rafaelcaricio/Open_Duck_Mini_Runtime
1
0
Fork 0
mirror of https://github.com/apirrone/Open_Duck_Mini_Runtime.git synced 2025-09-03 03:33:54 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

aze

Browse source
This commit is contained in:
apirrone 2025-04-09 11:07:46 +02:00
parent 2361f2af9e
commit 6b6e726433
3 changed files with 48 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
View file

@ -1,3 +1,4 @@
from abc import update_abstractmethods
import pygame
from threading import Thread
from queue import Queue
@ -41,6 +42,7 @@ class XBoxController:
def get_commands(self):
A_pressed = False
X_pressed = False
LB_pressed = False
last_commands = self.last_commands
left_trigger = self.last_left_trigger
right_trigger = self.last_right_trigger
@ -116,6 +118,9 @@ class XBoxController:
if self.p1.get_button(3): # X button
X_pressed = True
if self.p1.get_button(6): # LB button
LB_pressed = True
# for i in range(10):
# if self.p1.get_button(i):
# print(f"Button {i} pressed")
@ -123,27 +128,33 @@ class XBoxController:
if self.p1.get_button(4): # Y button
self.head_control_mode = not self.head_control_mode
up_down = self.p1.get_hat(0)[1]
pygame.event.pump() # process event queue
return (
np.around(last_commands, 3),
A_pressed,
X_pressed,
LB_pressed,
left_trigger,
right_trigger,
up_down
)
def get_last_command(self):
A_pressed = False
X_pressed = False
LB_pressed = False
up_down = 0
try:
(
self.last_commands,
A_pressed,
X_pressed,
LB_pressed,
self.last_left_trigger,
self.last_right_trigger,
up_down
) = self.cmd_queue.get(
False
) # non blocking
@ -154,8 +165,10 @@ class XBoxController:
self.last_commands,
A_pressed,
X_pressed,
LB_pressed,
self.last_left_trigger,
self.last_right_trigger,
up_down
)

2
scripts/fc_test.py
View file

@ -214,7 +214,7 @@ messages = [
# },
{
"role": "user",
"content": "Explore, and when you see a person, play the happy sound",
"content": "Find the waste bin and turn around it. Play the happy sound when you are done",
},
]

34
scripts/v2_rl_walk_mujoco.py
View file

@ -132,6 +132,7 @@ class RLWalk:
self.PRM = PolyReferenceMotion("./polynomial_coefficients.pkl")
self.imitation_i = 0
self.imitation_phase = np.array([0, 0])
self.phase_frequency_factor = 1.0
def add_fake_head(self, pos):
# add just the antennas now
@ -200,6 +201,17 @@ class RLWalk:
time.sleep(2)
def get_phase_frequency_factor(self, x_velocity):
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)
return freq
def run(self):
i = 0
try:
@ -208,8 +220,10 @@ class RLWalk:
while True:
A_pressed = False
X_pressed = False
LB_pressed = False
left_trigger = 0
right_trigger = 0
up_down = 0
t = time.time()
if self.commands:
@ -217,10 +231,28 @@ class RLWalk:
self.last_commands,
A_pressed,
X_pressed,
LB_pressed,
left_trigger,
right_trigger,
up_down
) = self.xbox_controller.get_last_command()
if up_down == 1:
self.phase_frequency_factor += 0.05
print(f"Phase frequency factor {self.phase_frequency_factor}")
elif up_down == -1:
self.phase_frequency_factor -= 0.05
print(f"Phase frequency factor {self.phase_frequency_factor}")
# if LB_pressed:
# self.phase_frequency_factor = 1.2
# else:
# self.phase_frequency_factor = 1.0
# self.phase_frequency_factor = self.get_phase_frequency_factor(self.last_commands[0])
# print(f"Phase frequency factor {self.phase_frequency_factor}")
if X_pressed:
self.sounds.play_random_sound()
self.projector.switch()
@ -243,7 +275,7 @@ class RLWalk:
if obs is None:
continue
self.imitation_i += 1
self.imitation_i += 1 * self.phase_frequency_factor
self.imitation_i = self.imitation_i % self.PRM.nb_steps_in_period
self.imitation_phase = np.array(
[