feat: add demo walking script

mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py

@@ -6,6 +6,8 @@
 from mini_bdx_runtime.buttons import Buttons
 
 
+AXIS_DEAD_ZONE = 0.1
+
 X_RANGE = [-0.15, 0.15]
 Y_RANGE = [-0.2, 0.2]
 YAW_RANGE = [-1.0, 1.0]
@@ -54,17 +56,22 @@ def get_commands(self):
         right_trigger = self.last_right_trigger
 
         l_x = -1 * self.p1.get_axis(0)
+        l_x = l_x if abs(l_x) > AXIS_DEAD_ZONE else 0
+
         l_y = -1 * self.p1.get_axis(1)
+        l_y = l_y if abs(l_y) > AXIS_DEAD_ZONE else 0
+
         r_x = -1 * self.p1.get_axis(2)
+        r_x = r_x if abs(r_x) > AXIS_DEAD_ZONE else 0
+
         r_y = -1 * self.p1.get_axis(3)
+        r_y = r_y if abs(r_y) > AXIS_DEAD_ZONE else 0
 
         right_trigger = np.around((self.p1.get_axis(4) + 1) / 2, 3)
-        left_trigger = np.around((self.p1.get_axis(5) + 1) / 2, 3)
+        right_trigger = right_trigger if right_trigger > AXIS_DEAD_ZONE else 0
 
-        if left_trigger < 0.1:
-            left_trigger = 0
-        if right_trigger < 0.1:
-            right_trigger = 0
+        left_trigger = np.around((self.p1.get_axis(5) + 1) / 2, 3)
+        left_trigger = left_trigger if left_trigger > AXIS_DEAD_ZONE else 0
 
         if not self.head_control_mode:
             lin_vel_y = l_x

scripts/start_walk_after_controller.py

@@ -0,0 +1,133 @@
+import argparse
+import os
+import subprocess
+import sys
+import time
+
+import pygame
+from mini_bdx_runtime.sounds import Sounds
+
+
+HOME_DIR = os.path.expanduser("~")
+SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
+
+
+def wait_for_controller(poll_interval: float = 1.0):
+    pygame.init()
+    pygame.joystick.init()
+
+    print("Waiting for bluetooth controller to connect...")
+    while True:
+        pygame.event.pump()
+        if pygame.joystick.get_count() > 0:
+            joystick = pygame.joystick.Joystick(0)
+            joystick.init()
+            print(f"Controller connected: {joystick.get_name()}")
+            return
+
+        time.sleep(poll_interval)
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--onnx_model_path", type=str, required=True)
+    parser.add_argument(
+        "--duck_config_path",
+        type=str,
+        required=False,
+        default=f"{HOME_DIR}/duck_config.json",
+    )
+    parser.add_argument("--serial_port", type=str, default="/dev/ttyACM0")
+    parser.add_argument("-a", "--action_scale", type=float, default=0.25)
+    parser.add_argument("-p", type=int, default=30)
+    parser.add_argument("-i", type=int, default=0)
+    parser.add_argument("-d", type=int, default=0)
+    parser.add_argument("-c", "--control_freq", type=int, default=50)
+    parser.add_argument("--pitch_bias", type=float, default=0, help="deg")
+    parser.add_argument(
+        "--save_obs",
+        type=str,
+        required=False,
+        default=False,
+        help="save the run's observations",
+    )
+    parser.add_argument(
+        "--replay_obs",
+        type=str,
+        required=False,
+        default=None,
+        help="replay the observations from a previous run (can be from the robot or from mujoco)",
+    )
+    parser.add_argument("--cutoff_frequency", type=float, default=None)
+    parser.add_argument(
+        "--sound_path",
+        type=str,
+        default=os.path.join(
+            os.path.dirname(SCRIPT_DIR), "mini_bdx_runtime/assets/happy1.wav"
+        ),
+    )
+    args = parser.parse_args()
+
+    os.chdir(SCRIPT_DIR)
+
+    turn_on_script = os.path.join(SCRIPT_DIR, "turn_on.py")
+    walk_script = os.path.join(SCRIPT_DIR, "v2_rl_walk_mujoco.py")
+
+    # Call the original turn_on script
+    subprocess.run(
+        [
+            sys.executable,
+            turn_on_script,
+        ],
+        check=True,
+        cwd=SCRIPT_DIR,
+    )
+
+    # Play happy sound after turn on
+    if args.sound_path and os.path.exists(args.sound_path):
+        try:
+            pygame.mixer.init()
+            sound = pygame.mixer.Sound(args.sound_path)
+            sound.play()
+        except Exception as e:
+            print(f"Failed to play sound: {e}")
+
+    wait_for_controller()
+
+    # Build the walk command
+    walk_cmd = [
+        sys.executable,
+        walk_script,
+        "--onnx_model_path",
+        args.onnx_model_path,
+        "--duck_config_path",
+        args.duck_config_path,
+        "-a",
+        str(args.action_scale),
+        "-p",
+        str(args.p),
+        "-i",
+        str(args.i),
+        "-d",
+        str(args.d),
+        "-c",
+        str(args.control_freq),
+        "--pitch_bias",
+        str(args.pitch_bias),
+    ]
+
+    if args.save_obs is not False:
+        walk_cmd.extend(["--save_obs", args.save_obs])
+
+    if args.replay_obs is not None:
+        walk_cmd.extend(["--replay_obs", args.replay_obs])
+
+    if args.cutoff_frequency is not None:
+        walk_cmd.extend(["--cutoff_frequency", str(args.cutoff_frequency)])
+
+    # Hand off execution to the walking script
+    os.execv(sys.executable, walk_cmd)
+
+
+if __name__ == "__main__":
+    main()

scripts/start_walk_after_controller.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+
+# Setup Instructions for Raspberry Pi OS Lite (Auto-start on boot):
+# 1. Make this script executable:
+#    chmod +x start_walk_after_controller.sh
+# 2. Add to crontab:
+#    crontab -e
+#    Add the following line at the end:
+#    @reboot /bin/bash /home/pi/Open_Duck_Mini_Runtime/scripts/start_walk_after_controller.sh >> /home/pi/startup.log 2>&1
+# 3. Ensure your ONNX model and duck_config.json are in the home directory as specified below.
+
+set -euo pipefail
+
+# Ensure HOME is defined (crontab sometimes has a limited environment)
+export HOME="${HOME:-/home/duck0}"
+
+# Initialize Conda for the current shell session
+CONDA_PROFILE="$HOME/miniconda3/etc/profile.d/conda.sh"
+if [ -f "$CONDA_PROFILE" ]; then
+    source "$CONDA_PROFILE"
+    conda activate base
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_DIR="$(cd "$SCRIPT_DIR/.." && pwd)"
+
+cd "$SCRIPT_DIR"
+
+exec python3 "$SCRIPT_DIR/start_walk_after_controller.py" \
+    --duck_config_path "$HOME/duck_config.json" \
+    --onnx_model_path "$HOME/BEST_WALK_ONNX_2.onnx"