Wander with keyboard

This tutorial guides you to wander with keyboard as g1 robot.

$ python -m grutopia.demo.g1_locomotion

You can control the g1 robot with keyboard command:

• I: Move Forward

• K: Move Backward

• J: Move Left

• L: Move Right

• U: Turn Left

• O: Turn Right

Brief Explanation

The keyboard is abstracted as an interaction device. A vector is used to denote which key is being pressed, and this vector is then translated into the robot’s actions at each step.

from grutopia_extension.interactions.keyboard import KeyboardInteraction

keyboard = KeyboardInteraction()

while env.simulation_app.is_running():
    i += 1
    command = keyboard.get_input()
    x_speed = command[0] - command[1]
    y_speed = command[2] - command[3]
    z_speed = command[4] - command[5]
    env_action = {
        move_by_speed_cfg.name: (x_speed, y_speed, z_speed),
    }
    obs, _, terminated, _, _ = env.step(action=env_action)
    ...

You can refer to GRUtopia/grutopia/demo/g1_locomotion.py for a complete example.