From 067baf430b6eda1b3c20c37e5f7150822fd16ec1 Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Wed, 3 Apr 2024 16:42:30 +0800 Subject: [PATCH] fix cyberdog model --- src/rl_sar/include/rl_real_cyberdog.hpp | 8 + src/rl_sar/scripts/init_cyberdog.sh | 20 +- src/rl_sar/src/rl_real_cyberdog.cpp | 64 +- src/rl_sar/src/rl_sim.cpp | 16 +- .../joint_names_cyberdog_urdf_test.yaml | 1 - .../meshes/{link_knee_bl.STL => calf.STL} | Bin .../meshes/{link_abad_bl.STL => hip.STL} | Bin .../{link_abad_br.STL => hip_mirror.STL} | Bin .../meshes/link_abad_fl.STL | Bin 123284 -> 0 bytes .../meshes/link_abad_fr.STL | Bin 123284 -> 0 bytes .../meshes/link_hip_br.STL | Bin 131284 -> 0 bytes .../meshes/link_hip_fl.STL | Bin 131284 -> 0 bytes .../meshes/link_hip_fr.STL | Bin 131284 -> 0 bytes .../meshes/link_knee_br.STL | Bin 97484 -> 0 bytes .../meshes/link_knee_fl.STL | Bin 97484 -> 0 bytes .../meshes/link_knee_fr.STL | Bin 97484 -> 0 bytes .../meshes/{link_hip_bl.STL => thigh.STL} | Bin .../meshes/{body.STL => trunk.STL} | Bin .../urdf/cyberdog_description.csv | 14 - .../urdf/cyberdog_description.urdf | 804 ++++++------------ 20 files changed, 315 insertions(+), 612 deletions(-) delete mode 100644 src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml rename src/robots/cyberdog_description/meshes/{link_knee_bl.STL => calf.STL} (100%) rename src/robots/cyberdog_description/meshes/{link_abad_bl.STL => hip.STL} (100%) rename src/robots/cyberdog_description/meshes/{link_abad_br.STL => hip_mirror.STL} (100%) delete mode 100644 src/robots/cyberdog_description/meshes/link_abad_fl.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_abad_fr.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_hip_br.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_hip_fl.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_hip_fr.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_knee_br.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_knee_fl.STL delete mode 100644 src/robots/cyberdog_description/meshes/link_knee_fr.STL rename src/robots/cyberdog_description/meshes/{link_hip_bl.STL => thigh.STL} (100%) rename src/robots/cyberdog_description/meshes/{body.STL => trunk.STL} (100%) delete mode 100644 src/robots/cyberdog_description/urdf/cyberdog_description.csv diff --git a/src/rl_sar/include/rl_real_cyberdog.hpp b/src/rl_sar/include/rl_real_cyberdog.hpp index 630b195..926be97 100644 --- a/src/rl_sar/include/rl_real_cyberdog.hpp +++ b/src/rl_sar/include/rl_real_cyberdog.hpp @@ -79,6 +79,14 @@ private: int dof_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8}; int hip_scale_reduction_indices[4] = {0, 3, 6, 9}; + float Kp[13] = {20, 40, 40, //FL + 20, 40, 40, //FR + 20, 40, 40, //RL + 20, 40, 40};//RR + float Kd[13] = {1.0, 1.5, 1.5, + 1.0, 1.5, 1.5, + 1.0, 1.5, 1.5, + 1.0, 1.5, 1.5}; std::chrono::high_resolution_clock::time_point start_time; diff --git a/src/rl_sar/scripts/init_cyberdog.sh b/src/rl_sar/scripts/init_cyberdog.sh index 7b6a90c..499b311 100644 --- a/src/rl_sar/scripts/init_cyberdog.sh +++ b/src/rl_sar/scripts/init_cyberdog.sh @@ -1,12 +1,20 @@ #!/bin/bash -set -e +set +e set -u -# 获取IP地址对应的网络设备 +HOMENAME=$(basename $HOME) + network_device=$(ifconfig | grep -B 1 192.168.55.100 | grep "flags" | cut -d ':' -f1) - -# 配置网络设备为多播 sudo ifconfig $network_device multicast +sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev $network_device -# 添加路由表 -sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev $network_device \ No newline at end of file +sudo sed -i 's/#\s*StrictHostKeyChecking/StrictHostKeyChecking/' /etc/ssh/ssh_config +if grep -q "StrictHostKeyChecking" /etc/ssh/ssh_config; then + sudo sed -i 's/StrictHostKeyChecking.*/StrictHostKeyChecking no/' /etc/ssh/ssh_config +else + echo "StrictHostKeyChecking no" | sudo tee -a /etc/ssh/ssh_config +fi + +ssh-keygen -f "/home/${HOMENAME}/.ssh/known_hosts" -R "192.168.55.233" + +bash kill_cyberdog.sh \ No newline at end of file diff --git a/src/rl_sar/src/rl_real_cyberdog.cpp b/src/rl_sar/src/rl_real_cyberdog.cpp index f75229f..413120d 100644 --- a/src/rl_sar/src/rl_real_cyberdog.cpp +++ b/src/rl_sar/src/rl_real_cyberdog.cpp @@ -20,8 +20,8 @@ RL_Real::RL_Real() : CustomInterface(500) this->params.num_observations = 45; this->params.clip_obs = 100.0; this->params.clip_actions = 100.0; - this->params.damping = 1.0; - this->params.stiffness = 30; + this->params.damping = 0.5; + this->params.stiffness = 20; this->params.d_gains = torch::ones(12) * this->params.damping; this->params.p_gains = torch::ones(12) * this->params.stiffness; this->params.action_scale = 0.25; @@ -167,8 +167,10 @@ void RL_Real::RobotControl() // cyberdogCmd.q_des[i] = 0; cyberdogCmd.q_des[i] = output_dof_pos[0][dof_mapping[i]].item(); cyberdogCmd.qd_des[i] = 0; - cyberdogCmd.kp_des[i] = params.stiffness; - cyberdogCmd.kd_des[i] = params.damping; + // cyberdogCmd.kp_des[i] = params.stiffness; + // cyberdogCmd.kd_des[i] = params.damping; + cyberdogCmd.kp_des[i] = Kp[dof_mapping[i]]; + cyberdogCmd.kd_des[i] = Kd[dof_mapping[i]]; // cyberdogCmd.tau_des[i] = output_torques[0][dof_mapping[i]].item(); cyberdogCmd.tau_des[i] = 0; } @@ -243,46 +245,20 @@ void RL_Real::run_keyboard() c = fgetc(stdin); switch(c) { - case '0': - keyboard.robot_state = STATE_POS_GETUP; - break; - case 'p': - keyboard.robot_state = STATE_RL_INIT; - break; - case '1': - keyboard.robot_state = STATE_POS_GETDOWN; - break; - case 'q': - break; - case 'w': - keyboard.x += 0.1; - break; - case 's': - keyboard.x -= 0.1; - break; - case 'a': - keyboard.yaw += 0.1; - break; - case 'd': - keyboard.yaw -= 0.1; - break; - case 'i': - break; - case 'k': - break; - case 'j': - keyboard.y += 0.1; - break; - case 'l': - keyboard.y -= 0.1; - break; - case ' ': - keyboard.x = 0; - keyboard.y = 0; - keyboard.yaw = 0; - break; - default: - break; + case '0': keyboard.robot_state = STATE_POS_GETUP; break; + case 'p': keyboard.robot_state = STATE_RL_INIT; break; + case '1': keyboard.robot_state = STATE_POS_GETDOWN; break; + case 'q': break; + case 'w': keyboard.x += 0.1; break; + case 's': keyboard.x -= 0.1; break; + case 'a': keyboard.yaw += 0.1; break; + case 'd': keyboard.yaw -= 0.1; break; + case 'i': break; + case 'k': break; + case 'j': keyboard.y += 0.1; break; + case 'l': keyboard.y -= 0.1; break; + case ' ': keyboard.x = 0; keyboard.y = 0; keyboard.yaw = 0; break; + default: break; } } usleep(10000); diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp index 9528332..b7087f3 100644 --- a/src/rl_sar/src/rl_sim.cpp +++ b/src/rl_sar/src/rl_sim.cpp @@ -41,11 +41,11 @@ RL_Sim::RL_Sim() 20.0, 55.0, 55.0, 20.0, 55.0, 55.0}}); - // hip, thigh, calf - this->params.default_dof_pos = torch::tensor({{0.1000, 0.8000, -1.5000, // front left - -0.1000, 0.8000, -1.5000, // front right - 0.1000, 1.0000, -1.5000, // rear left - -0.1000, 1.0000, -1.5000}});// rear right + // hip, thigh, calf + this->params.default_dof_pos = torch::tensor({{ 0.1000, 0.8000, -1.5000, // FL + -0.1000, 0.8000, -1.5000, // FR + 0.1000, 1.0000, -1.5000, // RR + -0.1000, 1.0000, -1.5000}});// RL this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6); @@ -156,7 +156,7 @@ void RL_Sim::RunModel() // joint_velocities[7], joint_velocities[8], joint_velocities[6], // joint_velocities[10], joint_velocities[11], joint_velocities[9]); - this->obs.lin_vel = torch::tensor({{vel.linear.x, vel.linear.y, vel.linear.z}}); + // this->obs.lin_vel = torch::tensor({{vel.linear.x, vel.linear.y, vel.linear.z}}); this->obs.ang_vel = torch::tensor({{vel.angular.x, vel.angular.y, vel.angular.z}}); this->obs.commands = torch::tensor({{cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z}}); this->obs.base_quat = torch::tensor({{pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w}}); @@ -182,8 +182,8 @@ void RL_Sim::RunModel() torch::Tensor RL_Sim::ComputeObservation() { - torch::Tensor obs = torch::cat({// (this->QuatRotateInverse(this->base_quat, this->lin_vel)) * this->params.lin_vel_scale, - (this->QuatRotateInverse(this->obs.base_quat, this->obs.ang_vel)) * this->params.ang_vel_scale, + torch::Tensor obs = torch::cat({// this->QuatRotateInverse(this->obs.base_quat, this->obs.lin_vel) * this->params.lin_vel_scale, + this->QuatRotateInverse(this->obs.base_quat, this->obs.ang_vel) * this->params.ang_vel_scale, this->QuatRotateInverse(this->obs.base_quat, this->obs.gravity_vec), this->obs.commands * this->params.commands_scale, (this->obs.dof_pos - this->params.default_dof_pos) * this->params.dof_pos_scale, diff --git a/src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml b/src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml deleted file mode 100644 index 5e625d2..0000000 --- a/src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml +++ /dev/null @@ -1 +0,0 @@ -controller_joint_names: ['joint_abad_bl', 'joint_abad_fr', 'joint_hip_fr', 'joint_knee_fr', 'joint_abad_fl', 'joint_hip_fl', 'joint_knee_fl', 'joint_abad_br', 'joint_hip_br', 'joint_knee_br', 'joint_abad_bl', 'joint_hip_bl', 'joint_knee_bl', ] diff --git a/src/robots/cyberdog_description/meshes/link_knee_bl.STL b/src/robots/cyberdog_description/meshes/calf.STL similarity index 100% rename from src/robots/cyberdog_description/meshes/link_knee_bl.STL rename to src/robots/cyberdog_description/meshes/calf.STL diff --git a/src/robots/cyberdog_description/meshes/link_abad_bl.STL b/src/robots/cyberdog_description/meshes/hip.STL similarity index 100% rename from src/robots/cyberdog_description/meshes/link_abad_bl.STL rename to src/robots/cyberdog_description/meshes/hip.STL diff --git a/src/robots/cyberdog_description/meshes/link_abad_br.STL b/src/robots/cyberdog_description/meshes/hip_mirror.STL similarity index 100% rename from src/robots/cyberdog_description/meshes/link_abad_br.STL 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src/robots/cyberdog_description/meshes/body.STL rename to src/robots/cyberdog_description/meshes/trunk.STL diff --git a/src/robots/cyberdog_description/urdf/cyberdog_description.csv b/src/robots/cyberdog_description/urdf/cyberdog_description.csv deleted file mode 100644 index ce6ed29..0000000 --- a/src/robots/cyberdog_description/urdf/cyberdog_description.csv +++ /dev/null @@ -1,14 +0,0 @@ -Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity -body,0,0,0,0,0,0,7.18,0.032051,-0.00023217,0.002728,0.13707,5.6623E-05,0.14946,0,0,0,0,0,0,package://cyberdog_description/meshes/body.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/body.STL,,body^Cyberdog-1;cyber_dog_body-1,coor_body,axis_left_abad,joint_abad_bl,revolute,-0.23536,0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,, -link_abad_fr,0,-0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fr.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fr.STL,,abad_link^Cyberdog-8,coor_leg0_abad,axis_right_abad,joint_abad_fr,revolute,0.23536,-0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,, -link_hip_fr,0,0,-0.1,0,0,0,0.664,0.0033376,-7.1504E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fr.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fr.STL,,hip_link^Cyberdog-6,coor_leg0_hip,axis_leg0_hip,joint_hip_fr,revolute,0,-0.10715,0,0,0,0,link_abad_fr,0,-1,0,24,12,4.363,-1.257,,,0.01,0.2,,,, -link_knee_fr,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fr.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fr.STL,,knee_link^Cyberdog-6,coor_leg0_knee,axis_leg0_knee,joint_knee_fr,revolute,0,0,-0.2,0,0,0,link_hip_fr,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,, -link_abad_fl,0,0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fl.STL,,abad_link^Cyberdog-4,coor_leg1_abad,axis_left_abad,joint_abad_fl,revolute,0.23536,0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,, -link_hip_fl,0,0,-0.1,0,0,0,0.664,0.0033376,-7.150375E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fl.STL,,hip_link^Cyberdog-2,coor_leg1_hip,axis_leg1_hip,joint_hip_fl,revolute,0,0.10715,0,0,0,0,link_abad_fl,0,-1,0,24,12,4.363,-1.257,,,0.01,0.2,,,, -link_knee_fl,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fl.STL,,knee_link^Cyberdog-2,coor_leg1_knee,axis_leg1_knee,joint_knee_fl,revolute,0,0,-0.2,0,0,0,link_hip_fl,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,, -link_abad_br,0,-0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_br.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_br.STL,,abad_link^Cyberdog-9,coor_leg2_abad,axis_right_abad,joint_abad_br,revolute,-0.23536,-0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,, -link_hip_br,0,0,-0.1,0,0,0,0.664,0.0033376,-7.150375E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_br.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_br.STL,,hip_link^Cyberdog-7,coor_leg2_hip,axis_leg2_hip,joint_hip_br,revolute,0,-0.10715,0,0,0,0,link_abad_br,0,-1,0,24,12,3.49,-2.01,,,0.01,0.2,,,, -link_knee_br,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_br.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_br.STL,,knee_link^Cyberdog-7,coor_leg2_knee,axis_leg2_knee,joint_knee_br,revolute,0,0,-0.2,0,0,0,link_hip_br,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,, -link_abad_bl,0,0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_bl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_bl.STL,,abad_link^Cyberdog-5,coor_leg3_abad,axis_left_abad,joint_abad_bl,revolute,-0.23536,0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,, -link_hip_bl,0,0,-0.1,0,0,0,0.664,0.0033376,-7.1504E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_bl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_bl.STL,,hip_link^Cyberdog-3,coor_leg3_hip,axis_leg3_hip,joint_hip_bl,revolute,0,0.10715,0,0,0,0,link_abad_bl,0,-1,0,24,12,3.49,-2.01,,,0.01,0.2,,,, -link_knee_bl,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_bl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_bl.STL,,knee_link^Cyberdog-3,coor_leg3_knee,axis_leg3_knee,joint_knee_bl,revolute,0,0,-0.2,0,0,0,link_hip_bl,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,, diff --git a/src/robots/cyberdog_description/urdf/cyberdog_description.urdf b/src/robots/cyberdog_description/urdf/cyberdog_description.urdf index cfa69cb..915686a 100644 --- a/src/robots/cyberdog_description/urdf/cyberdog_description.urdf +++ b/src/robots/cyberdog_description/urdf/cyberdog_description.urdf @@ -1,7 +1,4 @@ - @@ -19,7 +16,8 @@ - + + @@ -30,6 +28,7 @@ + @@ -296,38 +295,24 @@ - - - - - - + - + - - - + - + - + + + + + + @@ -336,7 +321,7 @@ - + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - - @@ -521,14 +441,14 @@ - + - + - + @@ -568,162 +488,97 @@ + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - - @@ -733,14 +588,14 @@ - + - + - + @@ -780,162 +635,97 @@ + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - - @@ -945,14 +735,14 @@ - + - + - + @@ -992,162 +782,97 @@ + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - + + + + + + + - - - - - - + - + - - - + - + - + + + + + + - - - - - - - - @@ -1157,14 +882,14 @@ - + - + - + @@ -1204,4 +929,5 @@ - \ No newline at end of file + +