diff --git a/.images/anymal_c.png b/.images/anymal_c.png new file mode 100644 index 0000000..ccc84a7 Binary files /dev/null and b/.images/anymal_c.png differ diff --git a/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/estimator/LinearKalmanFilter.h b/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/estimator/LinearKalmanFilter.h index bce9cfa..184b2d9 100644 --- a/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/estimator/LinearKalmanFilter.h +++ b/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/estimator/LinearKalmanFilter.h @@ -23,17 +23,17 @@ namespace ocs2::legged_robot { vector_t update(const rclcpp::Time &time, const rclcpp::Duration &period) override; - void loadSettings(const std::string &taskFile, bool verbose); + void loadSettings(const std::string &task_file, bool verbose); protected: nav_msgs::msg::Odometry getOdomMsg(); - vector_t feetHeights_; + vector_t feet_heights_; // Config - scalar_t footRadius_ = 0.02; - scalar_t imuProcessNoisePosition_ = 0.02; - scalar_t imuProcessNoiseVelocity_ = 0.02; + scalar_t foot_radius_ = 0.02; + scalar_t imu_process_noise_position_ = 0.02; + scalar_t imu_process_noise_velocity_ = 0.02; scalar_t footProcessNoisePosition_ = 0.002; scalar_t footSensorNoisePosition_ = 0.005; scalar_t footSensorNoiseVelocity_ = 0.1; diff --git a/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp b/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp index 4d802ea..30f161c 100644 --- a/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp +++ b/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp @@ -125,6 +125,9 @@ namespace ocs2::legged_robot { reference_file_ = auto_declare("reference_file", reference_file_); gait_file_ = auto_declare("gait_file", gait_file_); + get_node()->get_parameter("update_rate", ctrl_comp_.frequency_); + RCLCPP_INFO(get_node()->get_logger(), "Controller Manager Update Rate: %d Hz", ctrl_comp_.frequency_); + // Load verbose parameter from the task file verbose_ = false; loadData::loadCppDataType(task_file_, "legged_robot_interface.verbose", verbose_); @@ -193,9 +196,6 @@ namespace ocs2::legged_robot { observation_publisher_ = get_node()->create_publisher( "legged_robot_mpc_observation", 10); - get_node()->get_parameter("update_rate", ctrl_comp_.frequency_); - RCLCPP_INFO(get_node()->get_logger(), "Controller Manager Update Rate: %d Hz", ctrl_comp_.frequency_); - return CallbackReturn::SUCCESS; } @@ -229,7 +229,7 @@ namespace ocs2::legged_robot { // Initial state ctrl_comp_.observation_.state.setZero( static_cast(legged_interface_->getCentroidalModelInfo().stateDim)); - updateStateEstimation(get_node()->now(), rclcpp::Duration(0, 200000)); + updateStateEstimation(get_node()->now(), rclcpp::Duration(0, 1/ctrl_comp_.frequency_*1000000000)); ctrl_comp_.observation_.input.setZero( static_cast(legged_interface_->getCentroidalModelInfo().inputDim)); ctrl_comp_.observation_.mode = STANCE; diff --git a/controllers/ocs2_quadruped_controller/src/control/TargetManager.cpp b/controllers/ocs2_quadruped_controller/src/control/TargetManager.cpp index ad81bd1..5f5984c 100644 --- a/controllers/ocs2_quadruped_controller/src/control/TargetManager.cpp +++ b/controllers/ocs2_quadruped_controller/src/control/TargetManager.cpp @@ -33,25 +33,24 @@ namespace ocs2::legged_robot { const vector_t currentPose = ctrl_component_.observation_.state.segment<6>(6); const Eigen::Matrix zyx = currentPose.tail(3); - vector_t cmdVelRot = getRotationMatrixFromZyxEulerAngles(zyx) * cmdGoal.head(3); + vector_t cmd_vel_rot = getRotationMatrixFromZyxEulerAngles(zyx) * cmdGoal.head(3); - const scalar_t timeToTarget = time_to_target_; const vector_t targetPose = [&]() { vector_t target(6); - target(0) = currentPose(0) + cmdVelRot(0) * timeToTarget; - target(1) = currentPose(1) + cmdVelRot(1) * timeToTarget; + target(0) = currentPose(0) + cmd_vel_rot(0) * time_to_target_; + target(1) = currentPose(1) + cmd_vel_rot(1) * time_to_target_; target(2) = command_height_; - target(3) = currentPose(3) + cmdGoal(3) * timeToTarget; + target(3) = currentPose(3) + cmdGoal(3) * time_to_target_; target(4) = 0; target(5) = 0; return target; }(); - const scalar_t targetReachingTime = ctrl_component_.observation_.time + timeToTarget; + const scalar_t targetReachingTime = ctrl_component_.observation_.time + time_to_target_; auto trajectories = targetPoseToTargetTrajectories(targetPose, ctrl_component_.observation_, targetReachingTime); - trajectories.stateTrajectory[0].head(3) = cmdVelRot; - trajectories.stateTrajectory[1].head(3) = cmdVelRot; + trajectories.stateTrajectory[0].head(3) = cmd_vel_rot; + trajectories.stateTrajectory[1].head(3) = cmd_vel_rot; referenceManagerPtr_->setTargetTrajectories(std::move(trajectories)); } diff --git a/controllers/ocs2_quadruped_controller/src/estimator/LinearKalmanFilter.cpp b/controllers/ocs2_quadruped_controller/src/estimator/LinearKalmanFilter.cpp index 9420114..5b64436 100644 --- a/controllers/ocs2_quadruped_controller/src/estimator/LinearKalmanFilter.cpp +++ b/controllers/ocs2_quadruped_controller/src/estimator/LinearKalmanFilter.cpp @@ -13,7 +13,8 @@ #include namespace ocs2::legged_robot { - KalmanFilterEstimate::KalmanFilterEstimate(PinocchioInterface pinocchio_interface, CentroidalModelInfo info, + KalmanFilterEstimate::KalmanFilterEstimate(PinocchioInterface pinocchio_interface, + CentroidalModelInfo info, const PinocchioEndEffectorKinematics &ee_kinematics, CtrlComponent &ctrl_component, const rclcpp_lifecycle::LifecycleNode::SharedPtr &node) @@ -43,7 +44,7 @@ namespace ocs2::legged_robot { q_.setIdentity(numState_, numState_); p_ = 100. * q_; r_.setIdentity(numObserve_, numObserve_); - feetHeights_.setZero(numContacts_); + feet_heights_.setZero(numContacts_); ee_kinematics_->setPinocchioInterface(pinocchio_interface_); } @@ -85,8 +86,8 @@ namespace ocs2::legged_robot { const auto eeVel = ee_kinematics_->getVelocity(vector_t(), vector_t()); matrix_t q = matrix_t::Identity(numState_, numState_); - q.block(0, 0, 3, 3) = q_.block(0, 0, 3, 3) * imuProcessNoisePosition_; - q.block(3, 3, 3, 3) = q_.block(3, 3, 3, 3) * imuProcessNoiseVelocity_; + q.block(0, 0, 3, 3) = q_.block(0, 0, 3, 3) * imu_process_noise_position_; + q.block(3, 3, 3, 3) = q_.block(3, 3, 3, 3) * imu_process_noise_velocity_; q.block(6, 6, dimContacts_, dimContacts_) = q_.block(6, 6, dimContacts_, dimContacts_) * footProcessNoisePosition_; @@ -114,7 +115,7 @@ namespace ocs2::legged_robot { r(rIndex3, rIndex3) = (isContact ? 1. : high_suspect_number) * r(rIndex3, rIndex3); ps_.segment(3 * i, 3) = -eePos[i]; - ps_.segment(3 * i, 3)[2] += footRadius_; + ps_.segment(3 * i, 3)[2] += foot_radius_; vs_.segment(3 * i, 3) = -eeVel[i]; } @@ -122,7 +123,7 @@ namespace ocs2::legged_robot { vector3_t accel = getRotationMatrixFromZyxEulerAngles(quatToZyx(quat_)) * linear_accel_local_ + g; vector_t y(numObserve_); - y << ps_, vs_, feetHeights_; + y << ps_, vs_, feet_heights_; xHat_ = a_ * xHat_ + b_ * accel; matrix_t at = a_.transpose(); matrix_t pm = a_ * p_ * at + q; @@ -190,18 +191,18 @@ namespace ocs2::legged_robot { return odom; } - void KalmanFilterEstimate::loadSettings(const std::string &taskFile, bool verbose) { + void KalmanFilterEstimate::loadSettings(const std::string &task_file, const bool verbose) { boost::property_tree::ptree pt; - read_info(taskFile, pt); + read_info(task_file, pt); const std::string prefix = "kalmanFilter."; if (verbose) { std::cerr << "\n #### Kalman Filter Noise:"; std::cerr << "\n #### =============================================================================\n"; } - loadData::loadPtreeValue(pt, footRadius_, prefix + "footRadius", verbose); - loadData::loadPtreeValue(pt, imuProcessNoisePosition_, prefix + "imuProcessNoisePosition", verbose); - loadData::loadPtreeValue(pt, imuProcessNoiseVelocity_, prefix + "imuProcessNoiseVelocity", verbose); + loadData::loadPtreeValue(pt, foot_radius_, prefix + "footRadius", verbose); + loadData::loadPtreeValue(pt, imu_process_noise_position_, prefix + "imuProcessNoisePosition", verbose); + loadData::loadPtreeValue(pt, imu_process_noise_velocity_, prefix + "imuProcessNoiseVelocity", verbose); loadData::loadPtreeValue(pt, footProcessNoisePosition_, prefix + "footProcessNoisePosition", verbose); loadData::loadPtreeValue(pt, footSensorNoisePosition_, prefix + "footSensorNoisePosition", verbose); loadData::loadPtreeValue(pt, footSensorNoiseVelocity_, prefix + "footSensorNoiseVelocity", verbose); diff --git a/controllers/ocs2_quadruped_controller/src/estimator/StateEstimateBase.cpp b/controllers/ocs2_quadruped_controller/src/estimator/StateEstimateBase.cpp index d792928..992bec3 100644 --- a/controllers/ocs2_quadruped_controller/src/estimator/StateEstimateBase.cpp +++ b/controllers/ocs2_quadruped_controller/src/estimator/StateEstimateBase.cpp @@ -42,7 +42,7 @@ namespace ocs2::legged_robot { void StateEstimateBase::updateContact() { const size_t size = ctrl_component_.foot_force_state_interface_.size(); for (int i = 0; i < size; i++) { - contact_flag_[i] = ctrl_component_.foot_force_state_interface_[i].get().get_value() > 1; + contact_flag_[i] = ctrl_component_.foot_force_state_interface_[i].get().get_value() > 0.1; } } diff --git a/descriptions/anybotics/anymal_c_description/CMakeLists.txt b/descriptions/anybotics/anymal_c_description/CMakeLists.txt new file mode 100644 index 0000000..e62f06d --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(anymal_c_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY meshes xacro launch config urdf + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() \ No newline at end of file diff --git a/descriptions/anybotics/anymal_c_description/LICENSE b/descriptions/anybotics/anymal_c_description/LICENSE new file mode 100644 index 0000000..4defe40 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/LICENSE @@ -0,0 +1,29 @@ +Copyright 2020, ANYbotics AG. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + +1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the + distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/descriptions/anybotics/anymal_c_description/README.md b/descriptions/anybotics/anymal_c_description/README.md new file mode 100644 index 0000000..f14c550 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/README.md @@ -0,0 +1,34 @@ +# Anybotics Anymal_C Description +This repository contains the urdf model of lite3. + +![anymal_c](../../../.images/anymal_c.png) + +Tested environment: +* Ubuntu 24.04 + * ROS2 Jazzy + +## Build +```bash +cd ~/ros2_ws +colcon build --packages-up-to anymal_c_description --symlink-install +``` + +## Visualize the robot +To visualize and check the configuration of the robot in rviz, simply launch: +```bash +source ~/ros2_ws/install/setup.bash +ros2 launch anymal_c_description visualize.launch.py +``` + +## Launch ROS2 Control +### Mujoco Simulator +* OCS2 Quadruped Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch anymal_c_description ocs2_control.launch.py + ``` +* Legged Gym Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch anymal_c_description rl_control.launch.py + ``` \ No newline at end of file diff --git a/descriptions/anybotics/anymal_c_description/config/ocs2/gait.info b/descriptions/anybotics/anymal_c_description/config/ocs2/gait.info new file mode 100644 index 0000000..9c88ac1 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/config/ocs2/gait.info @@ -0,0 +1,255 @@ +list +{ + [0] stance + [1] trot + [2] standing_trot + [3] flying_trot + [4] pace + [5] standing_pace + [6] dynamic_walk + [7] static_walk + [8] amble + [9] lindyhop + [10] skipping + [11] pawup +} + +stance + { + modeSequence + { + [0] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 0.5 + } +} + +trot + { + modeSequence + { + [0] LF_RH + [1] RF_LH + } + switchingTimes + { + [0] 0.0 + [1] 0.35 + [2] 0.70 + } +} + +standing_trot +{ + modeSequence + { + [0] LF_RH + [1] STANCE + [2] RF_LH + [3] STANCE + } + switchingTimes + { + [0] 0.00 + [1] 0.30 + [2] 0.35 + [3] 0.65 + [4] 0.70 + } +} + +flying_trot +{ + modeSequence + { + [0] LF_RH + [1] FLY + [2] RF_LH + [3] FLY + } + switchingTimes + { + [0] 0.00 + [1] 0.27 + [2] 0.30 + [3] 0.57 + [4] 0.60 + } +} + +pace +{ + modeSequence + { + [0] LF_LH + [1] FLY + [2] RF_RH + [3] FLY + } + switchingTimes + { + [0] 0.0 + [1] 0.28 + [2] 0.30 + [3] 0.58 + [4] 0.60 + } +} + +standing_pace +{ + modeSequence + { + [0] LF_LH + [1] STANCE + [2] RF_RH + [3] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 0.30 + [2] 0.35 + [3] 0.65 + [4] 0.70 + } +} + +dynamic_walk +{ + modeSequence + { + [0] LF_RF_RH + [1] RF_RH + [2] RF_LH_RH + [3] LF_RF_LH + [4] LF_LH + [5] LF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.2 + [2] 0.3 + [3] 0.5 + [4] 0.7 + [5] 0.8 + [6] 1.0 + } +} + +static_walk +{ + modeSequence + { + [0] LF_RF_RH + [1] RF_LH_RH + [2] LF_RF_LH + [3] LF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.3 + [2] 0.6 + [3] 0.9 + [4] 1.2 + } +} + +amble +{ + modeSequence + { + [0] RF_LH + [1] LF_LH + [2] LF_RH + [3] RF_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.15 + [2] 0.40 + [3] 0.55 + [4] 0.80 + } +} + +lindyhop +{ + modeSequence + { + [0] LF_RH + [1] STANCE + [2] RF_LH + [3] STANCE + [4] LF_LH + [5] RF_RH + [6] LF_LH + [7] STANCE + [8] RF_RH + [9] LF_LH + [10] RF_RH + [11] STANCE + } + switchingTimes + { + [0] 0.00 ; Step 1 + [1] 0.35 ; Stance + [2] 0.45 ; Step 2 + [3] 0.80 ; Stance + [4] 0.90 ; Tripple step + [5] 1.125 ; + [6] 1.35 ; + [7] 1.70 ; Stance + [8] 1.80 ; Tripple step + [9] 2.025 ; + [10] 2.25 ; + [11] 2.60 ; Stance + [12] 2.70 ; + } +} + +skipping +{ + modeSequence + { + [0] LF_RH + [1] FLY + [2] LF_RH + [3] FLY + [4] RF_LH + [5] FLY + [6] RF_LH + [7] FLY + } + switchingTimes + { + [0] 0.00 + [1] 0.27 + [2] 0.30 + [3] 0.57 + [4] 0.60 + [5] 0.87 + [6] 0.90 + [7] 1.17 + [8] 1.20 + } +} + +pawup +{ + modeSequence + { + [0] RF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 2.0 + } +} diff --git a/descriptions/anybotics/anymal_c_description/config/ocs2/reference.info b/descriptions/anybotics/anymal_c_description/config/ocs2/reference.info new file mode 100644 index 0000000..05ba79c --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/config/ocs2/reference.info @@ -0,0 +1,46 @@ +targetDisplacementVelocity 0.5; +targetRotationVelocity 1.57; + +comHeight 0.565; + +defaultJointState +{ + (0,0) -0.25 ; LF_HAA + (1,0) 0.60 ; LF_HFE + (2,0) -0.85 ; LF_KFE + (3,0) -0.25 ; LH_HAA + (4,0) -0.60 ; LH_HFE + (5,0) 0.85 ; LH_KFE + (6,0) 0.25 ; RF_HAA + (7,0) 0.60 ; RF_HFE + (8,0) -0.85 ; RF_KFE + (9,0) 0.25 ; RH_HAA + (10,0) -0.60 ; RH_HFE + (11,0) 0.85 ; RH_KFE +} + +initialModeSchedule +{ + modeSequence + { + [0] STANCE + [1] STANCE + } + eventTimes + { + [0] 0.5 + } +} + +defaultModeSequenceTemplate +{ + modeSequence + { + [0] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 1.0 + } +} diff --git a/descriptions/anybotics/anymal_c_description/config/ocs2/task.info b/descriptions/anybotics/anymal_c_description/config/ocs2/task.info new file mode 100644 index 0000000..cc08de7 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/config/ocs2/task.info @@ -0,0 +1,318 @@ +centroidalModelType 0 // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics + +legged_robot_interface +{ + verbose false // show the loaded parameters +} + +model_settings +{ + positionErrorGain 0.0 ; 20.0 + phaseTransitionStanceTime 0.4 + + verboseCppAd true + recompileLibrariesCppAd false + modelFolderCppAd /tmp/ocs2_quadruped_controller/anymal_c +} + +swing_trajectory_config +{ + liftOffVelocity 0.2 + touchDownVelocity -0.4 + swingHeight 0.1 + touchdownAfterHorizon 0.2 + swingTimeScale 0.15 +} + +; Multiple_Shooting SQP settings +sqp +{ + nThreads 3 + dt 0.015 + sqpIteration 1 + deltaTol 1e-4 + g_max 1e-2 + g_min 1e-6 + inequalityConstraintMu 0.1 + inequalityConstraintDelta 5.0 + projectStateInputEqualityConstraints true + printSolverStatistics true + printSolverStatus false + printLinesearch false + useFeedbackPolicy true + integratorType RK2 + threadPriority 50 +} + +; Multiple_Shooting IPM settings +ipm +{ + nThreads 3 + dt 0.015 + ipmIteration 1 + deltaTol 1e-4 + g_max 10.0 + g_min 1e-6 + computeLagrangeMultipliers true + printSolverStatistics true + printSolverStatus false + printLinesearch false + useFeedbackPolicy true + integratorType RK2 + threadPriority 50 + + initialBarrierParameter 1e-4 + targetBarrierParameter 1e-4 + barrierLinearDecreaseFactor 0.2 + barrierSuperlinearDecreasePower 1.5 + barrierReductionCostTol 1e-3 + barrierReductionConstraintTol 1e-3 + + fractionToBoundaryMargin 0.995 + usePrimalStepSizeForDual false + + initialSlackLowerBound 1e-4 + initialDualLowerBound 1e-4 + initialSlackMarginRate 1e-2 + initialDualMarginRate 1e-2 +} + +; DDP settings +ddp +{ + algorithm SLQ + + nThreads 3 + threadPriority 50 + + maxNumIterations 1 + minRelCost 1e-1 + constraintTolerance 5e-3 + + displayInfo false + displayShortSummary false + checkNumericalStability false + debugPrintRollout false + + AbsTolODE 1e-5 + RelTolODE 1e-3 + maxNumStepsPerSecond 10000 + timeStep 0.015 + backwardPassIntegratorType ODE45 + + constraintPenaltyInitialValue 20.0 + constraintPenaltyIncreaseRate 2.0 + + preComputeRiccatiTerms true + + useFeedbackPolicy false + + strategy LINE_SEARCH + lineSearch + { + minStepLength 1e-2 + maxStepLength 1.0 + hessianCorrectionStrategy DIAGONAL_SHIFT + hessianCorrectionMultiple 1e-5 + } +} + +; Rollout settings +rollout +{ + AbsTolODE 1e-5 + RelTolODE 1e-3 + timeStep 0.015 + integratorType ODE45 + maxNumStepsPerSecond 10000 + checkNumericalStability false +} + +mpc +{ + timeHorizon 1.0 ; [s] + solutionTimeWindow -1 ; maximum [s] + coldStart false + + debugPrint false + + mpcDesiredFrequency 100 ; [Hz] + mrtDesiredFrequency 500 ; [Hz] +} + +initialState +{ + ;; Normalized Centroidal Momentum: [linear, angular] ;; + (0,0) 0.0 ; vcom_x + (1,0) 0.0 ; vcom_y + (2,0) 0.0 ; vcom_z + (3,0) 0.0 ; L_x / robotMass + (4,0) 0.0 ; L_y / robotMass + (5,0) 0.0 ; L_z / robotMass + + ;; Base Pose: [position, orientation] ;; + (6,0) 0.0 ; p_base_x + (7,0) 0.0 ; p_base_y + (8,0) 0.575 ; p_base_z + (9,0) 0.0 ; theta_base_z + (10,0) 0.0 ; theta_base_y + (11,0) 0.0 ; theta_base_x + + ;; Leg Joint Positions: [LF, LH, RF, RH] ;; + (12,0) -0.25 ; LF_HAA + (13,0) 0.60 ; LF_HFE + (14,0) -0.85 ; LF_KFE + (15,0) -0.25 ; LH_HAA + (16,0) -0.60 ; LH_HFE + (17,0) 0.85 ; LH_KFE + (18,0) 0.25 ; RF_HAA + (19,0) 0.60 ; RF_HFE + (20,0) -0.85 ; RF_KFE + (21,0) 0.25 ; RH_HAA + (22,0) -0.60 ; RH_HFE + (23,0) 0.85 ; RH_KFE +} + +; standard state weight matrix +Q +{ + scaling 1e+0 + + ;; Normalized Centroidal Momentum: [linear, angular] ;; + (0,0) 15.0 ; vcom_x + (1,1) 15.0 ; vcom_y + (2,2) 30.0 ; vcom_z + (3,3) 5.0 ; L_x / robotMass + (4,4) 10.0 ; L_y / robotMass + (5,5) 10.0 ; L_z / robotMass + + ;; Base Pose: [position, orientation] ;; + (6,6) 500.0 ; p_base_x + (7,7) 500.0 ; p_base_y + (8,8) 500.0 ; p_base_z + (9,9) 100.0 ; theta_base_z + (10,10) 200.0 ; theta_base_y + (11,11) 200.0 ; theta_base_x + + ;; Leg Joint Positions: [LF, LH, RF, RH] ;; + (12,12) 20.0 ; LF_HAA + (13,13) 20.0 ; LF_HFE + (14,14) 20.0 ; LF_KFE + (15,15) 20.0 ; LH_HAA + (16,16) 20.0 ; LH_HFE + (17,17) 20.0 ; LH_KFE + (18,18) 20.0 ; RF_HAA + (19,19) 20.0 ; RF_HFE + (20,20) 20.0 ; RF_KFE + (21,21) 20.0 ; RH_HAA + (22,22) 20.0 ; RH_HFE + (23,23) 20.0 ; RH_KFE +} + +; control weight matrix +R +{ + scaling 1e-3 + + ;; Feet Contact Forces: [LF, RF, LH, RH] ;; + (0,0) 1.0 ; left_front_force + (1,1) 1.0 ; left_front_force + (2,2) 1.0 ; left_front_force + (3,3) 1.0 ; right_front_force + (4,4) 1.0 ; right_front_force + (5,5) 1.0 ; right_front_force + (6,6) 1.0 ; left_hind_force + (7,7) 1.0 ; left_hind_force + (8,8) 1.0 ; left_hind_force + (9,9) 1.0 ; right_hind_force + (10,10) 1.0 ; right_hind_force + (11,11) 1.0 ; right_hind_force + + ;; foot velocity relative to base: [LF, LH, RF, RH] (uses the Jacobian at nominal configuration) ;; + (12,12) 5000.0 ; x + (13,13) 5000.0 ; y + (14,14) 5000.0 ; z + (15,15) 5000.0 ; x + (16,16) 5000.0 ; y + (17,17) 5000.0 ; z + (18,18) 5000.0 ; x + (19,19) 5000.0 ; y + (20,20) 5000.0 ; z + (21,21) 5000.0 ; x + (22,22) 5000.0 ; y + (23,23) 5000.0 ; z +} + +frictionConeSoftConstraint +{ + frictionCoefficient 0.5 + + ; relaxed log barrier parameters + mu 0.1 + delta 5.0 +} + +selfCollision +{ + ; Self Collision raw object pairs + collisionObjectPairs + { + } + + ; Self Collision pairs + collisionLinkPairs + { + [0] "LF_SHANK, RF_SHANK" + [1] "LH_SHANK, RH_SHANK" + [2] "LF_SHANK, LH_SHANK" + [3] "RF_SHANK, RH_SHANK" + [4] "LF_FOOT, RF_FOOT" + [5] "LH_FOOT, RH_FOOT" + [6] "LF_FOOT, LH_FOOT" + [7] "RF_FOOT, RH_FOOT" + } + + minimumDistance 0.05 + + ; relaxed log barrier parameters + mu 1e-2 + delta 1e-3 +} + +; Whole body control +torqueLimitsTask +{ + (0,0) 80.0 ; HAA + (1,0) 80.0 ; HFE + (2,0) 80.0 ; KFE +} + +frictionConeTask +{ + frictionCoefficient 0.3 +} + +swingLegTask +{ + kp 350 + kd 37 +} + +weight +{ + swingLeg 100 + baseAccel 1 + contactForce 0.01 +} + +; State Estimation +kalmanFilter +{ + footRadius 0.03 + imuProcessNoisePosition 0.02 + imuProcessNoiseVelocity 0.02 + footProcessNoisePosition 0.002 + footSensorNoisePosition 0.005 + footSensorNoiseVelocity 0.1 + footHeightSensorNoise 0.01 +} \ No newline at end of file diff --git a/descriptions/anybotics/anymal_c_description/config/robot_control.yaml b/descriptions/anybotics/anymal_c_description/config/robot_control.yaml new file mode 100644 index 0000000..1c07eb4 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/config/robot_control.yaml @@ -0,0 +1,83 @@ +# Controller Manager configuration +controller_manager: + ros__parameters: + update_rate: 500 # Hz + + # Define the available controllers + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + imu_sensor_broadcaster: + type: imu_sensor_broadcaster/IMUSensorBroadcaster + + unitree_guide_controller: + type: unitree_guide_controller/UnitreeGuideController + + ocs2_quadruped_controller: + type: ocs2_quadruped_controller/Ocs2QuadrupedController + + rl_quadruped_controller: + type: LH_quadruped_controller/LeggedGymController + +imu_sensor_broadcaster: + ros__parameters: + sensor_name: "imu_sensor" + frame_id: "imu_link" + +ocs2_quadruped_controller: + ros__parameters: + + joints: + - LF_HAA + - LF_HFE + - LF_KFE + - LH_HAA + - LH_HFE + - LH_KFE + - RF_HAA + - RF_HFE + - RF_KFE + - RH_HAA + - RH_HFE + - RH_KFE + + command_interfaces: + - effort + - position + - velocity + - kp + - kd + + state_interfaces: + - effort + - position + - velocity + + feet: + - LF_FOOT + - RF_FOOT + - LH_FOOT + - RH_FOOT + + + imu_name: "imu_sensor" + base_name: "base" + + imu_interfaces: + - orientation.w + - orientation.x + - orientation.y + - orientation.z + - angular_velocity.x + - angular_velocity.y + - angular_velocity.z + - linear_acceleration.x + - linear_acceleration.y + - linear_acceleration.z + + foot_force_name: "foot_force" + foot_force_interfaces: + - LF + - RF + - LH + - RH diff --git a/descriptions/anybotics/anymal_c_description/config/visualize_urdf.rviz b/descriptions/anybotics/anymal_c_description/config/visualize_urdf.rviz new file mode 100644 index 0000000..1317835 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/config/visualize_urdf.rviz @@ -0,0 +1,383 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 303 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + FL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + RL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_chin: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_face: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_laserscan_link_left: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_laserscan_link_right: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_optical_chin: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_optical_face: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_optical_left: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_optical_rearDown: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_optical_right: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rearDown: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + trunk: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ultraSound_face: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ultraSound_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ultraSound_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 0.8687032461166382 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.017344314604997635 + Y: -0.0033522010780870914 + Z: -0.09058035165071487 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.49539798498153687 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.8403961062431335 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 630 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 787 + X: 763 + Y: 351 diff --git a/descriptions/anybotics/anymal_c_description/launch/ocs2_control.launch.py b/descriptions/anybotics/anymal_c_description/launch/ocs2_control.launch.py new file mode 100644 index 0000000..41dbcf2 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/launch/ocs2_control.launch.py @@ -0,0 +1,109 @@ +import os + +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import OpaqueFunction, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +package_description = "anymal_c_description" +package_controller = "ocs2_quadruped_controller" + + +def process_xacro(): + pkg_path = os.path.join(get_package_share_directory(package_description)) + xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') + robot_description_config = xacro.process_file(xacro_file) + return robot_description_config.toxml() + +def generate_launch_description(): + rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz") + + robot_description = process_xacro() + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare(package_description), + "config", + "robot_control.yaml", + ] + ) + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + { + 'publish_frequency': 20.0, + 'use_tf_static': True, + 'robot_description': robot_description, + 'ignore_timestamp': True + } + ], + ) + + controller_manager = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_controllers, + { + 'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf', + 'robot.urdf'), + 'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2', + 'task.info'), + 'reference_file': os.path.join(get_package_share_directory(package_description), 'config', + 'ocs2', 'reference.info'), + 'gait_file': os.path.join(get_package_share_directory(package_description), 'config', + 'ocs2', 'gait.info') + }], + output="both", + ) + + joint_state_publisher = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + imu_sensor_broadcaster = Node( + package="controller_manager", + executable="spawner", + arguments=["imu_sensor_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + ocs2_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"] + ) + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ), + + robot_state_publisher, + controller_manager, + joint_state_publisher, + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_publisher, + on_exit=[imu_sensor_broadcaster], + ) + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=imu_sensor_broadcaster, + on_exit=[ocs2_controller], + ) + ), + ]) diff --git a/descriptions/anybotics/anymal_c_description/launch/unitree_guide.launch.py b/descriptions/anybotics/anymal_c_description/launch/unitree_guide.launch.py new file mode 100644 index 0000000..6ed5960 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/launch/unitree_guide.launch.py @@ -0,0 +1,112 @@ +import os + +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +package_description = "anymal_c_description" + + +def process_xacro(context): + robot_type_value = context.launch_configurations['robot_type'] + pkg_path = os.path.join(get_package_share_directory(package_description)) + xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') + robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value}) + return (robot_description_config.toxml(), robot_type_value) + + +def launch_setup(context, *args, **kwargs): + (robot_description, robot_type) = process_xacro(context) + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare(package_description), + "config", + "robot_control.yaml", + ] + ) + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + { + 'publish_frequency': 20.0, + 'use_tf_static': True, + 'robot_description': robot_description, + 'ignore_timestamp': True + } + ], + ) + + controller_manager = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_controllers], + output="both", + ) + + joint_state_publisher = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + imu_sensor_broadcaster = Node( + package="controller_manager", + executable="spawner", + arguments=["imu_sensor_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + unitree_guide_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"], + ) + + return [ + robot_state_publisher, + controller_manager, + joint_state_publisher, + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_publisher, + on_exit=[imu_sensor_broadcaster], + ) + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=imu_sensor_broadcaster, + on_exit=[unitree_guide_controller], + ) + ), + ] + + +def generate_launch_description(): + robot_type_arg = DeclareLaunchArgument( + 'robot_type', + default_value='a1', + description='Type of the robot' + ) + + rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + + return LaunchDescription([ + robot_type_arg, + OpaqueFunction(function=launch_setup), + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ) + ]) diff --git a/descriptions/anybotics/anymal_c_description/launch/visualize.launch.py b/descriptions/anybotics/anymal_c_description/launch/visualize.launch.py new file mode 100644 index 0000000..e05e31a --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/launch/visualize.launch.py @@ -0,0 +1,49 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node + +import xacro + +package_description = "anymal_c_description" + +def process_xacro(): + pkg_path = os.path.join(get_package_share_directory(package_description)) + xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') + robot_description_config = xacro.process_file(xacro_file) + return robot_description_config.toxml() +def generate_launch_description(): + + rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + robot_description = process_xacro() + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ), + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[ + { + 'publish_frequency': 100.0, + 'use_tf_static': True, + 'robot_description': robot_description + } + ], + ), + Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher', + output='screen', + ) + ]) \ No newline at end of file diff --git a/descriptions/anybotics/anymal_c_description/meshes/base.dae b/descriptions/anybotics/anymal_c_description/meshes/base.dae new file mode 100644 index 0000000..c07f525 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/meshes/base.dae @@ -0,0 +1,326 @@ + + + + + Blender User + Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3 + + 2020-01-07T14:05:52 + 2020-01-07T14:05:52 + + Z_UP + + + + + + + base + + + + + base-surface + + + + 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147 192 275 148 193 279 149 194 3929 150 195 3930 151 196 3928 152 197 272 153 198 276 154 199 270 155 200 455 156 201 369 157 202 371 158 203 109 159 204 37 160 205 110 161 206 110 161 207 37 160 208 111 162 209 110 161 210 111 162 211 112 163 212 112 163 213 111 162 214 113 164 215 112 163 216 113 164 217 32 39 218 283 165 219 179 166 220 282 167 221 587 168 222 833 169 223 588 170 224 5 171 225 11 56 226 47 58 227 425 172 228 440 173 229 441 174 230 5375 175 231 5378 176 232 5322 177 233 5382 178 234 5379 179 235 5381 180 236 5380 181 237 5324 182 238 5323 183 239 340 184 240 460 185 241 341 186 242 293 187 243 291 188 244 292 189 245 292 189 246 294 190 247 293 187 248 273 191 249 293 187 250 294 190 251 294 190 252 295 192 253 273 191 254 103 145 255 126 193 256 99 141 257 295 192 258 296 194 259 269 195 260 99 141 261 127 196 262 101 143 263 104 146 264 128 197 265 103 145 266 5313 198 267 5337 199 268 5350 200 269 124 201 270 129 202 271 130 203 272 122 204 273 130 203 274 18 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b/descriptions/anybotics/anymal_c_description/xacro/imu_link.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/anybotics/anymal_c_description/xacro/materials.xacro b/descriptions/anybotics/anymal_c_description/xacro/materials.xacro new file mode 100644 index 0000000..e99425d --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/xacro/materials.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/anybotics/anymal_c_description/xacro/robot.xacro b/descriptions/anybotics/anymal_c_description/xacro/robot.xacro new file mode 100644 index 0000000..51e3e18 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/xacro/robot.xacro @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/descriptions/anybotics/anymal_c_description/xacro/ros2_control.xacro b/descriptions/anybotics/anymal_c_description/xacro/ros2_control.xacro new file mode 100644 index 0000000..fe0bdf7 --- /dev/null +++ b/descriptions/anybotics/anymal_c_description/xacro/ros2_control.xacro @@ -0,0 +1,176 @@ + + + + + + + hardware_unitree_mujoco/HardwareUnitree + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/unitree/a1_description/config/issacgym/config.yaml b/descriptions/unitree/a1_description/config/issacgym/config.yaml index 8b46e4f..0583ecc 100644 --- a/descriptions/unitree/a1_description/config/issacgym/config.yaml +++ b/descriptions/unitree/a1_description/config/issacgym/config.yaml @@ -1,4 +1,4 @@ -model_name: "model_0702.pt" +model_name: "rl_sar.pt" framework: "isaacgym" rows: 4 cols: 3 diff --git a/descriptions/unitree/a1_description/config/issacgym/model_0702.pt b/descriptions/unitree/a1_description/config/issacgym/rl_sar.pt similarity index 100% rename from descriptions/unitree/a1_description/config/issacgym/model_0702.pt rename to descriptions/unitree/a1_description/config/issacgym/rl_sar.pt