data, motor commands, and joystick state between their code and the low-level control SDK provided by Unitree, LCM should be installed firstly in your PC or laptlop. Since [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) implement an interface based on Lightweight Communications and Marshalling ([LCM](https://github.com/lcm-proj/lcm)) to pass sensor data, motor commands, and joystick state between their code and the low-level control SDK provided by Unitree, LCM should be installed firstly in your PC or laptlop.
Clone LCM repository to the path you usually place installed softwares, then install LCM: Clone LCM repository to any location (where you usually place installed softwares), then install LCM:
```bash ```bash
git clone https://github.com/lcm-proj/lcm.git git clone https://github.com/lcm-proj/lcm.git
mkdir build mkdir build
@ -59,7 +60,7 @@ make
sudo make install sudo make install
``` ```
#### Build unitree_sdk2 #### Unitree_SDK2
unitree_sdk2 has been inclued in `go2_gym_deploy/unitree_sdk2_bin/library/unitree_sdk2`, you can also clone from [Unitree Robotics](https://github.com/unitreerobotics/unitree_sdk2) to make sure the sdk is updated version. unitree_sdk2 has been inclued in `go2_gym_deploy/unitree_sdk2_bin/library/unitree_sdk2`, you can also clone from [Unitree Robotics](https://github.com/unitreerobotics/unitree_sdk2) to make sure the sdk is updated version.
```bash ```bash
@ -91,7 +92,7 @@ cmake ..
make -j make -j
``` ```
All LCM messages in `go2_gym_deploy/lcm_types` are set as the same format shown in [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) to ensure successful connection with python files. All LCM messages files in `go2_gym_deploy/lcm_types` are set as the same format shown in [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) to ensure successful connection with python files. LCM message files are provided in this project, and you can also generate customized LCM message files through the following instructions:
`xxx_lcmt.hpp` files are generated by: `xxx_lcmt.hpp` files are generated by:
```bash ```bash
@ -138,15 +139,18 @@ According to the hints shown in terminal, Press [R2] to start the controller. Yo
* Press [L2+B] if any unexpected situation occurs!!! * Press [L2+B] if any unexpected situation occurs!!!
* This is research code; use at your own risk; we do not take responsibility for any damage. * This is research code; use at your own risk; we do not take responsibility for any damage.
Test Video on Unitree Go2: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929 Test Video on Unitree Go2:
- Test in my bedroom: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929
- 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! Thanks!** **Please star this repository if it does help you! Many Thanks!**
## Acknowledgements ## Acknowledgements
* Many thanks to [Leolar](https://github.com/NihaoyaLeolar), who provide Nvidia 3060ti and supporting. * Many thanks to [Leolar](https://github.com/NihaoyaLeolar), who provide Nvidia 3060ti and supporting.
* Many thanks to [Jony](https://github.com/jonyzhang2023) for his support and encourage me to learn basic kownledge about RL. * Many thanks to [Jony](https://github.com/jonyzhang2023) and Peter for their support and encourage me to learn basic kownledge about RL.
* Many thanks to [Simonforyou](https://github.com/Simonforyou), who provide Go2 pretrained model. * Many thanks to [Simonforyou](https://github.com/Simonforyou), who provide Go2 pretrained model.
## TO DO ## TO DO
* Deploy on Jeston Orin Nano - [x] Do not inherit config and env from go1_gym, build customized config and env files for Go2
- [ ] Deploy on Jeston Orin Nano

2
go2_gym/envs/go2/go2_config.py
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@ -72,7 +72,7 @@ def config_go2(Cnfg: Union[Cfg, Meta]):
_ = Cnfg.env _ = Cnfg.env
_.num_observations = 42 _.num_observations = 42
_.observe_vel = False _.observe_vel = False
_.num_envs = 40 _.num_envs = 4096
_ = Cnfg.commands _ = Cnfg.commands
_.lin_vel_x = [-1.0, 1.0] _.lin_vel_x = [-1.0, 1.0]

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if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")

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go2_gym_deploy/docker/Dockerfile
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@ -1,190 +0,0 @@
# syntax=docker/dockerfile:experimental
FROM nvcr.io/nvidia/l4t-pytorch:r32.6.1-pth1.9-py3
#ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
#ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
# add new sudo user
ENV USERNAME improbable
ENV HOME /home/$USERNAME
RUN useradd -m $USERNAME && \
echo "$USERNAME:$USERNAME" | chpasswd && \
usermod --shell /bin/bash $USERNAME && \
usermod -aG sudo $USERNAME && \
mkdir /etc/sudoers.d && \
echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
chmod 0440 /etc/sudoers.d/$USERNAME && \
# Replace 1000 with your user/group id
usermod --uid 1000 $USERNAME && \
groupmod --gid 1000 $USERNAME
# install package
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential \
curl \
sudo \
less \
emacs \
apt-utils \
tzdata \
git \
tmux \
bash-completion \
command-not-found \
libglib2.0-0 \
gstreamer1.0-plugins-* \
libgstreamer1.0-* \
libgstreamer-plugins-*1.0-* \
&& \
apt-get clean && \
rm -rf /var/lib/apt/lists/*
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
#COPY config/nvidia_icd.json /usr/share/vulkan/icd.d/
USER root
#RUN apt-get update && apt-get install -y python3-pip && pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
# ==================================================================
# Useful Libraries for Development
# ------------------------------------------------------------------
#RUN apt update && apt install -y apt-transport-https ca-certificates curl software-properties-common
#RUN curl -fsSL https://download.sublimetext.com/sublimehq-pub.gpg | apt-key add - && add-apt-repository "deb https://download.sublimetext.com/ apt/stable/" && apt update && apt install sublime-text
# ==================================================================
# Python dependencies defined in requirements.txt
# ------------------------------------------------------------------
#RUN pip3 install --upgrade pip
# copy local requirements file for pip install python deps
#COPY ./requirements.txt /home/$USERNAME
#WORKDIR /home/$USERNAME
#RUN pip3 install -r requirements.txt
# LCM
RUN apt-get -y update && apt-get install -y make gcc-8 g++-8
RUN cd /home/$USERNAME && git clone https://github.com/lcm-proj/lcm.git && cd lcm && mkdir build && cd build && cmake .. && make -j && make install
RUN cd /home/$USERNAME/lcm/lcm-python && pip3 install -e .
RUN apt-get install -y vim
#RUN pip3 install pandas
# ROS
# ENV ROS_DISTRO melodic
RUN apt-get install -y gnupg
# COPY install_scripts/install_ros.sh /tmp/install_ros.sh
# RUN chmod +x /tmp/install_ros.sh
# RUN /tmp/install_ros.sh
# # bootstrap rosdep
# RUN rosdep init \
# && rosdep update
# # create catkin workspace
# ENV CATKIN_WS=/root/catkin_ws
# RUN bash /opt/ros/melodic/setup.bash
# RUN mkdir -p $CATKIN_WS/src
# WORKDIR ${CATKIN_WS}
# RUN catkin init
# RUN catkin config --extend /opt/ros/$ROS_DISTRO \
# --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
# WORKDIR $CATKIN_WS/src
RUN apt-get update && apt-get install -y freeglut3-dev libudev-dev
#COPY ./install_scripts/install_vision_opencv.sh /tmp/install_vision_opencv.sh
#RUN chmod +x /tmp/install_vision_opencv.sh
#RUN /tmp/install_vision_opencv.sh
RUN apt-get install -y libgl1-mesa-dev libudev1 libudev-dev
#RUN apt-get install unzip
#
#RUN cd ~ && \
# wget -O opencv.zip https://github.com/opencv/opencv/archive/4.5.1.zip && \
# wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.5.1.zip && \
# unzip opencv.zip && \
# unzip opencv_contrib.zip && \
# mv opencv-4.5.1 opencv && \
# mv opencv_contrib-4.5.1 opencv_contrib && \
# rm opencv.zip && \
# rm opencv_contrib.zip
#
#RUN cd ~/opencv && \
# mkdir build && \
# cd build && \
# cmake -D CMAKE_BUILD_TYPE=RELEASE \
# -D CMAKE_INSTALL_PREFIX=/usr \
# -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
# -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
# -D WITH_OPENCL=OFF \
# -D WITH_CUDA=OFF \
# -D CUDA_ARCH_BIN=5.3 \
# -D CUDA_ARCH_PTX="" \
# -D WITH_CUDNN=OFF \
# -D WITH_CUBLAS=OFF \
# -D ENABLE_FAST_MATH=ON \
# -D CUDA_FAST_MATH=OFF \
# -D OPENCV_DNN_CUDA=OFF \
# -D ENABLE_NEON=ON \
# -D WITH_QT=OFF \
# -D WITH_OPENMP=ON \
# -D WITH_OPENGL=ON \
# -D BUILD_TIFF=ON \
# -D WITH_FFMPEG=ON \
# -D WITH_GSTREAMER=ON \
# -D WITH_TBB=ON \
# -D BUILD_TBB=ON \
# -D BUILD_TESTS=OFF \
# -D WITH_EIGEN=ON \
# -D WITH_V4L=ON \
# -D WITH_LIBV4L=ON \
# -D OPENCV_ENABLE_NONFREE=ON \
# -D INSTALL_C_EXAMPLES=OFF \
# -D INSTALL_PYTHON_EXAMPLES=OFF \
# -D BUILD_NEW_PYTHON_SUPPORT=ON \
# -D BUILD_opencv_python3=TRUE \
# -D OPENCV_GENERATE_PKGCONFIG=ON \
# -D BUILD_EXAMPLES=OFF .. && \
# make -j4 && cd ~ && \
# # sudo rm -r /usr/include/opencv4/opencv2 && \
# cd ~/opencv/build && \
# sudo make install && \
# sudo ldconfig && \
# make clean && \
# sudo apt-get update
RUN apt-get install -y libgtk2.0-dev pkg-config
RUN pip3 install opencv-python opencv-contrib-python
####################################################################################
###### START HERE -- Install whatever dependencies you need specific to this project!
####################################################################################
#COPY ./rsc/IsaacGym_Preview_2_Package.tar.gz /home/$USERNAME/
#RUN cd /home/$USERNAME && tar -xvzf IsaacGym_Preview_2_Package.tar.gz
#COPY ./rsc/learning_to_walk_in_minutes.zip /home/$USERNAME/
#RUN apt-get install unzip && cd /home/$USERNAME/ && unzip learning_to_walk_in_minutes.zip && cd ./code/rl-pytorch && pip3 install -e .
#RUN cd /home/$USERNAME/isaacgym/python && pip3 install -e .
#RUN cd /home/$USERNAME/code/isaacgym_anymal && pip3 install -e .
#COPY ./src/isaacgym_anymal/ /home/$USERNAME/code/isaacgym_anymal/
# setup entrypoint
COPY entrypoint.sh /
ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]

39
go2_gym_deploy/docker/Makefile
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@ -1,39 +0,0 @@
default: build
build:
docker build -t jetson-model-deployment .
clean-build:
docker build -t jetson-model-deployment . --no-cache=true
run:
docker stop foxy_controller || true
docker rm foxy_controller || true
docker run -it \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--env="XAUTHORITY=${XAUTH}" \
--volume="${XAUTH}:${XAUTH}" \
--volume="/home/unitree/go2_gym:/home/isaac/go2_gym" \
--privileged \
--runtime=nvidia \
--net=host \
--workdir="/home/isaac/go2_gym" \
--name="foxy_controller" \
jetson-model-deployment bash
autostart:
docker stop foxy_controller || true
docker rm foxy_controller || true
docker run -d\
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--env="XAUTHORITY=${XAUTH}" \
--volume="${XAUTH}:${XAUTH}" \
--volume="/home/unitree/go2_gym:/home/isaac/go2_gym" \
--privileged \
--runtime=nvidia \
--net=host \
--workdir="/home/isaac/go2_gym" \
--name="foxy_controller" \
jetson-model-deployment tail -f /dev/null
docker start foxy_controller
docker exec foxy_controller bash -c 'cd /home/isaac/go2_gym/ && python3 setup.py install && cd go2_gym_deploy/scripts && ls && python3 deploy_policy.py'

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go2_gym_deploy/docker/unzip_image.sh
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@ -1,2 +0,0 @@
#!/bin/bash
docker load -i deployment_image.tar

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go2_gym_deploy/docker/zip_image.sh
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@ -1,2 +0,0 @@
#!/bin/bash
docker save -o deployment_image.tar jetson-model-deployment:latest

22
go2_gym_deploy/installer/install_deployment_code.sh
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@ -1,22 +0,0 @@
#!/bin/bash
echo "======================================"
echo "== Go2 Sim-to-Real Installation Kit =="
echo "======================================"
echo ""
echo "Author: Gabriel Margolis, Improbable AI Lab, MIT"
echo "This software is intended to support controls research. It includes safety features but may still damage your Go1. The user assumes all risk."
echo ""
read -r -p "Extract docker container? [y/N] " response
if [[ "$response" =~ ^([yY][eE][sS]|[yY])$ ]]
then
# load docker image
echo "[Step 1] Extracting docker image..."
docker load -i ../scripts/deployment_image.tar
printf "\nDone!\n"
else
echo "Quitting"
fi

9
scripts/play.py
View File

@ -60,7 +60,7 @@ def load_env(label, headless=False):
Cfg.domain_rand.randomize_com_displacement = False Cfg.domain_rand.randomize_com_displacement = False
Cfg.env.num_recording_envs = 1 Cfg.env.num_recording_envs = 1
Cfg.env.num_envs = 1 Cfg.env.num_envs = 5
Cfg.terrain.num_rows = 5 Cfg.terrain.num_rows = 5
Cfg.terrain.num_cols = 5 Cfg.terrain.num_cols = 5
Cfg.terrain.border_size = 0 Cfg.terrain.border_size = 0
@ -70,7 +70,8 @@ def load_env(label, headless=False):
Cfg.domain_rand.lag_timesteps = 6 Cfg.domain_rand.lag_timesteps = 6
Cfg.domain_rand.randomize_lag_timesteps = True Cfg.domain_rand.randomize_lag_timesteps = True
Cfg.control.control_type = "actuator_net" #"actuator_net" # default control_typw is "actuator_net", you can also switch it to "P" to enable joint PD control
Cfg.control.control_type = "actuator_net"
Cfg.asset.flip_visual_attachments = True Cfg.asset.flip_visual_attachments = True
@ -102,7 +103,7 @@ def play_go2(headless=True):
env, policy = load_env(label, headless=headless) env, policy = load_env(label, headless=headless)
num_eval_steps = 250 #250 num_eval_steps = 2500 #250
gaits = {"pronking": [0, 0, 0], gaits = {"pronking": [0, 0, 0],
"trotting": [0.5, 0, 0], "trotting": [0.5, 0, 0],
"bounding": [0, 0.5, 0], "bounding": [0, 0.5, 0],
@ -146,7 +147,7 @@ def play_go2(headless=True):
measured_x_vels[i] = env.base_lin_vel[0, 0] measured_x_vels[i] = env.base_lin_vel[0, 0]
joint_positions[i] = env.dof_pos[0, :].cpu() joint_positions[i] = env.dof_pos[0, :].cpu()
###### -----------ldt--------------- ###### -----------ldt---------------
joint_torques[i] = env.torques.detach().cpu().numpy() # joint_torques[i] = env.torques.detach().cpu().numpy()
# plot target and measured forward velocity # plot target and measured forward velocity
from matplotlib import pyplot as plt from matplotlib import pyplot as plt

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