Build Go2 Config and Env with verifications
This commit is contained in:
Liao Dengting
parent
5e0e6ec1aa
commit
e6bb33155d
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@ -1,5 +1,5 @@
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# 忽略VScode配置文件
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/.vscode/
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.vscode/
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# 忽略临时文件
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# 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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22
README.md
22
README.md
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@ -26,11 +26,12 @@ Start training:
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python scripts/train.py
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```
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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).
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`go2_gym` and `go2_gym_learn` folders are the main folders for training process.
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Play the model:
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```bash
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python scripts/play.py
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cd scripts
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python play.py
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```
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@ -49,7 +50,7 @@ Trained policy is only supported to be deployed through your PC or laptop now, b
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#### Install LCM
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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.
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Clone LCM repository to the path you usually place installed softwares, then install LCM:
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Clone LCM repository to any location (where you usually place installed softwares), then install LCM:
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```bash
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git clone https://github.com/lcm-proj/lcm.git
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mkdir build
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@ -59,7 +60,7 @@ make
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sudo make install
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```
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#### Build unitree_sdk2
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#### Unitree_SDK2
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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.
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```bash
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@ -91,7 +92,7 @@ cmake ..
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make -j
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```
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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.
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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:
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`xxx_lcmt.hpp` files are generated by:
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```bash
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@ -138,15 +139,18 @@ According to the hints shown in terminal, Press [R2] to start the controller. Yo
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* Press [L2+B] if any unexpected situation occurs!!!
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* This is research code; use at your own risk; we do not take responsibility for any damage.
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Test Video on Unitree Go2: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929
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Test Video on Unitree Go2:
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- Test in my bedroom: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929
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- 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
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**Please star this repository if it does help you! Thanks!**
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**Please star this repository if it does help you! Many Thanks!**
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## Acknowledgements
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* Many thanks to [Leolar](https://github.com/NihaoyaLeolar), who provide Nvidia 3060ti and supporting.
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* Many thanks to [Jony](https://github.com/jonyzhang2023) for his support and encourage me to learn basic kownledge about RL.
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* Many thanks to [Jony](https://github.com/jonyzhang2023) and Peter for their support and encourage me to learn basic kownledge about RL.
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* Many thanks to [Simonforyou](https://github.com/Simonforyou), who provide Go2 pretrained model.
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## TO DO
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* Deploy on Jeston Orin Nano
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- [x] Do not inherit config and env from go1_gym, build customized config and env files for Go2
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- [ ] Deploy on Jeston Orin Nano
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@ -72,7 +72,7 @@ def config_go2(Cnfg: Union[Cfg, Meta]):
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_ = Cnfg.env
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_.num_observations = 42
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_.observe_vel = False
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_.num_envs = 40
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_.num_envs = 4096
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_ = Cnfg.commands
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_.lin_vel_x = [-1.0, 1.0]
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@ -1,5 +1,5 @@
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# This is the CMakeCache file.
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# For build in directory: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build
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# It was generated by CMake: /usr/bin/cmake
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# You can edit this file to change values found and used by cmake.
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# If you do not want to change any of the values, simply exit the editor.
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@ -210,13 +210,13 @@ CMAKE_STRIP:FILEPATH=/usr/bin/strip
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CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
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//Value Computed by CMake
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go2_rl_lcm_BINARY_DIR:STATIC=/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build
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go2_rl_lcm_BINARY_DIR:STATIC=/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build
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//Value Computed by CMake
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go2_rl_lcm_SOURCE_DIR:STATIC=/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy
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go2_rl_lcm_SOURCE_DIR:STATIC=/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy
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//The directory containing a CMake configuration file for lcm.
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lcm_DIR:PATH=/usr/local/lib/lcm/cmake
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lcm_DIR:PATH=lcm_DIR-NOTFOUND
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|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "/usr/local")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Install shared libraries without execute permission?
|
||||
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}")
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -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"]
|
||||
|
|
@ -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'
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
#!/bin/bash
|
||||
docker load -i deployment_image.tar
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
#!/bin/bash
|
||||
docker save -o deployment_image.tar jetson-model-deployment:latest
|
||||
|
|
@ -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
|
||||
|
||||
|
||||
|
|
@ -60,7 +60,7 @@ def load_env(label, headless=False):
|
|||
Cfg.domain_rand.randomize_com_displacement = False
|
||||
|
||||
Cfg.env.num_recording_envs = 1
|
||||
Cfg.env.num_envs = 1
|
||||
Cfg.env.num_envs = 5
|
||||
Cfg.terrain.num_rows = 5
|
||||
Cfg.terrain.num_cols = 5
|
||||
Cfg.terrain.border_size = 0
|
||||
|
|
@ -70,7 +70,8 @@ def load_env(label, headless=False):
|
|||
|
||||
Cfg.domain_rand.lag_timesteps = 6
|
||||
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
|
||||
|
||||
|
||||
|
|
@ -102,7 +103,7 @@ def play_go2(headless=True):
|
|||
|
||||
env, policy = load_env(label, headless=headless)
|
||||
|
||||
num_eval_steps = 250 #250
|
||||
num_eval_steps = 2500 #250
|
||||
gaits = {"pronking": [0, 0, 0],
|
||||
"trotting": [0.5, 0, 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]
|
||||
joint_positions[i] = env.dof_pos[0, :].cpu()
|
||||
###### -----------ldt---------------
|
||||
joint_torques[i] = env.torques.detach().cpu().numpy()
|
||||
# joint_torques[i] = env.torques.detach().cpu().numpy()
|
||||
|
||||
# plot target and measured forward velocity
|
||||
from matplotlib import pyplot as plt
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
Loading…
Reference in New Issue