adjust gains on the robot, move files and rename folders

Armandpl · Jan 14, 2024 · da39fdb · da39fdb
1 parent 750afcc
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -55,7 +55,7 @@ repos:
             "--extend-ignore",
             "E203,E402,E501,F401,F841",
             "--exclude",
-            "logs/*,data/*,furuta_gym/logging/protobuf/*",
+            "logs/*,data/*,furuta/logging/protobuf/*",
           ]
 
   # yaml formatting

diff --git a/README.md b/README.md
@@ -20,25 +20,30 @@ In this repository you will find everything you need to build and train a rotary
 
 If you have any question feel free to open an issue or DM me [@armand_dpl](twitter.com/armand_dpl).
 
+## Usage
+1. Plug-in the robot
+2. Run `sudo dmesg | grep tty` in terminal to find which port is used for the device
+3. run `python tests/interactive_robot_self_test.py`
+
 ## MLOps
 During this project we leveraged [Weights and Biases](https://wandb.ai/site) MLOps tools to make our life easier. You can find our experiments, pre-trained models and reports [on our dashboard](https://wandb.ai/armandpl/furuta). You can also read more about [Training Reproducible Robots with W&B here](https://wandb.ai/armandpl/furuta/reports/Training-Reproducible-Robots-with-W-B--VmlldzoxMTY5NTM5).
 
 ## Credits
 To make this robot work we built on top of existing work!
 - We got the encoder precision and the idea to use a direct drive motor from the [Quanser Qube design](https://quanserinc.box.com/shared/static/5wnibclu7rp6xihm7mbxqxincu6dogur.pdf).
-- We re-used bits from [Quanser's code](https://git.ias.informatik.tu-darmstadt.de/quanser/clients/-/tree/master/quanser_robots/qube). Notably: 
+- We re-used bits from [Quanser's code](https://git.ias.informatik.tu-darmstadt.de/quanser/clients/-/tree/master/quanser_robots/qube). Notably:
   * their VelocityFilter class to compute the angular speeds
   * their GentlyTerminating wrapper to send a zero command to the robot at the end of each episode
   * their rotary inverted pendulum simulation
   * their ActionLimiter class
 - The arm assembly is inspired by this [YouTube video](https://www.youtube.com/watch?v=xowrt6ShdCw) by Mack Tang.
 - The visualization we use for the simulation is copy-pasted from https://github.com/angelolovatto/gym-cartpole-swingup
-- We use the [StableBaselines3](https://github.com/DLR-RM/stable-baselines3) library to train the robot. 
+- We use the [StableBaselines3](https://github.com/DLR-RM/stable-baselines3) library to train the robot.
 - We implemented tricks from [Antonin Raffin's talk at RLVS 2021](https://www.youtube.com/watch?v=Ikngt0_DXJg).
   * HistoryWrapper and continuity cost
   * [gSDE](https://arxiv.org/abs/2005.05719)
 - We use [code from Federico Bolanos](https://github.com/fbolanos/LS7366R/blob/master/LS7366R.py) to read the encoders counters.
 
 ## Authors
-[Armand du Parc Locmaria](https://armandpl.com)  
+[Armand du Parc Locmaria](https://armandpl.com)
 [Pierre Fabre](https://www.linkedin.com/in/p-fabre/)
diff --git a/furuta_gym/__init__.py → furuta/__init__.py b/furuta_gym/__init__.py → furuta/__init__.py
diff --git a/robot/software/controllers.py → furuta/controls/controllers.py b/robot/software/controllers.py → furuta/controls/controllers.py
diff --git a/furuta_gym/envs/hardware/__init__.py → furuta/logging/__init__.py b/furuta_gym/envs/hardware/__init__.py → furuta/logging/__init__.py
diff --git a/furuta_gym/logging/__init__.py → furuta/logging/protobuf/__init__.py b/furuta_gym/logging/__init__.py → furuta/logging/protobuf/__init__.py
diff --git a/...gym/logging/protobuf/pendulum_state.proto → furuta/logging/protobuf/pendulum_state.proto b/...gym/logging/protobuf/pendulum_state.proto → furuta/logging/protobuf/pendulum_state.proto
@@ -9,4 +9,4 @@ message PendulumState {
   bool done = 6;
   float action = 7;
   float corrected_action = 8;
-}
+}
diff --git a/furuta/logging/protobuf/pendulum_state_pb2.py b/furuta/logging/protobuf/pendulum_state_pb2.py
diff --git a/furuta_gym/envs/__init__.py → furuta/rl/__init__.py b/furuta_gym/envs/__init__.py → furuta/rl/__init__.py
diff --git a/furuta_gym/algos.py → furuta/rl/algos.py b/furuta_gym/algos.py → furuta/rl/algos.py
diff --git a/furuta_gym/envs/furuta_base.py → furuta/rl/envs/furuta_base.py b/furuta_gym/envs/furuta_base.py → furuta/rl/envs/furuta_base.py
@@ -6,7 +6,7 @@
 import numpy as np
 from gym.spaces import Box
 
-from furuta_gym.utils import ALPHA, ALPHA_DOT, THETA, THETA_DOT, Timing
+from furuta.utils import ALPHA, ALPHA_DOT, THETA, THETA_DOT, Timing
 
 
 def alpha_reward(state):

diff --git a/furuta_gym/envs/furuta_real.py → furuta/rl/envs/furuta_real.py b/furuta_gym/envs/furuta_real.py → furuta/rl/envs/furuta_real.py
@@ -4,21 +4,25 @@
 
 import numpy as np
 
-from furuta_gym.common import VelocityFilter
-from furuta_gym.envs.furuta_base import FurutaBase
-from furuta_gym.envs.hardware.robot import FurutaRobot
+from furuta.common import VelocityFilter
+from furuta.envs.furuta_base import FurutaBase
+from furuta.envs.hardware.robot import FurutaRobot
 
 
 class FurutaReal(FurutaBase):
-
-    def __init__(self, fs=100, fs_ctrl=100,
-                 action_limiter=False, safety_th_lim=1.5,
-                 reward="simple", state_limits='low',
-                 config_file="robot.ini"):
-        super().__init__(fs, fs_ctrl, action_limiter, safety_th_lim,
-                         reward, state_limits)
-
-        self.robot = FurutaRobot() 
+    def __init__(
+        self,
+        fs=100,
+        fs_ctrl=100,
+        action_limiter=False,
+        safety_th_lim=1.5,
+        reward="simple",
+        state_limits="low",
+        config_file="robot.ini",
+    ):
+        super().__init__(fs, fs_ctrl, action_limiter, safety_th_lim, reward, state_limits)
+
+        self.robot = FurutaRobot()
 
         self.vel_filt = VelocityFilter(2, dt=self.timing.dt)
 
@@ -61,15 +65,14 @@ def get_state(self):
     def _reset_pendulum(self, tolerance=10, still_time=1, clear=True):
         pass
 
-
     def reset(self):
         logging.info("Reset env...")
         # reset pendulum
         self._reset_pendulum(40, 0.5, False)
         # reset motor
         logging.debug("Reset motor")
         while True:
-            state = self._read_state()*180/np.pi
+            state = self._read_state() * 180 / np.pi
             motor_angle = state[0]
             motor_speed = state[2]
 
@@ -83,7 +86,7 @@ def reset(self):
                     elif motor_angle > 0:
                         self.motor.set_speed(0.3)
 
-                    sleep(10/100)
+                    sleep(10 / 100)
 
                     self.motor.set_speed(0)
 

diff --git a/furuta_gym/envs/furuta_sim.py → furuta/rl/envs/furuta_sim.py b/furuta_gym/envs/furuta_sim.py → furuta/rl/envs/furuta_sim.py
@@ -4,7 +4,7 @@
 import numpy as np
 from numpy.linalg import inv
 
-from furuta_gym.utils import ALPHA, ALPHA_DOT, THETA, THETA_DOT, VelocityFilter
+from furuta.utils import ALPHA, ALPHA_DOT, THETA, THETA_DOT, VelocityFilter
 
 from .furuta_base import FurutaBase
 

diff --git a/furuta_gym/wrappers.py → furuta/rl/wrappers.py b/furuta_gym/wrappers.py → furuta/rl/wrappers.py
@@ -5,11 +5,11 @@
 
 import gym
 import numpy as np
+import wandb
 from gym.spaces import Box
 from mcap_protobuf.writer import Writer
 
-import wandb
-from furuta_gym.logging.protobuf.pendulum_state_pb2 import PendulumState
+from furuta.logging.protobuf.pendulum_state_pb2 import PendulumState
 
 
 class GentlyTerminating(gym.Wrapper):

diff --git a/furuta_gym/robot.py → furuta/robot.py b/furuta_gym/robot.py → furuta/robot.py
@@ -1,17 +1,15 @@
 import struct
 
-import matplotlib.pyplot as plt
 import numpy as np
 import serial
-import simple_pid
 
 
 class Robot:
     def __init__(self, device="dev/ttyACM0", baudrate=921600):
         self.ser = serial.Serial(device, baudrate)
 
     def step(self, motor_command: float):
-        """motor command is a float between -1 and 1."""
+        """Motor command is a float between -1 and 1."""
         direction = motor_command < 0
         # convert motor command to 16 bit unsigned int
         int_motor_command = int(np.abs(motor_command) * (2**16 - 1))

diff --git a/furuta_gym/utils.py → furuta/utils.py b/furuta_gym/utils.py → furuta/utils.py
diff --git a/furuta_gym/envs/hardware/LS7366R.py b/furuta_gym/envs/hardware/LS7366R.py
diff --git a/furuta_gym/envs/hardware/motor.py b/furuta_gym/envs/hardware/motor.py
diff --git a/furuta_gym/logging/protobuf/__init__.py b/furuta_gym/logging/protobuf/__init__.py
diff --git a/furuta_gym/logging/protobuf/pendulum_state_pb2.py b/furuta_gym/logging/protobuf/pendulum_state_pb2.py