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https://github.com/apirrone/Open_Duck_Mini_Runtime.git
synced 2025-09-03 03:33:54 +00:00
182 lines
No EOL
4.8 KiB
Markdown
182 lines
No EOL
4.8 KiB
Markdown
# Open Duck Mini Runtime
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## Raspberry Pi zero 2W setup
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### Install Raspberry Pi OS
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Download Raspberry Pi OS Lite (64-bit) from here : https://www.raspberrypi.com/software/operating-systems/
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Follow the instructions here to install the OS on the SD card : https://www.raspberrypi.com/documentation/computers/getting-started.html
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With the Raspberry Pi Imager, you can pre-configure session, wifi and ssh. Do it like below :
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> Tip: I configure the rasp to connect to my phone's hotspot, this way I can connect to it from anywhere.
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### Setup SSH (If not setup during the installation)
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When first booting on the rasp, you will need to connect a screen and a keyboard. The first thing you should do is connect to a wifi network and enable SSH.
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To do so, you can follow this guide : https://www.raspberrypi.com/documentation/computers/configuration.html#setting-up-wifi
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Then, you can connect to your rasp using SSH without having to plug a screen and a keyboard.
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### Update the system and install necessary stuff
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```bash
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sudo apt update
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sudo apt upgrade
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sudo apt install git
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sudo apt install python3-pip
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sudo apt install python3-virtualenvwrapper
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(optional) sudo apt install python3-picamzero
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```
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Add this to the end of the `.bashrc`:
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```bash
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export WORKON_HOME=$HOME/.virtualenvs
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export PROJECT_HOME=$HOME/Devel
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source /usr/share/virtualenvwrapper/virtualenvwrapper.sh
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```
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### Enable I2C
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`sudo raspi-config` -> `Interface Options` -> `I2C`
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TODO set 400KHz ?
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### Set the usbserial latency timer
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```bash
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cd /etc/udev/rules.d/
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sudo touch 99-usb-serial.rules
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sudo nano 99-usb-serial.rules
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# copy the following line in the file
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SUBSYSTEM=="usb-serial", DRIVER=="ftdi_sio", ATTR{latency_timer}="1"
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```
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### Set the udev rules for the motor control board
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TODO
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### Setup xbox one controller over bluetooth
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Turn your xbox one controller on and set it in pairing mode by long pressing the sync button on the top of the controller.
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Run the following commands on the rasp :
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```bash
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bluetoothctl
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scan on
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```
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Wait for the controller to appear in the list, then run :
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```bash
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pair <controller_mac_address>
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trust <controller_mac_address>
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connect <controller_mac_address>
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```
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The led on the controller should stop blinking and stay on.
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You can test that it's working by running
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```bash
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python3 mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
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```
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## Speaker wiring and configuration
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Follow this tutorial
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> For now, don't activate `/dev/zero` when they ask
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https://learn.adafruit.com/adafruit-max98357-i2s-class-d-mono-amp?view=all
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## Install the runtime
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### Make a virtual environment and activate it
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```bash
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mkvirtualenv -p python3 open-duck-mini-runtime
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workon open-duck-mini-runtime
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```
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Clone this repository on your rasp, cd into the repo, then :
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```bash
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git clone https://github.com/apirrone/Open_Duck_Mini_Runtime
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cd Open_Duck_Mini_Runtime
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git checkout v2
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pip install -e .
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```
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In Raspberry Pi 5, you need to perform the following operations
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```bash
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pip uninstall -y RPi.GPIO
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pip install lgpio
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```
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## Test the IMU
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```bash
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python3 mini_bdx_runtime/mini_bdx_runtime/raw_imu.py
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```
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You can also run `python3 scripts/imu_server.py` on the robot and `python3 scripts/imu_client.py --ip <robot_ip>` on your computer to check that the frame is oriented correctly.
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> To find the ip address of the robot, run `ifconfig` on the robot
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## Test motors
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This will allow you to verify all your motors are connected and configured.
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```bash
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python3 scripts/check_motors.py
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```
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## Make your duck_config.json
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Copy `example_config.json` in the home directory of your duck and rename it `duck_config.json`.
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`cp example_config.json ~/duck_config.json`
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In this file, you can configure some stuff, like registering if you installed the expression features, installed the imu upside down or and other stuff. You also write the joints offsets of your duck here
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## Find the joints offsets
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This script will guide you through finding the joints offsets of your robot that you can then write in your `duck_config.json`
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> This procedure won't be necessary in the future as we will be flashing the offsets directly in each motor's eeprom.
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```bash
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cd scripts/
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python find_soft_offsets.py
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```
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## Run the walk !
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Download the [latest policy checkpoint ](https://github.com/apirrone/Open_Duck_Mini/blob/v2/BEST_WALK_ONNX_2.onnx) and copy it to your duck.
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`cd scripts/`
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`python v2_rl_walk_mujoco.py --onnx_model_path <path_to>/BEST_WALK_ONNX_2.onnx`
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```
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- The commands are :
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- A to pause/unpause
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- X to turn on/off the projector
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- B to play a random sound
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- Y to turn on/off head control (very experimental, I don't recommend trying that, it can break your duck's head)
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- left and right triggers to control the left and right antennas
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- LB (new!) press and hold to increase the walking frequency, kind of a sprint mode 🙂
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``` |