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Go2Py_SIM
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fsm modified and tested on robot

This commit is contained in:
Rooholla-KhorramBakht 2024-03-18 20:35:53 -04:00
parent 8b550c33c3
commit 174c5a3460
6 changed files with 457 additions and 52 deletions
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26
Go2Py/robot/interface/dds.py
View File

@ -30,6 +30,21 @@ class GO2Real():
if self.mode == 'highlevel':
raise NotImplementedError('DDS interface for the highlevel commands is not implemented yet. Please use our ROS2 interface.')
self.simulated = False
self.prestanding_q = np.array([ 0.0, 1.26186061, -2.5,
0.0, 1.25883281, -2.5,
0.0, 1.27193761, -2.6,
0.0, 1.27148342, -2.6])
self.sitting_q = np.array([-0.02495611, 1.26249647, -2.82826662,
0.04563564, 1.2505368 , -2.7933557 ,
-0.30623949, 1.28283751, -2.82314873,
0.26400229, 1.29355574, -2.84276843])
self.standing_q = np.array([ 0.0, 0.77832842, -1.56065452,
0.0, 0.76754963, -1.56634164,
0.0, 0.76681757, -1.53601146,
0.0, 0.75422204, -1.53229916])
self.latest_command_stamp = time.time()
self.highcmd_topic_name = "rt/go2/twist_cmd"
self.lowcmd_topic_name = "rt/go2/lowcmd"
self.lowstate_topic_name = "rt/lowstate"
@ -47,6 +62,7 @@ class GO2Real():
self.running = True
self.lowstate_thread.start()
def lowstate_update(self):
"""
Retrieve the state of the robot
@ -143,15 +159,16 @@ class GO2Real():
self.highcmd_publisher.publish(self.highcmd)
def setCommandsLow(self, q_des, dq_des, kp, kd, tau_ff):
assert q.size == dq.size == kp.size == kd.size == tau_ff.size == 12, "q, dq, kp, kd, tau_ff should have size 12"
assert q_des.size == dq_des.size == kp.size == kd.size == tau_ff.size == 12, "q, dq, kp, kd, tau_ff should have size 12"
lowcmd = Go2pyLowCmd_(
q,
dq,
q_des,
dq_des,
kp,
kd,
tau_ff
)
self.lowcmd_writer.write(lowcmd)
self.latest_command_stamp = time.time()
def close(self):
self.running = False
@ -171,3 +188,6 @@ class GO2Real():
scale = 1.0
return scale * v_x, scale * v_y, np.clip(ω_z, self.ωz_min, self.ωz_max)
def overheat(self):
return False

28
Go2Py/robot/interface/ros2.py
View File

@ -67,6 +67,21 @@ class GO2Real(Node):
):
assert mode in ['highlevel', 'lowlevel'], "mode should be either 'highlevel' or 'lowlevel'"
self.simulated = False
self.prestanding_q = np.array([ 0.0, 1.26186061, -2.5,
0.0, 1.25883281, -2.5,
0.0, 1.27193761, -2.6,
0.0, 1.27148342, -2.6])
self.sitting_q = np.array([-0.02495611, 1.26249647, -2.82826662,
0.04563564, 1.2505368 , -2.7933557 ,
-0.30623949, 1.28283751, -2.82314873,
0.26400229, 1.29355574, -2.84276843])
self.standing_q = np.array([ 0.0, 0.77832842, -1.56065452,
0.0, 0.76754963, -1.56634164,
0.0, 0.76681757, -1.53601146,
0.0, 0.75422204, -1.53229916])
self.latest_command_stamp = time.time()
self.mode = mode
self.node_name = "go2py_highlevel_subscriber"
self.highcmd_topic = "/go2/twist_cmd"
@ -204,15 +219,17 @@ class GO2Real(Node):
self.highcmd.twist.angular.z = _ω_z
self.highcmd_publisher.publish(self.highcmd)
def setCommandsLow(self, q, dq, kp, kd, tau_ff):
assert q.size == dq.size == kp.size == kd.size == tau_ff.size == 12, "q, dq, kp, kd, tau_ff should have size 12"
def setCommandsLow(self, q_des, dq_des, kp, kd, tau_ff):
assert q_des.size == dq_des.size == kp.size == kd.size == tau_ff.size == 12, "q, dq, kp, kd, tau_ff should have size 12"
lowcmd = Go2pyLowCmd()
lowcmd.q = q.tolist()
lowcmd.dq = dq.tolist()
lowcmd.q = q_des.tolist()
lowcmd.dq = dq_des.tolist()
lowcmd.kp = kp.tolist()
lowcmd.kd = kd.tolist()
lowcmd.tau = tau_ff.tolist()
self.lowcmd_publisher.publish(lowcmd)
self.latest_command_stamp = time.time()
def close(self):
self.running = False
@ -234,3 +251,6 @@ class GO2Real(Node):
scale = 1.0
return scale * v_x, scale * v_y, np.clip(ω_z, self.ωz_min, self.ωz_max)
def overheat(self):
return False

19
Go2Py/sim/mujoco.py
View File

@ -37,10 +37,15 @@ class Go2Sim:
self.render = render
self.step_counter = 0
self.sitting_q = np.array([ 0.0, 1.26186061, -2.81310153,
0.0, 1.25883281, -2.78329301,
0.0, 1.27193761, -2.8052032 ,
0.0, 1.27148342, -2.81436563])
self.prestanding_q = np.array([ 0.0, 1.26186061, -2.5,
0.0, 1.25883281, -2.5,
0.0, 1.27193761, -2.6,
0.0, 1.27148342, -2.6])
self.sitting_q = np.array([-0.02495611, 1.26249647, -2.82826662,
0.04563564, 1.2505368 , -2.7933557 ,
-0.30623949, 1.28283751, -2.82314873,
0.26400229, 1.29355574, -2.84276843])
self.standing_q = np.array([ 0.0, 0.77832842, -1.56065452,
0.0, 0.76754963, -1.56634164,
@ -89,7 +94,8 @@ class Go2Sim:
self.viewer.sync()
def getJointStates(self):
return self.data.qpos[7:], self.data.qvel[6:]
return {"q":self.data.qpos[7:],
"dq":self.data.qvel[6:]}
def getPose(self):
return self.data.qpos[:3], self.data.qpos[3:7]
@ -112,7 +118,8 @@ class Go2Sim:
self.latest_command_stamp = time.time()
def step(self):
q, dq = self.getJointStates()
state = self.getJointStates()
q, dq = state['q'], state['dq']
tau = np.diag(self.kp)@(self.q_des-q).reshape(12,1)+ \
np.diag(self.kv)@(self.dq_des-dq).reshape(12,1)+self.tau_ff.reshape(12,1)
self.data.ctrl[:] = tau.squeeze()

2
examples/dds_draft.ipynb
View File

@ -369,7 +369,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.10"
"version": "3.8.18"
}
},
"nbformat": 4,

351
examples/fsm_real.ipynb Normal file
View File

@ -0,0 +1,351 @@
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.robot.interface.dds import GO2Real\n",
"import time\n",
"robot = GO2Real(mode='lowlevel')"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"import threading\n",
"from pynput import keyboard\n",
"class BaseRemote:\n",
" def __init__(self):\n",
" pass\n",
" def startSeq(self):\n",
" return False\n",
" def standUpDownSeq(self):\n",
" return False\n",
"\n",
" def flushStates(self):\n",
" pass\n",
"\n",
"remote = BaseRemote()\n",
"\n",
"class KeyboardRemote(BaseRemote):\n",
" def __init__(self):\n",
" super().__init__()\n",
" self.start_seq_flag = False\n",
" self.stand_up_down_seq_flag = False\n",
" self.listener_thread = threading.Thread(target=self._listen_to_keyboard)\n",
" self.listener_thread.daemon = True\n",
" self.listener_thread.start()\n",
"\n",
" def _on_press(self, key):\n",
" try:\n",
" if key.char == 's': # Start sequence\n",
" self.start_seq_flag = True\n",
" elif key.char == 'u': # Stand up/down sequence\n",
" self.stand_up_down_seq_flag = True\n",
" except AttributeError:\n",
" pass # Special keys (like space) will be handled here\n",
"\n",
" \n",
" def _on_release(self, key):\n",
" try:\n",
" if key.char == 's': # Start sequence\n",
" self.start_seq_flag = False\n",
" elif key.char == 'u': # Stand up/down sequence\n",
" self.stand_up_down_seq_flag = False\n",
" except AttributeError:\n",
" pass # Special keys (like space) will be handled here\n",
"\n",
" def _listen_to_keyboard(self):\n",
" with keyboard.Listener(on_press=self._on_press, on_release=self._on_release) as listener:\n",
" listener.join()\n",
"\n",
" def startSeq(self):\n",
" if self.start_seq_flag:\n",
" self.start_seq_flag = False\n",
" return True\n",
" return False\n",
"\n",
" def standUpDownSeq(self):\n",
" if self.stand_up_down_seq_flag:\n",
" self.stand_up_down_seq_flag = False\n",
" return True\n",
" return False\n",
"\n",
" def flushStates(self):\n",
" self.stand_up_down_seq_flag = False\n",
" self.start_seq_flag = False"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"remote = KeyboardRemote()"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
"import time\n",
"class SafetyHypervisor():\n",
" def __init__(self, robot):\n",
" self.robot = robot\n",
"\n",
" def unsafe(self):\n",
" return False\n",
" \n",
" def controlTimeout(self):\n",
" if time.time() - robot.latest_command_stamp > 0.1:\n",
" print('controller timeout')\n",
" return True\n",
" else:\n",
" return False \n",
"\n",
"safety = SafetyHypervisor(robot)"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [],
"source": [
"import threading\n",
"import numpy as np\n",
"import time\n",
"from enum import Enum\n",
"\n",
"\n",
"class FSM:\n",
" def __init__(self, robot, remote, safety_hypervisor, user_controller_callback=None):\n",
" self.robot = robot\n",
" self.remote = remote\n",
" self.remote.flushStates()\n",
" self.safety = safety_hypervisor\n",
" self.user_controller_callback = user_controller_callback\n",
"\n",
" self.state = \"damping\"\n",
"\n",
" # self.tracking_kp = np.array(4*[200, 200, 350.]).reshape(12)\n",
" # self.tracking_kv = np.array(12*[10.])\n",
"\n",
" self.tracking_kp = np.array(4*[150, 150, 150.]).reshape(12)\n",
" self.tracking_kv = np.array(12*[3.])\n",
" self.damping_kv = np.array(12*[2.])\n",
"\n",
"\n",
" self.tracking_complete = True\n",
" self.robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), self.damping_kv, np.zeros(12))\n",
" self.fsm_dT = 1./50.\n",
" self.control_dT = 1./400.\n",
" self.dT = self.fsm_dT\n",
"\n",
" self.modes = {\"tracking\":self.trackingControlUpdate,\n",
" \"damping\" :self.dampingControlUpdate,\n",
" \"user\": self.userControlUpdate,\n",
" }\n",
" self.setMode(\"damping\")\n",
"\n",
" self.running = True\n",
" self.fsm_thread = threading.Thread(target = self.update)\n",
" self.fsm_thread.start()\n",
" # if the robot is a simulation, create a thread for stepping it\n",
" if robot.simulated:\n",
" self.sim_thread = threading.Thread(target=self.simUpdate)\n",
" self.sim_thread.start()\n",
"\n",
" def setMode(self, mode):\n",
" assert mode in self.modes.keys(), 'the requested control update mode is not implemented'\n",
" self.updateCommands = self.modes[mode]\n",
" # print(f'setting mode to {mode}')\n",
" \n",
" def moveTo(self, target, duration=0.5):\n",
" # assert self.tracking_complete, 'The previous moveTo command is not completed yet!'\n",
" self.q_start = self.robot.getJointStates()['q']\n",
" self.q_target = target\n",
" self.time = 0.0\n",
" self.move_duration = duration\n",
" self.q_des = lambda t: [self.q_start + np.clip((t)/self.move_duration,0, 1)*(self.q_target - self.q_start), \\\n",
" True if np.clip((t)/self.move_duration,0, 1)==1 else False] # q_des(t), Movement finished\n",
" self.tracking_complete = False\n",
" self.setMode(\"tracking\")\n",
"\n",
" def trackingControlUpdate(self):\n",
" self.time +=self.dT\n",
" q_des, done = self.q_des(self.time)\n",
" self.robot.setCommands(q_des, np.zeros(12), self.tracking_kp, self.tracking_kv, np.zeros(12))\n",
" self.tracking_complete = done\n",
"\n",
" def dampingControlUpdate(self):\n",
" self.robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), self.damping_kv, np.zeros(12))\n",
"\n",
" def userControlUpdate(self):\n",
" if self.user_controller_callback is not None:\n",
" user_controller_callback(robot, remote)\n",
"\n",
" def simUpdate(self):\n",
" while self.running:\n",
" self.robot.step()\n",
" time.sleep(robot.dt)\n",
" \n",
" def update(self):\n",
" while self.running:\n",
" getattr(self, self.state)()\n",
" time.sleep(self.dT)\n",
" self.updateCommands()\n",
" \n",
" def close(self):\n",
" self.running = False\n",
"\n",
" # The following functions each are the states of the FSM\n",
" def damping(self):\n",
" # print('damping')\n",
" if self.remote.standUpDownSeq():\n",
" self.moveTo(robot.prestanding_q, 1)\n",
" self.state = \"pre_standing\"\n",
" else:\n",
" self.setMode(\"damping\")\n",
" self.state = \"damping\"\n",
"\n",
" def pre_standing(self):\n",
" # print(\"pre_stance\")\n",
" if self.tracking_complete:\n",
" self.moveTo(robot.standing_q, duration=1.5)\n",
" self.state = 'standing'\n",
" else:\n",
" self.state = \"pre_standing\"\n",
" \n",
" def standing(self):\n",
" # print(\"standing\")\n",
" if self.tracking_complete:\n",
" # self.moveTo(robot.standing_q, duration=1)\n",
" self.state = 'locked_stance'\n",
" else:\n",
" self.state = \"standing\"\n",
"\n",
" def locked_stance(self):\n",
" # print(\"locked_stance\")\n",
" if self.remote.startSeq():\n",
" self.setMode(\"user\")\n",
" self.dT = self.control_dT\n",
" self.state = \"user_loop\"\n",
" self.robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12))\n",
" elif self.remote.standUpDownSeq() or robot.overheat():\n",
" self.moveTo(robot.sitting_q, duration = 1.5)\n",
" self.state = \"sitting\"\n",
"\n",
" def user_loop(self):\n",
" # print(\"user_loop\")\n",
" if self.safety.unsafe():\n",
" self.dT = self.fsm_dT\n",
" self.setMode(\"damping\")\n",
" elif self.remote.standUpDownSeq() or self.safety.controlTimeout():\n",
" self.dT = self.fsm_dT\n",
" self.moveTo(robot.standing_q, duration = 1)\n",
" self.timer = time.time()\n",
" self.state = \"switch_back_to_locked_stance\"\n",
" else:\n",
" self.state = \"user_loop\"\n",
"\n",
" def sitting(self):\n",
" # print('sitting')\n",
" if self.tracking_complete:\n",
" self.setMode(\"damping\")\n",
" self.state = 'damping'\n",
" else:\n",
" self.state = \"sitting\"\n",
"\n",
" def switch_back_to_locked_stance(self):\n",
" if time.time()-self.timer > 0.5:\n",
" # print(\"going back to locked stance\")\n",
" self.state = \"locked_stance\""
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
"fsm = FSM(robot, remote, safety)"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
"fsm.close()"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"{'q': array([-0.02495611, 1.26249647, -2.82826662, 0.04563564, 1.2505368 ,\n",
" -2.7933557 , -0.30623949, 1.28283751, -2.82314873, 0.26400229,\n",
" 1.29355574, -2.84276843]),\n",
" 'dq': array([ 0.03875524, 0.0155021 , 0.01011006, 0.00775105, 0.03875524,\n",
" 0.01415409, -0.04263076, -0.00387552, 0.02426415, -0.00387552,\n",
" 0. , -0.02426415]),\n",
" 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
" 'tau_est': array([-0.02473828, 0.04947656, -0.04741504, -0.07421485, 0. ,\n",
" 0. , 0.04947656, 0.04947656, 0. , 0.02473828,\n",
" -0.07421485, 0. ]),\n",
" 'temperature': array([38., 32., 32., 36., 32., 33., 41., 33., 33., 41., 33., 33.])}"
]
},
"execution_count": 8,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"robot.getJointStates()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "b1-env",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.18"
}
},
"nbformat": 4,
"nbformat_minor": 2
}

79
examples/fsm.ipynb → examples/fsm_sim.ipynb
View File

@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
"execution_count": null,
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
@ -12,7 +12,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
@ -22,7 +22,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
@ -92,7 +92,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 5,
"metadata": {},
"outputs": [],
"source": [
@ -101,19 +101,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import time\n",
"while True:\n",
" print(remote.standUpDownSeq())\n",
" time.sleep(0.1)"
]
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
@ -137,16 +125,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"safety.controlTimeout()"
]
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
@ -166,10 +145,15 @@
"\n",
" self.state = \"damping\"\n",
"\n",
" self.tracking_kp = np.array(4*[200, 200, 350.]).reshape(12)\n",
" self.tracking_kv = np.array(12*[10.])\n",
" # self.tracking_kp = np.array(4*[200, 200, 350.]).reshape(12)\n",
" # self.tracking_kv = np.array(12*[10.])\n",
"\n",
" self.tracking_kp = np.array(4*[150, 150, 150.]).reshape(12)\n",
" self.tracking_kv = np.array(12*[3.])\n",
" self.damping_kv = np.array(12*[2.])\n",
"\n",
"\n",
" self.tracking_complete = True\n",
" self.damping_kv = np.array(12*[3.])\n",
" self.robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), self.damping_kv, np.zeros(12))\n",
" self.fsm_dT = 1./50.\n",
" self.control_dT = 1./400.\n",
@ -196,7 +180,7 @@
" \n",
" def moveTo(self, target, duration=0.5):\n",
" # assert self.tracking_complete, 'The previous moveTo command is not completed yet!'\n",
" self.q_start = self.robot.getJointStates()[0]\n",
" self.q_start = self.robot.getJointStates()['q']\n",
" self.q_target = target\n",
" self.time = 0.0\n",
" self.move_duration = duration\n",
@ -236,7 +220,7 @@
" def damping(self):\n",
" # print('damping')\n",
" if self.remote.standUpDownSeq():\n",
" self.moveTo(robot.sitting_q, 1)\n",
" self.moveTo(robot.prestanding_q, 1)\n",
" self.state = \"pre_standing\"\n",
" else:\n",
" self.setMode(\"damping\")\n",
@ -245,7 +229,7 @@
" def pre_standing(self):\n",
" # print(\"pre_stance\")\n",
" if self.tracking_complete:\n",
" self.moveTo(robot.standing_q, duration=2)\n",
" self.moveTo(robot.standing_q, duration=1.5)\n",
" self.state = 'standing'\n",
" else:\n",
" self.state = \"pre_standing\"\n",
@ -253,7 +237,7 @@
" def standing(self):\n",
" # print(\"standing\")\n",
" if self.tracking_complete:\n",
" self.moveTo(robot.standing_q, duration=2)\n",
" # self.moveTo(robot.standing_q, duration=1)\n",
" self.state = 'locked_stance'\n",
" else:\n",
" self.state = \"standing\"\n",
@ -266,7 +250,7 @@
" self.state = \"user_loop\"\n",
" self.robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12))\n",
" elif self.remote.standUpDownSeq() or robot.overheat():\n",
" self.moveTo(robot.sitting_q, duration = 3)\n",
" self.moveTo(robot.sitting_q, duration = 1.5)\n",
" self.state = \"sitting\"\n",
"\n",
" def user_loop(self):\n",
@ -300,7 +284,30 @@
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"Exception in thread Thread-9:\n",
"Traceback (most recent call last):\n",
" File \"/home/rstaion/miniconda3/envs/b1py/lib/python3.8/threading.py\", line 932, in _bootstrap_inner\n",
" self.run()\n",
" File \"/home/rstaion/miniconda3/envs/b1py/lib/python3.8/threading.py\", line 870, in run\n",
" self._target(*self._args, **self._kwargs)\n",
" File \"/tmp/ipykernel_130541/2701327530.py\", line 76, in simUpdate\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
" File \"/home/rstaion/projects/rooholla/locomotion/Go2Py/Go2Py/sim/mujoco.py\", line 122, in step\n",
" tau = np.diag(self.kp)@(self.q_des-q).reshape(12,1)+ \\\n",
"numpy.core._exceptions.UFuncTypeError: ufunc 'subtract' did not contain a loop with signature matching types (dtype('float64'), dtype('<U1')) -> None\n"
]
}
],
"source": [
"fsm = FSM(robot, remote, safety)"
]