rafaelcaricio/Open_Duck_Mini_Runtime
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changing default arguments of v2_rl_walk_mujoco.py to be more straightforward

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apirrone 2025-04-09 11:58:22 +02:00
parent 499ff938b9
commit 595cac4eaa
2 changed files with 21 additions and 21 deletions
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2
README.md
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@ -144,7 +144,7 @@ Download the [latest policy checkpoint ](https://github.com/apirrone/Open_Duck_M
`cd scripts/`
`python v2_rl_walk_mujoco.py --onnx_model_path <path_to>/BEST_WALK_ONNX_2.onnx -p 32 --commands --cutoff_frequency 40`
`python v2_rl_walk_mujoco.py --onnx_model_path <path_to>/BEST_WALK_ONNX_2.onnx`

40
scripts/v2_rl_walk_mujoco.py
View file

@ -17,6 +17,7 @@ from mini_bdx_runtime.projector import Projector
from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter
from mini_bdx_runtime.buttons import Buttons
class RLWalk:
def __init__(
self,
@ -63,7 +64,6 @@ class RLWalk:
"right_ankle",
]
self.save_obs = save_obs
if self.save_obs:
self.saved_obs = []
@ -208,9 +208,10 @@ class RLWalk:
max_phase_frequency = 1.2
min_phase_frequency = 1.0
# Perform linear interpolation
freq = min_phase_frequency + (abs(x_velocity) / 0.15) * (max_phase_frequency - min_phase_frequency)
freq = min_phase_frequency + (abs(x_velocity) / 0.15) * (
max_phase_frequency - min_phase_frequency
)
return freq
@ -220,12 +221,6 @@ class RLWalk:
print("Starting")
start_t = time.time()
while True:
# A_pressed = False
# B_pressed = False
# X_pressed = False
# Y_pressed = False
# LB_pressed = False
# RB_pressed = False
left_trigger = 0
right_trigger = 0
up_down = 0
@ -242,10 +237,17 @@ class RLWalk:
RB_pressed,
left_trigger,
right_trigger,
up_down
up_down,
) = self.xbox_controller.get_last_command()
self.buttons.update(A_pressed, B_pressed, X_pressed, Y_pressed, LB_pressed, RB_pressed)
self.buttons.update(
A_pressed,
B_pressed,
X_pressed,
Y_pressed,
LB_pressed,
RB_pressed,
)
if up_down == 1:
self.phase_frequency_factor += 0.05
@ -254,7 +256,6 @@ class RLWalk:
self.phase_frequency_factor -= 0.05
print(f"Phase frequency factor {self.phase_frequency_factor}")
if self.buttons.LB.is_pressed:
self.phase_frequency_factor = 1.3
else:
@ -279,7 +280,6 @@ class RLWalk:
else:
print("UNPAUSE")
if self.paused:
time.sleep(0.1)
continue
@ -350,11 +350,11 @@ class RLWalk:
took = time.time() - t
# print("Full loop took", took, "fps : ", np.around(1 / took, 2))
# if (1 / self.control_freq - took) < 0:
# print(
# "Policy control budget exceeded by",
# np.around(took - 1 / self.control_freq, 3),
# )
if (1 / self.control_freq - took) < 0:
print(
"Policy control budget exceeded by",
np.around(took - 1 / self.control_freq, 3),
)
time.sleep(max(0, 1 / self.control_freq - took))
except KeyboardInterrupt:
@ -379,7 +379,7 @@ if __name__ == "__main__":
parser.add_argument(
"--commands",
action="store_true",
default=False,
default=True,
help="external commands, keyboard or gamepad. Launch control_server.py on host computer",
)
parser.add_argument(
@ -396,7 +396,7 @@ if __name__ == "__main__":
default=None,
help="replay the observations from a previous run (can be from the robot or from mujoco)",
)
parser.add_argument("--cutoff_frequency", type=float, default=None)
parser.add_argument("--cutoff_frequency", type=float, default=40)
args = parser.parse_args()
pid = [args.p, args.i, args.d]