Add video_record script for Cassie hardware experiment (not tested)

Author: yminchen

.gitignore

@@ -13,3 +13,4 @@ fort.*
 .vscode
 *.csv
 /examples/Cassie/saved_trajectories/
+*.mp4

examples/Cassie/start_logging.py

@@ -0,0 +1,48 @@
+import subprocess
+import os
+import glob
+import codecs
+from datetime import date
+
+
+def main():
+    sim = (os.getlogin() == 'brian')
+    curr_date = date.today().strftime("%m_%d_%y")
+    year = date.today().strftime("%Y")
+
+    logdir = \
+        f"{os.getenv('HOME')}/workspace/logs/cassie_simulation/{year}/{curr_date}" \
+            if sim else f"{os.getenv('HOME')}/logs/{year}/{curr_date}"
+
+    current_dair_dir = f"{os.getcwd()}/"
+    standing_gains = current_dair_dir + "examples/Cassie/osc/osc_standing_gains.yaml"
+    walking_gains = current_dair_dir + "examples/Cassie/osc/osc_walking_gains.yaml"
+    alip_gains = current_dair_dir + "examples/Cassie/osc/osc_walking_gains_alip.yaml"
+
+    if not os.path.isdir(logdir):
+        os.mkdir(logdir)
+
+    git_diff = subprocess.check_output(['git', 'diff'], cwd=current_dair_dir)
+    commit_tag = subprocess.check_output(['git', 'rev-parse', 'HEAD'], cwd=current_dair_dir)
+
+    os.chdir(logdir)
+    current_logs = sorted(glob.glob('lcmlog-*'))
+    if current_logs:
+        last_log = int(current_logs[-1].split('-')[-1])
+        log_num = f'{last_log+1:02}'
+    else:
+        log_num = '00'
+
+    with open('commit_tag%s' % log_num, 'w') as f:
+        f.write(str(commit_tag))
+        f.write("\n\ngit diff:\n\n")
+        f.write(codecs.getdecoder("unicode_escape")(git_diff)[0])
+
+    subprocess.run(['cp', standing_gains, 'standing_gains_%s.yaml' % log_num])
+    subprocess.run(['cp', walking_gains, 'walking_gains_%s.yaml' % log_num])
+    subprocess.run(['cp', alip_gains, 'walking_gains_alip%s.yaml' % log_num])
+    subprocess.run(['lcm-logger', '-f', 'lcmlog-%s' % log_num])
+
+
+if __name__ == '__main__':
+    main()

examples/goldilocks_models/procman_scripts/hardware_cassie_controller.pmd

@@ -85,10 +85,14 @@ group "4.lcm-tools" {
         exec = "bazel-bin/lcmtypes/dair-lcm-spy";
         host = "localhost";
     }
-    cmd "2. lcm-logger" {
-        exec = "lcm-logger -f /home/yuming/Desktop/temp/log";
+    cmd "record_video" {
+        exec = "python3 record_video.py";
         host = "localhost";
     }
+    cmd "0.cassie-lcm-logger" {
+        exec = "python3 examples/Cassie/start_logging.py";
+        host = "dair-cassie";
+    }
 }
 
 group "1.rom-space-controller (wired ethernet)" {
@@ -206,3 +210,12 @@ script "switch to walking" {
     wait ms 1000;
     stop cmd "3.standing-controller-real-robot";
 }
+
+script "switch to walking start logging" {
+    start cmd "0.cassie-lcm-logger";
+    start cmd "record_video";
+    wait ms 100;
+    start cmd "3.0.switch-to-rom-mpc";
+    wait ms 1000;
+    stop cmd "3.standing-controller-real-robot";
+}

record_video.py

@@ -0,0 +1,36 @@
+import subprocess
+import sys
+import os
+import glob
+from datetime import date
+def main():
+    curr_date = date.today().strftime("%m_%d_%y")
+    year = date.today().strftime("%Y")
+    logdir = f"{os.getenv('HOME')}/Videos/cassie_experiments/{year}/{curr_date}/"
+
+
+    current_logs = sorted(glob.glob(logdir + 'log_*'))
+    if current_logs:
+        last_log = int(current_logs[-1].split('_')[-1].split('.')[0])
+        log_num = f'{last_log+1:02}'
+    else:
+        log_num = '00'
+    print(log_num)
+    print(current_logs)
+    experiment_name = logdir + 'log_' + log_num + '.mp4'
+    cmd = 'v4l2-ctl --list-devices'.split(' ')
+    process = subprocess.check_output(cmd)
+    lines = process.decode("utf-8").split('\n')
+    dev_name = ''
+    for i, line in enumerate(lines):
+        if 'HD' in line:
+            dev_name = lines[i+1].split('\t')[1]
+    print(dev_name)
+    cmds = ('ffmpeg -y -f alsa -i default -i ' + dev_name + ' -vcodec libx264 -acodec aac -qp 0').split(' ')
+    cmds.append(experiment_name)
+    print(cmds)
+    # import pdb; pdb.set_trace()
+    subprocess.run(cmds)
+
+if __name__ == '__main__':
+    main()