Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Improve mechanism of saving waypoints #51

Merged
merged 1 commit into from
Jul 27, 2023
+420 −313
Merged

Improve mechanism of saving waypoints #51

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
37 changes: 19 additions & 18 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,24 @@ git rev-parse --abbrev-ref HEAD
git checkout main
```

KavitShah1998 marked this conversation as resolved.
Show resolved Hide resolved
## :light_rail: Try teleoperating the robot using keyboard
### :rotating_light: Running Emergency Stop
* Since we do not have a physical emergency stop button (like the large red push buttons), we need to run an e-stop node.
```bash
python -m spot_wrapper.estop
```

- Keep this window open at all the times, if the robot starts misbehaving you should be able to quickly press `s` or `space_bar` to kill the robot

### :musical_keyboard: Running keyboard teleop
* Ensure you have the Estop up and running in one terminal. [Follow these instructions for e-stop](/README.md#rotating_light-running-emergency-stop)
* Run keyboard teleop with this command in a new terminal
```bash
spot_keyboard_teleop
```

## :video_game: Instructions to record waypoints (use joystick to move robot around)
- Before running scripts on the robot, waypoints should be recording. These waypoints exist inside file `spot-sim2real/spot_rl_experiments/configs/waypoints.yaml`
- Before running scripts on the robot, waypoints should be recorded. These waypoints exist inside file `spot-sim2real/spot_rl_experiments/configs/waypoints.yaml`

- Before recording receptacles, make the robot sit at home position then run following command
```bash
Expand All @@ -75,21 +91,6 @@ git checkout main


## :rocket: Running instructions
### Running Emergency Stop
* Since we do not have a physical emergency stop button (like the large red push buttons), we need to run an e-stop node.
```bash
python -m spot_wrapper.estop
```

- Keep this window open at all the times, if the robot starts misbehaving you should be able to quickly press `s` or `space_bar` to kill the robot

### Running keyboard teleop
* Ensure you have the Estop up and running in one terminal. [Follow these instructions for e-stop](/README.md#running-emergency-stop)
* Run keyboard teleop with this command in a new terminal
```bash
spot_keyboard_teleop
```

### Running the demo (ASC/LSC/Seq-Experts)
#### Step1. Run the local launch executable
- In a new terminal, run the executable as
Expand Down Expand Up @@ -155,8 +156,8 @@ git checkout main
- The waypoints that were recorded are w.r.t the home location. Since the odometry drifts while robot is moving, **it is necessary to reset home before start of every new run**
### Step4. Emergency stop
- Follow the steps described in [e-stop section](/README.md#running-emergency-stop)
#### Step4. Emergency stop
- Follow the steps described in [e-stop section](/README.md#rotating_light-running-emergency-stop)
#### Step5. Main demo code **in a new terminal**
Expand Down
15 changes: 15 additions & 0 deletions installation/SETUP_INSTRUCTIONS.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,21 @@ echo 'export SPOT_IP=<your-spot-ip>' >> ~/.bashrc
source ~/.bashrc
```
### Testing the setup by running simple navigation policy on robot
1. Create waypoints.yaml file using the following command
```bash
spot_rl_waypoint_recorder -x
```
2. Follow Steps 1,2,3,4 from [README.md](/README.md#running-the-demo-asclscseq-experts)
3. Go to root of repo, and run simple command to move robot to a new waypoint using the navigation policy. This command will move robot 2.5m in front after undocking. **Ensure there is 2.5m space in front of dock**
```bash
python spot_rl_experiments/spot_rl/envs/nav_env.py -w "test_receptacle"
```
4. Once the robot has moved, you can dock back the robot with the following command
```bash
spot_rl_autodock
```
### For Meta internal users (with Meta account), please check the following link for the ip and the password
[Link](https://docs.google.com/document/d/1u4x4ZMjHDQi33PB5V2aTZ3snUIV9UdkSOV1zFhRq1Do/edit)
Expand Down
150 changes: 0 additions & 150 deletions spot_rl_experiments/configs/waypoints_apartment.yaml
View file
Open in desktop

This file was deleted.

74 changes: 0 additions & 74 deletions spot_rl_experiments/configs/waypoints_microkitchen.yaml
View file
Open in desktop

This file was deleted.

9 changes: 6 additions & 3 deletions spot_rl_experiments/spot_rl/envs/lang_env.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,11 +19,11 @@
from spot_rl.real_policy import GazePolicy, MixerPolicy, NavPolicy, PlacePolicy
from spot_rl.utils.remote_spot import RemoteSpot
from spot_rl.utils.utils import (
WAYPOINTS,
closest_clutter,
construct_config,
get_clutter_amounts,
get_default_parser,
get_waypoint_yaml,
nav_target_from_waypoints,
object_id_to_nav_waypoint,
place_target_from_waypoints,
Expand Down Expand Up @@ -64,6 +64,9 @@ def main(spot, use_mixer, config, out_path=None):
# Check if robot should return to base
return_to_base = config.RETURN_TO_BASE

# Get the waypoints from waypoints.yaml
waypoints = get_waypoint_yaml()

audio_to_text = WhisperTranslator()
sentence_similarity = SentenceSimilarity()
with initialize(config_path="../llm/src/conf"):
Expand All @@ -86,10 +89,10 @@ def main(spot, use_mixer, config, out_path=None):

# Find closest nav_targets to the ones robot knows locations of
nav_1 = sentence_similarity.get_most_similar_in_list(
nav_1, list(WAYPOINTS["nav_targets"].keys())
nav_1, list(waypoints["nav_targets"].keys())
)
nav_2 = sentence_similarity.get_most_similar_in_list(
nav_2, list(WAYPOINTS["nav_targets"].keys())
nav_2, list(waypoints["nav_targets"].keys())
)
print("MOST SIMILAR: ", nav_1, pick, nav_2)

Expand Down
11 changes: 7 additions & 4 deletions spot_rl_experiments/spot_rl/envs/mobile_manipulation_env.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,11 @@
from spot_rl.real_policy import GazePolicy, MixerPolicy, NavPolicy, PlacePolicy
from spot_rl.utils.remote_spot import RemoteSpot
from spot_rl.utils.utils import (
WAYPOINTS,
closest_clutter,
construct_config,
get_clutter_amounts,
get_default_parser,
get_waypoint_yaml,
nav_target_from_waypoints,
object_id_to_nav_waypoint,
place_target_from_waypoints,
Expand Down Expand Up @@ -63,9 +63,12 @@ def main(spot, use_mixer, config, out_path=None):
# Check if robot should return to base
return_to_base = config.RETURN_TO_BASE

# Get the waypoints from waypoints.yaml
waypoints = get_waypoint_yaml()

objects_to_look = []
for waypoint in WAYPOINTS["object_targets"]:
objects_to_look.append(WAYPOINTS["object_targets"][waypoint][0])
for waypoint in waypoints["object_targets"]:
objects_to_look.append(waypoints["object_targets"][waypoint][0])
rospy.set_param("object_target", ",".join(objects_to_look))

env.power_robot()
Expand All @@ -77,7 +80,7 @@ def main(spot, use_mixer, config, out_path=None):
if trip_idx < NUM_OBJECTS:
# 2 objects per receptacle
clutter_blacklist = [
i for i in WAYPOINTS["clutter"] if count[i] >= CLUTTER_AMOUNTS[i]
i for i in waypoints["clutter"] if count[i] >= CLUTTER_AMOUNTS[i]
]
waypoint_name, waypoint = closest_clutter(
env.x, env.y, clutter_blacklist=clutter_blacklist
Expand Down
Loading