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Go2Py_SIM
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Merge branch 'main' of github.com:Rooholla-KhorramBakht/Go2Py into main

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Rooholla-Khorrambakht 2024-05-27 19:11:44 -04:00
parent a7fbcfa40e fa5af751c7
commit 8c364f3805
7 changed files with 565 additions and 9 deletions
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3
Go2Py/control/walk_these_ways.py
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@ -131,8 +131,7 @@ class CommandInterface:
self.stance_width_cmd = 0.25
def setGaitType(self, gait_type):
assert gait_type in [key for key in self.gaits.keys()], f'The gain type should be in {
[key for key in self.gaits.keys()]}'
assert gait_type in [key for key in self.gaits.keys()], f'The gain type should be in {self.gaits.keys()}'
self.gait = torch.tensor(self.gaits[gait_type])
def get_command(self):

86
Go2Py/sim/mujoco.py
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@ -6,13 +6,26 @@ from Go2Py import ASSETS_PATH
import os
from scipy.spatial.transform import Rotation
pnt = np.array([-0.2, 0, 0.05])
lidar_angles = np.linspace(0.0, 2 * np.pi, 1024).reshape(-1, 1)
x_vec = np.cos(lidar_angles)
y_vec = np.sin(lidar_angles)
z_vec = np.zeros_like(x_vec)
vec = np.concatenate([x_vec, y_vec, z_vec], axis=1)
nray = vec.shape[0]
geomid = np.zeros(nray, np.int32)
dist = np.zeros(nray, np.float64)
class Go2Sim:
def __init__(self, render=True, dt=0.002):
def __init__(self, mode='lowlevel', render=True, dt=0.002, xml_path=None):
if xml_path is None:
self.model = mujoco.MjModel.from_xml_path(
os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
)
else:
self.model = mujoco.MjModel.from_xml_path(xml_path)
self.simulated = True
self.data = mujoco.MjData(self.model)
self.dt = dt
@ -68,6 +81,25 @@ class Go2Sim:
self.kv = np.zeros(12)
self.latest_command_stamp = time.time()
self.actuator_tau = np.zeros(12)
self.mode = mode
if self.mode == 'highlevel':
from Go2Py.control.walk_these_ways import CommandInterface, loadParameters, Policy, WalkTheseWaysAgent, HistoryWrapper
checkpoint_path = os.path.join(ASSETS_PATH,'checkpoints/walk_these_ways')
self.cfg = loadParameters(checkpoint_path)
self.policy = Policy(checkpoint_path)
self.command_profile = CommandInterface()
self.agent = WalkTheseWaysAgent(self.cfg, self.command_profile, robot=self)
self.agent = HistoryWrapper(self.agent)
self.control_dt = self.cfg["control"]["decimation"] * self.cfg["sim"]["dt"]
self.obs = self.agent.reset()
self.standUpReset()
self.step_counter = 0
self.step = self.stepHighlevel
self.ex_sum=0
self.ey_sum=0
self.e_omega_sum=0
else:
self.step = self.stepLowlevel
def reset(self):
self.q_nominal = np.hstack(
@ -75,6 +107,9 @@ class Go2Sim:
)
self.data.qpos = self.q_nominal
self.data.qvel = np.zeros(18)
self.ex_sum=0
self.ey_sum=0
self.e_omega_sum=0
def standUpReset(self):
self.q0 = self.standing_q
@ -117,7 +152,7 @@ class Go2Sim:
self.tau_ff = tau_ff
self.latest_command_stamp = time.time()
def step(self):
def stepLowlevel(self):
state = self.getJointStates()
q, dq = state['q'], state['dq']
tau = np.diag(self.kp) @ (self.q_des - q).reshape(12, 1) + \
@ -131,6 +166,30 @@ class Go2Sim:
if self.render and (self.step_counter % self.render_ds_ratio) == 0:
self.viewer.sync()
def stepHighlevel(self, vx, vy, omega_z, body_z_offset=0, step_height = 0.08, kp=[2, 0.5, 0.5], ki=[0.02, 0.01, 0.01]):
policy_info = {}
if self.step_counter % (self.control_dt // self.dt) == 0:
action = self.policy(self.obs, policy_info)
self.obs, ret, done, info = self.agent.step(action)
#Body velocity tracker PI controller
_, q = self.getPose()
world_R_body = Rotation.from_quat([q[1], q[2], q[3], q[0]]).as_matrix()
body_v = world_R_body.T@self.data.qvel[0:3].reshape(3,1)
ex = (vx-body_v[0])
ey = (vy-body_v[1])
e_omega = (omega_z-self.data.qvel[5])
self.ex_sum+=ex
self.ey_sum+=ey
self.e_omega_sum+=e_omega
self.command_profile.yaw_vel_cmd = np.clip(kp[2]*e_omega+ki[2]*self.e_omega_sum + omega_z, -2*np.pi, 2*np.pi)
self.command_profile.x_vel_cmd = np.clip(kp[0]*ex+ki[0]*self.ex_sum + vx, -2.5, 2.5)
self.command_profile.y_vel_cmd = np.clip(kp[1]*ey+ki[1]*self.ey_sum + vy,-1.5, 1.5)
self.command_profile.body_height_cmd = body_z_offset
self.command_profile.footswing_height_cmd = step_height
self.step_counter+=1
self.stepLowlevel()
def getSiteJacobian(self, site_name):
id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, site_name)
assert id > 0, 'The requested site could not be found'
@ -151,6 +210,29 @@ class Go2Sim:
g_in_body = R.T @ np.array([0.0, 0.0, -1.0]).reshape(3, 1)
return g_in_body
def getLaserScan(self, max_range=30):
t, q = self.getPose()
world_R_body = Rotation.from_quat([q[1], q[2], q[3], q[0]]).as_matrix()
pnt = t.copy()
pnt[2]+=0.25
vec_in_w = (world_R_body@vec.T).T
mujoco.mj_multiRay(
m=self.model,
d=self.data,
pnt=pnt,
vec=vec_in_w.flatten(),
geomgroup=None,
flg_static=1,
bodyexclude=-1,
geomid=geomid,
dist=dist,
nray=nray,
cutoff=max_range#mujoco.mjMAXVAL,
)
pcd = dist.reshape(-1, 1) * vec
idx = np.where(np.logical_and(dist!=-1, dist<max_range))[0]
return {"pcd": pcd[idx,...], "geomid": geomid[idx,...], "dist": dist[idx,...]}
def overheat(self):
return False

0
Go2Py/utils/__init__.py Normal file
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90
Go2Py/utils/ros2.py Normal file
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@ -0,0 +1,90 @@
import struct
import threading
import time
import numpy as np
import rclpy
import tf2_ros
from rclpy.node import Node
from rclpy.qos import QoSProfile
from rclpy.executors import MultiThreadedExecutor
from geometry_msgs.msg import TransformStamped
from scipy.spatial.transform import Rotation as R
def ros2_init(args=None):
rclpy.init(args=args)
def ros2_close():
rclpy.shutdown()
class ROS2ExecutorManager:
"""A class to manage the ROS2 executor. It allows to add nodes and start the executor in a separate thread."""
def __init__(self):
self.executor = MultiThreadedExecutor()
self.nodes = []
self.executor_thread = None
def add_node(self, node: Node):
"""Add a new node to the executor."""
self.nodes.append(node)
self.executor.add_node(node)
def _run_executor(self):
try:
self.executor.spin()
except KeyboardInterrupt:
pass
finally:
self.terminate()
def start(self):
"""Start spinning the nodes in a separate thread."""
self.executor_thread = threading.Thread(target=self._run_executor)
self.executor_thread.start()
def terminate(self):
"""Terminate all nodes and shutdown rclpy."""
for node in self.nodes:
node.destroy_node()
rclpy.shutdown()
if self.executor_thread:
self.executor_thread.join()
class ROS2TFInterface(Node):
def __init__(self, parent_name, child_name, node_name):
super().__init__(f'{node_name}_tf2_listener')
self.parent_name = parent_name
self.child_name = child_name
self.tfBuffer = tf2_ros.Buffer()
self.listener = tf2_ros.TransformListener(self.tfBuffer, self)
self.T = None
self.stamp = None
self.running = True
self.thread = threading.Thread(target=self.update_loop)
self.thread.start()
self.trans = None
def update_loop(self):
while self.running:
try:
self.trans = self.tfBuffer.lookup_transform(self.parent_name, self.child_name, rclpy.time.Time(), rclpy.time.Duration(seconds=0.1))
except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e:
print(e)
time.sleep(0.01)
def get_pose(self):
if self.trans is None:
return None
else:
translation = [self.trans.transform.translation.x, self.trans.transform.translation.y, self.trans.transform.translation.z]
rotation = [self.trans.transform.rotation.x, self.trans.transform.rotation.y, self.trans.transform.rotation.z, self.trans.transform.rotation.w]
self.T = np.eye(4)
self.T[0:3, 0:3] = R.from_quat(rotation).as_matrix()
self.T[:3, 3] = translation
self.stamp = self.trans.header.stamp.nanosec * 1e-9 + self.trans.header.stamp.sec
return self.T
def close(self):
self.running = False
self.thread.join()
self.destroy_node()

31
deploy/launch_files/realsense.launch.py Normal file
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@ -0,0 +1,31 @@
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
name='go2_cam',
namespace='go2/cam',
package='realsense2_camera',
executable='realsense2_camera_node',
parameters=[{
'enable_infra1': True,
'enable_infra2': True,
'enable_color': True,
'enable_depth': False,
'depth_module.emitter_enabled': 0,
'rgb_camera.profile':'640x480x30',
'depth_module.profile': '640x480x30',
'enable_gyro': True,
'enable_accel': True,
'gyro_fps': 400,
'accel_fps': 200,
'unite_imu_method': 2,
# 'tf_publish_rate': 0.0
}]
)
])

82
examples/02-MuJoCo-sim.ipynb
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@ -1,5 +1,12 @@
{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Lowlevel Simulation"
]
},
{
"cell_type": "code",
"execution_count": null,
@ -16,7 +23,7 @@
"metadata": {},
"outputs": [],
"source": [
"robot = Go2Sim()\n",
"robot = Go2Sim(mode='lowlevel')\n",
"robot.standUpReset()"
]
},
@ -44,6 +51,77 @@
" robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n",
" robot.step()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Highlevel Simulation"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.sim.mujoco import Go2Sim\n",
"import numpy as np"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"robot = Go2Sim(mode='highlevel')\n",
"robot.standUpReset()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import time\n",
"robot.standUpReset\n",
"for i in range(10000):\n",
" robot.step(0,0,0., step_height=0,kp=[2, 0.5, 0.5], ki=[0.02, 0.01, 0.01])\n",
" time.sleep(robot.dt)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"robot.getLaserScan()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import mujoco\n",
"mujoco.mjMAXVAL"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import matplotlib.pyplot as plt\n",
"lidar = robot.getLaserScan(max_range=3.)\n",
"idx = np.where(lidar['dist']!=-1)[0]\n",
"plt.plot(lidar['dist'][idx])"
]
}
],
"metadata": {
@ -62,7 +140,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.18"
"version": "3.10.12"
}
},
"nbformat": 4,

276
examples/kinematic-vicon-dataset-collection.ipynb Normal file
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