rafaelcaricio/Open_Duck_Mini_Runtime
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- Added config file support to v2_rl_walk_mujoco.py

Browse source 
- Altered rustypot_position_hwi.py to accept offset parameters.
- updated files that use HWI to include the offsets parameter. These currently do not use the config file data, but could do so if required. Possible example here is to use find_soft_offsets.py to fine tune positions by loading the config data to set the motors to their offset positions.
- Added an example config json file.
- Added config.json to ignore file to hopefully stop it getting checked in
This commit is contained in:
Codezombie23 2025-04-09 21:41:47 +01:00
parent b3cb137656
commit 8aa4b156b9
6 changed files with 135 additions and 25 deletions
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19
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
View file

@ -6,7 +6,7 @@ import rustypot
class HWI:
def __init__(self, usb_port="/dev/ttyACM0"):
def __init__(self, offsets, usb_port="/dev/ttyACM0"):
# Order matters here
self.joints = {
@ -100,22 +100,7 @@ class HWI:
# "right_knee": 0.002,
# "right_ankle": -0.093,
# }
self.joints_offsets = {
"left_hip_yaw" : 0.082,
"left_hip_roll" : -0.089,
"left_hip_pitch" : -0.004,
"left_knee" : 0.077,
"left_ankle" : -0.1,
"neck_pitch" : 0.057,
"head_pitch" : 0.069,
"head_yaw" : -0.101,
"head_roll" : 0.08,
"right_hip_yaw" : -0.166,
"right_hip_roll" : 0.115,
"right_hip_pitch" : 0.089,
"right_knee" : -0.098,
"right_ankle" : -0.125
}
self.joints_offsets = offsets
init_pos_with_offsets = {
joint: np.rad2deg(pos + self.joints_offsets[joint])

6
scripts/find_soft_offsets.py
View file

@ -9,8 +9,7 @@ import time
input(
"Press any key to start. The robot will move to its zero position. Make sure it is safe to do so. At any time, press ctrl+c to stop, the motors will be turned off."
)
hwi = HWI()
hwi.joints_offsets = {
joints_offsets = {
"left_hip_yaw": 0,
"left_hip_roll": 0,
"left_hip_pitch": 0,
@ -27,6 +26,9 @@ hwi.joints_offsets = {
"right_ankle": 0,
}
hwi = HWI(joints_offsets)
hwi.init_pos = hwi.zero_pos
hwi.set_kds([0] * len(hwi.joints))
hwi.turn_on()

20
scripts/head_puppet.py
View file

@ -18,7 +18,25 @@ antennas = Antennas()
eyes = Eyes()
projector = Projector()
hwi = HWI()
joints_offsets = {
"left_hip_yaw": 0,
"left_hip_roll": 0,
"left_hip_pitch": 0,
"left_knee": 0,
"left_ankle": 0,
"neck_pitch": 0,
"head_pitch": 0,
"head_yaw": 0,
"head_roll": 0,
"right_hip_yaw": 0,
"right_hip_roll": 0,
"right_hip_pitch": 0,
"right_knee": 0,
"right_ankle": 0,
}
hwi = HWI(joints_offsets)
kps = [8] * 14
kds = [0] * 14

19
scripts/turn_off.py
View file

@ -1,4 +1,21 @@
from mini_bdx_runtime.rustypot_position_hwi import HWI
hwi = HWI()
joints_offsets = {
"left_hip_yaw": 0,
"left_hip_roll": 0,
"left_hip_pitch": 0,
"left_knee": 0,
"left_ankle": 0,
"neck_pitch": 0,
"head_pitch": 0,
"head_yaw": 0,
"head_roll": 0,
"right_hip_yaw": 0,
"right_hip_roll": 0,
"right_hip_pitch": 0,
"right_knee": 0,
"right_ankle": 0,
}
hwi = HWI(joints_offsets)
hwi.turn_off()

19
scripts/turn_on.py
View file

@ -1,6 +1,23 @@
from mini_bdx_runtime.rustypot_position_hwi import HWI
import time
hwi = HWI()
joints_offsets = {
"left_hip_yaw": 0,
"left_hip_roll": 0,
"left_hip_pitch": 0,
"left_knee": 0,
"left_ankle": 0,
"neck_pitch": 0,
"head_pitch": 0,
"head_yaw": 0,
"head_roll": 0,
"right_hip_yaw": 0,
"right_hip_roll": 0,
"right_hip_pitch": 0,
"right_knee": 0,
"right_ankle": 0,
}
hwi = HWI(joints_offsets)
hwi.turn_on()
time.sleep(1)

77
scripts/v2_rl_walk_mujoco.py
View file

@ -3,6 +3,10 @@ import pickle
import numpy as np
import json
import os
import sys
from mini_bdx_runtime.rustypot_position_hwi import HWI
from mini_bdx_runtime.onnx_infer import OnnxInfer
@ -78,13 +82,79 @@ class RLWalk:
self.control_freq, cutoff_frequency
)
self.hwi = HWI(serial_port)
IMU_upside_down = False
self.phase_frequency_factor_offset = 0.0
# Read config file
print("Read Config")
try:
with open('config.json') as f:
buf = f.read()
config_data = json.loads(buf)
print("Ok")
f.close()
except:
# check file exists if it does'nt create an empty config.
if os.path.isfile("config.json") == False:
with open("config.json","w") as newFile:
newFile.write("{\n")
newFile.write(" ""start_paused"": false,\n")
newFile.write(" ""imu_upside_down"": false,\n")
newFile.write(" ""phase_frequency_factor_offset"": 0.0,\n")
newFile.write(" ""left_hip_yaw"": 0.0,\n")
newFile.write(" ""left_hip_roll"": 0.0,\n")
newFile.write(" ""left_hip_pitch"": 0.0,\n")
newFile.write(" ""left_knee"": 0.0,\n")
newFile.write(" ""left_ankle"": 0.0,\n")
newFile.write(" ""neck_pitch"": 0.0,\n")
newFile.write(" ""head_pitch"": 0.0,\n")
newFile.write(" ""head_yaw"": 0.0,\n")
newFile.write(" ""head_roll"": 0.0,\n")
newFile.write(" ""right_hip_yaw"": 0.0,\n")
newFile.write(" ""right_hip_roll"": 0.0,\n")
newFile.write(" ""right_hip_pitch"": 0.0,\n")
newFile.write(" ""right_knee"": 0.0,\n")
newFile.write(" ""right_ankle"": 0.0\n")
newFile.write("}")
newFile.close()
print("Config not found, new config.json file created, aborting execution")
print("Fill out config file with motor offsets using find_soft_offsets.py")
sys.exit()
joint_offsets = {
"left_hip_yaw": config_data.get("left_hip_yaw"),
"left_hip_roll": config_data.get("left_hip_roll"),
"left_hip_pitch": config_data.get("left_hip_pitch"),
"left_knee": config_data.get("left_knee"),
"left_ankle": config_data.get("left_ankle"),
"neck_pitch": config_data.get("neck_pitch"),
"head_pitch": config_data.get("head_pitch"),
"head_yaw": config_data.get("head_yaw"),
"head_roll": config_data.get("head_roll"),
"right_hip_yaw": config_data.get("right_hip_yaw"),
"right_hip_roll": config_data.get("right_hip_roll"),
"right_hip_pitch": config_data.get("right_hip_pitch"),
"right_knee": config_data.get("right_knee"),
"right_ankle": config_data.get("right_ankle")
}
self.hwi = HWI(joint_offsets, serial_port)
IMU_upside_down = config_data.get("imu_upside_down")
self.phase_frequency_factor_offset = config_data.get("phase_frequency_factor_offset")
# end Config load section
self.start()
self.imu = Imu(
sampling_freq=int(self.control_freq),
user_pitch_bias=self.pitch_bias,
upside_down=False,
upside_down=IMU_upside_down,
)
self.eyes = Eyes()
@ -121,7 +191,7 @@ class RLWalk:
self.last_commands = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.paused = False
self.paused = config_data.get("start_paused")
self.sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
self.antennas = Antennas()
@ -137,6 +207,7 @@ class RLWalk:
self.phase_frequency_factor = 1.0
self.phase_frequency_factor_offset = 0.0
def add_fake_head(self, pos):
# add just the antennas now
assert len(pos) == self.num_dofs