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gr00t-WholeBodyControl/gear_sonic_deploy/deploy.sh

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#!/bin/bash
set -e
# ============================================================================
# G1 Deploy - Deployment Script
# ============================================================================
# This script handles the complete setup and deployment process for g1_deploy
# Following the steps from the README.md
#
# Usage: ./deploy.sh [sim|real|<interface_name>|<ip_address>]
# sim - Use loopback interface for simulation (MuJoCo)
# real - Auto-detect robot network interface (192.168.123.x)
# <interface_name> - Use specific interface (e.g., enP8p1s0, eth0)
# <ip_address> - Use interface with specific IP
#
# Default: real
# ============================================================================
# Colors for output
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
CYAN='\033[0;36m'
NC='\033[0m' # No Color
# Script directory (where this script is located)
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "$SCRIPT_DIR"
# ============================================================================
# Interface Resolution Functions
# ============================================================================
# Get all network interfaces and their IPs
# Returns lines of: interface_name:ip_address
get_network_interfaces() {
if [[ "$(uname)" == "Darwin" ]]; then
# macOS
ifconfig | awk '
/^[a-z]/ { iface=$1; gsub(/:$/, "", iface) }
/inet / { print iface ":" $2 }
'
else
# Linux
ip -4 addr show 2>/dev/null | awk '
/^[0-9]+:/ { gsub(/:$/, "", $2); iface=$2 }
/inet / { split($2, a, "/"); print iface ":" a[1] }
' 2>/dev/null || \
ifconfig 2>/dev/null | awk '
/^[a-z]/ { iface=$1; gsub(/:$/, "", iface) }
/inet / {
for (i=1; i<=NF; i++) {
if ($i == "inet") { print iface ":" $(i+1); break }
if ($i ~ /^addr:/) { split($i, a, ":"); print iface ":" a[2]; break }
}
}
'
fi
}
# Find interface by IP address
# Returns interface name or empty string
find_interface_by_ip() {
local target_ip="$1"
get_network_interfaces | while IFS=: read -r iface ip; do
if [[ "$ip" == "$target_ip" ]]; then
echo "$iface"
return 0
fi
done
}
# Find interface with IP matching a prefix
# Returns interface name or empty string
find_interface_by_ip_prefix() {
local prefix="$1"
get_network_interfaces | while IFS=: read -r iface ip; do
if [[ "$ip" == "$prefix"* ]]; then
echo "$iface"
return 0
fi
done
}
# Check if string is an IP address
is_ip_address() {
local input="$1"
if [[ "$input" =~ ^[0-9]+\.[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
return 0
fi
return 1
}
# Check if interface has a specific IP
interface_has_ip() {
local iface="$1"
local target_ip="$2"
get_network_interfaces | while IFS=: read -r name ip; do
if [[ "$name" == "$iface" ]] && [[ "$ip" == "$target_ip" ]]; then
echo "yes"
return 0
fi
done
}
# Resolve interface parameter to actual network interface name and environment type
# Arguments: interface - "sim", "real", or direct interface name or IP address
# Outputs: Sets TARGET and ENV_TYPE variables
resolve_interface() {
local interface="$1"
local os_type="$(uname)"
# Check if interface is an IP address
if is_ip_address "$interface"; then
if [[ "$interface" == "127.0.0.1" ]]; then
TARGET="$interface"
ENV_TYPE="sim"
else
TARGET="$interface"
ENV_TYPE="real"
fi
return 0
fi
if [[ "$interface" == "sim" ]]; then
local lo_interface
lo_interface=$(find_interface_by_ip "127.0.0.1")
if [[ -n "$lo_interface" ]]; then
# macOS uses lo0 instead of lo
if [[ "$os_type" == "Darwin" ]] && [[ "$lo_interface" == "lo" ]]; then
TARGET="lo0"
else
TARGET="$lo_interface"
fi
else
# Fallback
if [[ "$os_type" == "Darwin" ]]; then
TARGET="lo0"
else
TARGET="lo"
fi
fi
ENV_TYPE="sim"
return 0
elif [[ "$interface" == "real" ]]; then
# Try to find interface with 192.168.123.x IP (Unitree robot network)
local real_interface
real_interface=$(find_interface_by_ip_prefix "192.168.123.")
if [[ -n "$real_interface" ]]; then
TARGET="$real_interface"
else
# Fallback to common interface names
# Try to find any non-loopback interface
local fallback_interface
fallback_interface=$(get_network_interfaces | grep -v "127.0.0.1" | head -1 | cut -d: -f1)
if [[ -n "$fallback_interface" ]]; then
TARGET="$fallback_interface"
echo -e "${YELLOW}⚠️ Could not find 192.168.123.x interface, using: $TARGET${NC}" >&2
else
# Ultimate fallback
TARGET="enP8p1s0"
echo -e "${YELLOW}⚠️ Could not auto-detect interface, using default: $TARGET${NC}" >&2
fi
fi
ENV_TYPE="real"
return 0
else
# Direct interface name - check if it has 127.0.0.1 to determine env_type
local has_loopback
has_loopback=$(interface_has_ip "$interface" "127.0.0.1")
if [[ "$has_loopback" == "yes" ]]; then
TARGET="$interface"
ENV_TYPE="sim"
return 0
fi
# macOS lo interface handling
if [[ "$os_type" == "Darwin" ]] && [[ "$interface" == "lo" ]]; then
TARGET="lo0"
ENV_TYPE="sim"
return 0
fi
# Default to real for unknown interfaces
TARGET="$interface"
ENV_TYPE="real"
return 0
fi
}
# ============================================================================
# Parse Command Line Arguments
# ============================================================================
show_usage() {
echo "Usage: $0 [OPTIONS] [sim|real|<interface>]"
echo ""
echo "Options:"
echo " -h, --help Show this help message"
echo " --cp, --checkpoint PATH Set the checkpoint path (default: policy/checkpoints/example/model_step_000000)"
echo " --obs-config PATH Set the observation config file (default: policy/configs/example.yaml)"
echo " --planner PATH Set the planner model path (default: planner/example.onnx)"
echo " --motion-data PATH Set the motion data path (default: reference/example_motion/)"
echo " --input-type TYPE Set the input type (default: zmq_manager)"
echo " --output-type TYPE Set the output type (default: ros2)"
echo " --zmq-host HOST Set the ZMQ host (default: localhost)"
echo ""
echo "Interface modes:"
echo " sim Use loopback interface for simulation (MuJoCo)"
echo " real Auto-detect robot network (192.168.123.x)"
echo " <interface> Use specific interface (e.g., enP8p1s0, eth0)"
echo " <ip_address> Use interface by IP address"
echo ""
echo "Default: real"
echo ""
echo "Examples:"
echo " $0 sim # Run in simulation mode"
echo " $0 real # Auto-detect real robot interface"
echo " $0 enP8p1s0 # Use specific interface"
echo " $0 192.168.x.x # Use interface with this IP"
echo " $0 --cp policy/checkpoints/custom/model_step_123456 real # Use custom checkpoint"
echo " $0 --obs-config policy/configs/custom.yaml sim # Use custom obs config"
echo " $0 --planner planner/custom.onnx --input-type keyboard real # Use custom planner and input"
echo " $0 --motion-data reference/custom_motion/ sim # Use custom motion data"
}
# Default interface mode
INTERFACE_MODE="real"
# Default configuration values (can be overridden by command line)
CHECKPOINT_DEFAULT="policy/release/model"
OBS_CONFIG_DEFAULT="policy/release/observation_config.yaml"
PLANNER_DEFAULT="planner/target_vel/V2/planner_sonic.onnx"
MOTION_DATA_DEFAULT="reference/example/"
INPUT_TYPE_DEFAULT="manager"
OUTPUT_TYPE_DEFAULT="all"
ZMQ_HOST_DEFAULT="localhost"
# Initialize with defaults (will be set after parsing)
CHECKPOINT="$CHECKPOINT_DEFAULT"
OBS_CONFIG="$OBS_CONFIG_DEFAULT"
PLANNER="$PLANNER_DEFAULT"
MOTION_DATA="$MOTION_DATA_DEFAULT"
INPUT_TYPE="$INPUT_TYPE_DEFAULT"
OUTPUT_TYPE="$OUTPUT_TYPE_DEFAULT"
ZMQ_HOST="$ZMQ_HOST_DEFAULT"
# Parse arguments
while [[ $# -gt 0 ]]; do
case $1 in
-h|--help)
show_usage
exit 0
;;
--cp|--checkpoint)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --cp/--checkpoint requires a path argument${NC}" >&2
exit 1
fi
CHECKPOINT="$2"
shift 2
;;
--obs-config)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --obs-config requires a path argument${NC}" >&2
exit 1
fi
OBS_CONFIG="$2"
shift 2
;;
--planner)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --planner requires a path argument${NC}" >&2
exit 1
fi
PLANNER="$2"
shift 2
;;
--motion-data)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --motion-data requires a path argument${NC}" >&2
exit 1
fi
MOTION_DATA="$2"
shift 2
;;
--input-type)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --input-type requires a type argument${NC}" >&2
exit 1
fi
INPUT_TYPE="$2"
shift 2
;;
--output-type)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --output-type requires a type argument${NC}" >&2
exit 1
fi
OUTPUT_TYPE="$2"
shift 2
;;
--zmq-host)
if [[ -z "$2" ]]; then
echo -e "${RED}Error: --zmq-host requires a host argument${NC}" >&2
exit 1
fi
ZMQ_HOST="$2"
shift 2
;;
sim|real)
INTERFACE_MODE="$1"
shift
;;
*)
# Could be interface name or IP
INTERFACE_MODE="$1"
shift
;;
esac
done
# ============================================================================
# Display Header
# ============================================================================
echo -e "${CYAN}"
echo "╔══════════════════════════════════════════════════════════════════════╗"
echo "║ G1 DEPLOY LAUNCHER ║"
echo "╚══════════════════════════════════════════════════════════════════════╝"
echo -e "${NC}"
# ============================================================================
# Resolve Interface
# ============================================================================
echo -e "${BLUE}[Interface Resolution]${NC}"
echo "Requested mode: $INTERFACE_MODE"
resolve_interface "$INTERFACE_MODE"
echo -e "Resolved interface: ${GREEN}$TARGET${NC}"
echo -e "Environment type: ${GREEN}$ENV_TYPE${NC}"
echo ""
# ============================================================================
# Configuration
# ============================================================================
# Model checkpoint path (set via command line or default)
# CHECKPOINT and OBS_CONFIG are already set from argument parsing above
# Decoder and Encoder ONNX models
CHECKPOINT_DECODER="${CHECKPOINT}_decoder.onnx"
CHECKPOINT_ENCODER="${CHECKPOINT}_encoder.onnx"
# Motion data path (set via command line or default)
# MOTION_DATA is already set from argument parsing above
# Observation config (set via command line or default)
# OBS_CONFIG is already set from argument parsing above
# Planner model (set via command line or default)
# PLANNER is already set from argument parsing above
# Input type (set via command line or default)
# INPUT_TYPE is already set from argument parsing above
# Output type (set via command line or default)
# OUTPUT_TYPE is already set from argument parsing above
# ZMQ host (set via command line or default)
# ZMQ_HOST is already set from argument parsing above
# Additional flags for simulation mode
EXTRA_ARGS=""
if [[ "$ENV_TYPE" == "sim" ]]; then
EXTRA_ARGS="--disable-crc-check"
echo -e "${YELLOW}📋 Simulation mode: CRC check will be disabled${NC}"
echo ""
fi
# ============================================================================
# Step 1: Check Prerequisites
# ============================================================================
echo -e "${BLUE}[Step 1/4]${NC} Checking prerequisites..."
# Check for TensorRT
if [ -z "$TensorRT_ROOT" ]; then
echo -e "${YELLOW}⚠️ TensorRT_ROOT is not set.${NC}"
echo " Please ensure TensorRT is installed and add to your ~/.bashrc:"
echo " export TensorRT_ROOT=\$HOME/TensorRT"
echo ""
echo " Get TensorRT from: https://developer.nvidia.com/tensorrt/download/10x"
# Check if it exists in common locations
if [ -d "$HOME/TensorRT" ]; then
echo -e "${GREEN} Found TensorRT at ~/TensorRT - setting temporarily${NC}"
export TensorRT_ROOT="$HOME/TensorRT"
fi
fi
# Check for required model files
check_file() {
if [ ! -f "$1" ]; then
echo -e "${RED}❌ Missing file: $1${NC}"
return 1
else
echo -e "${GREEN}✅ Found: $1${NC}"
return 0
fi
}
echo ""
echo "Checking required model files..."
MISSING_FILES=0
check_file "$CHECKPOINT_DECODER" || MISSING_FILES=$((MISSING_FILES + 1))
check_file "$CHECKPOINT_ENCODER" || MISSING_FILES=$((MISSING_FILES + 1))
check_file "$OBS_CONFIG" || MISSING_FILES=$((MISSING_FILES + 1))
check_file "$PLANNER" || MISSING_FILES=$((MISSING_FILES + 1))
if [ -d "$MOTION_DATA" ]; then
echo -e "${GREEN}✅ Found: $MOTION_DATA${NC}"
else
echo -e "${RED}❌ Missing directory: $MOTION_DATA${NC}"
MISSING_FILES=$((MISSING_FILES + 1))
fi
if [ $MISSING_FILES -gt 0 ]; then
echo -e "${YELLOW}⚠️ Some files are missing. Make sure you have pulled the model files.${NC}"
echo " You may need to run: git lfs pull"
fi
echo ""
# ============================================================================
# Step 2: Install Dependencies (if needed)
# ============================================================================
echo -e "${BLUE}[Step 2/4]${NC} Checking/Installing dependencies..."
# Check if just is installed
if ! command -v just &> /dev/null; then
echo "Installing dependencies (just not found)..."
chmod +x scripts/install_deps.sh
./scripts/install_deps.sh
else
echo -e "${GREEN}✅ just is already installed${NC}"
fi
# Check if other essential tools are available
DEPS_OK=true
for cmd in cmake clang git; do
if ! command -v $cmd &> /dev/null; then
echo -e "${YELLOW}⚠️ $cmd not found, will run install_deps.sh${NC}"
DEPS_OK=false
break
fi
done
if [ "$DEPS_OK" = false ]; then
echo "Installing missing dependencies..."
chmod +x scripts/install_deps.sh
./scripts/install_deps.sh
else
echo -e "${GREEN}✅ All essential tools are installed${NC}"
fi
echo ""
# ============================================================================
# Step 3: Setup Environment & Build
# ============================================================================
echo -e "${BLUE}[Step 3/4]${NC} Setting up environment and building..."
# Source the environment setup script
echo "Sourcing environment setup..."
set +e # Temporarily allow errors (for jetson_clocks on non-Jetson systems)
source scripts/setup_env.sh
set -e # Re-enable exit on error
# Always build to ensure we have the latest version
echo "Building the project..."
just build
echo ""
# ============================================================================
# Step 4: Deploy
# ============================================================================
echo -e "${BLUE}[Step 4/4]${NC} Ready to deploy!"
echo ""
echo -e "${CYAN}═══════════════════════════════════════════════════════════════════════${NC}"
echo -e "${CYAN} DEPLOYMENT CONFIGURATION ${NC}"
echo -e "${CYAN}═══════════════════════════════════════════════════════════════════════${NC}"
echo ""
echo -e " Environment: ${GREEN}$ENV_TYPE${NC}"
echo -e " Network Interface: ${GREEN}$TARGET${NC}"
echo -e " Decoder Model: ${GREEN}$CHECKPOINT_DECODER${NC}"
echo -e " Encoder Model: ${GREEN}$CHECKPOINT_ENCODER${NC}"
echo -e " Motion Data: ${GREEN}$MOTION_DATA${NC}"
echo -e " Obs Config: ${GREEN}$OBS_CONFIG${NC}"
echo -e " Planner: ${GREEN}$PLANNER${NC}"
echo -e " Input Type: ${GREEN}$INPUT_TYPE${NC}"
echo -e " Output Type: ${GREEN}$OUTPUT_TYPE${NC}"
echo -e " ZMQ Host: ${GREEN}$ZMQ_HOST${NC}"
if [[ -n "$EXTRA_ARGS" ]]; then
echo -e " Extra Args: ${GREEN}$EXTRA_ARGS${NC}"
fi
echo ""
echo -e "${CYAN}═══════════════════════════════════════════════════════════════════════${NC}"
echo ""
echo -e "${YELLOW}The following command will be executed:${NC}"
echo ""
echo -e "${BLUE}just run g1_deploy_onnx_ref $TARGET $CHECKPOINT_DECODER $MOTION_DATA \\${NC}"
echo -e "${BLUE} --obs-config $OBS_CONFIG \\${NC}"
echo -e "${BLUE} --encoder-file $CHECKPOINT_ENCODER \\${NC}"
echo -e "${BLUE} --planner-file $PLANNER \\${NC}"
echo -e "${BLUE} --input-type $INPUT_TYPE \\${NC}"
echo -e "${BLUE} --output-type $OUTPUT_TYPE \\${NC}"
echo -e "${BLUE} --zmq-host $ZMQ_HOST${NC}"
if [[ -n "$EXTRA_ARGS" ]]; then
echo -e "${BLUE} $EXTRA_ARGS${NC}"
fi
echo ""
echo -e "${CYAN}═══════════════════════════════════════════════════════════════════════${NC}"
echo ""
# Ask for confirmation
if [[ "$ENV_TYPE" == "real" ]]; then
echo -e "${YELLOW}⚠️ WARNING: This will start the REAL robot control system!${NC}"
else
echo -e "${YELLOW}📋 This will start the simulation control system.${NC}"
fi
echo ""
read -p "$(echo -e ${GREEN}Proceed with deployment? [Y/n]: ${NC})" confirm
if [[ "$confirm" =~ ^[Yy]$ ]] || [[ -z "$confirm" ]]; then
echo ""
echo -e "${GREEN}🚀 Starting deployment...${NC}"
echo ""
# Build the command with optional extra args
if [[ -n "$EXTRA_ARGS" ]]; then
just run g1_deploy_onnx_ref "$TARGET" "$CHECKPOINT_DECODER" "$MOTION_DATA" \
--obs-config "$OBS_CONFIG" \
--encoder-file "$CHECKPOINT_ENCODER" \
--planner-file "$PLANNER" \
--input-type "$INPUT_TYPE" \
--output-type "$OUTPUT_TYPE" \
--zmq-host "$ZMQ_HOST" \
$EXTRA_ARGS
else
just run g1_deploy_onnx_ref "$TARGET" "$CHECKPOINT_DECODER" "$MOTION_DATA" \
--obs-config "$OBS_CONFIG" \
--encoder-file "$CHECKPOINT_ENCODER" \
--planner-file "$PLANNER" \
--input-type "$INPUT_TYPE" \
--output-type "$OUTPUT_TYPE" \
--zmq-host "$ZMQ_HOST"
fi
else
echo ""
echo -e "${YELLOW}Deployment cancelled.${NC}"
exit 0
fi