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test_gameplay_shielding.py
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test_gameplay_shielding.py
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import socket
import select
import struct
import time
import numpy as np
import math
import sys
import os
from inverse_kinematics.inverse_kinematics_controller import InverseKinematicsController
from rl_controller.rl_controller import Go2RLController
from wrapper import Wrapper
from safety_enforcer import SafetyEnforcer
import json
import torch
from scipy.spatial.transform import Rotation
def transition(cur, new):
traj = np.linspace(np.array(cur), np.array(new), 200)
cur_time = time.time()
count = 0
while count < 200:
wrapper.update(traj[count])
if time.time() - cur_time > 0.005:
count += 1
cur_time = time.time()
def get_state(state, command=[0, 0, 0]):
"""
state = 0:3 robot_body_linear_vel
3:5 roll, pitch
5:8 robot_body_angular_vel
8:20 joint_pos
20:32 joint_vel
32:36 foot contact
Controller requirement
(3) vx, vy, vz,
(3) wx, wy, wz,
(3) gx, gy, gz, # projected gravity
(3) commands (lin_vel_x, lin_vel_y, ang_vel_yaw),
(12) joint_pos offset, # this might be offset from a stance
(12) joint_vel,
(12) actions
"""
quat = wrapper.msgs[0].imu_state.quaternion # w, x, y, z
ang = tuple(quat[1:]) + tuple([quat[0]])
rotmat = Rotation.from_quat(ang).as_matrix()
projected_gravity = (np.linalg.inv(rotmat) @ np.array([0, 0, -1]).T)
obs = (
tuple(state[0:3]) +
tuple(state[5:8]) +
tuple(projected_gravity) +
tuple(command) +
tuple(wrapper.map(state[8:20], wrapper.order, sim_order)) +
tuple(wrapper.map(state[20:32], wrapper.order, sim_order))
)
return torch.Tensor(obs)
# controller = InverseKinematicsController(Xdist=0.387,
# Ydist=0.284,
# height=0.25,
# coxa=0.03,
# femur=0.2,
# tibia=0.2,
# L=2.0,
# angle=0,
# T=0.4,
# dt=0.02)
controller = Go2RLController()
command = [0.4, 0.0, -0.15]
g_x = np.inf
l_x = np.inf
requested = False
L_horizon = 10
step = 0
sim_order = ["FL", "BL", "FR", "BR"]
wrapper = Wrapper()
safetyEnforcer = SafetyEnforcer(epsilon=0.0)
stand = [0, 0.75, -1.8, 0, 0.75, -1.8, 0, 0.75, -1.8, 0, 0.75, -1.8] # following real order
sit = [-0.1, 1.5, -2.5, 0.1, 1.5, -2.5, -0.4, 1.5, -2.5, 0.4, 1.5, -2.5] # following real order
# action will ALWAYS in sim_order
action = wrapper.map(stand, wrapper.order, sim_order)
# put the robot in sitting stance
wrapper.update(sit)
# stand up
transition(sit, stand)
# SETUP COMMAND RECEIVING SERVER
HOST = "192.168.0.248"
PORT = 65432
isConnected = False
try:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))
isConnected = True
except OSError:
try:
s.sendall(b'Test')
isConnected = True
except OSError:
print("Something is wrong")
isConnected = False
pass
s.setblocking(0)
cur_time = time.time()
dt = 0.005
for i in range(100):
joint_pos_sim = wrapper.map(wrapper.state[8:20], wrapper.order, sim_order)
joint_vel_sim = wrapper.map(wrapper.state[20:32], wrapper.order, sim_order)
state = wrapper.state[:8] + joint_pos_sim + joint_vel_sim + wrapper.state[32:] # this is now sim state
sim_state = get_state(wrapper.state, command=[0, 0, 0])
wrapper.update(controller.get_action(sim_state), input_order=sim_order) # mark that action is sim_order
try:
while isConnected:
if time.time() - cur_time > dt:
#! WARNING: the joint pos and vel in wrapper.state is of real Go2, NOT sim
joint_pos_sim = wrapper.map(wrapper.state[8:20], wrapper.order, sim_order)
joint_vel_sim = wrapper.map(wrapper.state[20:32], wrapper.order, sim_order)
state = wrapper.state[:8] + joint_pos_sim + joint_vel_sim + wrapper.state[32:] # this is now sim state
if g_x < 0 or l_x < 0:
safetyEnforcer.is_shielded = True
# switch between fallback and target stable stance, depending on the current state
stable_stance = np.array([0.5, 0.7, -1.5, 0.5, 0.7, -1.2, -0.5, 0.7, -1.5, -0.5, 0.7, -1.2]) # sim order
margin = safetyEnforcer.target_margin(state)
lx = min(margin.values())
if lx > 0.01: # -0.1
action = stable_stance
else:
# center_sampling
# action = safetyEnforcer.ctrl(np.array(state)) + np.array([0.2, 0.6, -1.5, 0.2, 0.6, -1.5, -0.2, 0.6, -1.5, -0.2, 0.6, -1.5]) # sim order
# increment
action = safetyEnforcer.ctrl(np.array(state)) + np.array(state[8:20])
else:
# IK controller
# action = np.array(controller.get_action(joint_order=sim_order, offset=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
# rl controller
sim_state = get_state(wrapper.state, command=command)
action = controller.get_action(sim_state)
if not requested:
ctrl = action - np.array(state[8:20])
data = [*state, *ctrl]
s.sendall(struct.pack("!48f", *data))
requested = True
else:
if step > L_horizon:
if select.select([s], [], [], 0.01)[0]:
data = s.recv(1024)
data = json.loads(data.decode("utf-8"))
g_x = data["g_x"]
l_x = data["l_x"]
if g_x < 0 or l_x < 0:
stable_stance = np.array([0.5, 0.7, -1.5, 0.5, 0.7, -1.2, -0.5, 0.7, -1.5, -0.5, 0.7, -1.2]) # sim order
margin = safetyEnforcer.target_margin(state)
lx = min(margin.values())
# if lx > -0.1: # -0.1
if lx > 0.01:
action = stable_stance
else:
# center_sampling
# action = safetyEnforcer.ctrl(np.array(state)) + np.array([0.2, 0.6, -1.5, 0.2, 0.6, -1.5, -0.2, 0.6, -1.5, -0.2, 0.6, -1.5]) # sim order
# increment
action = safetyEnforcer.ctrl(np.array(state)) + np.array(state[8:20])
requested = False
step = 0
step += 1
cur_time = time.time()
wrapper.update(action, input_order=sim_order)
if abs(wrapper.state[3]) > np.pi*0.4 or abs(wrapper.state[4]) > np.pi*0.4:
break
except KeyboardInterrupt:
transition(wrapper.map(action, sim_order, wrapper.order), stand)
transition(stand, sit)
except Exception as e:
print(e)
transition(wrapper.map(action, sim_order, wrapper.order), stand)
transition(stand, sit)
print("lock in SIT mode, keyboard interrupt to stop")
while True:
wrapper.update(sit)