search

Improbable-AI / walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.
https://gmargo11.github.io/walk-these-ways/
Other
488 stars 129 forks source link

How to make it automatically run the repo's NN rather than the original on boot? #35

Closed Robokan closed 1 year ago

Robokan commented 1 year ago

I've trained my own NN and want to have it automatically run when the Go1 is turned on. How would you go about doing this?

Ideally it would be great to be able to toggle between both control systems (mine, and original).

gmargo11 commented 1 year ago

Hi @Robokan ,

To autoboot the learned controller, I usually follow these steps:

  1. Disable the built-in controller:

Enter the Raspberry Pi (ssh pi@192.168.123.161). Navigate to the sportMode folder (cd ~/Unitree/autostart/sportMode). Open the sportMode.sh file and comment out every line. Now, after rebooting the robot will neither stand up automatically nor enter the default controller ("sport mode"). At this stage, you can still reactivate the default controller manually if you want by pressing L2+A.

  1. Make the custom NN autostart using crontab.

The crontab can be used to execute a script upon boot. You can see some examples here: https://www.geeksforgeeks.org/crontab-in-linux-with-examples/

Enter the body Jetson (ssh unitree@192.168.123.15) Open the crontab for editing (crontab -e) and add the line @reboot sh /home/unitree/go1_gym/go1_gym_deploy/autostart/start_unitree_sdk.sh. This will autostart the low-level PD controller script. Open the sudo crontab for editing (sudo crontab -e) and add the line @reboot sh /home/unitree/go1_gym/go1_gym_deploy/autostart/start_controller.sh. This will automatically start the docker container and run deploy_policy.py.

After step (2), when you reboot the robot, the learned controller will be started after about 1-2 minutes (then you'll need to press R2 to stand up). NOTE that after step (2), you won't be able to switch into Unitree's built-in controller anymore without removing those entries from the crontab again. This is because sport mode and the unitree sdk shouldn't run at the same time. I don't have a way of toggling between them automatically.

-Gabe

Robokan commented 1 year ago

Thanks! I will try it out.

Out of curiosity how did you get so much knowledge about the Go1? are there any links to documentation you would recommend?

Robokan commented 9 months ago

I wasn't able to get this working. The robot just never gets up. Nothing happens. How would I got about debugging this? Are there boot logs? or a way to print the status of each of these operations?

Thanks again for all you help on this.