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"""Keyboard velocity control of the trained S10 policy (one environment)."""
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from __future__ import annotations
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import argparse
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from contextlib import ExitStack
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from dataclasses import dataclass, field
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import math
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import os
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[1]
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DEFAULT_CHECKPOINT = ROOT / "logs/s10_terrain_v4_20k_full/model_20000.pt"
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@dataclass
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class KeyboardInput:
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speed: float = 0.6
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lateral_speed: float = 0.2
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turn_speed: float = 0.4
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keys: set[str] = field(default_factory=set)
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def clear(self):
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self.keys.clear()
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def command(self):
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if "space" in self.keys:
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return (0., 0., 0.)
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x = float("up" in self.keys) - float("down" in self.keys)
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y = float("left" in self.keys) - float("right" in self.keys)
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scale = max(1., math.hypot(x, y))
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yaw = float("q" in self.keys) - float("e" in self.keys)
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return (self.speed * x / scale, self.lateral_speed * y / scale, self.turn_speed * yaw)
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def configure_rendering(headless, backend="auto"):
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backend = ("egl" if headless else "glfw") if backend == "auto" else backend
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os.environ["MUJOCO_GL"] = backend
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os.environ["SDL_FRAMEBUFFER_ACCELERATION"] = "0"
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os.environ["SDL_RENDER_DRIVER"] = "software"
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os.environ.setdefault("PYGAME_HIDE_SUPPORT_PROMPT", "1")
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return backend
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def keyboard_command_cfg(controls):
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from mjlab.tasks.velocity.mdp.velocity_command import UniformVelocityCommand, UniformVelocityCommandCfg
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class KeyboardVelocity(UniformVelocityCommand):
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def _resample_command(self, env_ids):
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self._update_command(env_ids)
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def _update_command(self, env_ids=None):
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# Commands are in the robot body frame, exactly as during training.
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for axis, value in enumerate(controls.command()):
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self.vel_command_b[:, axis] = value
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def reset(self, env_ids=None):
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controls.clear()
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return super().reset(env_ids)
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@dataclass(kw_only=True)
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class KeyboardVelocityCfg(UniformVelocityCommandCfg):
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def build(self, env):
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return KeyboardVelocity(self, env)
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return KeyboardVelocityCfg(
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entity_name="robot", resampling_time_range=(1e9, 1e9),
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heading_command=False, rel_heading_envs=0., rel_standing_envs=0.,
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rel_forward_envs=0., debug_vis=True,
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ranges=UniformVelocityCommandCfg.Ranges(
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lin_vel_x=(-controls.speed, controls.speed),
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lin_vel_y=(-controls.lateral_speed, controls.lateral_speed),
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ang_vel_z=(-controls.turn_speed, controls.turn_speed)),
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)
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def main():
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p = argparse.ArgumentParser(description=__doc__)
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p.add_argument("--terrain-level", type=int, default=0, choices=range(6))
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p.add_argument("--terrain-kind", choices=("flat","up","down","platform","slope","rubble"), default="rubble")
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p.add_argument("--checkpoint", type=Path, default=DEFAULT_CHECKPOINT)
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p.add_argument("--device", default="cpu", help="One CPU environment by default to limit GPU memory.")
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p.add_argument("--speed", type=float, default=0.6)
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p.add_argument("--lateral-speed", type=float, default=0.2)
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p.add_argument("--turn-speed", type=float, default=0.4)
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p.add_argument("--width", type=int, default=800)
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p.add_argument("--height", type=int, default=600)
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p.add_argument("--headless", action="store_true")
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p.add_argument("--steps", type=int, default=0, help="0: interactive until Esc; otherwise exit after N steps.")
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p.add_argument("--demo", action="store_true", help="Automatically exercise forward/stop/left/turn/stop.")
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p.add_argument("--video", type=Path, help="Stream rendered frames to MP4.")
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p.add_argument("--ghost-horizon", type=int, default=32,
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help="World-model future steps drawn as ghost poses")
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p.add_argument("--ghost-stride", type=int, default=4,
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help="Draw every Nth ghost (1 = all, 4 = 8 ghosts)")
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p.add_argument("--no-ghost", action="store_true",
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help="Disable the world-model ghost/error overlay")
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p.add_argument("--gl-backend", choices=("auto", "glfw", "egl"), default="auto")
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args = p.parse_args()
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if not args.checkpoint.is_file():
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p.error(f"Checkpoint not found: {args.checkpoint}")
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if args.steps < 0 or (args.headless and args.steps == 0):
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p.error("Headless mode requires --steps > 0; steps cannot be negative")
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if args.ghost_horizon < 1 or args.ghost_stride < 1:
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p.error("ghost-horizon and ghost-stride must be positive")
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if min(args.width, args.height) < 320 or args.width % 2 or args.height % 2:
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p.error("width and height must be even and at least 320")
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for name, value, maximum in (("speed", args.speed, 1.), ("lateral-speed", args.lateral_speed, 0.2),
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("turn-speed", args.turn_speed, 0.5)):
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if not math.isfinite(value) or not 0 < value <= maximum:
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p.error(f"{name} must be in (0, {maximum}] to stay within the training command range")
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backend = configure_rendering(args.headless, args.gl_backend)
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import torch
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from mjlab.envs import ManagerBasedRlEnv
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from s10_supermimic.core.bridge import S10Bridge
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from s10_supermimic.core.policy import load_actor
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from s10_supermimic.core.world_preview import WorldModelPreview, annotate_rgb
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pg = None
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if not args.headless:
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try:
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import pygame as pg
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except ImportError:
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p.error("Keyboard window requires pygame: .venv/bin/python -m pip install 'pygame>=2.5'")
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checkpoint = torch.load(args.checkpoint, map_location=args.device, weights_only=True)
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actor = load_actor(checkpoint, args.device)
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controls = KeyboardInput(args.speed, args.lateral_speed, args.turn_speed)
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from s10_supermimic.core.policy import evaluation_env_cfg
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cfg = evaluation_env_cfg(checkpoint, args.terrain_level, args.terrain_kind)
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cfg.scene.num_envs = 1
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cfg.seed = 0
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cfg.episode_length_s = 1e9 # No automatic timed teleport during keyboard play.
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cfg.commands["twist"] = keyboard_command_cfg(controls)
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cfg.viewer.width, cfg.viewer.height = args.width, args.height
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cfg.viewer.distance, cfg.viewer.elevation, cfg.viewer.azimuth = 2.5, -20., 140.
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with ExitStack() as stack:
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env = ManagerBasedRlEnv(cfg=cfg, device=args.device,
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render_mode="rgb_array" if pg or args.video else None)
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stack.callback(env.close)
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obs, _ = env.reset()
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if checkpoint["format"] == "s10-terrain-policy-v1":
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from s10_supermimic.core.terrain import TerrainBridge, TerrainField
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field = TerrainField.from_env(env)
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bridge = TerrainBridge(env, field)
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else:
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field = None
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bridge = S10Bridge(env)
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if checkpoint["env_action_order"] != bridge.to_env or abs(checkpoint["dt"] - env.step_dt) > 1e-8:
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raise ValueError("Checkpoint action order/control timestep differs from this environment")
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preview = None
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if not args.no_ghost:
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try:
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preview = WorldModelPreview(
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checkpoint, env, bridge, field, actor,
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horizon=args.ghost_horizon, device=args.device,
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env_action_order=checkpoint["env_action_order"])
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except Exception as exc:
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print(f"World-model preview disabled: {exc}", flush=True)
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if pg:
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stack.callback(pg.quit)
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# Open SDL only after MuJoCo initialization; SDL displays RGB in software.
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pg.display.init()
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pg.font.init()
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screen = pg.display.set_mode((args.width, args.height))
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pg.display.set_caption("S10 | Arrows move | Q/E turn | Space stop | R reset | Esc quit")
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font = pg.font.Font(None, 22)
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clock = pg.time.Clock()
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key_names = {pg.K_UP: "up", pg.K_DOWN: "down", pg.K_LEFT: "left", pg.K_RIGHT: "right",
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pg.K_q: "q", pg.K_e: "e", pg.K_SPACE: "space"}
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video = None
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if args.video:
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import mediapy
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args.video.parent.mkdir(parents=True, exist_ok=True)
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video = stack.enter_context(mediapy.VideoWriter(str(args.video), shape=(args.height, args.width),
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fps=round(1 / env.step_dt)))
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iteration = checkpoint["step"]
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del checkpoint # Drop optimizer/world-model tensors; inference uses actor only.
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print(f"Loaded S10 iteration {iteration}: {args.checkpoint}", flush=True)
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print(f"One environment | {args.device} | {backend} | {env.step_dt:.3f}s control period", flush=True)
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print("Arrows: forward/back/strafe | Q/E: turn | release/Space: zero command | R: reset | Esc: quit", flush=True)
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print("Keyboard changes enter the next observation (one control-step latency).", flush=True)
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previous = torch.zeros(1, 16, device=args.device)
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ghosts = []
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step, running = 0, True
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with torch.inference_mode():
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while running and (args.steps == 0 or step < args.steps):
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if pg:
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for event in pg.event.get():
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if event.type == pg.QUIT or (event.type == pg.KEYDOWN and event.key == pg.K_ESCAPE):
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running = False
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elif event.type == pg.WINDOWFOCUSLOST:
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controls.clear()
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elif event.type == pg.KEYDOWN:
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if event.key == pg.K_r:
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controls.clear()
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obs, _ = env.reset()
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previous.zero_()
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ghosts = []
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if preview is not None:
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preview.clear()
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elif event.key in key_names:
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controls.keys.add(key_names[event.key])
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elif event.type == pg.KEYUP and event.key in key_names:
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controls.keys.discard(key_names[event.key])
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if not running:
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break
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if args.demo:
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phases = ({"up"}, set(), {"left"}, {"q"}, set())
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controls.keys = set(phases[(step // 100) % len(phases)])
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state_before, pose_before = bridge.state(), bridge.pose()
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if preview is not None:
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preview.update_errors(step, state_before, pose_before)
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ghosts = preview.predict(
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obs["actor"], previous, env.command_manager.get_command("twist"),
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bridge.context(), bridge.robot.data.encoder_bias[:, bridge.legs],
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state_before, pose_before)
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preview.push_errors(step, ghosts)
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action = actor(obs["actor"])
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if not torch.isfinite(action).all():
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raise RuntimeError("Non-finite policy action")
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obs, _, terminated, _, _ = env.step(bridge.env_action(action))
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previous = action
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if not torch.isfinite(obs["actor"]).all():
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raise RuntimeError("Non-finite observation")
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if terminated.any():
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controls.clear()
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previous.zero_()
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ghosts = []
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if preview is not None:
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preview.clear()
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print("Fall reset; keys cleared.", flush=True)
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if preview is not None and step % 20 == 0 and step > 0:
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print("WM " + preview.summary(), flush=True)
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if pg or video:
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rgb = (preview.render(ghosts, stride=args.ghost_stride)
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if preview is not None and ghosts else env.render())
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if video:
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lines = ([f"WM {preview.summary()}"] if preview is not None else [])
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video.add_image(annotate_rgb(rgb, lines))
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if pg:
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pg.surfarray.blit_array(screen, rgb.swapaxes(0, 1))
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vx, vy, yaw = controls.command()
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actual = bridge.robot.data
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lines = [f"S10 model {iteration} | Arrows move | Q/E turn | Space stop | R reset | Esc exit",
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f"Command: vx {vx:+.2f} vy {vy:+.2f} m/s yaw {yaw:+.2f} rad/s",
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f"Actual: vx {actual.root_link_lin_vel_b[0, 0]:+.2f} vy {actual.root_link_lin_vel_b[0, 1]:+.2f}"
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f" yaw {actual.root_link_ang_vel_b[0, 2]:+.2f}"]
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if preview is not None:
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lines.append("WM " + preview.summary())
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for i, line in enumerate(lines):
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screen.blit(font.render(line, True, (240, 240, 240), (20, 24, 30)), (8, 8 + i * 22))
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pg.display.flip()
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clock.tick(round(1 / env.step_dt))
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step += 1
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print(f"Completed {step} control steps.", flush=True)
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if __name__ == "__main__":
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main()
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