From 174a2686f75fc8e64ddf03ed79b7ec149c23d394 Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Fri, 24 May 2024 16:24:14 +0800 Subject: [PATCH] feat: [Destructive Update] NEW VERSISON --- README.md | 71 +- README_CN.md | 71 +- src/rl_sar/CMakeLists.txt | 20 +- src/rl_sar/config.yaml | 92 +- src/rl_sar/include/rl_real_a1.hpp | 64 +- src/rl_sar/include/rl_real_cyberdog.hpp | 60 - src/rl_sar/include/rl_sim.hpp | 70 +- .../{start_a1.launch => gazebo_a1.launch} | 2 + src/rl_sar/launch/start_cyberdog.launch | 52 - .../library/cyberdog_motor_sdk/CMakeLists.txt | 24 - .../library/cyberdog_motor_sdk/README.md | 140 -- .../library/cyberdog_motor_sdk/README_EN.md | 121 -- .../include/CustomInterface.h | 117 -- .../include/leg_control_data_lcmt.hpp | 286 ---- .../include/motor_ctrl_lcmt.hpp | 211 --- .../include/motor_ctrl_state_lcmt.hpp | 166 -- .../include/state_estimator_lcmt.hpp | 316 ---- .../src/CustomInterface.cpp | 171 -- .../src/Example_MotorCtrl.cpp | 115 -- src/rl_sar/library/loop/loop.hpp | 84 + src/rl_sar/library/rl_sdk/rl_sdk.cpp | 519 +++--- src/rl_sar/library/rl_sdk/rl_sdk.hpp | 72 +- src/rl_sar/models/cyberdog1/model.pt | Bin 4567712 -> 0 bytes src/rl_sar/src/rl_real_a1.cpp | 298 ++-- src/rl_sar/src/rl_real_cyberdog.cpp | 314 ---- src/rl_sar/src/rl_sim.cpp | 136 +- .../cyberdog1_description/CMakeLists.txt | 19 - src/robots/cyberdog1_description/LICENCE | 201 --- src/robots/cyberdog1_description/README.md | 2 - .../config/robot_control.yaml | 70 - .../launch/display.launch | 21 - .../launch/gazebo.launch | 19 - .../cyberdog1_description/launch/test.rviz | 245 --- src/robots/cyberdog1_description/package.xml | 14 - .../urdf/cyberdog_description.urdf | 1387 ----------------- .../urdf_for_isaacgym/cyberdog.urdf | 796 ---------- .../cyberdog1_description/xacro/const.xacro | 124 -- .../cyberdog1_description/xacro/gazebo.xacro | 266 ---- .../cyberdog1_description/xacro/leg.xacro | 281 ---- .../cyberdog1_description/xacro/robot.xacro | 123 -- .../xacro/transmission.xacro | 41 - .../cyberdog2_description/CMakeLists.txt | 19 - .../launch/display.launch | 23 - .../launch/gazebo.launch | 19 - .../cyberdog2_description/launch/test.rviz | 245 --- .../cyberdog2_description/meshes/abad.dae | 188 --- .../cyberdog2_description/meshes/body.dae | 710 --------- .../cyberdog2_description/meshes/hip.dae | 391 ----- .../meshes/hip_mirror.dae | 391 ----- .../cyberdog2_description/meshes/knee.dae | 130 -- src/robots/cyberdog2_description/package.xml | 19 - .../cyberdog2_description/rviz/cyberdog.rviz | 293 ---- .../cyberdog2_description/xacro/const.xacro | 130 -- .../cyberdog2_description/xacro/gazebo.xacro | 252 --- .../cyberdog2_description/xacro/leg.xacro | 247 --- .../cyberdog2_description/xacro/robot.xacro | 228 --- .../xacro/transmission.xacro | 41 - .../cyberdog_old_description/CMakeLists.txt | 19 - .../config/robot_control.yaml | 70 - .../launch/display.launch | 22 - .../launch/gazebo.launch | 19 - .../cyberdog_old_description/launch/test.rviz | 245 --- .../cyberdog_old_description/meshes/calf.STL | Bin 97484 -> 0 bytes .../cyberdog_old_description/meshes/hip.STL | Bin 123284 -> 0 bytes .../meshes/hip_mirror.STL | Bin 123284 -> 0 bytes .../cyberdog_old_description/meshes/thigh.STL | Bin 131284 -> 0 bytes .../cyberdog_old_description/meshes/trunk.STL | Bin 5810384 -> 0 bytes .../cyberdog_old_description/package.xml | 19 - .../urdf/cyberdog_old_description.urdf | 933 ----------- 69 files changed, 682 insertions(+), 11172 deletions(-) delete mode 100644 src/rl_sar/include/rl_real_cyberdog.hpp rename src/rl_sar/launch/{start_a1.launch => gazebo_a1.launch} (96%) delete mode 100644 src/rl_sar/launch/start_cyberdog.launch delete mode 100644 src/rl_sar/library/cyberdog_motor_sdk/CMakeLists.txt delete mode 100644 src/rl_sar/library/cyberdog_motor_sdk/README.md delete mode 100644 src/rl_sar/library/cyberdog_motor_sdk/README_EN.md delete mode 100644 src/rl_sar/library/cyberdog_motor_sdk/include/CustomInterface.h delete mode 100644 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src/robots/cyberdog_old_description/config/robot_control.yaml delete mode 100644 src/robots/cyberdog_old_description/launch/display.launch delete mode 100644 src/robots/cyberdog_old_description/launch/gazebo.launch delete mode 100644 src/robots/cyberdog_old_description/launch/test.rviz delete mode 100644 src/robots/cyberdog_old_description/meshes/calf.STL delete mode 100644 src/robots/cyberdog_old_description/meshes/hip.STL delete mode 100644 src/robots/cyberdog_old_description/meshes/hip_mirror.STL delete mode 100644 src/robots/cyberdog_old_description/meshes/thigh.STL delete mode 100644 src/robots/cyberdog_old_description/meshes/trunk.STL delete mode 100644 src/robots/cyberdog_old_description/package.xml delete mode 100644 src/robots/cyberdog_old_description/urdf/cyberdog_old_description.urdf diff --git a/README.md b/README.md index b23374c..7d1de13 100644 --- a/README.md +++ b/README.md @@ -75,21 +75,10 @@ Open a new terminal, launch the gazebo simulation environment ```bash source devel/setup.bash -roslaunch rl_sar start_a1.launch +roslaunch rl_sar gazebo_a1.launch ``` -Open a new terminal, run the control program - -```bash -source devel/setup.bash -rosrun rl_sar rl_sim -``` - -Open a new terminal, run the keyboard control program - -```bash -rosrun teleop_twist_keyboard teleop_twist_keyboard.py -``` +Press **0** on the keyboard to switch the robot to the default standing position, press **P** to switch to RL control mode, and press **1** in any state to switch to the initial lying position. WS controls x-axis, AD controls yaw, and JL controls y-axis. ### Physical Robots @@ -109,61 +98,7 @@ rosrun rl_sar rl_real_a1 Press the **R2** button on the controller to switch the robot to the default standing position, press **R1** to switch to RL control mode, and press **L2** in any state to switch to the initial lying position. The left stick controls x-axis up and down, controls yaw left and right, and the right stick controls y-axis left and right. -#### Cyberdog1 - -1. Connect to the robot (only need to do this once) - - Connect the local PC to the Cyberdog's USB download Type-C interface (located in the middle) and wait for the "L4T-README" pop-up to appear. - - ```bash - ping 192.168.55.100 # IP assigned to the local PC - ssh mi@192.168.55.1 # Log in to the NX application board, password 123 - athena_version -v # Verify the current version is >=1.0.0.94 - ``` - -2. Enter motor control mode (only need to do this once) - - Modify the configuration switch to activate user control mode and run the user's own controller: - - ```bash - ssh root@192.168.55.233 # Log in to the motion control board - cd /robot - ./initialize.sh # Copy factory code to the readable and writable development area (/mnt/UDISK/robot-software), switch to developer mode, only need to be executed once - vi /mnt/UDISK/robot-software/config/user_code_ctrl_mode.txt # Switch mode: 1 (0: default mode, 1 user code control motor mode), reboot the robot to take effect - ``` - -3. Use Ethernet cable to connect the computer and the motion control board - - Due to the risk of damaging the interface and higher communication latency when using a Type-C connection, it is recommended to use an Ethernet cable for connection. Disconnect the cables between the main control and motion control board of the robot, and connect the computer and the motion control board directly with an Ethernet cable, then set the wired connection IPv4 of the computer to manual ` 192.168.55.100`. It is recommended to remove the head and lead the cable out of the head opening. Be careful not to damage the cables during disassembly and assembly. - - Initialize the robot's connection (this step needs to be done every time the robot is reconnected) - - ```bash - cd src/rl_sar/scripts - bash init_cyberdog.sh - ``` - - Start the control program - - ```bash - source devel/setup.bash - rosrun rl_sar rl_real_cyberdog - ``` - - Press **0** on the keyboard to switch the robot to the default standing position, press **P** to switch to RL control mode, and press **1** in any state to switch to the initial lying position. WS controls x-axis, AD controls yaw, and JL controls y-axis. - -4. Use a Type-C cable to connect the computer and the robot - - If it is inconvenient to disassemble the robot, a Type-C cable can be temporarily used for debugging. The procedure after connecting the Type-C cable is the same as above. - -5. After using Ctrl+C to end the program, the robot's motion control program will automatically reset. If the program goes out of control, the motion control program can also be manually restarted. - - Note: After restarting the motion control program, there is a startup time of approximately 5-10 seconds. During this time, running programs may report `Motor control mode has not been activated successfully`. Wait until there are no errors before running the control program again. - - ```bash - cd src/rl_sar/scripts - bash kill_cyberdog.sh - ``` +OR Press **0** on the keyboard to switch the robot to the default standing position, press **P** to switch to RL control mode, and press **1** in any state to switch to the initial lying position. WS controls x-axis, AD controls yaw, and JL controls y-axis. ## Add Your Robot diff --git a/README_CN.md b/README_CN.md index 365cfb1..2c04244 100644 --- a/README_CN.md +++ b/README_CN.md @@ -75,21 +75,10 @@ catkin build ```bash source devel/setup.bash -roslaunch rl_sar start_a1.launch +roslaunch rl_sar gazebo_a1.launch ``` -新建终端,启动控制程序 - -```bash -source devel/setup.bash -rosrun rl_sar rl_sim -``` - -新建终端,键盘控制程序 - -```bash -rosrun teleop_twist_keyboard teleop_twist_keyboard.py -``` +按下键盘上的**0**键让机器人切换到默认站起姿态,按下**P**键切换到RL控制模式,任意状态按下**1**键切换到最初的趴下姿态。WS控制x,AD控制yaw,JL控制y。 ### 实物 @@ -109,61 +98,7 @@ rosrun rl_sar rl_real_a1 按下遥控器的**R2**键让机器人切换到默认站起姿态,按下**R1**键切换到RL控制模式,任意状态按下**L2**切换到最初的趴下姿态。左摇杆上下控制x左右控制yaw,右摇杆左右控制y。 -#### Cyberdog1 - -1. 连接机器人(只需执行一次此步骤) - - 将本地PC连接至铁蛋的USB download type-c 接口(位于中间),等待出现”L4T-README” 弹窗 - - ```bash - ping 192.168.55.100 #本地PC被分配的ip - ssh mi@192.168.55.1 #登录nx应用板 ,密码123 - athena_version -v #核对当前版本>=1.0.0.94 - ``` - -2. 进入电机控制模式(只需执行一次此步骤) - - 修改配置开关,激活用户控制模式,运行用户自己的控制器: - - ```bash - ssh root@192.168.55.233 #登录运动控制板 - cd /robot - ./initialize.sh #拷贝出厂代码到可读写的开发区(/mnt/UDISK/robot-software),切换到开发者模式,仅需执行一次 - vi /mnt/UDISK/robot-software/config/user_code_ctrl_mode.txt #切换mode:1(0:默认模式,1用户代码控制电机模式),重启机器人生效 - ``` - -3. 使用网线连接电脑和运动控制板 - - 由于使用Type-C连接时调试碰撞易损坏接口,而且通信延迟较高,故推荐使用网线进行连接。需要将机器人拆开,断开断开主控和运动控制板的网线,将电脑和运动控制板使用网线直接连接,并设置电脑的有线连接IPv4为手动`192.168.55.100`。推荐拆掉头部并将网线从头部的开口引出。拆装时候注意不要损坏排线。 - - 初始化机器人的连接(每次重新连接机器人都要执行此步骤) - - ```bash - cd src/rl_sar/scripts - bash init_cyberdog.sh - ``` - - 启动控制程序 - - ```bash - source devel/setup.bash - rosrun rl_sar rl_real_cyberdog - ``` - - 按下键盘上的**0**键让机器人切换到默认站起姿态,按下**P**键切换到RL控制模式,任意状态按下**1**键切换到最初的趴下姿态。WS控制x,AD控制yaw,JL控制y。 - -4. 使用Type-C线连接电脑与机器人 - - 若不方便拆卸机器人,可以暂时使用Type-C线调试。接入Type-C线后运行方法同上。 - -5. 程序在使用Ctrl+C结束后会自动重置机器人的运控程序,如程序失控也可手动重启运控程序。 - - 注:运控程序重启后大概有5-10秒的启动时间,在这段时间内运行程序会报`Motor control mode has not been activated successfully`,需等待不报错再运行控制程序。 - - ```bash - cd src/rl_sar/scripts - bash kill_cyberdog.sh - ``` +OR 按下键盘上的**0**键让机器人切换到默认站起姿态,按下**P**键切换到RL控制模式,任意状态按下**1**键切换到最初的趴下姿态。WS控制x,AD控制yaw,JL控制y。 ## 添加你的机器人 diff --git a/src/rl_sar/CMakeLists.txt b/src/rl_sar/CMakeLists.txt index f2c93c4..99443bb 100644 --- a/src/rl_sar/CMakeLists.txt +++ b/src/rl_sar/CMakeLists.txt @@ -43,9 +43,6 @@ include_directories(library/unitree_legged_sdk_3.2/include) link_directories(library/unitree_legged_sdk_3.2/lib) set(EXTRA_LIBS -pthread libunitree_legged_sdk_amd64.so lcm) -add_subdirectory(library/cyberdog_motor_sdk) -include_directories(library/cyberdog_motor_sdk/include) - include_directories( include ${catkin_INCLUDE_DIRS} @@ -53,6 +50,7 @@ include_directories( library/matplotlibcpp library/observation_buffer library/rl_sdk + library/loop ) add_library(rl_sdk library/rl_sdk/rl_sdk.cpp) @@ -75,14 +73,8 @@ target_link_libraries(rl_sim rl_sdk observation_buffer yaml-cpp ) -# add_executable(rl_real_a1 src/rl_real_a1.cpp ) -# target_link_libraries(rl_real_a1 -# ${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}" -# rl_sdk observation_buffer yaml-cpp -# ) - -# add_executable(rl_real_cyberdog src/rl_real_cyberdog.cpp ) -# target_link_libraries(rl_real_cyberdog -# ${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}" -# rl_sdk observation_buffer cyberdog_motor_sdk yaml-cpp -# ) \ No newline at end of file +add_executable(rl_real_a1 src/rl_real_a1.cpp ) +target_link_libraries(rl_real_a1 + ${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}" + rl_sdk observation_buffer yaml-cpp +) diff --git a/src/rl_sar/config.yaml b/src/rl_sar/config.yaml index 19c85c4..73f9dcd 100644 --- a/src/rl_sar/config.yaml +++ b/src/rl_sar/config.yaml @@ -3,16 +3,22 @@ a1: num_observations: 45 clip_obs: 100.0 clip_actions: 100.0 - # damping: 0.5 - # stiffness: 20.0 - p_gains: [20, 20, 20, # FL - 20, 20, 20, # FR - 20, 20, 20, # RL - 20, 20, 20] # RR - d_gains: [0.5, 0.5, 0.5, # FL - 0.5, 0.5, 0.5, # FR - 0.5, 0.5, 0.5, # RL - 0.5, 0.5, 0.5] # RR + rl_kp: [20, 20, 20, # FL + 20, 20, 20, # FR + 20, 20, 20, # RL + 20, 20, 20] # RR + rl_kd: [0.5, 0.5, 0.5, # FL + 0.5, 0.5, 0.5, # FR + 0.5, 0.5, 0.5, # RL + 0.5, 0.5, 0.5] # RR + fixed_kp: [80, 80, 80, # FL + 80, 80, 80, # FR + 80, 80, 80, # RL + 80, 80, 80] # RR + fixed_kd: [3, 3, 3, # FL + 3, 3, 3, # FR + 3, 3, 3, # RL + 3, 3, 3] # RR action_scale: 0.25 hip_scale_reduction: 0.5 hip_scale_reduction_indices: [0, 3, 6, 9] @@ -40,16 +46,22 @@ cyberdog1: num_observations: 45 clip_obs: 100.0 clip_actions: 100.0 - # damping: 0.5 - # stiffness: 20.0 - p_gains: [20, 20, 20, # FL - 20, 20, 20, # FR - 20, 20, 20, # RL - 20, 20, 20] # RR - d_gains: [0.5, 0.5, 0.5, # FL - 0.5, 0.5, 0.5, # FR - 0.5, 0.5, 0.5, # RL - 0.5, 0.5, 0.5] # RR + rl_kp: [20, 20, 20, # FL + 20, 20, 20, # FR + 20, 20, 20, # RL + 20, 20, 20] # RR + rl_kd: [0.5, 0.5, 0.5, # FL + 0.5, 0.5, 0.5, # FR + 0.5, 0.5, 0.5, # RL + 0.5, 0.5, 0.5] # RR + fixed_kp: [80, 80, 80, # FL + 80, 80, 80, # FR + 80, 80, 80, # RL + 80, 80, 80] # RR + fixed_kd: [3, 3, 3, # FL + 3, 3, 3, # FR + 3, 3, 3, # RL + 3, 3, 3] # RR action_scale: 0.25 hip_scale_reduction: 0.5 hip_scale_reduction_indices: [0, 3, 6, 9] @@ -76,16 +88,22 @@ lite3_wheel: num_observations: 45 clip_obs: 100.0 clip_actions: 100.0 - # damping: 0.5 - # stiffness: 20.0 - p_gains: [20, 20, 20, 0, # FL - 20, 20, 20, 0, # FR - 20, 20, 20, 0, # RL - 20, 20, 20, 0] # RR - d_gains: [0.5, 0.5, 0.5, 0.5, # FL - 0.5, 0.5, 0.5, 0.5, # FR - 0.5, 0.5, 0.5, 0.5, # RL - 0.5, 0.5, 0.5, 0.5] # RR + rl_kp: [20, 20, 20, 0, # FL + 20, 20, 20, 0, # FR + 20, 20, 20, 0, # RL + 20, 20, 20, 0] # RR + rl_kd: [0.5, 0.5, 0.5, 0.5, # FL + 0.5, 0.5, 0.5, 0.5, # FR + 0.5, 0.5, 0.5, 0.5, # RL + 0.5, 0.5, 0.5, 0.5] # RR + fixed_kp: [80, 80, 80, # FL + 80, 80, 80, # FR + 80, 80, 80, # RL + 80, 80, 80] # RR + fixed_kd: [3, 3, 3, # FL + 3, 3, 3, # FR + 3, 3, 3, # RL + 3, 3, 3] # RR action_scale: 0.25 hip_scale_reduction: 1.0 hip_scale_reduction_indices: [0, 3, 6, 9] @@ -113,12 +131,14 @@ gr1t1: num_observations: 39 clip_obs: 100.0 clip_actions: 100.0 - # damping: 0.5 - # stiffness: 20.0 - p_gains: [57.0, 43.0, 114.0, 114.0, 15.3, - 57.0, 43.0, 114.0, 114.0, 15.3] - d_gains: [5.7, 4.3, 11.4, 11.4, 1.5, - 5.7, 4.3, 11.4, 11.4, 1.5] + rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3, + 57.0, 43.0, 114.0, 114.0, 15.3] + rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5, + 5.7, 4.3, 11.4, 11.4, 1.5] + fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3, + 57.0, 43.0, 114.0, 114.0, 15.3] + fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5, + 5.7, 4.3, 11.4, 11.4, 1.5] action_scale: 1.0 hip_scale_reduction: 1.0 hip_scale_reduction_indices: [] diff --git a/src/rl_sar/include/rl_real_a1.hpp b/src/rl_sar/include/rl_real_a1.hpp index 5390148..e3f1923 100644 --- a/src/rl_sar/include/rl_real_a1.hpp +++ b/src/rl_sar/include/rl_real_a1.hpp @@ -3,10 +3,10 @@ #include "rl_sdk.hpp" #include "observation_buffer.hpp" +#include "loop.hpp" #include "unitree_legged_sdk/unitree_legged_sdk.h" #include "unitree_legged_sdk/unitree_joystick.h" #include -// #include #include "matplotlibcpp.h" namespace plt = matplotlibcpp; @@ -16,51 +16,49 @@ class RL_Real : public RL public: RL_Real(); ~RL_Real(); - - void RunModel(); +private: + // rl functions torch::Tensor Forward() override; torch::Tensor ComputeObservation() override; + void GetState(RobotState *state) override; + void SetCommand(const RobotCommand *command) override; + void RunModel(); + void RobotControl(); + // history buffer ObservationBuffer history_obs_buf; torch::Tensor history_obs; - int motiontime = 0; - //udp - void UDPSend(){udp.Send();} - void UDPRecv(){udp.Recv();} - void RobotControl(); - UNITREE_LEGGED_SDK::Safety safe; - UNITREE_LEGGED_SDK::UDP udp; - UNITREE_LEGGED_SDK::LowCmd cmd = {0}; - UNITREE_LEGGED_SDK::LowState state = {0}; - xRockerBtnDataStruct _keyData; - - std::shared_ptr loop_control; - std::shared_ptr loop_udpSend; - std::shared_ptr loop_udpRecv; - std::shared_ptr loop_rl; - std::shared_ptr loop_plot; - - float getup_percent = 0.0; - float getdown_percent = 0.0; - float start_pos[12]; - float now_pos[12]; - - int robot_state = STATE_WAITING; + // loop + std::shared_ptr loop_keyboard; + std::shared_ptr loop_control; + std::shared_ptr loop_udpSend; + std::shared_ptr loop_udpRecv; + std::shared_ptr loop_rl; + std::shared_ptr loop_plot; + // plot const int plot_size = 100; std::vector plot_t; std::vector> plot_real_joint_pos, plot_target_joint_pos; void Plot(); -private: - std::vector joint_names; - std::vector joint_positions; - std::vector joint_velocities; - int dof_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8}; + // unitree interface + void UDPSend(){unitree_udp.Send();} + void UDPRecv(){unitree_udp.Recv();} + UNITREE_LEGGED_SDK::Safety unitree_safe; + UNITREE_LEGGED_SDK::UDP unitree_udp; + UNITREE_LEGGED_SDK::LowCmd unitree_low_command = {0}; + UNITREE_LEGGED_SDK::LowState unitree_low_state = {0}; + xRockerBtnDataStruct unitree_joy; + + // others + int motiontime = 0; + std::vector mapped_joint_positions; + std::vector mapped_joint_velocities; + int command_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8}; + int state_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8}; int hip_scale_reduction_indices[4] = {0, 3, 6, 9}; - - std::chrono::high_resolution_clock::time_point start_time; }; #endif \ No newline at end of file diff --git a/src/rl_sar/include/rl_real_cyberdog.hpp b/src/rl_sar/include/rl_real_cyberdog.hpp deleted file mode 100644 index 0d3b0a6..0000000 --- a/src/rl_sar/include/rl_real_cyberdog.hpp +++ /dev/null @@ -1,60 +0,0 @@ -#ifndef RL_REAL_HPP -#define RL_REAL_HPP - -#include "rl_sdk.hpp" -#include "observation_buffer.hpp" -#include "unitree_legged_sdk/loop.h" -#include -#include -#include -// #include - -#include "matplotlibcpp.h" -namespace plt = matplotlibcpp; - -using CyberdogData = Robot_Data; -using CyberdogCmd = Motor_Cmd; - -class RL_Real : public RL, public CustomInterface -{ -public: - RL_Real(); - ~RL_Real(); - - void RunModel(); - torch::Tensor Forward() override; - torch::Tensor ComputeObservation() override; - - ObservationBuffer history_obs_buf; - torch::Tensor history_obs; - int motiontime = 0; - - CyberdogData cyberdogData; - CyberdogCmd cyberdogCmd; - void UserCode(); - long long count = 0; - - void RobotControl(); - - std::shared_ptr loop_control; - std::shared_ptr loop_rl; - std::shared_ptr loop_plot; - - const int plot_size = 100; - std::vector plot_t; - std::vector> plot_real_joint_pos, plot_target_joint_pos; - void Plot(); - - std::thread _keyboardThread; -private: - std::vector joint_names; - std::vector joint_positions; - std::vector joint_velocities; - - 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}; - - std::chrono::high_resolution_clock::time_point start_time; -}; - -#endif \ No newline at end of file diff --git a/src/rl_sar/include/rl_sim.hpp b/src/rl_sar/include/rl_sim.hpp index ed936d7..44841d4 100644 --- a/src/rl_sar/include/rl_sim.hpp +++ b/src/rl_sar/include/rl_sim.hpp @@ -3,16 +3,13 @@ #include "rl_sdk.hpp" #include "observation_buffer.hpp" +#include "loop.hpp" #include #include #include #include -#include "unitree_legged_sdk/loop.h" -#include - #include "robot_msgs/MotorCommand.h" -// #include "robot_msgs/RobotState.h" -// #include "robot_msgs/RobotCommand.h" +#include #include "matplotlibcpp.h" namespace plt = matplotlibcpp; @@ -22,61 +19,54 @@ class RL_Sim : public RL public: RL_Sim(); ~RL_Sim(); - - void ModelStatesCallback(const gazebo_msgs::ModelStates::ConstPtr &msg); - void JointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg); - void CmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg); - - void RunModel(); - void RobotControl(); +private: + // rl functions torch::Tensor Forward() override; torch::Tensor ComputeObservation() override; - void GetState(RobotState *state) override; void SetCommand(const RobotCommand *command) override; + void RunModel(); + void RobotControl(); + // history buffer + bool use_history = true; ObservationBuffer history_obs_buf; torch::Tensor history_obs; - int motiontime = 0; - - std::shared_ptr loop_control; - std::shared_ptr loop_rl; - std::shared_ptr loop_plot; + // loop + std::shared_ptr loop_keyboard; + std::shared_ptr loop_control; + std::shared_ptr loop_rl; + std::shared_ptr loop_plot; + // plot const int plot_size = 100; std::vector plot_t; std::vector> plot_real_joint_pos, plot_target_joint_pos; void Plot(); - std::thread _keyboardThread; -private: + // ros interface std::string ros_namespace; - - std::vector torque_command_topics; - - ros::Subscriber model_state_subscriber_; - ros::Subscriber joint_state_subscriber_; - ros::Subscriber cmd_vel_subscriber_; - - std::map torque_publishers; - std::vector motor_commands; - - // robot_msgs::RobotState robot_state; - // robot_msgs::RobotCommand robot_command; - geometry_msgs::Twist vel; geometry_msgs::Pose pose; geometry_msgs::Twist cmd_vel; + std::vector torque_command_topics; + ros::Subscriber model_state_subscriber; + ros::Subscriber joint_state_subscriber; + ros::Subscriber cmd_vel_subscriber; + std::map torque_publishers; + void ModelStatesCallback(const gazebo_msgs::ModelStates::ConstPtr &msg); + void JointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg); + void CmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg); - std::vector joint_positions; - std::vector joint_velocities; - std::vector joint_efforts; - - std::chrono::high_resolution_clock::time_point start_time; - - void MapData(const std::vector& source_data, std::vector& target_data); + // others + int motiontime = 0; std::map sorted_to_original_index; + std::vector motor_commands; + std::vector mapped_joint_positions; + std::vector mapped_joint_velocities; + std::vector mapped_joint_efforts; + void MapData(const std::vector& source_data, std::vector& target_data); }; #endif \ No newline at end of file diff --git a/src/rl_sar/launch/start_a1.launch b/src/rl_sar/launch/gazebo_a1.launch similarity index 96% rename from src/rl_sar/launch/start_a1.launch rename to src/rl_sar/launch/gazebo_a1.launch index 6adb284..9fa2b4f 100644 --- a/src/rl_sar/launch/start_a1.launch +++ b/src/rl_sar/launch/gazebo_a1.launch @@ -1,6 +1,8 @@ + + diff --git a/src/rl_sar/launch/start_cyberdog.launch b/src/rl_sar/launch/start_cyberdog.launch deleted file mode 100644 index 4060e6d..0000000 --- a/src/rl_sar/launch/start_cyberdog.launch +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/rl_sar/library/cyberdog_motor_sdk/CMakeLists.txt b/src/rl_sar/library/cyberdog_motor_sdk/CMakeLists.txt deleted file mode 100644 index 5c6dba3..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(cyberdog_motor_sdk) - -add_compile_options(-std=c++14) -set(CMAKE_CXX_FLAGS "-O3") - -FIND_PACKAGE(lcm REQUIRED) - -file(GLOB_RECURSE sources src/*.c src/*.cpp) -FILE(GLOB_RECURSE headers include/*.h include/*.hpp) - -# generate cyber_dog_motor_sdk library -add_library(cyberdog_motor_sdk SHARED ${sources} ${headers}) -target_include_directories(cyberdog_motor_sdk PUBLIC - "include" - ) -target_link_libraries(cyberdog_motor_sdk - pthread - lcm - ) - -# compile use code -add_executable(Example_MotorCtrl src/Example_MotorCtrl.cpp) -target_link_libraries(Example_MotorCtrl cyberdog_motor_sdk) \ No newline at end of file diff --git a/src/rl_sar/library/cyberdog_motor_sdk/README.md b/src/rl_sar/library/cyberdog_motor_sdk/README.md deleted file mode 100644 index dddcae6..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/README.md +++ /dev/null @@ -1,140 +0,0 @@ -CYBERDOG MOTOR SDK ---- -此SDK开放了电机驱动器和机身IMU传感器接口,配合cyberdog 1.0.0.94及以上版本使用,方便用户进行运动控制的二次开发。具体接口使用可参照Example_MotorCtrl.cpp,按如下步骤在实际机器人上部署运行。 - -### 准备工作 -#### 安装依赖 -安装lcm(本地部署时需要) -``` -$ git clone https://github.com/lcm-proj/lcm.git -$ cd lcm -$ mkdir build && cd build -$ cmake .. && make -$ sudo make install -``` -安装docker(运控部署时需要) - -按照链接所附步骤进行安装:https://docs.docker.com/engine/install/ubuntu/ -``` -$ sudo apt-get remove docker docker-engine docker.io containerd runc -$ sudo apt-get update -$ sudo apt-get install \ - ca-certificates \ - curl \ - gnupg \ - lsb-release -$ sudo mkdir -p /etc/apt/keyrings -$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg -$ echo \ - "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \ - $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null -$ sudo apt-get update -$ sudo apt-get install docker-ce docker-ce-cli containerd.io docker-compose-plugin -$ sudo docker run hello-world - -# 给docker设置root权限: -$ sudo groupadd docker -$ sudo usermod -aG docker $USER -$ sudo gpasswd -a $USER docker #将登陆用户加入到docker用户组中 -``` -下载交叉编译所需docker镜像 -``` -$ wget https://cdn.cnbj2m.fds.api.mi-img.com/os-temp/loco/loco_arm64_20220118.tar -$ docker load --input loco_arm64_20220118.tar -$ docker images -``` -#### 连接机器人 -将本地PC连接至铁蛋的USB download type-c 接口(位于中间),等待出现”L4T-README” 弹窗 -``` -$ ping 192.168.55.100 #本地PC被分配的ip -$ ssh mi@192.168.55.1 #登录nx应用板 ,密码123 -mi@lubuntu:~$ athena_version -v #核对当前版本>=1.0.0.94 -$ ssh root@192.168.55.233 #登录运动控制板 -``` -#### 进入电机控制模式 -修改配置开关,激活用户控制模式,运行用户自己的控制器: -``` -$ ssh root@192.168.55.233 #登录运动控制板 -root@TinaLinux:~# cd /robot -root@TinaLinux:~# ./initialize.sh #拷贝出厂代码到可读写的开发区(/mnt/UDISK/robot-software),切换到开发者模式,仅需执行一次 -root@TinaLinux:~# vi /mnt/UDISK/robot-software/config/user_code_ctrl_mode.txt #切换mode:1(0:默认模式,1用户代码控制电机模式),重启机器人生效 -``` -### 编译及部署 - -#### 1、用户电脑侧部署 -运行在用户pc侧(linux)难以保证实时lcm通信,仅推荐编译验证和简单的位控测试 -``` -$ ping 192.168.55.233 #通过type c线连接Cyberdog的Download接口后,确认通信正常 -$ ifconfig | grep -B 1 192.168.55.100 | grep "flags"| cut -d ':' -f1 #获取该ip对应网络设备,一般为usb0 -$ sudo ifconfig usb0 multicast #usb0替换为上文获取的168.55.100对应网络设备,并配为多播 -$ sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev usb0 #添加路由表,usb0对应替换 -下载sdk -$ cd cyberdog_motor_sdk/ -$ mkdir build && cd build -$ cmake .. -$ make -j4 -$ ./Example_MotorCtrl -``` -注:lcm通信若不成功,无法正常激活电机控制模式,log提示:Motor control mode has not been activated successfully - -#### 2、铁蛋NX应用板部署 -因非实时系统,仅推荐编译验证和简单位控测试 -``` -$ scp -r {sdk_path}/cyberdog_motor_sdk mi@192.168.55.1:/home/mi/ #sdk源码拷入应用板,密码123 -$ ssh mi@192.168.55.1 #登录应用板 -mi@lubuntu:~$ cd /home/mi/cyberdog_motor_sdk -mi@lubuntu:~$ mkdir build && cd build -mi@lubuntu:~$ cmake .. -mi@lubuntu:~$ make -j2 -mi@lubuntu:~$ ping 192.168.55.233 #测试和运控板的通信 -mi@lubuntu:~$ ./Example_MotorCtrl -``` -#### 3、铁蛋运控板交叉编译部署 -为了能使编译的文件可以直接在机器人上运行,需要在部署交叉编译工具链的docker镜像环境下编译,具体步骤如下: - -``` -$ docker run -it --rm --name cyberdog_motor_sdk -v /home/xxx/{sdk_path}:/work/build_farm/workspace/cyberdog cr.d.xiaomi.net/athena/athena_cheetah_arm64:2.0 /bin/bash - -docker run -it --rm --name cyberdog_motor_sdk -v /home/fzq614/ROS_Workspaces/cyberdog_motor_sdk:/work/build_farm/workspace/cyberdog cr.d.xiaomi.net/athena/athena_cheetah_arm64:2.0 /bin/bash - -[root:/work] # cd /work/build_farm/workspace/cyberdog/ #进入docker系统的代码仓 -[root:/work/build_farm/workspace/cyberdog] # mkdir onboard-build && cd onboard-build -[root:/work/build_farm/workspace/cyberdog] # cmake -DCMAKE_TOOLCHAIN_FILE=/usr/xcc/aarch64-openwrt-linux-gnu/Toolchain.cmake .. -[root:/work/build_farm/workspace/cyberdog] # make -j4 #指定交叉编译工具链并编译 -[root:/work/build_farm/workspace/cyberdog] # exit -``` -编译成功后, 将生成的.so文件libcyber_dog_sdk.so和可执行文件Example_MotorCtrl拷贝到运控/mnt/UDISK目录下 -``` -$ cd ~/{sdk_path}/onboard-build - -cd ~/ROS_Workspaces/cyberdog_motor_sdk/onboard-build - -$ ssh root@192.168.55.233 "mkdir /mnt/UDISK/cyberdog_motor_sdk" #在运控板内创建文件夹 -$ scp libcyber_dog_motor_sdk.so Example_MotorCtrl root@192.168.55.233:/mnt/UDISK/cyberdog_motor_sdk -$ ssh root@192.168.55.233 -root@TinaLinux:~# cd /mnt/UDISK/cyberdog_motor_sdk -root@TinaLinux:~# export LD_LIBRARY_PATH=/mnt/UDISK/cyberdog_motor_sdk #设置so库路径变量 -root@TinaLinux:~# ./Example_MotorCtrl #通过“nohup ./Example_MotorCtrl &”可后台运行,退出ssh连接不受影响 -``` -如何添加开机自启动: -配置/mnt/UDISK/manager_config/fork_para_conf_lists.json 进程管理文件(注意结尾逗号)后重启运控程序 -例: "600003": {"fork_config":{"name": "Example_MotorCtrl", "object_path": "/cyberdog_motor_sdk/", "log_path": "", "paraValues": ["", "", ""] }} -注:手动关闭程序时,请先关闭用户程序Example_MotorCtrl,触发主程序(ctrl)超时保护趴下,再关闭或重启主程序。同时关闭主程序和用户程序,电机会因CAN总线超时位置锁定,再次启动易发生危险。 - -#### 错误标志位含义 -``` -//bit0: warning flag, lost communication between user code and robot over 10[ms]. For safety, commanded tau and qd_des will be forced to divide by (over_time[ms]/10.0); -//bit1: error flag, lost communication between user code and robot over 500[ms]. Robot will enter high-damping mode by setting joint gains kp=0, kd=10, tau=0; -//bit2: warning flag, position command of any abaduction joint changing more than 8 degrees from its previous will be truncated; -//bit3: warning flag, position command of any hip joint changing more than 10 degrees from its previous will be truncated; -//bit4: warning flag, position command of any knee joint changing more than 12 degrees from its previous will be truncated; -``` -注:为了避免通信超时导致危险,报err_flag: 0x02 communicate lost over 500ms后先排除故障,关闭Example_MotorCtrl例程进程,再重启运控程序或者直接重启运控板才能清除错误. -``` -# 重启运控程序: -$ ssh root@192.168.55.233 "ps | grep -E 'Example_MotorCtrl' | grep -v grep | awk '{print \$1}' | xargs kill -9" #需先于主进程暂停,避免急停 -$ ssh root@192.168.55.233 "ps | grep -E 'manager|ctrl|imu_online' | grep -v grep | awk '{print \$1}' | xargs kill -9" -$ ssh root@192.168.55.233 "export LD_LIBRARY_PATH=/mnt/UDISK/robot-software/build;/mnt/UDISK/manager /mnt/UDISK/ >> /mnt/UDISK/manager_log/manager.log 2>&1 &" -# 重启运控板系统: -$ ssh root@192.168.55.233 "reboot" -``` diff --git a/src/rl_sar/library/cyberdog_motor_sdk/README_EN.md b/src/rl_sar/library/cyberdog_motor_sdk/README_EN.md deleted file mode 100644 index 7d58a42..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/README_EN.md +++ /dev/null @@ -1,121 +0,0 @@ -CYBERDOG MOTOR SDK ---- -This SDK provides the interface of joint motors and IMU sensor mounted on CyberDog and gives users more freedom to develop their own controller. It is compatible with CyberDog firmware version 1.0.0.94 or higher. For more details, please refer to the example code Example_MotorCtrl.cpp. To deploy on real robots, please follow the following steps. - -### Preparatory work -#### Dependency -Install LCM -``` -$ git clone https://github.com/lcm-proj/lcm.git -$ cd lcm -$ mkdir build && cd build -$ cmake .. && make -$ sudo make install -``` -Install docker - -Follow the steps attached to the link: https://docs.docker.com/engine/install/ubuntu/ -``` -$ sudo groupadd docker # Set root permissions for docker -$ sudo usermod -aG docker $USER -``` -Download the docker image required for cross compilation -``` -$ wget https://cdn.cnbj2m.fds.api.mi-img.com/os-temp/loco/loco_arm64_20220118.tar -$ docker load --input loco_arm64_20220118.tar -$ docker images -``` -#### Connect robot -Connect the local PC to the USB Download type-C interface of cyberdog (in the middle), and wait for the "L4T-README" pop-up window to appear -``` -$ ping 192.168.55.100 # local PC assigned IP -$ ssh mi@192.168.55.1 # Login NX application board, password 123 -mi@lubuntu:~$ athena_version -v # check current version >= 1.0.0.94 -$ ssh root@192.168.55.233 # Log in to the motion control board -``` -#### Enter motor control mode -Modify the configuration switch to activate the user control mode: -``` -$ ssh root@192.168.55.233 # Log in to the motion control board -root@TinaLinux:~# cd /robot -root@TinaLinux:/robot# ./initialize.sh # copy the factory code to the r/w Development Zone (/mnt/UDISK/robot-software), switch to the developer mode and execute it only once -root@TinaLinux:/robot# vi /mnt/UDISK/robot-software/config/user_code_ctrl_mode.txt # switch mode: 1 (0: default mode, 1 user code controls motor mode), and restart the robot to take effect -``` -### Compilation and deployment -#### 1. Deploy on user PC -It is difficult to ensure real-time LCM communication when running on the user PC (Linux), so only compilation verification and simple position control tests are recommended. -``` -$ ping 192.168.55.233 # connect cyberdog's download interface through type C cable and make sure the communication is okay -$ ifconfig | grep -B 1 192.168.55.100 | grep "flags" | cut -d ':' -f1 # obtain the network device corresponding to the IP, generally usb0 -$ sudo ifconfig usb0 multicast # replace usb0 with the 168.55.100 network device obtained above and set to multicast -$ sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev usb0 # add a route table and replace usb0 accordingly. -$ mkdir build && cd build -$ cmake .. -$ make -j4 -$ ./Example_MotorCtrl -``` -Note: if the LCM communication is unsuccessful, the motor control mode cannot be activated normally. Log prompt: motor control mode has not been activated successfully. -#### 2. Deploy on NX application board -Due to non real-time system, only compilation verification and simple position control test are recommended. -``` -$ scp -r {sdk_path}/cyberdog_motor_sdk mi@192.168.55.1:/home/mi/ # copy the SDK source code into the application board, password 123 -$ ssh mi@192.168.55.1 # Login application board -mi@lubuntu:~$ cd /home/mi/cyberdog_motor_sdk -mi@lubuntu:~$ mkdir build && cd build -mi@lubuntu:~$ cmake .. -mi@lubuntu:~$ make -j2 -mi@lubuntu:~$ ping 192.168.55.233 # test communication with motion control board -mi@lubuntu:~$ ./Example_MotorCtrl -``` -#### 3. Cross compilation and deploy on motion control board -In order to make the compiled file run directly on the robot, it needs to be compiled in the docker image environment where the cross compilation tool chain is deployed. The specific steps are as follows: -``` -$ docker run -it --rm --name cyberdog_motor_sdk -v /home/xxx/{sdk_path}:/work/build_farm/workspace/cyberdog cr.d.xiaomi.net/athena/athena_cheetah_arm64:2.0 /bin/bash -[root:/work] # cd /work/build_farm/workspace/cyberdog/ # enter the code warehouse of docker system -[root:/work/build_farm/workspace/cyberdog] # mkdir onboard-build && cd onboard-build -[root:/work/build_farm/workspace/cyberdog] # cmake -DCMAKE_TOOLCHAIN_FILE=/usr/xcc/aarch64-openwrt-linux-gnu/Toolchain.cmake .. -[root:/work/build_farm/workspace/cyberdog] # make -j4 # specify cross compile tool chain and compile -[root:/work/build_farm/workspace/cyberdog] # exit -``` -After successful compilation, copy the generated library and executable files libcyber_dog_sdk.so and Example_MotorCtrl to the directory /mnt/UDISK of motion control board. -``` -$ cd ~/{sdk_path}/onboard-build -$ ssh root@192.168.55.233 "mkdir /mnt/UDISK/cyberdog_motor_sdk" # create a folder in the motion control board -$ scp libcyber_dog_motor_sdk.so Example_MotorCtrl root@192.168.55.233:/mnt/UDISK/cyberdog_motor_sdk -$ ssh root@192.168.55.233 -root@TinaLinux:~# cd /mnt/UDISK/cyberdog_motor_sdk -root@TinaLinux:~# export LD_LIBRARY_PATH=/mnt/UDISK/cyberdog_motor_sdk # setting so library path variable -root@TinaLinux:~# ./Example_MotorCtrl -``` -To run in the background so that the process will not be interrupted by the exit of SSH connection, please use the command below instead: -``` -nohup ./Example_MotorCtrl & -``` - -How to add boot auto start: - -Configure the JSON process management file /mnt/UDISK/manager_config/fork_para_conf_lists.json, and restart the robot. - -Example: "600003": {"fork_config":{"name": "Example_MotorCtrl", "object_path": "/cyberdog_motor_sdk/", "log_path": "", "paraValues": ["", "", ""] }} - -Note: when closing the program manually, please close the user program such as Example_MotorCtrl first which will trigger the timeout protection of main program and lie down the robot, and then close or restart the main program. If the main program and user program are closed at the same time, the motor will be locked due to the timeout of CAN bus and invite dangers during restart. -#### Explanation of error flags -``` -//bit0: warning flag, lost communication between user code and robot over 10[ms]. For safety, commanded tau and qd_des will be forced to divide by (over_time[ms]/10.0); -//bit1: error flag, lost communication between user code and robot over 500[ms]. Robot will enter high-damping mode by setting joint gains kp=0, kd=10, tau=0; -//bit2: warning flag, position command of any abaduction joint changing more than 8 degrees from its previous will be truncated; -//bit3: warning flag, position command of any hip joint changing more than 10 degrees from its previous will be truncated; -//bit4: warning flag, position command of any knee joint changing more than 12 degrees from its previous will be truncated; -``` -Note: in order to avoid danger caused by communication timeout, when "err_flag: 0x02 communicate lost over 500ms" is reported, please identify the problem and close Example_MotorCtrl first. The error flag cannot be cleared until the main control program is restared or the control board is totally rebooted. - -How to restart the main control program: -``` -$ ssh root@192.168.55.233 "ps | grep -E 'Example_MotorCtrl' | grep -v grep | awk '{print \$1}' | xargs kill -9" # Example_MotorCtrl needs to stop earlier than the main control process to avoid emergency stop -$ ssh root@192.168.55.233 "ps | grep -E 'manager|ctrl|imu_online' | grep -v grep | awk '{print \$1}' | xargs kill -9" -$ ssh root@192.168.55.233 "export LD_LIBRARY_PATH=/mnt/UDISK/robot-software/build;/mnt/UDISK/manager /mnt/UDISK/ >> /mnt/UDISK/manager_log/manager.log 2>&1 &" -``` -How to reboot the motion control board: -``` -$ ssh root@192.168.55.233 "reboot" -``` diff --git a/src/rl_sar/library/cyberdog_motor_sdk/include/CustomInterface.h b/src/rl_sar/library/cyberdog_motor_sdk/include/CustomInterface.h deleted file mode 100644 index 727e842..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/include/CustomInterface.h +++ /dev/null @@ -1,117 +0,0 @@ -// Copyright (c) 2021 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef PROJECT_CUSTOMINTERFACE_H -#define PROJECT_CUSTOMINTERFACE_H - -#include "leg_control_data_lcmt.hpp" -#include "motor_ctrl_lcmt.hpp" -#include "motor_ctrl_state_lcmt.hpp" -#include "state_estimator_lcmt.hpp" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -struct Robot_Data -{ - float q[12]; // 12个关节电机角度,弧度制 - float qd[12]; //电机角速度,弧度制 - float tau[12]; //电机扭矩 N.M - float quat[4]; //机身姿态四元数,右手坐标系 w, x, y, z - float rpy[3]; //机身姿态横滚、俯仰、偏航角 弧度制 - float acc[3]; //加速度计值 - float omega[3]; //角速度计值 - float ctrl_topic_interval; //控制topic通信延迟 - int16_t err_flag; -}; -struct Motor_Cmd -{ - //期望扭矩tau = tau_des + (q_des - q)*kp_des + (qd_des - qd)*kd_des - float q_des[12]; // 12个关机电机期望角度,弧度制 0/3/6/9:-0.75~0.75 1/4:-1.257 ~ 4.363 7/10:-2.01 ~ 3.49 2/5/8/11:-2.478 ~ -0.506 - float qd_des[12]; //电机期望角速度,弧度制 +-12弧度/秒@24NM - float kp_des[12]; //电机位置控制比例系数 0~200 - float kd_des[12]; //电机速度控制比例系数 0~10 - float tau_des[12]; //电机期望前馈扭矩 0/3/6/9:+-17N/M 1/2/4/5/7/8/10/11:+-24NM -}; - -class CustomInterface -{ -public: - CustomInterface(const double &loop_rate); - void Spin(); - void Stop(); - -protected: - virtual void UserCode() = 0; - Robot_Data robot_data; - Motor_Cmd motor_cmd; - -private: - double dt_; - bool running_; - bool all_thread_done_; - bool mode_state; - - lcm::LCM _motor_ctrl_Lcm; - lcm::LCM _motor_data_Lcm; - lcm::LCM _robot_state_Lcm; - lcm::LCM _motor_ctrl_state_Lcm; - - std::thread _motor_ctrl_state_LcmThread; - std::thread _motor_data_LcmThread; - std::thread _robot_state_LcmThread; - std::thread _user_code_ControlThread; - - motor_ctrl_lcmt _motor_ctrl; - - std::string getLcmUrl_port(int64_t port, int64_t ttl); - - void motor_data_LcmThread() - { - while(running_) - { - _motor_data_Lcm.handleTimeout(1000); - } - } - void robot_state_LcmThread() - { - while(running_) - { - _robot_state_Lcm.handleTimeout(1000); - } - } - void motor_ctrl_state_LcmThread() - { - while(running_) - { - _motor_ctrl_state_Lcm.handleTimeout(1000); - } - } - - void handle_motor_ctrl_state_LCM(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const motor_ctrl_state_lcmt *msg); - void handle_motor_data_LCM(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const leg_control_data_lcmt *msg); - void handle_robot_state_LCM(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const state_estimator_lcmt *msg); - - void motor_cmd_send(); - void Control(); -}; // CustomInterface -#endif \ No newline at end of file diff --git a/src/rl_sar/library/cyberdog_motor_sdk/include/leg_control_data_lcmt.hpp b/src/rl_sar/library/cyberdog_motor_sdk/include/leg_control_data_lcmt.hpp deleted file mode 100644 index 1470a6b..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/include/leg_control_data_lcmt.hpp +++ /dev/null @@ -1,286 +0,0 @@ -/** THIS IS AN AUTOMATICALLY GENERATED FILE. DO NOT MODIFY - * BY HAND!! - * - * Generated by lcm-gen - **/ - -#ifndef __leg_control_data_lcmt_hpp__ -#define __leg_control_data_lcmt_hpp__ - -#include - -class leg_control_data_lcmt { -public: - float q[ 12 ]; - - float qd[ 12 ]; - - float p[ 12 ]; - - float v[ 12 ]; - - float tau_est[ 12 ]; - - float force_est[ 12 ]; - - float force_desired[ 12 ]; - - int32_t q_abad_limit[ 4 ]; - - int32_t q_hip_limit[ 4 ]; - - int32_t q_knee_limit[ 4 ]; - -public: - /** - * Encode a message into binary form. - * - * @param buf The output buffer. - * @param offset Encoding starts at thie byte offset into @p buf. - * @param maxlen Maximum number of bytes to write. This should generally be - * equal to getEncodedSize(). - * @return The number of bytes encoded, or <0 on error. - */ - inline int encode( void* buf, int offset, int maxlen ) const; - - /** - * Check how many bytes are required to encode this message. - */ - inline int getEncodedSize() const; - - /** - * Decode a message from binary form into this instance. - * - * @param buf The buffer containing the encoded message. - * @param offset The byte offset into @p buf where the encoded message starts. - * @param maxlen The maximum number of bytes to read while decoding. - * @return The number of bytes decoded, or <0 if an error occured. - */ - inline int decode( const void* buf, int offset, int maxlen ); - - /** - * Retrieve the 64-bit fingerprint identifying the structure of the message. - * Note that the fingerprint is the same for all instances of the same - * message type, and is a fingerprint on the message type definition, not on - * the message contents. - */ - inline static int64_t getHash(); - - /** - * Returns "leg_control_data_lcmt" - */ - inline static const char* getTypeName(); - - // LCM support functions. Users should not call these - inline int _encodeNoHash( void* buf, int offset, int maxlen ) const; - inline int _getEncodedSizeNoHash() const; - inline int _decodeNoHash( const void* buf, int offset, int maxlen ); - inline static uint64_t _computeHash( const __lcm_hash_ptr* p ); -}; - -int leg_control_data_lcmt::encode( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - int64_t hash = getHash(); - - tlen = __int64_t_encode_array( buf, offset + pos, maxlen - pos, &hash, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = this->_encodeNoHash( buf, offset + pos, maxlen - pos ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int leg_control_data_lcmt::decode( const void* buf, int offset, int maxlen ) { - int pos = 0, thislen; - - int64_t msg_hash; - thislen = __int64_t_decode_array( buf, offset + pos, maxlen - pos, &msg_hash, 1 ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - if ( msg_hash != getHash() ) - return -1; - - thislen = this->_decodeNoHash( buf, offset + pos, maxlen - pos ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - - return pos; -} - -int leg_control_data_lcmt::getEncodedSize() const { - return 8 + _getEncodedSizeNoHash(); -} - -int64_t leg_control_data_lcmt::getHash() { - static int64_t hash = static_cast< int64_t >( _computeHash( NULL ) ); - return hash; -} - -const char* leg_control_data_lcmt::getTypeName() { - return "leg_control_data_lcmt"; -} - -int leg_control_data_lcmt::_encodeNoHash( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->q[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->qd[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->p[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->v[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->tau_est[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->force_est[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->force_desired[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int32_t_encode_array( buf, offset + pos, maxlen - pos, &this->q_abad_limit[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int32_t_encode_array( buf, offset + pos, maxlen - pos, &this->q_hip_limit[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int32_t_encode_array( buf, offset + pos, maxlen - pos, &this->q_knee_limit[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int leg_control_data_lcmt::_decodeNoHash( const void* buf, int offset, int maxlen ) { - int pos = 0, tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->q[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->qd[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->p[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->v[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->tau_est[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->force_est[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->force_desired[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int32_t_decode_array( buf, offset + pos, maxlen - pos, &this->q_abad_limit[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int32_t_decode_array( buf, offset + pos, maxlen - pos, &this->q_hip_limit[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int32_t_decode_array( buf, offset + pos, maxlen - pos, &this->q_knee_limit[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int leg_control_data_lcmt::_getEncodedSizeNoHash() const { - int enc_size = 0; - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __int32_t_encoded_array_size( NULL, 4 ); - enc_size += __int32_t_encoded_array_size( NULL, 4 ); - enc_size += __int32_t_encoded_array_size( NULL, 4 ); - return enc_size; -} - -uint64_t leg_control_data_lcmt::_computeHash( const __lcm_hash_ptr* ) { - uint64_t hash = 0xa6b1824464a42a6bLL; - return ( hash << 1 ) + ( ( hash >> 63 ) & 1 ); -} - -#endif diff --git a/src/rl_sar/library/cyberdog_motor_sdk/include/motor_ctrl_lcmt.hpp b/src/rl_sar/library/cyberdog_motor_sdk/include/motor_ctrl_lcmt.hpp deleted file mode 100644 index add044a..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/include/motor_ctrl_lcmt.hpp +++ /dev/null @@ -1,211 +0,0 @@ -/** THIS IS AN AUTOMATICALLY GENERATED FILE. DO NOT MODIFY - * BY HAND!! - * - * Generated by lcm-gen - **/ - -#ifndef __motor_ctrl_lcmt_hpp__ -#define __motor_ctrl_lcmt_hpp__ - -#include - -class motor_ctrl_lcmt { -public: - float q_des[ 12 ]; - - float qd_des[ 12 ]; - - float kp_des[ 12 ]; - - float kd_des[ 12 ]; - - float tau_des[ 12 ]; - -public: - /** - * Encode a message into binary form. - * - * @param buf The output buffer. - * @param offset Encoding starts at thie byte offset into @p buf. - * @param maxlen Maximum number of bytes to write. This should generally be - * equal to getEncodedSize(). - * @return The number of bytes encoded, or <0 on error. - */ - inline int encode( void* buf, int offset, int maxlen ) const; - - /** - * Check how many bytes are required to encode this message. - */ - inline int getEncodedSize() const; - - /** - * Decode a message from binary form into this instance. - * - * @param buf The buffer containing the encoded message. - * @param offset The byte offset into @p buf where the encoded message starts. - * @param maxlen The maximum number of bytes to read while decoding. - * @return The number of bytes decoded, or <0 if an error occured. - */ - inline int decode( const void* buf, int offset, int maxlen ); - - /** - * Retrieve the 64-bit fingerprint identifying the structure of the message. - * Note that the fingerprint is the same for all instances of the same - * message type, and is a fingerprint on the message type definition, not on - * the message contents. - */ - inline static int64_t getHash(); - - /** - * Returns "motor_ctrl_lcmt" - */ - inline static const char* getTypeName(); - - // LCM support functions. Users should not call these - inline int _encodeNoHash( void* buf, int offset, int maxlen ) const; - inline int _getEncodedSizeNoHash() const; - inline int _decodeNoHash( const void* buf, int offset, int maxlen ); - inline static uint64_t _computeHash( const __lcm_hash_ptr* p ); -}; - -int motor_ctrl_lcmt::encode( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - int64_t hash = getHash(); - - tlen = __int64_t_encode_array( buf, offset + pos, maxlen - pos, &hash, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = this->_encodeNoHash( buf, offset + pos, maxlen - pos ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int motor_ctrl_lcmt::decode( const void* buf, int offset, int maxlen ) { - int pos = 0, thislen; - - int64_t msg_hash; - thislen = __int64_t_decode_array( buf, offset + pos, maxlen - pos, &msg_hash, 1 ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - if ( msg_hash != getHash() ) - return -1; - - thislen = this->_decodeNoHash( buf, offset + pos, maxlen - pos ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - - return pos; -} - -int motor_ctrl_lcmt::getEncodedSize() const { - return 8 + _getEncodedSizeNoHash(); -} - -int64_t motor_ctrl_lcmt::getHash() { - static int64_t hash = static_cast< int64_t >( _computeHash( NULL ) ); - return hash; -} - -const char* motor_ctrl_lcmt::getTypeName() { - return "motor_ctrl_lcmt"; -} - -int motor_ctrl_lcmt::_encodeNoHash( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->q_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->qd_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->kp_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->kd_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->tau_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int motor_ctrl_lcmt::_decodeNoHash( const void* buf, int offset, int maxlen ) { - int pos = 0, tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->q_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->qd_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->kp_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->kd_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->tau_des[ 0 ], 12 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int motor_ctrl_lcmt::_getEncodedSizeNoHash() const { - int enc_size = 0; - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - enc_size += __float_encoded_array_size( NULL, 12 ); - return enc_size; -} - -uint64_t motor_ctrl_lcmt::_computeHash( const __lcm_hash_ptr* ) { - uint64_t hash = 0x3ddbe622bc22d656LL; - return ( hash << 1 ) + ( ( hash >> 63 ) & 1 ); -} - -#endif diff --git a/src/rl_sar/library/cyberdog_motor_sdk/include/motor_ctrl_state_lcmt.hpp b/src/rl_sar/library/cyberdog_motor_sdk/include/motor_ctrl_state_lcmt.hpp deleted file mode 100644 index a452571..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/include/motor_ctrl_state_lcmt.hpp +++ /dev/null @@ -1,166 +0,0 @@ -/** THIS IS AN AUTOMATICALLY GENERATED FILE. DO NOT MODIFY - * BY HAND!! - * - * Generated by lcm-gen - **/ - -#ifndef __motor_ctrl_state_lcmt_hpp__ -#define __motor_ctrl_state_lcmt_hpp__ - -#include - -class motor_ctrl_state_lcmt { -public: - int16_t err_flag; - - float ctrl_topic_interval; - -public: - /** - * Encode a message into binary form. - * - * @param buf The output buffer. - * @param offset Encoding starts at thie byte offset into @p buf. - * @param maxlen Maximum number of bytes to write. This should generally be - * equal to getEncodedSize(). - * @return The number of bytes encoded, or <0 on error. - */ - inline int encode( void* buf, int offset, int maxlen ) const; - - /** - * Check how many bytes are required to encode this message. - */ - inline int getEncodedSize() const; - - /** - * Decode a message from binary form into this instance. - * - * @param buf The buffer containing the encoded message. - * @param offset The byte offset into @p buf where the encoded message starts. - * @param maxlen The maximum number of bytes to read while decoding. - * @return The number of bytes decoded, or <0 if an error occured. - */ - inline int decode( const void* buf, int offset, int maxlen ); - - /** - * Retrieve the 64-bit fingerprint identifying the structure of the message. - * Note that the fingerprint is the same for all instances of the same - * message type, and is a fingerprint on the message type definition, not on - * the message contents. - */ - inline static int64_t getHash(); - - /** - * Returns "motor_ctrl_state_lcmt" - */ - inline static const char* getTypeName(); - - // LCM support functions. Users should not call these - inline int _encodeNoHash( void* buf, int offset, int maxlen ) const; - inline int _getEncodedSizeNoHash() const; - inline int _decodeNoHash( const void* buf, int offset, int maxlen ); - inline static uint64_t _computeHash( const __lcm_hash_ptr* p ); -}; - -int motor_ctrl_state_lcmt::encode( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - int64_t hash = getHash(); - - tlen = __int64_t_encode_array( buf, offset + pos, maxlen - pos, &hash, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = this->_encodeNoHash( buf, offset + pos, maxlen - pos ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int motor_ctrl_state_lcmt::decode( const void* buf, int offset, int maxlen ) { - int pos = 0, thislen; - - int64_t msg_hash; - thislen = __int64_t_decode_array( buf, offset + pos, maxlen - pos, &msg_hash, 1 ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - if ( msg_hash != getHash() ) - return -1; - - thislen = this->_decodeNoHash( buf, offset + pos, maxlen - pos ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - - return pos; -} - -int motor_ctrl_state_lcmt::getEncodedSize() const { - return 8 + _getEncodedSizeNoHash(); -} - -int64_t motor_ctrl_state_lcmt::getHash() { - static int64_t hash = static_cast< int64_t >( _computeHash( NULL ) ); - return hash; -} - -const char* motor_ctrl_state_lcmt::getTypeName() { - return "motor_ctrl_state_lcmt"; -} - -int motor_ctrl_state_lcmt::_encodeNoHash( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - - tlen = __int16_t_encode_array( buf, offset + pos, maxlen - pos, &this->err_flag, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->ctrl_topic_interval, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int motor_ctrl_state_lcmt::_decodeNoHash( const void* buf, int offset, int maxlen ) { - int pos = 0, tlen; - - tlen = __int16_t_decode_array( buf, offset + pos, maxlen - pos, &this->err_flag, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->ctrl_topic_interval, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int motor_ctrl_state_lcmt::_getEncodedSizeNoHash() const { - int enc_size = 0; - enc_size += __int16_t_encoded_array_size( NULL, 1 ); - enc_size += __float_encoded_array_size( NULL, 1 ); - return enc_size; -} - -uint64_t motor_ctrl_state_lcmt::_computeHash( const __lcm_hash_ptr* ) { - uint64_t hash = 0x2afdf7bdf6035aeaLL; - return ( hash << 1 ) + ( ( hash >> 63 ) & 1 ); -} - -#endif diff --git a/src/rl_sar/library/cyberdog_motor_sdk/include/state_estimator_lcmt.hpp b/src/rl_sar/library/cyberdog_motor_sdk/include/state_estimator_lcmt.hpp deleted file mode 100644 index a7399b9..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/include/state_estimator_lcmt.hpp +++ /dev/null @@ -1,316 +0,0 @@ -/** THIS IS AN AUTOMATICALLY GENERATED FILE. DO NOT MODIFY - * BY HAND!! - * - * Generated by lcm-gen - **/ - -#ifndef __state_estimator_lcmt_hpp__ -#define __state_estimator_lcmt_hpp__ - -#include - -class state_estimator_lcmt { -public: - float p[ 3 ]; - - float vWorld[ 3 ]; - - float vBody[ 3 ]; - - float vRemoter[ 3 ]; - - float rpy[ 3 ]; - - float omegaBody[ 3 ]; - - float omegaWorld[ 3 ]; - - float quat[ 4 ]; - - float aBody[ 3 ]; - - float aWorld[ 3 ]; - - float contactEstimate[ 4 ]; - - int64_t timestamp; - -public: - /** - * Encode a message into binary form. - * - * @param buf The output buffer. - * @param offset Encoding starts at thie byte offset into @p buf. - * @param maxlen Maximum number of bytes to write. This should generally be - * equal to getEncodedSize(). - * @return The number of bytes encoded, or <0 on error. - */ - inline int encode( void* buf, int offset, int maxlen ) const; - - /** - * Check how many bytes are required to encode this message. - */ - inline int getEncodedSize() const; - - /** - * Decode a message from binary form into this instance. - * - * @param buf The buffer containing the encoded message. - * @param offset The byte offset into @p buf where the encoded message starts. - * @param maxlen The maximum number of bytes to read while decoding. - * @return The number of bytes decoded, or <0 if an error occured. - */ - inline int decode( const void* buf, int offset, int maxlen ); - - /** - * Retrieve the 64-bit fingerprint identifying the structure of the message. - * Note that the fingerprint is the same for all instances of the same - * message type, and is a fingerprint on the message type definition, not on - * the message contents. - */ - inline static int64_t getHash(); - - /** - * Returns "state_estimator_lcmt" - */ - inline static const char* getTypeName(); - - // LCM support functions. Users should not call these - inline int _encodeNoHash( void* buf, int offset, int maxlen ) const; - inline int _getEncodedSizeNoHash() const; - inline int _decodeNoHash( const void* buf, int offset, int maxlen ); - inline static uint64_t _computeHash( const __lcm_hash_ptr* p ); -}; - -int state_estimator_lcmt::encode( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - int64_t hash = getHash(); - - tlen = __int64_t_encode_array( buf, offset + pos, maxlen - pos, &hash, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = this->_encodeNoHash( buf, offset + pos, maxlen - pos ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int state_estimator_lcmt::decode( const void* buf, int offset, int maxlen ) { - int pos = 0, thislen; - - int64_t msg_hash; - thislen = __int64_t_decode_array( buf, offset + pos, maxlen - pos, &msg_hash, 1 ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - if ( msg_hash != getHash() ) - return -1; - - thislen = this->_decodeNoHash( buf, offset + pos, maxlen - pos ); - if ( thislen < 0 ) - return thislen; - else - pos += thislen; - - return pos; -} - -int state_estimator_lcmt::getEncodedSize() const { - return 8 + _getEncodedSizeNoHash(); -} - -int64_t state_estimator_lcmt::getHash() { - static int64_t hash = static_cast< int64_t >( _computeHash( NULL ) ); - return hash; -} - -const char* state_estimator_lcmt::getTypeName() { - return "state_estimator_lcmt"; -} - -int state_estimator_lcmt::_encodeNoHash( void* buf, int offset, int maxlen ) const { - int pos = 0, tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->p[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->vWorld[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->vBody[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->vRemoter[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->rpy[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->omegaBody[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->omegaWorld[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->quat[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->aBody[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->aWorld[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_encode_array( buf, offset + pos, maxlen - pos, &this->contactEstimate[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int64_t_encode_array( buf, offset + pos, maxlen - pos, &this->timestamp, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int state_estimator_lcmt::_decodeNoHash( const void* buf, int offset, int maxlen ) { - int pos = 0, tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->p[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->vWorld[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->vBody[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->vRemoter[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->rpy[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->omegaBody[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->omegaWorld[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->quat[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->aBody[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->aWorld[ 0 ], 3 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __float_decode_array( buf, offset + pos, maxlen - pos, &this->contactEstimate[ 0 ], 4 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - tlen = __int64_t_decode_array( buf, offset + pos, maxlen - pos, &this->timestamp, 1 ); - if ( tlen < 0 ) - return tlen; - else - pos += tlen; - - return pos; -} - -int state_estimator_lcmt::_getEncodedSizeNoHash() const { - int enc_size = 0; - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 4 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 3 ); - enc_size += __float_encoded_array_size( NULL, 4 ); - enc_size += __int64_t_encoded_array_size( NULL, 1 ); - return enc_size; -} - -uint64_t state_estimator_lcmt::_computeHash( const __lcm_hash_ptr* ) { - uint64_t hash = 0xeb390c8b8230c53fLL; - return ( hash << 1 ) + ( ( hash >> 63 ) & 1 ); -} - -#endif diff --git a/src/rl_sar/library/cyberdog_motor_sdk/src/CustomInterface.cpp b/src/rl_sar/library/cyberdog_motor_sdk/src/CustomInterface.cpp deleted file mode 100644 index df343f4..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/src/CustomInterface.cpp +++ /dev/null @@ -1,171 +0,0 @@ -// Copyright (c) 2021 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -std::string CustomInterface::getLcmUrl_port(int64_t port, int64_t ttl) -{ - assert(ttl >= 0 && ttl <= 255); - return "udpm://239.255.76.67:" + std::to_string(port) + "?ttl=" + std::to_string(ttl); -} - -CustomInterface::CustomInterface(const double &loop_rate) - : _motor_data_Lcm(getLcmUrl_port(7667, 255)), _motor_ctrl_state_Lcm(getLcmUrl_port(7667, 255)), - _robot_state_Lcm(getLcmUrl_port(7669, 255)), - _motor_ctrl_Lcm(getLcmUrl_port(7667, 255)) -{ - - running_ = true; - all_thread_done_ = false; - mode_state = false; - - if(loop_rate > 0) - { - dt_ = 1.0 / loop_rate; - } - else - { - std::cout << "Loop rate should be more than zero! Set to default 500Hz." << std::endl; - dt_ = 1.0 / 500; - } - - _motor_ctrl_state_Lcm.subscribe("motor_ctrl_state", &CustomInterface::handle_motor_ctrl_state_LCM, this); - _motor_data_Lcm.subscribe("leg_control_data", &CustomInterface::handle_motor_data_LCM, this); - _robot_state_Lcm.subscribe("state_estimator", &CustomInterface::handle_robot_state_LCM, this); - - _motor_ctrl_state_LcmThread = std::thread(&CustomInterface::motor_ctrl_state_LcmThread, this); - _motor_data_LcmThread = std::thread(&CustomInterface::motor_data_LcmThread, this); - _robot_state_LcmThread = std::thread(&CustomInterface::robot_state_LcmThread, this); - _user_code_ControlThread = std::thread(&CustomInterface::Control, this); -} - -void CustomInterface::Control() -{ - auto timerFd = timerfd_create(CLOCK_MONOTONIC, 0); - int seconds = (int) dt_; - int nanoseconds = (int) (1e9 * std::fmod(dt_, 1.f)); - int err_count = 0; - - itimerspec timerSpec; - timerSpec.it_interval.tv_sec = seconds; - timerSpec.it_value.tv_sec = seconds; - timerSpec.it_value.tv_nsec = nanoseconds; - timerSpec.it_interval.tv_nsec = nanoseconds; - - timerfd_settime(timerFd, 0, &timerSpec, nullptr); - unsigned long long missed = 0; - while(running_) - { - if(!mode_state) - { - sleep(1); - std::cout << "Motor control mode has not been activated successfully" << std::endl; - continue; - } - - UserCode(); - - if(robot_data.err_flag & 0x02) - { - if(err_count++ % 1000 == 0) - { - printf("\nErr: 0x02 Communicate lost over 500ms!\n"); - printf("The motor cmd has been disabled!!!\n"); - printf("Cyberdog locomotion ctrl process need restart after fix the communication!\n\n"); - } - } - else - { - motor_cmd_send(); - } - - int m = read(timerFd, &missed, sizeof(missed)); - (void) m; - } -} - -void CustomInterface::Spin() -{ - while(!all_thread_done_) - { - sleep(1.0); - } - - printf("~ Exit ~\n"); -} - -void CustomInterface::Stop() -{ - running_ = false; - _motor_ctrl_state_LcmThread.join(); - _motor_data_LcmThread.join(); - _robot_state_LcmThread.join(); - _user_code_ControlThread.join(); - all_thread_done_ = true; -} - -void CustomInterface::motor_cmd_send() -{ - int sig[12] = {1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, -1}; - for(int i = 0; i < 12; i++) - { - _motor_ctrl.q_des[i] = motor_cmd.q_des[i] * sig[i]; - _motor_ctrl.qd_des[i] = motor_cmd.qd_des[i] * sig[i]; - _motor_ctrl.kp_des[i] = motor_cmd.kp_des[i]; - _motor_ctrl.kd_des[i] = motor_cmd.kd_des[i]; - _motor_ctrl.tau_des[i] = motor_cmd.tau_des[i] * sig[i]; - } - _motor_ctrl_Lcm.publish("motor_ctrl", &_motor_ctrl); -} - -void CustomInterface::handle_motor_ctrl_state_LCM(const lcm::ReceiveBuffer *rbuf, const std::string &chan, - const motor_ctrl_state_lcmt *msg) -{ - (void) rbuf; - (void) chan; - robot_data.err_flag = msg->err_flag; - robot_data.ctrl_topic_interval = msg->ctrl_topic_interval; - mode_state = true; -} - -void CustomInterface::handle_motor_data_LCM(const lcm::ReceiveBuffer *rbuf, const std::string &chan, - const leg_control_data_lcmt *msg) -{ - (void) rbuf; - (void) chan; - int sig[12] = {1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, -1}; - for(int i = 0; i < 12; i++) - { - robot_data.q[i] = msg->q[i] * sig[i]; - robot_data.qd[i] = msg->qd[i] * sig[i]; - robot_data.tau[i] = msg->tau_est[i] * sig[i]; - } -} - -void CustomInterface::handle_robot_state_LCM(const lcm::ReceiveBuffer *rbuf, const std::string &chan, - const state_estimator_lcmt *msg) -{ - (void) rbuf; - (void) chan; - for(int i = 0; i < 3; i++) - { - robot_data.omega[i] = msg->omegaWorld[i]; - robot_data.rpy[i] = msg->rpy[i]; - robot_data.acc[i] = msg->aWorld[i]; - } - for(int i = 0; i < 4; i++) - { - robot_data.quat[i] = msg->quat[i]; - } -} \ No newline at end of file diff --git a/src/rl_sar/library/cyberdog_motor_sdk/src/Example_MotorCtrl.cpp b/src/rl_sar/library/cyberdog_motor_sdk/src/Example_MotorCtrl.cpp deleted file mode 100644 index fffd411..0000000 --- a/src/rl_sar/library/cyberdog_motor_sdk/src/Example_MotorCtrl.cpp +++ /dev/null @@ -1,115 +0,0 @@ -// Copyright (c) 2021 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -class CustomCtrl : public CustomInterface -{ -public: - CustomCtrl(const double &loop_rate) - : CustomInterface(loop_rate) {}; - - ~CustomCtrl() {}; - -private: - bool first_run = true; - long long count = 0; - float init_q[12]; - float target1_q[3] = {0 / 57.3, 80 / 57.3, -135 / 57.3}; - float target2_q[3] = {0 / 57.3, 45 / 57.3, -90 / 57.3}; - - void UserCode() - { - // vertical view - // leg 1 | | leg 0 - // | | - // leg 3 | | leg 2 - // - // Right hand coordinate system - // ______ zero angle ______ - // \ \ --> | | - // / / | | - float t = (count / 1500.0) > 2 ? 2 : (count / 1500.0); - if(first_run == true) - { - for(int i = 0; i < 12; i++) - init_q[i] = robot_data.q[i]; - if(init_q[2] > 0.1 && init_q[5] > 0.1 && init_q[8] > 0.1 && init_q[11] > 0.1) - { - first_run = false; - count = 0; - } - } - else - { - for(int i = 0; i < 12; i++) - { - if(t < 1.0) - motor_cmd.q_des[i] = target1_q[i % 3] * t + init_q[i] * (1 - t); - else - motor_cmd.q_des[i] = target2_q[i % 3] * (t - 1) + target1_q[i % 3] * (2 - t); - motor_cmd.kp_des[i] = 100; - motor_cmd.kd_des[i] = 2; - motor_cmd.qd_des[i] = 0; - motor_cmd.tau_des[i] = 0; - } - } - if((count++) % 1000 == 0) - { - printf("interval:---------%.4f-------------\n", robot_data.ctrl_topic_interval); - printf("rpy [3]:"); - for(int i = 0; i < 3; i++) - printf(" %.2f", robot_data.rpy[i]); - printf("\nacc [3]:"); - for(int i = 0; i < 3; i++) - printf(" %.2f", robot_data.acc[i]); - printf("\nquat[4]:"); - for(int i = 0; i < 4; i++) - printf(" %.2f", robot_data.quat[i]); - printf("\nomeg[3]:"); - for(int i = 0; i < 3; i++) - printf(" %.2f", robot_data.omega[i]); - printf("\nq [12]:"); - for(int i = 0; i < 12; i++) - printf(" %.2f", robot_data.q[i]); - printf("\nqd [12]:"); - for(int i = 0; i < 12; i++) - printf(" %.2f", robot_data.qd[i]); - printf("\ntau[12]:"); - for(int i = 0; i < 12; i++) - printf(" %.2f", robot_data.tau[i]); - printf("\nctrl[12]:"); - for(int i = 0; i < 12; i++) - printf(" %.2f", motor_cmd.q_des[i]); - printf("\n\n"); - } - } -}; - -std::shared_ptr io; - -void signal_callback_handler(int signum) -{ - io->Stop(); - (void) signum; -} - -int main() -{ - /* user code ctrl mode:1 for motor ctrl */ - signal(SIGINT, signal_callback_handler); - io = std::make_shared(500); - io->Spin(); - return 0; -} \ No newline at end of file diff --git a/src/rl_sar/library/loop/loop.hpp b/src/rl_sar/library/loop/loop.hpp new file mode 100644 index 0000000..5c68b27 --- /dev/null +++ b/src/rl_sar/library/loop/loop.hpp @@ -0,0 +1,84 @@ +#ifndef LOOP_H +#define LOOP_H + +#include +#include +#include +#include +#include + +typedef std::function Callback; + +class Loop { + public: + Loop(std::string name, float period, int bindCPU = -1) + : _name(name), _period(period), _bindCPU(bindCPU) {} + ~Loop() { + if (_isrunning) { + shutdown(); // Ensure the loop is stopped when the object is destroyed + } + } + + void start() { + _isrunning = true; + _thread = std::thread([this]() { + if (_bindCPU >= 0) { + std::lock_guard lock(_printMutex); + std::cout << "[Loop Start] named: " << _name << ", period: " << _period * 1000 << " (ms), run at cpu: " << _bindCPU << std::endl; + } else { + std::lock_guard lock(_printMutex); + std::cout << "[Loop Start] named: " << _name << ", period: " << _period * 1000 << " (ms), cpu unspecified" << std::endl; + } + entryFunc(); + }); // Start the loop in a new thread + } + + void shutdown() { + _isrunning = false; + if (_thread.joinable()) { + _thread.join(); // Wait for the loop thread to finish + std::lock_guard lock(_printMutex); + std::cout << "[Loop End] named: " << _name << std::endl; + } + } + + virtual void functionCB() = 0; + + protected: + void entryFunc() { + while (_isrunning) { + functionCB(); // Call the overridden functionCB in a loop + std::this_thread::sleep_for(std::chrono::duration(_period)); // Wait for the specified period + } + } + + std::string _name; + float _period; + int _bindCPU; + bool _isrunning = false; + std::thread _thread; + static std::mutex _printMutex; +}; + +std::mutex Loop::_printMutex; + +class LoopFunc : public Loop { + public: + LoopFunc(std::string name, float period, const Callback& cb) + : Loop(name, period), _fp(cb) {} + + LoopFunc(std::string name, float period, int bindCPU, const Callback& cb) + : Loop(name, period, bindCPU), _fp(cb) {} + + void functionCB() override { + { + std::lock_guard lock(_printMutex); + (_fp)(); // Call the provided callback function + } + } + + private: + Callback _fp; +}; + +#endif diff --git a/src/rl_sar/library/rl_sdk/rl_sdk.cpp b/src/rl_sar/library/rl_sdk/rl_sdk.cpp index 419b54b..cbda588 100644 --- a/src/rl_sar/library/rl_sdk/rl_sdk.cpp +++ b/src/rl_sar/library/rl_sdk/rl_sdk.cpp @@ -1,7 +1,251 @@ #include "rl_sdk.hpp" +/* You may need to override this ComputeObservation() function +torch::Tensor RL::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, + 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, + this->obs.dof_vel * this->params.dof_vel_scale, + this->obs.actions}, + 1); + + obs = torch::clamp(obs, -this->params.clip_obs, this->params.clip_obs); + + printf("observation size: %d, %d\n", obs.sizes()[0], obs.sizes()[1]); + + return obs; +} +*/ + +/* You may need to override this Forward() function +torch::Tensor RL::Forward() +{ + torch::Tensor obs = this->ComputeObservation(); + + torch::Tensor actor_input = torch::cat({obs}, 1); + + torch::Tensor actions = this->actor.forward({actor_input}).toTensor(); + + this->obs.actions = actions; + torch::Tensor clamped_actions = torch::clamp(actions, -this->params.clip_actions, this->params.clip_actions); + + return clamped_actions; +} +*/ + + + +void RL::InitObservations() +{ + this->obs.lin_vel = torch::tensor({{0.0, 0.0, 0.0}}); + this->obs.ang_vel = torch::tensor({{0.0, 0.0, 0.0}}); + this->obs.gravity_vec = torch::tensor({{0.0, 0.0, -1.0}}); + this->obs.commands = torch::tensor({{0.0, 0.0, 0.0}}); + this->obs.base_quat = torch::tensor({{0.0, 0.0, 0.0, 1.0}}); + this->obs.dof_pos = this->params.default_dof_pos; + this->obs.dof_vel = torch::zeros({1, params.num_of_dofs}); + this->obs.actions = torch::zeros({1, params.num_of_dofs}); +} + +void RL::InitOutputs() +{ + this->output_torques = torch::zeros({1, params.num_of_dofs}); + this->output_dof_pos = params.default_dof_pos; +} + +void RL::InitKeyboard() +{ + this->keyboard.keyboard_state = STATE_WAITING; + this->keyboard.x = 0.0; + this->keyboard.y = 0.0; + this->keyboard.yaw = 0.0; +} + +torch::Tensor RL::ComputeTorques(torch::Tensor actions) +{ + torch::Tensor actions_scaled = actions * this->params.action_scale; + torch::Tensor output_torques = this->params.rl_kp * (actions_scaled + this->params.default_dof_pos - this->obs.dof_pos) - this->params.rl_kd * this->obs.dof_vel; + torch::Tensor clamped = torch::clamp(output_torques, -(this->params.torque_limits), this->params.torque_limits); + return clamped; +} + +torch::Tensor RL::ComputePosition(torch::Tensor actions) +{ + torch::Tensor actions_scaled = actions * this->params.action_scale; + return actions_scaled + this->params.default_dof_pos; +} + +torch::Tensor RL::QuatRotateInverse(torch::Tensor q, torch::Tensor v) +{ + c10::IntArrayRef shape = q.sizes(); + torch::Tensor q_w = q.index({torch::indexing::Slice(), -1}); + torch::Tensor q_vec = q.index({torch::indexing::Slice(), torch::indexing::Slice(0, 3)}); + torch::Tensor a = v * (2.0 * torch::pow(q_w, 2) - 1.0).unsqueeze(-1); + torch::Tensor b = torch::cross(q_vec, v, -1) * q_w.unsqueeze(-1) * 2.0; + torch::Tensor c = q_vec * torch::bmm(q_vec.view({shape[0], 1, 3}), v.view({shape[0], 3, 1})).squeeze(-1) * 2.0; + return a - b + c; +} + +void RL::StateController(const RobotState *state, RobotCommand *command) +{ + // waiting + if(running_state == STATE_WAITING) + { + for(int i = 0; i < params.num_of_dofs; ++i) + { + command->motor_command.q[i] = state->motor_state.q[i]; + } + if(keyboard.keyboard_state == STATE_POS_GETUP) + { + keyboard.keyboard_state = STATE_WAITING; + getup_percent = 0.0; + for(int i = 0; i < params.num_of_dofs; ++i) + { + now_pos[i] = state->motor_state.q[i]; + start_pos[i] = now_pos[i]; + } + running_state = STATE_POS_GETUP; + } + } + // stand up (position control) + else if(running_state == STATE_POS_GETUP) + { + if(getup_percent != 1) + { + getup_percent += 1 / 1000.0; + getup_percent = getup_percent > 1 ? 1 : getup_percent; + for(int i = 0; i < params.num_of_dofs; ++i) + { + command->motor_command.q[i] = (1 - getup_percent) * now_pos[i] + getup_percent * params.default_dof_pos[0][i].item(); + command->motor_command.dq[i] = 0; + command->motor_command.kp[i] = params.fixed_kp[0][i].item(); + command->motor_command.kd[i] = params.fixed_kd[0][i].item(); + command->motor_command.tau[i] = 0; + } + printf("getting up %.3f%%\r", getup_percent*100.0); + } + if(keyboard.keyboard_state == STATE_RL_INIT) + { + keyboard.keyboard_state = STATE_WAITING; + running_state = STATE_RL_INIT; + } + else if(keyboard.keyboard_state == STATE_POS_GETDOWN) + { + keyboard.keyboard_state = STATE_WAITING; + getdown_percent = 0.0; + for(int i = 0; i < params.num_of_dofs; ++i) + { + now_pos[i] = state->motor_state.q[i]; + } + running_state = STATE_POS_GETDOWN; + } + } + // init obs and start rl loop + else if(running_state == STATE_RL_INIT) + { + if(getup_percent == 1) + { + running_state = STATE_RL_RUNNING; + this->InitObservations(); + this->InitOutputs(); + this->InitKeyboard(); + } + } + // rl loop + else if(running_state == STATE_RL_RUNNING) + { + for(int i = 0; i < params.num_of_dofs; ++i) + { + command->motor_command.q[i] = output_dof_pos[0][i].item(); + command->motor_command.dq[i] = 0; + command->motor_command.kp[i] = params.rl_kp[0][i].item(); + command->motor_command.kd[i] = params.rl_kd[0][i].item(); + command->motor_command.tau[i] = 0; + } + if(keyboard.keyboard_state == STATE_POS_GETDOWN) + { + keyboard.keyboard_state = STATE_WAITING; + getdown_percent = 0.0; + for(int i = 0; i < params.num_of_dofs; ++i) + { + now_pos[i] = state->motor_state.q[i]; + } + running_state = STATE_POS_GETDOWN; + } + } + // get down (position control) + else if(running_state == STATE_POS_GETDOWN) + { + if(getdown_percent != 1) + { + getdown_percent += 1 / 1000.0; + getdown_percent = getdown_percent > 1 ? 1 : getdown_percent; + for(int i = 0; i < params.num_of_dofs; ++i) + { + command->motor_command.q[i] = (1 - getdown_percent) * now_pos[i] + getdown_percent * start_pos[i]; + command->motor_command.dq[i] = 0; + command->motor_command.kp[i] = params.fixed_kp[0][i].item(); + command->motor_command.kd[i] = params.fixed_kd[0][i].item(); + command->motor_command.tau[i] = 0; + } + printf("getting down %.3f%%\r", getdown_percent*100.0); + } + if(getdown_percent == 1) + { + running_state = STATE_WAITING; + this->InitObservations(); + this->InitOutputs(); + this->InitKeyboard(); + } + } +} + #include #include +static bool kbhit() +{ + termios term; + tcgetattr(0, &term); + + termios term2 = term; + term2.c_lflag &= ~ICANON; + tcsetattr(0, TCSANOW, &term2); + + int byteswaiting; + ioctl(0, FIONREAD, &byteswaiting); + + tcsetattr(0, TCSANOW, &term); + + return byteswaiting > 0; +} + +void RL::RunKeyboard() +{ + if(kbhit()) + { + int c = fgetc(stdin); + switch(c) + { + case '0': keyboard.keyboard_state = STATE_POS_GETUP; break; + case 'p': keyboard.keyboard_state = STATE_RL_INIT; break; + case '1': keyboard.keyboard_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; + } + } +} template std::vector ReadVectorFromYaml(const YAML::Node& node) @@ -41,12 +285,10 @@ void RL::ReadYaml(std::string robot_name) this->params.dof_vel_scale = config["dof_vel_scale"].as(); // this->params.commands_scale = torch::tensor(ReadVectorFromYaml(config["commands_scale"])).view({1, -1}); this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale}); - // this->params.damping = config["damping"].as(); - // this->params.stiffness = config["stiffness"].as(); - // this->params.d_gains = torch::ones(12) * this->params.damping; - // this->params.p_gains = torch::ones(12) * this->params.stiffness; - this->params.p_gains = torch::tensor(ReadVectorFromYaml(config["p_gains"])).view({1, -1}); - this->params.d_gains = torch::tensor(ReadVectorFromYaml(config["d_gains"])).view({1, -1}); + this->params.rl_kp = torch::tensor(ReadVectorFromYaml(config["rl_kp"])).view({1, -1}); + this->params.rl_kd = torch::tensor(ReadVectorFromYaml(config["rl_kd"])).view({1, -1}); + this->params.fixed_kp = torch::tensor(ReadVectorFromYaml(config["fixed_kp"])).view({1, -1}); + this->params.fixed_kd = torch::tensor(ReadVectorFromYaml(config["fixed_kd"])).view({1, -1}); this->params.torque_limits = torch::tensor(ReadVectorFromYaml(config["torque_limits"])).view({1, -1}); this->params.default_dof_pos = torch::tensor(ReadVectorFromYaml(config["default_dof_pos"])).view({1, -1}); this->params.joint_names = ReadVectorFromYaml(config["joint_names"]); @@ -65,7 +307,7 @@ void RL::CSVInit(std::string robot_name) // csv_filename += "_" + timestamp; csv_filename += ".csv"; - std::ofstream file(csv_filename.c_str()); // 创建新文件 + std::ofstream file(csv_filename.c_str()); for(int i = 0; i < 12; ++i) {file << "torque_" << i << ",";} for(int i = 0; i < 12; ++i) {file << "tau_est_" << i << ",";} @@ -75,14 +317,13 @@ void RL::CSVInit(std::string robot_name) file << std::endl; - file.close(); // 关闭文件 + file.close(); } void RL::CSVLogger(torch::Tensor torque, torch::Tensor tau_est, torch::Tensor joint_pos, torch::Tensor joint_pos_target, torch::Tensor joint_vel) { - std::ofstream file(csv_filename.c_str(), std::ios_base::app); // 打开文件以追加模式写入数据 + std::ofstream file(csv_filename.c_str(), std::ios_base::app); - // 写入数据 for(int i = 0; i < 12; ++i) {file << torque[0][i].item() << ",";} for(int i = 0; i < 12; ++i) {file << tau_est[0][i].item() << ",";} for(int i = 0; i < 12; ++i) {file << joint_pos[0][i].item() << ",";} @@ -91,261 +332,5 @@ void RL::CSVLogger(torch::Tensor torque, torch::Tensor tau_est, torch::Tensor jo file << std::endl; - file.close(); // 关闭文件 -} - -torch::Tensor RL::QuatRotateInverse(torch::Tensor q, torch::Tensor v) -{ - c10::IntArrayRef shape = q.sizes(); - torch::Tensor q_w = q.index({torch::indexing::Slice(), -1}); - torch::Tensor q_vec = q.index({torch::indexing::Slice(), torch::indexing::Slice(0, 3)}); - torch::Tensor a = v * (2.0 * torch::pow(q_w, 2) - 1.0).unsqueeze(-1); - torch::Tensor b = torch::cross(q_vec, v, -1) * q_w.unsqueeze(-1) * 2.0; - torch::Tensor c = q_vec * torch::bmm(q_vec.view({shape[0], 1, 3}), v.view({shape[0], 3, 1})).squeeze(-1) * 2.0; - return a - b + c; -} - -void RL::InitObservations() -{ - this->obs.lin_vel = torch::tensor({{0.0, 0.0, 0.0}}); - this->obs.ang_vel = torch::tensor({{0.0, 0.0, 0.0}}); - this->obs.gravity_vec = torch::tensor({{0.0, 0.0, -1.0}}); - this->obs.commands = torch::tensor({{0.0, 0.0, 0.0}}); - this->obs.base_quat = torch::tensor({{0.0, 0.0, 0.0, 1.0}}); - this->obs.dof_pos = this->params.default_dof_pos; - this->obs.dof_vel = torch::zeros({1, params.num_of_dofs}); - this->obs.actions = torch::zeros({1, params.num_of_dofs}); -} - -void RL::InitOutputs() -{ - this->output_torques = torch::zeros({1, params.num_of_dofs}); - this->output_dof_pos = params.default_dof_pos; -} - -void RL::InitKeyboard() -{ - this->keyboard.keyboard_state = STATE_WAITING; - this->keyboard.x = 0.0; - this->keyboard.y = 0.0; - this->keyboard.yaw = 0.0; -} - -torch::Tensor RL::ComputeTorques(torch::Tensor actions) -{ - torch::Tensor actions_scaled = actions * this->params.action_scale; - torch::Tensor output_torques = this->params.p_gains * (actions_scaled + this->params.default_dof_pos - this->obs.dof_pos) - this->params.d_gains * this->obs.dof_vel; - torch::Tensor clamped = torch::clamp(output_torques, -(this->params.torque_limits), this->params.torque_limits); - return clamped; -} - -torch::Tensor RL::ComputePosition(torch::Tensor actions) -{ - torch::Tensor actions_scaled = actions * this->params.action_scale; - return actions_scaled + this->params.default_dof_pos; -} - -/* You may need to override this ComputeObservation() function -torch::Tensor RL::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, - 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, - this->obs.dof_vel * this->params.dof_vel_scale, - this->obs.actions}, - 1); - - obs = torch::clamp(obs, -this->params.clip_obs, this->params.clip_obs); - - printf("observation size: %d, %d\n", obs.sizes()[0], obs.sizes()[1]); - - return obs; -} -*/ - -/* You may need to override this Forward() function -torch::Tensor RL::Forward() -{ - torch::Tensor obs = this->ComputeObservation(); - - torch::Tensor actor_input = torch::cat({obs}, 1); - - torch::Tensor action = this->actor.forward({actor_input}).toTensor(); - - this->obs.actions = action; - torch::Tensor clamped = torch::clamp(action, -this->params.clip_actions, this->params.clip_actions); - - return clamped; -} -*/ - -static bool kbhit() -{ - termios term; - tcgetattr(0, &term); - - termios term2 = term; - term2.c_lflag &= ~ICANON; - tcsetattr(0, TCSANOW, &term2); - - int byteswaiting; - ioctl(0, FIONREAD, &byteswaiting); - - tcsetattr(0, TCSANOW, &term); - - return byteswaiting > 0; -} - -void RL::run_keyboard() -{ - int c; - // Check for keyboard input - while(true) - { - if(kbhit()) - { - c = fgetc(stdin); - switch(c) - { - case '0': keyboard.keyboard_state = STATE_POS_GETUP; break; - case 'p': keyboard.keyboard_state = STATE_RL_INIT; break; - case '1': keyboard.keyboard_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); - } -} - -void RL::StateController(const RobotState *state, RobotCommand *command) -{ - // waiting - if(running_state == STATE_WAITING) - { - for(int i = 0; i < params.num_of_dofs; ++i) - { - command->motor_command.q[i] = state->motor_state.q[i]; - } - if(keyboard.keyboard_state == STATE_POS_GETUP) - { - keyboard.keyboard_state = STATE_WAITING; - getup_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = state->motor_state.q[i]; - start_pos[i] = now_pos[i]; - } - running_state = STATE_POS_GETUP; - } - } - // stand up (position control) - else if(running_state == STATE_POS_GETUP) - { - if(getup_percent != 1) - { - getup_percent += 1 / 1000.0; - getup_percent = getup_percent > 1 ? 1 : getup_percent; - for(int i = 0; i < params.num_of_dofs; ++i) - { - command->motor_command.q[i] = (1 - getup_percent) * now_pos[i] + getup_percent * params.default_dof_pos[0][i].item(); - command->motor_command.dq[i] = 0; - command->motor_command.kp[i] = 200; - command->motor_command.kd[i] = 10; - command->motor_command.tau[i] = 0; - } - printf("getting up %.3f%%\r", getup_percent*100.0); - } - if(keyboard.keyboard_state == STATE_RL_INIT) - { - keyboard.keyboard_state = STATE_WAITING; - running_state = STATE_RL_INIT; - } - else if(keyboard.keyboard_state == STATE_POS_GETDOWN) - { - keyboard.keyboard_state = STATE_WAITING; - getdown_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = state->motor_state.q[i]; - } - running_state = STATE_POS_GETDOWN; - } - } - // init obs and start rl loop - else if(running_state == STATE_RL_INIT) - { - if(getup_percent == 1) - { - running_state = STATE_RL_RUNNING; - this->InitObservations(); - this->InitOutputs(); - this->InitKeyboard(); - // printf("\nstart rl loop\n"); - // loop_rl->start(); - } - } - // rl loop - else if(running_state == STATE_RL_RUNNING) - { - for(int i = 0; i < params.num_of_dofs; ++i) - { - command->motor_command.q[i] = output_dof_pos[0][i].item(); - command->motor_command.dq[i] = 0; - // command->motor_command.kp[i] = params.stiffness; - // command->motor_command.kd[i] = params.damping; - command->motor_command.kp[i] = params.p_gains[0][i].item(); - command->motor_command.kd[i] = params.d_gains[0][i].item(); - // command->motor_command.tau[i] = output_torques[0][i].item(); - command->motor_command.tau[i] = 0; - } - if(keyboard.keyboard_state == STATE_POS_GETDOWN) - { - keyboard.keyboard_state = STATE_WAITING; - getdown_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = state->motor_state.q[i]; - } - running_state = STATE_POS_GETDOWN; - } - } - // get down (position control) - else if(running_state == STATE_POS_GETDOWN) - { - if(getdown_percent != 1) - { - getdown_percent += 1 / 1000.0; - getdown_percent = getdown_percent > 1 ? 1 : getdown_percent; - for(int i = 0; i < params.num_of_dofs; ++i) - { - command->motor_command.q[i] = (1 - getdown_percent) * now_pos[i] + getdown_percent * start_pos[i]; - command->motor_command.dq[i] = 0; - command->motor_command.kp[i] = 200; - command->motor_command.kd[i] = 10; - command->motor_command.tau[i] = 0; - } - printf("getting down %.3f%%\r", getdown_percent*100.0); - } - if(getdown_percent == 1) - { - running_state = STATE_WAITING; - this->InitObservations(); - this->InitOutputs(); - this->InitKeyboard(); - // printf("\nstop rl loop\n"); - // loop_rl->shutdown(); - } - } + file.close(); } \ No newline at end of file diff --git a/src/rl_sar/library/rl_sdk/rl_sdk.hpp b/src/rl_sar/library/rl_sdk/rl_sdk.hpp index 6b91ed7..b2542ec 100644 --- a/src/rl_sar/library/rl_sdk/rl_sdk.hpp +++ b/src/rl_sar/library/rl_sdk/rl_sdk.hpp @@ -75,8 +75,10 @@ struct ModelParams double clip_obs; double clip_actions; torch::Tensor torque_limits; - torch::Tensor d_gains; - torch::Tensor p_gains; + torch::Tensor rl_kd; + torch::Tensor rl_kp; + torch::Tensor fixed_kp; + torch::Tensor fixed_kd; torch::Tensor commands_scale; torch::Tensor default_dof_pos; std::vector joint_names; @@ -102,51 +104,51 @@ public: ModelParams params; Observations obs; - virtual torch::Tensor Forward() = 0; - virtual torch::Tensor ComputeObservation() = 0; - torch::Tensor ComputeTorques(torch::Tensor actions); - torch::Tensor ComputePosition(torch::Tensor actions); - torch::Tensor QuatRotateInverse(torch::Tensor q, torch::Tensor v); - void InitObservations(); - void InitOutputs(); - void InitKeyboard(); - void ReadYaml(std::string robot_name); - std::string csv_filename; - void CSVInit(std::string robot_name); - void CSVLogger(torch::Tensor torque, torch::Tensor tau_est, torch::Tensor joint_pos, torch::Tensor joint_pos_target, torch::Tensor joint_vel); - void run_keyboard(); - - float getup_percent = 0.0; - float getdown_percent = 0.0; - std::vector start_pos; - std::vector now_pos; - - int running_state = STATE_WAITING; - RobotState robot_state; RobotCommand robot_command; + // init + void InitObservations(); + void InitOutputs(); + void InitKeyboard(); + + // rl functions + virtual torch::Tensor Forward() = 0; + virtual torch::Tensor ComputeObservation() = 0; virtual void GetState(RobotState *state) = 0; virtual void SetCommand(const RobotCommand *command) = 0; void StateController(const RobotState *state, RobotCommand *command); + torch::Tensor ComputeTorques(torch::Tensor actions); + torch::Tensor ComputePosition(torch::Tensor actions); + torch::Tensor QuatRotateInverse(torch::Tensor q, torch::Tensor v); + + // yaml params + void ReadYaml(std::string robot_name); + + // csv logger + std::string csv_filename; + void CSVInit(std::string robot_name); + void CSVLogger(torch::Tensor torque, torch::Tensor tau_est, torch::Tensor joint_pos, torch::Tensor joint_pos_target, torch::Tensor joint_vel); + + // keyboard + KeyBoard keyboard; + void RunKeyboard(); + + // others + std::string robot_name; + STATE running_state = STATE_WAITING; protected: // rl module torch::jit::script::Module model; - // observation buffer - torch::Tensor lin_vel; - torch::Tensor ang_vel; - torch::Tensor gravity_vec; - torch::Tensor commands; - torch::Tensor base_quat; - torch::Tensor dof_pos; - torch::Tensor dof_vel; - torch::Tensor actions; // output buffer torch::Tensor output_torques; torch::Tensor output_dof_pos; - // keyboard - KeyBoard keyboard; + // getup getdown buffer + float getup_percent = 0.0; + float getdown_percent = 0.0; + std::vector start_pos; + std::vector now_pos; }; -#endif // RL_SDK_HPP \ No newline at end of file +#endif \ No newline at end of file diff --git a/src/rl_sar/models/cyberdog1/model.pt b/src/rl_sar/models/cyberdog1/model.pt deleted file mode 100644 index 94351debae85bbb9524bfbcc6261547067b3040c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4567712 zcmZUacRbeL`^RO=%uW$SDWVW^zprznq9J9a68cD!c2OE+maL``*<@rz;eKD|E=pyT zlod&(R8o{Et)JiD-}Be``#jFMuGe|Jp4Zw{Lc#(9;^G4Tv!n!+1$OWC-s)@U{okSg z3>Vl~%L{D$pEVXI$+Y^!gU!)L=>KUR*Xsk}5BlVRR^nOq+Kl;d?41BLc@l@eL*C*Z zrAg$J(QD{bO{WpE;-ty!IxRaZN~ay*VXJf*nL3sWCgd8Pvh^g~)_08iv-j{U%8oZ` zorUW&?3s>(1GwwG5Pcnd7T+qU()u}fp#J_$(%6>7u3`eQ>d|a`Yo*CMwEHv+E9#=G z;0PlWk_*eet!M5zzTlW0&Ss2Cr^5=jXi&O$9&=;oL2Lgf*80J2R#@jP_8+iA`-l?g zIakH*3zH^-c^|;}Q`NbS5uqe+>N)Wbz%#;877bqR(r^StX%S6%0*H( z=^)V`@rH#vv#9gVJi26i1Kp|`hPEzG$b#E*xE{_eM0i;x(LLJ*Y?dz>n_V6C!>XYEqkt_7^}lQagBo$N)#UimjlsEim@|ndp?B>q$`pC@yJ 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z;ZaKb>2^h)*b692XE+jUc~YK+MOG3sjkJB)W*dsRaVxK$mr{x0_&z4TJk z?7FFUdoRkKpxiJLUEM1-iTKyedrtZ0DT*e@T2PNAvgX z3^x21=W4N>pket&mf^LKa&IeT>k&B|NS52fs2~} diff --git a/src/rl_sar/src/rl_real_a1.cpp b/src/rl_sar/src/rl_real_a1.cpp index cd6d8a3..39e532e 100644 --- a/src/rl_sar/src/rl_real_a1.cpp +++ b/src/rl_sar/src/rl_real_a1.cpp @@ -1,52 +1,56 @@ #include "../include/rl_real_a1.hpp" -#define ROBOT_NAME "a1" - // #define PLOT // #define CSV_LOGGER RL_Real rl_sar; -RL_Real::RL_Real() : safe(UNITREE_LEGGED_SDK::LeggedType::A1), udp(UNITREE_LEGGED_SDK::LOWLEVEL) +RL_Real::RL_Real() : unitree_safe(UNITREE_LEGGED_SDK::LeggedType::A1), unitree_udp(UNITREE_LEGGED_SDK::LOWLEVEL) { - torch::autograd::GradMode::set_enabled(false); - - ReadYaml(ROBOT_NAME); - - udp.InitCmdData(cmd); - - start_time = std::chrono::high_resolution_clock::now(); - - std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + ROBOT_NAME + "/" + this->params.model_name; - this->model = torch::jit::load(model_path); - - this->InitObservations(); - this->InitOutputs(); + // read params from yaml + robot_name = "a1"; + ReadYaml(robot_name); + // history this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6); + unitree_udp.InitCmdData(unitree_low_command); + + // init + torch::autograd::GradMode::set_enabled(false); + start_pos.resize(params.num_of_dofs); + now_pos.resize(params.num_of_dofs); + this->InitObservations(); + this->InitOutputs(); + this->InitKeyboard(); + + // model + std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + robot_name + "/" + this->params.model_name; + this->model = torch::jit::load(model_path); + + // loop + loop_keyboard = std::make_shared("loop_keyboard", 0.05 , boost::bind(&RL_Real::RunKeyboard, this)); + loop_control = std::make_shared("loop_control" , 0.002, boost::bind(&RL_Real::RobotControl, this)); + loop_udpSend = std::make_shared("loop_udpSend" , 0.002, 3, boost::bind(&RL_Real::UDPSend, this)); + loop_udpRecv = std::make_shared("loop_udpRecv" , 0.002, 3, boost::bind(&RL_Real::UDPRecv, this)); + loop_rl = std::make_shared("loop_rl" , 0.02 , boost::bind(&RL_Real::RunModel, this)); + loop_keyboard->start(); + loop_udpSend->start(); + loop_udpRecv->start(); + loop_control->start(); + loop_rl->start(); + +#ifdef PLOT plot_t = std::vector(plot_size, 0); plot_real_joint_pos.resize(params.num_of_dofs); plot_target_joint_pos.resize(params.num_of_dofs); for(auto& vector : plot_real_joint_pos) { vector = std::vector(plot_size, 0); } for(auto& vector : plot_target_joint_pos) { vector = std::vector(plot_size, 0); } - - loop_control = std::make_shared("loop_control", 0.002, boost::bind(&RL_Real::RobotControl, this)); - loop_udpSend = std::make_shared("loop_udpSend", 0.002, 3, boost::bind(&RL_Real::UDPSend, this)); - loop_udpRecv = std::make_shared("loop_udpRecv", 0.002, 3, boost::bind(&RL_Real::UDPRecv, this)); - loop_rl = std::make_shared("loop_rl" , 0.02 , boost::bind(&RL_Real::RunModel, this)); - - loop_udpSend->start(); - loop_udpRecv->start(); - loop_control->start(); - -#ifdef PLOT - loop_plot = std::make_shared("loop_plot" , 0.002, boost::bind(&RL_Real::Plot, this)); + loop_plot = std::make_shared("loop_plot" , 0.002, boost::bind(&RL_Real::Plot, this)); loop_plot->start(); #endif - #ifdef CSV_LOGGER - CSVInit(ROBOT_NAME); + CSVInit(robot_name); #endif } @@ -62,168 +66,84 @@ RL_Real::~RL_Real() printf("exit\n"); } +void RL_Real::GetState(RobotState *state) +{ + unitree_udp.GetRecv(unitree_low_state); + memcpy(&unitree_joy, unitree_low_state.wirelessRemote, 40); + + if((int)unitree_joy.btn.components.R2 == 1) + { + keyboard.keyboard_state = STATE_POS_GETUP; + } + else if((int)unitree_joy.btn.components.R1 == 1) + { + keyboard.keyboard_state = STATE_RL_INIT; + } + else if((int)unitree_joy.btn.components.L2 == 1) + { + keyboard.keyboard_state = STATE_POS_GETDOWN; + } + + for(int i = 0; i < 4; ++i) + { + state->imu.quaternion[i] = unitree_low_state.imu.quaternion[i]; + } + for(int i = 0; i < 3; ++i) + { + state->imu.gyroscope[i] = unitree_low_state.imu.gyroscope[i]; + } + + // state->imu.accelerometer + + for(int i = 0; i < params.num_of_dofs; ++i) + { + state->motor_state.q[i] = unitree_low_state.motorState[state_mapping[i]].q; + state->motor_state.dq[i] = unitree_low_state.motorState[state_mapping[i]].dq; + state->motor_state.tauEst[i] = unitree_low_state.motorState[state_mapping[i]].tauEst; + } +} + +void RL_Real::SetCommand(const RobotCommand *command) +{ + for(int i = 0; i < params.num_of_dofs; ++i) + { + unitree_low_command.motorCmd[i].mode = 0x0A; + unitree_low_command.motorCmd[i].q = command->motor_command.q[command_mapping[i]]; + unitree_low_command.motorCmd[i].dq = command->motor_command.dq[command_mapping[i]]; + unitree_low_command.motorCmd[i].Kp = command->motor_command.kp[command_mapping[i]]; + unitree_low_command.motorCmd[i].Kd = command->motor_command.kd[command_mapping[i]]; + unitree_low_command.motorCmd[i].tau = command->motor_command.tau[command_mapping[i]]; + } + + unitree_safe.PowerProtect(unitree_low_command, unitree_low_state, 8); + // safe.PositionProtect(unitree_low_command, unitree_low_state); + unitree_udp.SetSend(unitree_low_command); +} + void RL_Real::RobotControl() { motiontime++; - udp.GetRecv(state); - memcpy(&_keyData, state.wirelessRemote, 40); - - // waiting - if(robot_state == STATE_WAITING) - { - for(int i = 0; i < params.num_of_dofs; ++i) - { - cmd.motorCmd[i].q = state.motorState[i].q; - } - if((int)_keyData.btn.components.R2 == 1) - { - getup_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = state.motorState[i].q; - start_pos[i] = now_pos[i]; - } - robot_state = STATE_POS_GETUP; - } - } - // stand up (position control) - else if(robot_state == STATE_POS_GETUP) - { - if(getup_percent != 1) - { - getup_percent += 1 / 1000.0; - getup_percent = getup_percent > 1 ? 1 : getup_percent; - for(int i = 0; i < params.num_of_dofs; ++i) - { - cmd.motorCmd[i].mode = 0x0A; - cmd.motorCmd[i].q = (1 - getup_percent) * now_pos[i] + getup_percent * params.default_dof_pos[0][dof_mapping[i]].item(); - cmd.motorCmd[i].dq = 0; - cmd.motorCmd[i].Kp = 80; - cmd.motorCmd[i].Kd = 3; - cmd.motorCmd[i].tau = 0; - } - printf("getting up %.3f%%\r", getup_percent * 100.0); - } - if((int)_keyData.btn.components.R1 == 1) - { - robot_state = STATE_RL_INIT; - } - else if((int)_keyData.btn.components.L2 == 1) - { - getdown_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = state.motorState[i].q; - } - robot_state = STATE_POS_GETDOWN; - } - } - // init obs and start rl loop - else if(robot_state == STATE_RL_INIT) - { - if(getup_percent == 1) - { - robot_state = STATE_RL_RUNNING; - this->InitObservations(); - this->InitOutputs(); - printf("\nstart rl loop\n"); - loop_rl->start(); - } - } - // rl loop - else if(robot_state == STATE_RL_RUNNING) - { - for(int i = 0; i < params.num_of_dofs; ++i) - { - cmd.motorCmd[i].mode = 0x0A; - // cmd.motorCmd[i].q = 0; - cmd.motorCmd[i].q = output_dof_pos[0][dof_mapping[i]].item(); - cmd.motorCmd[i].dq = 0; - // cmd.motorCmd[i].Kp = params.stiffness; - // cmd.motorCmd[i].Kd = params.damping; - cmd.motorCmd[i].Kp = params.p_gains[0][dof_mapping[i]].item(); - cmd.motorCmd[i].Kd = params.d_gains[0][dof_mapping[i]].item(); - // cmd.motorCmd[i].tau = output_torques[0][dof_mapping[i]].item(); - cmd.motorCmd[i].tau = 0; - } - if((int)_keyData.btn.components.L2 == 1) - { - getdown_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = state.motorState[i].q; - } - robot_state = STATE_POS_GETDOWN; - } - } - // get down (position control) - else if(robot_state == STATE_POS_GETDOWN) - { - if(getdown_percent != 1) - { - getdown_percent += 1 / 1000.0; - getdown_percent = getdown_percent > 1 ? 1 : getdown_percent; - for(int i = 0; i < params.num_of_dofs; ++i) - { - cmd.motorCmd[i].mode = 0x0A; - cmd.motorCmd[i].q = (1 - getdown_percent) * now_pos[i] + getdown_percent * start_pos[i]; - cmd.motorCmd[i].dq = 0; - cmd.motorCmd[i].Kp = 80; - cmd.motorCmd[i].Kd = 3; - cmd.motorCmd[i].tau = 0; - } - printf("getting down %.3f%%\r", getdown_percent * 100.0); - } - if(getdown_percent == 1) - { - robot_state = STATE_WAITING; - this->InitObservations(); - this->InitOutputs(); - printf("\nstop rl loop\n"); - loop_rl->shutdown(); - } - } - - safe.PowerProtect(cmd, state, 8); - // safe.PositionProtect(cmd, state); - udp.SetSend(cmd); + GetState(&robot_state); + StateController(&robot_state, &robot_command); + SetCommand(&robot_command); } void RL_Real::RunModel() { - if(robot_state == STATE_RL_RUNNING) + if(running_state == STATE_RL_RUNNING) { - // auto duration = std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start_time).count(); - // std::cout << "Execution time: " << duration << " microseconds" << std::endl; - // start_time = std::chrono::high_resolution_clock::now(); - - // printf("%f, %f, %f\n", - // state.imu.gyroscope[0], state.imu.gyroscope[1], state.imu.gyroscope[2]); - // printf("%f, %f, %f, %f\n", - // state.imu.quaternion[1], state.imu.quaternion[2], state.imu.quaternion[3], state.imu.quaternion[0]); - // printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", - // state.motorState[FL_0].q, state.motorState[FL_1].q, state.motorState[FL_2].q, - // state.motorState[FR_0].q, state.motorState[FR_1].q, state.motorState[FR_2].q, - // state.motorState[RL_0].q, state.motorState[RL_1].q, state.motorState[RL_2].q, - // state.motorState[RR_0].q, state.motorState[RR_1].q, state.motorState[RR_2].q); - // printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", - // state.motorState[FL_0].dq, state.motorState[FL_1].dq, state.motorState[FL_2].dq, - // state.motorState[FR_0].dq, state.motorState[FR_1].dq, state.motorState[FR_2].dq, - // state.motorState[RL_0].dq, state.motorState[RL_1].dq, state.motorState[RL_2].dq, - // state.motorState[RR_0].dq, state.motorState[RR_1].dq, state.motorState[RR_2].dq); - - this->obs.ang_vel = torch::tensor({{state.imu.gyroscope[0], state.imu.gyroscope[1], state.imu.gyroscope[2]}}); - this->obs.commands = torch::tensor({{_keyData.ly, -_keyData.rx, -_keyData.lx}}); - this->obs.base_quat = torch::tensor({{state.imu.quaternion[1], state.imu.quaternion[2], state.imu.quaternion[3], state.imu.quaternion[0]}}); - this->obs.dof_pos = torch::tensor({{state.motorState[3].q, state.motorState[4].q, state.motorState[5].q, - state.motorState[0].q, state.motorState[1].q, state.motorState[2].q, - state.motorState[9].q, state.motorState[10].q, state.motorState[11].q, - state.motorState[6].q, state.motorState[7].q, state.motorState[8].q}}); - this->obs.dof_vel = torch::tensor({{state.motorState[3].dq, state.motorState[4].dq, state.motorState[5].dq, - state.motorState[0].dq, state.motorState[1].dq, state.motorState[2].dq, - state.motorState[9].dq, state.motorState[10].dq, state.motorState[11].dq, - state.motorState[6].dq, state.motorState[7].dq, state.motorState[8].dq}}); + this->obs.ang_vel = torch::tensor({{unitree_low_state.imu.gyroscope[0], unitree_low_state.imu.gyroscope[1], unitree_low_state.imu.gyroscope[2]}}); + this->obs.commands = torch::tensor({{unitree_joy.ly, -unitree_joy.rx, -unitree_joy.lx}}); + this->obs.base_quat = torch::tensor({{unitree_low_state.imu.quaternion[1], unitree_low_state.imu.quaternion[2], unitree_low_state.imu.quaternion[3], unitree_low_state.imu.quaternion[0]}}); + this->obs.dof_pos = torch::tensor({{unitree_low_state.motorState[3].q, unitree_low_state.motorState[4].q, unitree_low_state.motorState[5].q, + unitree_low_state.motorState[0].q, unitree_low_state.motorState[1].q, unitree_low_state.motorState[2].q, + unitree_low_state.motorState[9].q, unitree_low_state.motorState[10].q, unitree_low_state.motorState[11].q, + unitree_low_state.motorState[6].q, unitree_low_state.motorState[7].q, unitree_low_state.motorState[8].q}}); + this->obs.dof_vel = torch::tensor({{unitree_low_state.motorState[3].dq, unitree_low_state.motorState[4].dq, unitree_low_state.motorState[5].dq, + unitree_low_state.motorState[0].dq, unitree_low_state.motorState[1].dq, unitree_low_state.motorState[2].dq, + unitree_low_state.motorState[9].dq, unitree_low_state.motorState[10].dq, unitree_low_state.motorState[11].dq, + unitree_low_state.motorState[6].dq, unitree_low_state.motorState[7].dq, unitree_low_state.motorState[8].dq}}); torch::Tensor actions = this->Forward(); @@ -235,10 +155,10 @@ void RL_Real::RunModel() output_torques = this->ComputeTorques(actions); output_dof_pos = this->ComputePosition(actions); #ifdef CSV_LOGGER - torch::Tensor tau_est = torch::tensor({{state.motorState[3].tauEst, state.motorState[4].tauEst, state.motorState[5].tauEst, - state.motorState[0].tauEst, state.motorState[1].tauEst, state.motorState[2].tauEst, - state.motorState[9].tauEst, state.motorState[10].tauEst, state.motorState[11].tauEst, - state.motorState[6].tauEst, state.motorState[7].tauEst, state.motorState[8].tauEst}}); + torch::Tensor tau_est = torch::tensor({{unitree_low_state.motorState[3].tauEst, unitree_low_state.motorState[4].tauEst, unitree_low_state.motorState[5].tauEst, + unitree_low_state.motorState[0].tauEst, unitree_low_state.motorState[1].tauEst, unitree_low_state.motorState[2].tauEst, + unitree_low_state.motorState[9].tauEst, unitree_low_state.motorState[10].tauEst, unitree_low_state.motorState[11].tauEst, + unitree_low_state.motorState[6].tauEst, unitree_low_state.motorState[7].tauEst, unitree_low_state.motorState[8].tauEst}}); CSVLogger(output_torques, tau_est, this->obs.dof_pos, output_dof_pos, this->obs.dof_vel); #endif } @@ -283,8 +203,8 @@ void RL_Real::Plot() { plot_real_joint_pos[i].erase(plot_real_joint_pos[i].begin()); plot_target_joint_pos[i].erase(plot_target_joint_pos[i].begin()); - plot_real_joint_pos[i].push_back(state.motorState[i].q); - plot_target_joint_pos[i].push_back(cmd.motorCmd[i].q); + plot_real_joint_pos[i].push_back(unitree_low_state.motorState[i].q); + plot_target_joint_pos[i].push_back(unitree_low_command.motorCmd[i].q); plt::subplot(4, 3, i + 1); plt::named_plot("_real_joint_pos", plot_t, plot_real_joint_pos[i], "r"); plt::named_plot("_target_joint_pos", plot_t, plot_target_joint_pos[i], "b"); diff --git a/src/rl_sar/src/rl_real_cyberdog.cpp b/src/rl_sar/src/rl_real_cyberdog.cpp deleted file mode 100644 index f218e23..0000000 --- a/src/rl_sar/src/rl_real_cyberdog.cpp +++ /dev/null @@ -1,314 +0,0 @@ -#include "../include/rl_real_cyberdog.hpp" - -#define ROBOT_NAME "cyberdog1" - -// #define PLOT -// #define CSV_LOGGER - -RL_Real rl_sar; - -RL_Real::RL_Real() : CustomInterface(500) -{ - torch::autograd::GradMode::set_enabled(false); - - ReadYaml(ROBOT_NAME); - - start_time = std::chrono::high_resolution_clock::now(); - - std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + ROBOT_NAME + "/" + this->params.model_name; - this->model = torch::jit::load(model_path); - - this->InitObservations(); - this->InitOutputs(); - - this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6); - - plot_t = std::vector(plot_size, 0); - plot_real_joint_pos.resize(params.num_of_dofs); - plot_target_joint_pos.resize(params.num_of_dofs); - for(auto& vector : plot_real_joint_pos) { vector = std::vector(plot_size, 0); } - for(auto& vector : plot_target_joint_pos) { vector = std::vector(plot_size, 0); } - - loop_control = std::make_shared("loop_control", 0.002, boost::bind(&RL_Real::RobotControl, this)); - loop_rl = std::make_shared("loop_rl" , 0.02 , boost::bind(&RL_Real::RunModel, this)); - - loop_control->start(); - -#ifdef PLOT - loop_plot = std::make_shared("loop_plot" , 0.002, boost::bind(&RL_Real::Plot, this)); - loop_plot->start(); -#endif - _keyboardThread = std::thread(&RL_Real::run_keyboard, this); - -#ifdef CSV_LOGGER - CSVInit(ROBOT_NAME); -#endif -} - -RL_Real::~RL_Real() -{ - loop_control->shutdown(); - loop_rl->shutdown(); -#ifdef PLOT - loop_plot->shutdown(); -#endif - printf("exit\n"); -} - -void RL_Real::RobotControl() -{ - // printf("%f, %f, %f\n", - // cyberdogData.omega[0], cyberdogData.omega[1], cyberdogData.omega[2]); - // printf("%f, %f, %f, %f\n", - // cyberdogData.quat[1], cyberdogData.quat[2], cyberdogData.quat[3], cyberdogData.quat[0]); - // printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", - // cyberdogData.q[3], cyberdogData.q[4], cyberdogData.q[5], - // cyberdogData.q[0], cyberdogData.q[1], cyberdogData.q[2], - // cyberdogData.q[9], cyberdogData.q[10], cyberdogData.q[11], - // cyberdogData.q[6], cyberdogData.q[7], cyberdogData.q[8]); - // printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", - // cyberdogData.qd[3], cyberdogData.qd[4], cyberdogData.qd[5], - // cyberdogData.qd[0], cyberdogData.qd[1], cyberdogData.qd[2], - // cyberdogData.qd[9], cyberdogData.qd[10], cyberdogData.qd[11], - // cyberdogData.qd[6], cyberdogData.qd[7], cyberdogData.qd[8]); - - std::cout << "robot_state" << keyboard.robot_state - << " x" << keyboard.x << " y" << keyboard.y << " yaw" << keyboard.yaw - << "\r"; - - motiontime++; - - // waiting - if(robot_state == STATE_WAITING) - { - for(int i = 0; i < params.num_of_dofs; ++i) - { - cyberdogCmd.q_des[i] = cyberdogData.q[i]; - } - if(keyboard.robot_state == STATE_POS_GETUP) - { - keyboard.robot_state = STATE_WAITING; - getup_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = cyberdogData.q[i]; - start_pos[i] = now_pos[i]; - } - robot_state = STATE_POS_GETUP; - } - } - // stand up (position control) - else if(robot_state == STATE_POS_GETUP) - { - if(getup_percent != 1) - { - getup_percent += 1 / 1000.0; - getup_percent = getup_percent > 1 ? 1 : getup_percent; - for(int i = 0; i < params.num_of_dofs; ++i) - { - cyberdogCmd.q_des[i] = (1 - getup_percent) * now_pos[i] + getup_percent * params.default_dof_pos[0][dof_mapping[i]].item(); - cyberdogCmd.qd_des[i] = 0; - cyberdogCmd.kp_des[i] = 200; - cyberdogCmd.kd_des[i] = 10; - cyberdogCmd.tau_des[i] = 0; - } - printf("getting up %.3f%%\r", getup_percent*100.0); - } - if(keyboard.robot_state == STATE_RL_INIT) - { - keyboard.robot_state = STATE_WAITING; - robot_state = STATE_RL_INIT; - } - else if(keyboard.robot_state == STATE_POS_GETDOWN) - { - keyboard.robot_state = STATE_WAITING; - getdown_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = cyberdogData.q[i]; - } - robot_state = STATE_POS_GETDOWN; - } - } - // init obs and start rl loop - else if(robot_state == STATE_RL_INIT) - { - if(getup_percent == 1) - { - robot_state = STATE_RL_RUNNING; - this->InitObservations(); - this->InitOutputs(); - printf("\nstart rl loop\n"); - loop_rl->start(); - } - } - // rl loop - else if(robot_state == STATE_RL_RUNNING) - { - for(int i = 0; i < params.num_of_dofs; ++i) - { - // 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.p_gains[0][dof_mapping[i]].item(); - cyberdogCmd.kd_des[i] = params.d_gains[0][dof_mapping[i]].item(); - // cyberdogCmd.tau_des[i] = output_torques[0][dof_mapping[i]].item(); - cyberdogCmd.tau_des[i] = 0; - } - if(keyboard.robot_state == STATE_POS_GETDOWN) - { - keyboard.robot_state = STATE_WAITING; - getdown_percent = 0.0; - for(int i = 0; i < params.num_of_dofs; ++i) - { - now_pos[i] = cyberdogData.q[i]; - } - robot_state = STATE_POS_GETDOWN; - } - } - // get down (position control) - else if(robot_state == STATE_POS_GETDOWN) - { - if(getdown_percent != 1) - { - getdown_percent += 1 / 1000.0; - getdown_percent = getdown_percent > 1 ? 1 : getdown_percent; - for(int i = 0; i < params.num_of_dofs; ++i) - { - cyberdogCmd.q_des[i] = (1 - getdown_percent) * now_pos[i] + getdown_percent * start_pos[i]; - cyberdogCmd.qd_des[i] = 0; - cyberdogCmd.kp_des[i] = 200; - cyberdogCmd.kd_des[i] = 10; - cyberdogCmd.tau_des[i] = 0; - } - printf("getting down %.3f%%\r", getdown_percent*100.0); - } - if(getdown_percent == 1) - { - robot_state = STATE_WAITING; - this->InitObservations(); - this->InitOutputs(); - printf("\nstop rl loop\n"); - loop_rl->shutdown(); - } - } -} - -void RL_Real::UserCode() -{ - cyberdogData = robot_data; - motor_cmd = cyberdogCmd; -} - -void RL_Real::RunModel() -{ - if(robot_state == STATE_RL_RUNNING) - { - // auto duration = std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start_time).count(); - // std::cout << "Execution time: " << duration << " microseconds" << std::endl; - // start_time = std::chrono::high_resolution_clock::now(); - - this->obs.ang_vel = torch::tensor({{cyberdogData.omega[0], cyberdogData.omega[1], cyberdogData.omega[2]}}); - this->obs.commands = torch::tensor({{keyboard.x, keyboard.y, keyboard.yaw}}); - this->obs.base_quat = torch::tensor({{cyberdogData.quat[1], cyberdogData.quat[2], cyberdogData.quat[3], cyberdogData.quat[0]}}); - this->obs.dof_pos = torch::tensor({{cyberdogData.q[3], cyberdogData.q[4], cyberdogData.q[5], - cyberdogData.q[0], cyberdogData.q[1], cyberdogData.q[2], - cyberdogData.q[9], cyberdogData.q[10], cyberdogData.q[11], - cyberdogData.q[6], cyberdogData.q[7], cyberdogData.q[8]}}); - this->obs.dof_vel = torch::tensor({{cyberdogData.qd[3], cyberdogData.qd[4], cyberdogData.qd[5], - cyberdogData.qd[0], cyberdogData.qd[1], cyberdogData.qd[2], - cyberdogData.qd[9], cyberdogData.qd[10], cyberdogData.qd[11], - cyberdogData.qd[6], cyberdogData.qd[7], cyberdogData.qd[8]}}); - - torch::Tensor actions = this->Forward(); - - for (int i : hip_scale_reduction_indices) - { - actions[0][i] *= this->params.hip_scale_reduction; - } - - output_torques = this->ComputeTorques(actions); - output_dof_pos = this->ComputePosition(actions); - -#ifdef CSV_LOGGER - torch::Tensor tau_est = torch::tensor({{cyberdogData.tau[3], cyberdogData.tau[4], cyberdogData.tau[5], - cyberdogData.tau[0], cyberdogData.tau[1], cyberdogData.tau[2], - cyberdogData.tau[9], cyberdogData.tau[10], cyberdogData.tau[11], - cyberdogData.tau[6], cyberdogData.tau[7], cyberdogData.tau[8]}}); - CSVLogger(output_torques, tau_est, this->obs.dof_pos, output_dof_pos, this->obs.dof_vel); -#endif - } - -} - -torch::Tensor RL_Real::ComputeObservation() -{ - 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, - this->obs.dof_vel * this->params.dof_vel_scale, - this->obs.actions - },1); - obs = torch::clamp(obs, -this->params.clip_obs, this->params.clip_obs); - return obs; -} - -torch::Tensor RL_Real::Forward() -{ - torch::Tensor obs = this->ComputeObservation(); - - history_obs_buf.insert(obs); - history_obs = history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5}); - - torch::Tensor action = this->model.forward({history_obs}).toTensor(); - - this->obs.actions = action; - torch::Tensor clamped = torch::clamp(action, -this->params.clip_actions, this->params.clip_actions); - - return clamped; -} - -void RL_Real::Plot() -{ - plot_t.erase(plot_t.begin()); - plot_t.push_back(motiontime); - plt::cla(); - plt::clf(); - for(int i = 0; i < params.num_of_dofs; ++i) - { - plot_real_joint_pos[i].erase(plot_real_joint_pos[i].begin()); - plot_target_joint_pos[i].erase(plot_target_joint_pos[i].begin()); - plot_real_joint_pos[i].push_back(cyberdogData.q[i]); - plot_target_joint_pos[i].push_back(cyberdogCmd.q_des[i]); - plt::subplot(4, 3, i+1); - plt::named_plot("_real_joint_pos", plot_t, plot_real_joint_pos[i], "r"); - plt::named_plot("_target_joint_pos", plot_t, plot_target_joint_pos[i], "b"); - plt::xlim(plot_t.front(), plot_t.back()); - } - // plt::legend(); - plt::pause(0.0001); -} - -void signalHandler(int signum) -{ - system("ssh root@192.168.55.233 \"ps | grep -E 'manager|ctrl|imu_online' | grep -v grep | awk '{print \\$1}' | xargs kill -9\""); - system("ssh root@192.168.55.233 \"export LD_LIBRARY_PATH=/mnt/UDISK/robot-software/build;/mnt/UDISK/manager /mnt/UDISK/ >> /mnt/UDISK/manager_log/manager.log 2>&1 &\""); - - exit(0); -} - -int main(int argc, char **argv) -{ - signal(SIGINT, signalHandler); - - while(1) - { - sleep(10); - }; - - return 0; -} diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp index 003bd82..f0592d3 100644 --- a/src/rl_sar/src/rl_sim.cpp +++ b/src/rl_sar/src/rl_sim.cpp @@ -1,17 +1,22 @@ #include "../include/rl_sim.hpp" -// #define ROBOT_NAME "a1" -#define ROBOT_NAME "gr1t1" - // #define PLOT // #define CSV_LOGGER -// #define USE_HISTORY RL_Sim::RL_Sim() { - torch::autograd::GradMode::set_enabled(false); + ros::NodeHandle nh; - ReadYaml(ROBOT_NAME); + // read params from yaml + nh.param("robot_name", robot_name, ""); + ReadYaml(robot_name); + + // history + nh.param("use_history", use_history, ""); + if(use_history) + { + this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6); + } // Due to the fact that the robot_state_publisher sorts the joint names alphabetically, // the mapping table is established according to the order defined in the YAML file @@ -21,66 +26,56 @@ RL_Sim::RL_Sim() { sorted_to_original_index[sorted_joint_names[i]] = i; } + mapped_joint_positions = std::vector(params.num_of_dofs, 0.0); + mapped_joint_velocities = std::vector(params.num_of_dofs, 0.0); + mapped_joint_efforts = std::vector(params.num_of_dofs, 0.0); - ros::NodeHandle nh; - start_time = std::chrono::high_resolution_clock::now(); - - cmd_vel = geometry_msgs::Twist(); - + // init + torch::autograd::GradMode::set_enabled(false); motor_commands.resize(params.num_of_dofs); start_pos.resize(params.num_of_dofs); now_pos.resize(params.num_of_dofs); - - std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + ROBOT_NAME + "/" + this->params.model_name; - this->model = torch::jit::load(model_path); - this->InitObservations(); this->InitOutputs(); this->InitKeyboard(); -#ifdef USE_HISTORY - this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6); -#endif + // model + std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + robot_name + "/" + this->params.model_name; + this->model = torch::jit::load(model_path); - joint_positions = std::vector(params.num_of_dofs, 0.0); - joint_velocities = std::vector(params.num_of_dofs, 0.0); - joint_efforts = std::vector(params.num_of_dofs, 0.0); - + // publisher + nh.param("ros_namespace", ros_namespace, ""); + for (int i = 0; i < params.num_of_dofs; ++i) + { + // joint need to rename as xxx_joint + torque_publishers[params.joint_names[i]] = nh.advertise( + ros_namespace + params.joint_names[i].substr(0, params.joint_names[i].size() - 6) + "_controller/command", 10); + } + + // subscriber + cmd_vel_subscriber = nh.subscribe("/cmd_vel", 10, &RL_Sim::CmdvelCallback, this); + model_state_subscriber = nh.subscribe("/gazebo/model_states", 10, &RL_Sim::ModelStatesCallback, this); + joint_state_subscriber = nh.subscribe(ros_namespace + "joint_states", 10, &RL_Sim::JointStatesCallback, this); + + // loop + loop_keyboard = std::make_shared("loop_keyboard", 0.05 , boost::bind(&RL_Sim::RunKeyboard, this)); + loop_control = std::make_shared("loop_control" , 0.002, boost::bind(&RL_Sim::RobotControl, this)); + loop_rl = std::make_shared("loop_rl" , 0.02 , boost::bind(&RL_Sim::RunModel, this)); + loop_keyboard->start(); + loop_control->start(); + loop_rl->start(); + +#ifdef PLOT plot_t = std::vector(plot_size, 0); plot_real_joint_pos.resize(params.num_of_dofs); plot_target_joint_pos.resize(params.num_of_dofs); for(auto& vector : plot_real_joint_pos) { vector = std::vector(plot_size, 0); } for(auto& vector : plot_target_joint_pos) { vector = std::vector(plot_size, 0); } - - cmd_vel_subscriber_ = nh.subscribe("/cmd_vel", 10, &RL_Sim::CmdvelCallback, this); - - nh.param("ros_namespace", ros_namespace, ""); - - for (int i = 0; i < params.num_of_dofs; ++i) - { - torque_publishers[params.joint_names[i]] = nh.advertise( - ros_namespace + params.joint_names[i].substr(0, params.joint_names[i].size() - 6) + "_controller/command", 10); - } - - model_state_subscriber_ = nh.subscribe( - "/gazebo/model_states", 10, &RL_Sim::ModelStatesCallback, this); - - joint_state_subscriber_ = nh.subscribe( - ros_namespace + "joint_states", 10, &RL_Sim::JointStatesCallback, this); - - loop_control = std::make_shared("loop_control", 0.002, boost::bind(&RL_Sim::RobotControl, this)); - loop_rl = std::make_shared("loop_rl" , 0.02 , boost::bind(&RL_Sim::RunModel, this)); - - loop_control->start(); - loop_rl->start(); -#ifdef PLOT - loop_plot = std::make_shared("loop_plot" , 0.002, boost::bind(&RL_Sim::Plot, this)); + loop_plot = std::make_shared("loop_plot" , 0.002, boost::bind(&RL_Sim::Plot, this)); loop_plot->start(); #endif - _keyboardThread = std::thread(&RL_Sim::run_keyboard, this); - #ifdef CSV_LOGGER - CSVInit(ROBOT_NAME); + CSVInit(robot_name); #endif } @@ -109,9 +104,9 @@ void RL_Sim::GetState(RobotState *state) for(int i = 0; i < params.num_of_dofs; ++i) { - state->motor_state.q[i] = joint_positions[i]; - state->motor_state.dq[i] = joint_velocities[i]; - state->motor_state.tauEst[i] = joint_efforts[i]; + state->motor_state.q[i] = mapped_joint_positions[i]; + state->motor_state.dq[i] = mapped_joint_velocities[i]; + state->motor_state.tauEst[i] = mapped_joint_efforts[i]; } } @@ -136,7 +131,7 @@ void RL_Sim::RobotControl() { std::cout << "running_state " << keyboard.keyboard_state << " x" << keyboard.x << " y" << keyboard.y << " yaw" << keyboard.yaw - << " \r"; + << " \r"; motiontime++; @@ -166,9 +161,9 @@ void RL_Sim::MapData(const std::vector& source_data, std::vector void RL_Sim::JointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg) { - MapData(msg->position, joint_positions); - MapData(msg->velocity, joint_velocities); - MapData(msg->effort, joint_efforts); + MapData(msg->position, mapped_joint_positions); + MapData(msg->velocity, mapped_joint_velocities); + MapData(msg->effort, mapped_joint_efforts); } void RL_Sim::RunModel() @@ -180,8 +175,8 @@ void RL_Sim::RunModel() // this->obs.commands = torch::tensor({{cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z}}); this->obs.commands = torch::tensor({{keyboard.x, keyboard.y, keyboard.yaw}}); this->obs.base_quat = torch::tensor({{pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w}}); - this->obs.dof_pos = torch::tensor(joint_positions).unsqueeze(0); - this->obs.dof_vel = torch::tensor(joint_velocities).unsqueeze(0); + this->obs.dof_pos = torch::tensor(mapped_joint_positions).unsqueeze(0); + this->obs.dof_vel = torch::tensor(mapped_joint_velocities).unsqueeze(0); torch::Tensor clamped_actions = this->Forward(); @@ -194,7 +189,7 @@ void RL_Sim::RunModel() output_dof_pos = this->ComputePosition(clamped_actions); #ifdef CSV_LOGGER - torch::Tensor tau_est = torch::tensor(joint_efforts).unsqueeze(0); + torch::Tensor tau_est = torch::tensor(mapped_joint_efforts).unsqueeze(0); CSVLogger(output_torques, tau_est, this->obs.dof_pos, output_dof_pos, this->obs.dof_vel); #endif } @@ -216,15 +211,22 @@ torch::Tensor RL_Sim::ComputeObservation() torch::Tensor RL_Sim::Forward() { + torch::autograd::GradMode::set_enabled(false); + torch::Tensor obs = this->ComputeObservation(); -#ifdef USE_HISTORY - history_obs_buf.insert(obs); - history_obs = history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5}); - torch::Tensor action = this->model.forward({history_obs}).toTensor(); -#else - torch::Tensor actions = this->model.forward({obs}).toTensor(); -#endif + torch::Tensor actions; + + if(use_history) + { + history_obs_buf.insert(obs); + history_obs = history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5}); + actions = this->model.forward({history_obs}).toTensor(); + } + else + { + actions = this->model.forward({obs}).toTensor(); + } this->obs.actions = actions; torch::Tensor clamped_actions = torch::clamp(actions, -this->params.clip_actions, this->params.clip_actions); @@ -242,7 +244,7 @@ void RL_Sim::Plot() { plot_real_joint_pos[i].erase(plot_real_joint_pos[i].begin()); plot_target_joint_pos[i].erase(plot_target_joint_pos[i].begin()); - plot_real_joint_pos[i].push_back(joint_positions[i]); + plot_real_joint_pos[i].push_back(mapped_joint_positions[i]); plot_target_joint_pos[i].push_back(motor_commands[i].q); plt::subplot(4, 3, i+1); plt::named_plot("_real_joint_pos", plot_t, plot_real_joint_pos[i], "r"); diff --git a/src/robots/cyberdog1_description/CMakeLists.txt b/src/robots/cyberdog1_description/CMakeLists.txt deleted file mode 100644 index 57d84b9..0000000 --- a/src/robots/cyberdog1_description/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(cyberdog_description) - -find_package(catkin REQUIRED COMPONENTS - genmsg - roscpp - std_msgs - tf -) - -catkin_package( - CATKIN_DEPENDS -) - -include_directories( - # include - ${Boost_INCLUDE_DIR} - ${catkin_INCLUDE_DIRS} -) diff --git a/src/robots/cyberdog1_description/LICENCE b/src/robots/cyberdog1_description/LICENCE deleted file mode 100644 index d337cd3..0000000 --- a/src/robots/cyberdog1_description/LICENCE +++ /dev/null @@ -1,201 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright 2024 Fan Ziqi - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. \ No newline at end of file diff --git a/src/robots/cyberdog1_description/README.md b/src/robots/cyberdog1_description/README.md deleted file mode 100644 index be8db7e..0000000 --- a/src/robots/cyberdog1_description/README.md +++ /dev/null @@ -1,2 +0,0 @@ -# cyberdog1_description -URDF model for the first generation Cyberdog (unofficial) diff --git a/src/robots/cyberdog1_description/config/robot_control.yaml b/src/robots/cyberdog1_description/config/robot_control.yaml deleted file mode 100644 index 8807467..0000000 --- a/src/robots/cyberdog1_description/config/robot_control.yaml +++ /dev/null @@ -1,70 +0,0 @@ -cyberdog_gazebo: - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 1000 - - # FL Controllers --------------------------------------- - FL_hip_controller: - type: robot_joint_controller/RobotJointController - joint: FL_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - FL_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: FL_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - FL_calf_controller: - type: robot_joint_controller/RobotJointController - joint: FL_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - # FR Controllers --------------------------------------- - FR_hip_controller: - type: robot_joint_controller/RobotJointController - joint: FR_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - FR_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: FR_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - FR_calf_controller: - type: robot_joint_controller/RobotJointController - joint: FR_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - # RL Controllers --------------------------------------- - RL_hip_controller: - type: robot_joint_controller/RobotJointController - joint: RL_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - RL_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: RL_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - RL_calf_controller: - type: robot_joint_controller/RobotJointController - joint: RL_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - # RR Controllers --------------------------------------- - RR_hip_controller: - type: robot_joint_controller/RobotJointController - joint: RR_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - RR_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: RR_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - RR_calf_controller: - type: robot_joint_controller/RobotJointController - joint: RR_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - diff --git a/src/robots/cyberdog1_description/launch/display.launch b/src/robots/cyberdog1_description/launch/display.launch deleted file mode 100644 index 5eca395..0000000 --- a/src/robots/cyberdog1_description/launch/display.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog1_description/launch/gazebo.launch b/src/robots/cyberdog1_description/launch/gazebo.launch deleted file mode 100644 index 58f1bfc..0000000 --- a/src/robots/cyberdog1_description/launch/gazebo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog1_description/launch/test.rviz b/src/robots/cyberdog1_description/launch/test.rviz deleted file mode 100644 index fe255bb..0000000 --- a/src/robots/cyberdog1_description/launch/test.rviz +++ /dev/null @@ -1,245 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 555 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/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/RobotModel - Collision Enabled: false - 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_foot: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_hip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FR_calf: - 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_thigh: - 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_foot: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_hip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RR_calf: - 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_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base: - 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 - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: trunk - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.3364639282226562 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.16539815068244934 - Target Frame: - Yaw: 1.430397391319275 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 739 - Y: -14 diff --git a/src/robots/cyberdog1_description/package.xml b/src/robots/cyberdog1_description/package.xml deleted file mode 100644 index 1a275d7..0000000 --- a/src/robots/cyberdog1_description/package.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - cyberdog_description - 2.0.0 - The a1_description package - - unitree - TODO - - catkin - roscpp - std_msgs - - diff --git a/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf b/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf deleted file mode 100644 index a2f60b8..0000000 --- a/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf +++ /dev/null @@ -1,1387 +0,0 @@ - - - - - - - - - - /cyberdog_gazebo - gazebo_ros_control/DefaultRobotHWSim - - - - - - - - - trunk - /apply_force/trunk - - - - true - - true - 1000 - true - __default_topic__ - - trunk_imu - imu_link - 1000.0 - 0.0 - 0 0 0 - 0 0 0 - imu_link - - 0 0 0 0 0 0 - - - - - - - - Gazebo/Green - false - - - 0.2 - 0.2 - - - - - 0.2 - 0.2 - Gazebo/White - - - 0.2 - 0.2 - Gazebo/Red - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00001 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.001 - 0.0 - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00001 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.001 - 0.0 - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00001 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.001 - 0.0 - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00001 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.001 - 0.0 - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "1" - - - - diff --git a/src/robots/cyberdog1_description/urdf_for_isaacgym/cyberdog.urdf b/src/robots/cyberdog1_description/urdf_for_isaacgym/cyberdog.urdf deleted file mode 100644 index e8e680b..0000000 --- a/src/robots/cyberdog1_description/urdf_for_isaacgym/cyberdog.urdf +++ /dev/null @@ -1,796 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/robots/cyberdog1_description/xacro/const.xacro b/src/robots/cyberdog1_description/xacro/const.xacro deleted file mode 100644 index 1ed463e..0000000 --- a/src/robots/cyberdog1_description/xacro/const.xacro +++ /dev/null @@ -1,124 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog1_description/xacro/gazebo.xacro b/src/robots/cyberdog1_description/xacro/gazebo.xacro deleted file mode 100644 index 32d0369..0000000 --- a/src/robots/cyberdog1_description/xacro/gazebo.xacro +++ /dev/null @@ -1,266 +0,0 @@ - - - - - - /cyberdog_gazebo - gazebo_ros_control/DefaultRobotHWSim - - - - - - - - - - - - trunk - /apply_force/trunk - - - - - true - - true - 1000 - true - __default_topic__ - - trunk_imu - imu_link - 1000.0 - 0.0 - 0 0 0 - 0 0 0 - imu_link - - 0 0 0 0 0 0 - - - - - - - - - - - Gazebo/Green - false - - - - 0.2 - 0.2 - - - - - - 0.2 - 0.2 - Gazebo/White - - - - 0.2 - 0.2 - Gazebo/Red - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.6 - 0.6 - 1 - Gazebo/DarkGrey - - - - - diff --git a/src/robots/cyberdog1_description/xacro/leg.xacro b/src/robots/cyberdog1_description/xacro/leg.xacro deleted file mode 100644 index 8e00a0f..0000000 --- a/src/robots/cyberdog1_description/xacro/leg.xacro +++ /dev/null @@ -1,281 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00001 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.001 - 0.0 - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog1_description/xacro/robot.xacro b/src/robots/cyberdog1_description/xacro/robot.xacro deleted file mode 100644 index d93be4e..0000000 --- a/src/robots/cyberdog1_description/xacro/robot.xacro +++ /dev/null @@ -1,123 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog1_description/xacro/transmission.xacro b/src/robots/cyberdog1_description/xacro/transmission.xacro deleted file mode 100644 index a0d0153..0000000 --- a/src/robots/cyberdog1_description/xacro/transmission.xacro +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "${abadGearRatio}" - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "${hipGearRatio}" - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "${kneeGearRatio}" - - - - - - diff --git a/src/robots/cyberdog2_description/CMakeLists.txt b/src/robots/cyberdog2_description/CMakeLists.txt deleted file mode 100644 index 1c97115..0000000 --- a/src/robots/cyberdog2_description/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(cyberdog2_description) - -find_package(catkin REQUIRED COMPONENTS - genmsg - roscpp - std_msgs - tf -) - -catkin_package( - CATKIN_DEPENDS -) - -include_directories( - # include - ${Boost_INCLUDE_DIR} - ${catkin_INCLUDE_DIRS} -) diff --git a/src/robots/cyberdog2_description/launch/display.launch b/src/robots/cyberdog2_description/launch/display.launch deleted file mode 100644 index 0b7bb2d..0000000 --- a/src/robots/cyberdog2_description/launch/display.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog2_description/launch/gazebo.launch b/src/robots/cyberdog2_description/launch/gazebo.launch deleted file mode 100644 index 15b4abd..0000000 --- a/src/robots/cyberdog2_description/launch/gazebo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog2_description/launch/test.rviz b/src/robots/cyberdog2_description/launch/test.rviz deleted file mode 100644 index fe255bb..0000000 --- a/src/robots/cyberdog2_description/launch/test.rviz +++ /dev/null @@ -1,245 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 555 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/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/RobotModel - Collision Enabled: false - 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_foot: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_hip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FR_calf: - 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_thigh: - 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_foot: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_hip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RR_calf: - 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_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base: - 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 - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: trunk - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.3364639282226562 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.16539815068244934 - Target Frame: - Yaw: 1.430397391319275 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 739 - Y: -14 diff --git a/src/robots/cyberdog2_description/meshes/abad.dae b/src/robots/cyberdog2_description/meshes/abad.dae deleted file mode 100644 index 98afc68..0000000 --- a/src/robots/cyberdog2_description/meshes/abad.dae +++ /dev/null @@ -1,188 +0,0 @@ - - - - - Blender User - Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936 - - 2023-08-30T17:40:50 - 2023-08-30T17:40:50 - - Z_UP - - - - - - - - 0 0 0 1 - - - 0.2 0.2 0.2 1 - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0.2 0.2 0.2 1 - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0.2 0.2 0.2 1 - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0.2 0.2 0.2 1 - - - 1.45 - - - - - - - - - - - - - - - - - - - - - - - - - - -47.99998 -3.339882 4.535424 -47.99998 -3.339882 4.535424 -47.99998 -3.656372 4.510067 -47.99998 -3.656372 4.510067 -47.99998 -3.951447 4.626868 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3146 13475 13625 3160 13476 13626 2999 13477 13627 2995 13478 13628 3146 13479 13629 3000 13480 13630 3144 13481 13631 3008 13482 13632 3006 13483 13633 3033 13484 13634 3029 13485 13635 3008 13486 13636 3033 13487 13637 3006 13488 13638 3763 13489 13639 3033 13490 13640 3006 13491 13641 3001 13492 13642 3763 13493 13643 3006 13494 13644 3002 13495 13645 3001 13496 13646 3021 13497 13647 3764 13498 13648 3002 13499 13649 3003 13500 13650 3456 13501 13651 3002 13502 13652 3004 13503 13653 3003 13504 13654 3002 13505 13655 3005 13506 13656 3004 13507 13657 3002 13508 13658 3006 13509 13659 3005 13510 13660 3002 13511 13661 3728 13512 13662 3021 13513 13663 3002 13514 13664 3431 13515 13665 3456 13516 13666 3003 13517 13667 3723 13518 13668 3722 13519 13669 3456 13520 13670 3315 13521 13671 3004 13522 13672 3005 13523 13673 3315 13524 13674 3005 13525 13675 3006 13526 13676 3008 13527 13677 3030 13528 13678 3006 13529 13679 3013 13530 13680 3012 13531 13681 3028 13532 13682 3030 13533 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10285 45415 46086 10282 45416 46087 10276 45417 46088 10286 45418 46089 10285 45419 46090 10276 45420 46091 10287 45421 46092 10277 45422 46093 10278 45423 46094 10287 45424 46095 10286 45425 46096 10277 45426 46097 10288 45427 46098 10278 45428 46099 10279 45429 46100 10288 45430 46101 10287 45431 46102 10278 45432 46103 10288 45433 46104 10279 45434 46105 10280 45435 46106 10283 45436 46107 10280 45437 46108 10281 45438 46109 10288 45439 46110 10280 45440 46111 10283 45441 46112 10284 45442 46113 10281 45443 46114 10282 45444 46115 10284 45445 46116 10283 45446 46117 10281 45447 46118 10285 45448 46119 10284 45449 46120 10282 45450 46121 10292 45451 46122 10283 45452 46123 10284 45453 46124 10292 45454 46125 10288 45455 46126 10283 45456 46127 10290 45457 46128 10284 45458 46129 10285 45459 46130 10290 45460 46131 10292 45461 46132 10284 45462 46133 10290 45463 46134 10285 45464 46135 10286 45465 46136 10291 45466 46137 10286 45467 46138 10287 45468 46139 10291 45469 46140 10290 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46217 10313 45547 46218 10310 45548 46219 10309 45549 46220 10314 45550 46221 10313 45551 46222 10309 45552 46223 10312 45553 46224 10311 45554 46225 10310 45555 46226 10313 45556 46227 10312 45557 46228 10310 45558 46229 10090 45559 46230 10343 45560 46231 10352 45561 46232 10327 45562 46233 10325 45563 46234 10326 45564 46235 10335 45565 46236 10334 45566 46237 10258 45567 46238 10341 45568 46239 10334 45569 46240 10335 45570 46241 10318 45571 46242 10334 45572 46243 10341 45573 46244 10318 45574 46245 10354 45575 46246 10334 45576 46247 10341 45577 46248 10335 45578 46249 10336 45579 46250 10342 45580 46251 10336 45581 46252 10337 45582 46253 10342 45583 46254 10341 45584 46255 10336 45585 46256 10343 45586 46257 10337 45587 46258 10338 45588 46259 10343 45589 46260 10342 45590 46261 10337 45591 46262 10343 45592 46263 10338 45593 46264 10339 45594 46265 10344 45595 46266 10343 45596 46267 10339 45597 46268 10301 45598 46269 10341 45599 46270 10342 45600 46271 10048 45601 46272 10318 45602 46273 10341 45603 46274 10301 45604 46275 10048 45605 46276 10341 45606 46277 10090 45607 46278 10342 45608 46279 10343 45609 46280 10090 45610 46281 10301 45611 46282 10342 45612 46283 10352 45613 46284 10343 45614 46285 10353 45615 46286

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10122 43878 44547 9943 43879 44548 9945 43880 44549 10122 43884 44553 10113 43885 44554 9943 43886 44555 10123 43887 44556 9945 43888 44557 9944 43889 44558 10123 43890 44559 10122 43891 44560 9945 43892 44561 10123 43893 44562 9944 43894 44563 10120 43895 44564 10306 44503 45174 10065 44504 45175 10066 44505 45176 10170 44509 45180 10168 44510 45181 10065 44511 45182 10306 44512 45183 10170 44513 45184 10065 44514 45185 10171 44515 45186 10306 44516 45187 10066 44517 45188 10118 44587 45258 10117 44588 45259 10115 44589 45260 10123 44590 45261 10120 44591 45262 10116 44592 45263 10123 44593 45264 10116 44594 45265 10117 44595 45266 10296 45058 45729 10203 45059 45730 10204 45060 45731 10349 45061 45732 10203 45062 45733 10296 45063 45734 10295 45064 45735 10204 45065 45736 10205 45066 45737 10296 45067 45738 10204 45068 45739 10295 45069 45740 10294 45070 45741 10205 45071 45742 10206 45072 45743 10295 45073 45744 10205 45074 45745 10294 45075 45746 10083 45079 45750 10294 45080 45751 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59721 60453 13316 59722 60454 13564 59723 60455 13418 60083 60819 13408 60084 60820 13409 60085 60821 13419 60086 60822 13418 60087 60823 13409 60088 60824 13419 60089 60825 13409 60090 60826 13410 60091 60827 13421 60092 60828 13410 60093 60829 13296 60094 60830 13421 60095 60831 13419 60096 60832 13410 60097 60833 13421 60101 60837 13420 60102 60838 13417 60103 60839 13468 60215 60951 13467 60216 60952 13463 60217 60953 13470 60218 60954 13463 60219 60955 13459 60220 60956 13470 60221 60957 13468 60222 60958 13463 60223 60959 13470 60224 60960 13459 60225 60961 13469 60226 60962 13470 60227 60963 13469 60228 60964 13466 60229 60965 13469 60233 60969 13467 60234 60970 13466 60235 60971 13565 60457 61194 13553 60458 61195 13554 60459 61196 13565 60460 61197 13564 60461 61198 13553 60462 61199 13567 60466 61203 13554 60467 61204 13556 60468 61205 13567 60469 61206 13565 60470 61207 13554 60471 61208 13567 60472 61209 13556 60473 61210 13557 60474 61211 13567 60475 61212 13557 60476 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14058 62919 63669 14047 62920 63670 14048 62921 63671 14059 62922 63672 14058 62923 63673 14048 62924 63674 14059 62925 63675 14048 62926 63676 14049 62927 63677 14061 62928 63678 14049 62929 63679 14050 62930 63680 14061 62931 63681 14059 62932 63682 14049 62933 63683 14061 62937 63687 14060 62938 63688 14057 62939 63689 14107 63051 63801 14106 63052 63802 14102 63053 63803 14109 63054 63804 14102 63055 63805 14098 63056 63806 14109 63057 63807 14107 63058 63808 14102 63059 63809 14109 63060 63810 14098 63061 63811 14108 63062 63812 14109 63063 63813 14108 63064 63814 14105 63065 63815 14108 63069 63819 14106 63070 63820 14105 63071 63821 14205 63295 64047 14193 63296 64048 14194 63297 64049 14205 63298 64050 14204 63299 64051 14193 63300 64052 14207 63304 64056 14194 63305 64057 14196 63306 64058 14207 63307 64059 14205 63308 64060 14194 63309 64061 14207 63310 64062 14196 63311 64063 14197 63312 64064 14207 63313 64065 14197 63314 64066 14203 63315 64067 14206 63319 64071 14204 63320 64072 14203 63321 64073 14215 63322 64074 14211 63323 64075 14210 63324 64076 14215 63325 64077 14214 63326 64078 14211 63327 64079 14217 63331 64083 14210 63332 64084 14212 63333 64085 14217 63334 64086 14215 63335 64087 14210 63336 64088 14213 63337 64089 14212 63338 64090 14216 63339 64091 14217 63340 64092 14212 63341 64093 14213 63342 64094 14228 63361 64113 14226 63362 64114 14227 63363 64115 14746 65074 66003 14558 65075 66004 14742 65076 66005 14748 65077 66006 14558 65078 66007 14746 65079 66008 14701 65144 66075 14690 65145 66076 14700 65146 66077 14698 65147 66078 14700 65148 66079 14687 65149 66080 14698 65150 66081 14697 65151 66082 14700 65152 66083 14854 65198 66129 14853 65199 66130 14856 65200 66131 14856 65201 66132 14851 65202 66133 14854 65203 66134 14846 65218 66150 14843 65219 66151 14837 65220 66152 14844 65221 66153 14595 65222 66154 14833 65223 66155 14846 65224 66156 14595 65225 66157 14844 65226 66158 14698 65559 66519 14687 65560 66520 14688 65561 66521 14699 60086 66522 14698 65562 66523 14688 65563 66524 14699 65564 66525 14688 65565 66526 14689 65566 66527 14701 65567 66528 14689 65568 66529 14690 65569 66530 14701 65570 66531 14699 60096 66532 14689 65571 66533 14701 65575 66537 14700 65576 66538 14697 65577 66539 14747 65689 66651 14746 65690 66652 14742 65691 66653 14749 65692 66654 14742 65693 66655 14738 65694 66656 14749 65695 66657 14747 65696 66658 14742 65697 66659 14749 65698 66660 14738 65699 66661 14748 65700 66662 14749 65701 66663 14748 65702 66664 14745 65703 66665 14748 65707 66669 14746 65708 66670 14745 65709 66671 14845 65906 66897 14833 65907 66898 14834 65908 66899 14845 65909 66900 14844 65910 66901 14833 65911 66902 14847 65915 66906 14834 65916 66907 14836 65917 66908 14847 65918 66909 14845 65919 66910 14834 65920 66911 14847 65921 66912 14836 65922 66913 14837 65923 66914 14847 65924 66915 14837 65925 66916 14843 65926 66917 14846 65930 66921 14844 65931 66922 14843 65932 66923 14855 65933 66924 14851 65934 66925 14850 65935 66926 14855 65936 66927 14854 65937 66928 14851 65938 66929 14857 65942 66933 14850 65943 66934 14852 65944 66935 14857 65945 66936 14855 65946 66937 14850 65947 66938 14853 65948 66939 14852 65949 66940 14856 65950 66941 14857 65951 66942 14852 65952 66943 14853 65953 66944 14868 65972 66963 14866 65973 66964 14867 65974 66965 15388 67688 68856 15200 67689 68857 15384 67690 68858 15390 67691 68859 15200 67692 68860 15388 67693 68861 15342 67755 68925 15217 67756 68926 15341 67757 68927 15339 67758 68928 15338 67759 68929 15329 67760 68930 15341 67761 68931 15329 67762 68932 15338 67763 68933 15496 67809 68979 15495 67810 68980 15498 67811 68981 15498 67812 68982 15493 67813 68983 15496 67814 68984 15487 67829 69000 15484 67830 69001 15478 67831 69002 15485 67832 69003 15237 67833 69004 15474 67834 69005 15487 67835 69006 15237 67836 69007 15485 67837 69008 15339 68194 69372 15329 68195 69373 15330 68196 69374 15340 62922 69375 15339 68197 69376 15330 68198 69377 15340 68199 69378 15330 68200 69379 15331 68201 69380 15342 68202 69381 15331 68203 69382 15217 68204 69383 15342 68205 69384 15340 62932 69385 15331 68206 69386 15342 68210 69390 15341 68211 69391 15338 68212 69392 15389 68300 69504 15388 68301 69505 15384 68302 69506 15391 68303 69507 15384 68304 69508 15380 68305 69509 15391 68306 69510 15389 68307 69511 15384 68308 69512 15391 68309 69513 15380 68310 69514 15390 68311 69515 15391 68312 69516 15390 68313 69517 15387 68314 69518 15390 68318 69522 15388 68319 69523 15387 68320 69524 15486 68517 69747 15474 68518 69748 15475 68519 69749 15486 68520 69750 15485 68521 69751 15474 68522 69752 15488 68526 69756 15475 68527 69757 15477 68528 69758 15488 68529 69759 15486 68530 69760 15475 68531 69761 15488 68532 69762 15477 68533 69763 15478 68534 69764 15488 68535 69765 15478 68536 69766 15484 68537 69767 15487 68541 69771 15485 68542 69772 15484 68543 69773 15497 68547 69777 15493 68548 69778 15492 68549 69779 15497 68550 69780 15496 68551 69781 15493 68552 69782 15499 68556 69786 15492 68557 69787 15494 68558 69788 15499 68559 69789 15497 68560 69790 15492 68561 69791 15495 68562 69792 15494 68563 69793 15498 68564 69794 15499 68565 69795 15494 68566 69796 15495 68567 69797 15510 68586 69816 15508 68587 69817 15509 68588 69818

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      10141 44348 45018 10033 44349 45019 10029 44350 45020 10144 44351 45021 10033 44352 45022 10141 44353 45023 10143 44354 45024 10142 44355 45025 10033 44356 45026 10144 44357 45027 10143 44358 45028 10033 44359 45029 10141 44360 45030 10029 44361 45031 10030 44362 45032 10141 44363 45033 10030 44364 45034 10031 44365 45035 10141 44366 45036 10031 44367 45037 10144 44368 45038 10143 44369 45039 10144 44370 45040 10031 44371 45041

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11536 51314 52015 11537 51315 52016 11541 51316 52017 11540 51317 52018 11536 51318 52019 11542 51319 52020 11541 51320 52021 11537 51321 52022 11543 51322 52023 11538 51323 52024 11553 51324 52025 11561 51325 52026 11553 51326 52027 11538 51327 52028 11561 51328 52029 11538 51329 52030 11555 51330 52031 11543 51331 52032 11542 51332 52033 11538 51333 52034 11595 51334 52035 11592 51335 52036 11540 51336 52037 11595 51337 52038 11593 51338 52039 11592 51339 52040 11596 51340 52041 11540 51341 52042 11541 51342 52043 11596 51343 52044 11595 51344 52045 11540 51345 52046 11597 51346 52047 11541 51347 52048 11542 51348 52049 11597 51349 52050 11596 51350 52051 11541 51351 52052 11598 51352 52053 11542 51353 52054 11543 51354 52055 11598 51355 52056 11597 51356 52057 11542 51357 52058 11553 51358 52059 11544 51359 52060 11543 51360 52061 11599 51361 52062 11543 51362 52063 11544 51363 52064 11599 51364 52065 11598 51365 52066 11543 51366 52067 11551 51367 52068 11545 51368 52069 11544 51369 52070 11600 51370 52071 11544 51371 52072 11545 51372 52073 11553 51373 52074 11551 51374 52075 11544 51375 52076 11600 51376 52077 11599 51377 52078 11544 51378 52079 11550 51379 52080 11546 51380 52081 11545 51381 52082 11601 51382 52083 11545 51383 52084 11546 51384 52085 11551 51385 52086 11550 51386 52087 11545 51387 52088 11601 51388 52089 11600 51389 52090 11545 51390 52091 11601 51391 52092 11546 51392 52093 11547 51393 52094 11549 51394 52095 11548 51395 52096 11546 51396 52097 11550 51397 52098 11549 51398 52099 11546 51399 52100 11589 51400 52101 11549 51401 52102 11588 51402 52103 11601 51403 52104 11547 51404 52105 11589 51405 52106 11560 51406 52107 11549 51407 52108 11550 51408 52109 11560 51409 52110 11559 51410 52111 11549 51411 52112 11562 51412 52113 11549 51413 52114 11559 51414 52115 11588 51415 52116 11549 51416 52117 11562 51417 52118 11560 51418 52119 11550 51419 52120 11551 51420 52121 11557 51421 52122 11551 51422 52123 11556 51423 52124 11560 51424 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12053 52946 53656 12049 52947 53657 12053 52948 53658 12052 52949 53659 12049 52950 53660 11855 52951 53661 11852 52952 53662 11851 52953 53663 11916 52954 53664 11854 52955 53665 11855 52956 53666 11918 52957 53667 11855 52958 53668 11850 52959 53669 11917 52960 53670 11916 52961 53671 11855 52962 53672 11918 52963 53673 11917 52964 53674 11855 52965 53675 11919 52966 53676 11918 52967 53677 11850 52968 53678 11924 52969 53679 11919 52970 53680 11850 52971 53681 11935 52972 53682 11924 52973 53683 11850 52974 53684 11915 52975 53685 11860 52976 53686 11854 52977 53687 11916 52978 53688 11915 52979 53689 11854 52980 53690 11866 52981 53691 11856 52982 53692 11893 52983 53693 11898 52984 53694 11893 52985 53695 11856 52986 53696 11865 52987 53697 11866 52988 53698 11893 52989 53699 11864 52990 53700 11857 52991 53701 11856 52992 53702 11908 52993 53703 11856 52994 53704 11857 52995 53705 11866 52996 53706 11864 52997 53707 11856 52998 53708 11907 52999 53709 11898 53000 53710 11856 53001 53711 11908 53002 53712 11907 53003 53713 11856 53004 53714 11862 53005 53715 11858 53006 53716 11857 53007 53717 11910 53008 53718 11857 53009 53719 11858 53010 53720 11863 53011 53721 11862 53012 53722 11857 53013 53723 11864 53014 53724 11863 53015 53725 11857 53016 53726 11909 53017 53727 11908 53018 53728 11857 53019 53729 11910 53020 53730 11909 53021 53731 11857 53022 53732 11861 53023 53733 11859 53024 53734 11858 53025 53735 11912 53026 53736 11858 53027 53737 11859 53028 53738 11862 53029 53739 11861 53030 53740 11858 53031 53741 11911 53032 53742 11910 53033 53743 11858 53034 53744 11912 53035 53745 11911 53036 53746 11858 53037 53747 11914 53038 53748 11859 53039 53749 11860 53040 53750 11913 53041 53751 11912 53042 53752 11859 53043 53753 11914 53044 53754 11913 53045 53755 11859 53046 53756 11915 53047 53757 11914 53048 53758 11860 53049 53759 12020 53050 53760 11861 53051 53761 11862 53052 53762 12021 53053 53763 11861 53054 53764 12020 53055 53765 12022 53056 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11889 53112 53822 11891 53113 53823 11890 53114 53824 11870 53115 53825 12016 53116 53826 11999 53117 53827 11870 53118 53828 12011 53119 53829 12015 53120 53830 12014 53121 53831 11890 53122 53832 11885 53123 53833 11871 53124 53834 12012 53125 53835 12015 53126 53836 12011 53127 53837 11885 53128 53838 11872 53129 53839 11871 53130 53840 11881 53131 53841 11873 53132 53842 11872 53133 53843 12002 53134 53844 11872 53135 53845 11873 53136 53846 11882 53137 53847 11881 53138 53848 11872 53139 53849 11885 53140 53850 11882 53141 53851 11872 53142 53852 12009 53143 53853 11872 53144 53854 12002 53145 53855 12010 53146 53856 11872 53147 53857 12009 53148 53858 12013 53149 53859 11872 53150 53860 12010 53151 53861 11880 53152 53862 11874 53153 53863 11873 53154 53864 12000 53155 53865 11873 53156 53866 11874 53157 53867 11881 53158 53868 11880 53159 53869 11873 53160 53870 12001 53161 53871 11873 53162 53872 12000 53163 53873 12002 53164 53874 11873 53165 53875 12001 53166 53876 11906 53167 53877 11875 53168 53878 11874 53169 53879 11946 53170 53880 11874 53171 53881 11875 53172 53882 11880 53173 53883 11906 53174 53884 11874 53175 53885 12000 53176 53886 11874 53177 53887 11946 53178 53888 11906 53179 53889 11876 53180 53890 11875 53181 53891 11946 53182 53892 11875 53183 53893 11876 53184 53894 11878 53185 53895 11877 53186 53896 11876 53187 53897 11906 53188 53898 11878 53189 53899 11876 53190 53900 11946 53191 53901 11876 53192 53902 11945 53193 53903 11994 53194 53904 11945 53195 53905 11876 53196 53906 11925 53197 53907 11936 53198 53908 11877 53199 53909 11943 53200 53910 11877 53201 53911 11936 53202 53912 11878 53203 53913 11925 53204 53914 11877 53205 53915 11944 53206 53916 11877 53207 53917 11943 53208 53918 11993 53209 53919 11877 53210 53920 11944 53211 53921 11943 53212 53922 11936 53213 53923 11939 53214 53924 11907 53215 53925 11925 53216 53926 11878 53217 53927 11908 53218 53928 11925 53219 53929 11907 53220 53930 11907 53221 53931 11879 53222 53932 11906 53223 53933 11907 53224 53934 11906 53225 53935 11900 53226 53936 11905 53227 53937 11906 53228 53938 11880 53229 53939 11904 53230 53940 11880 53231 53941 11881 53232 53942 11905 53233 53943 11880 53234 53944 11904 53235 53945 11903 53236 53946 11881 53237 53947 11882 53238 53948 11904 53239 53949 11881 53240 53950 11903 53241 53951 11903 53242 53952 11882 53243 53953 11883 53244 53954 11903 53245 53955 11883 53246 53956 11899 53247 53957 11899 53248 53958 11884 53249 53959 11885 53250 53960 11890 53251 53961 11886 53252 53962 11885 53253 53963 11899 53254 53964 11885 53255 53965 11897 53256 53966 11891 53257 53967 11886 53258 53968 11890 53259 53969 11896 53260 53970 11895 53261 53971 11886 53262 53972 11898 53263 53973 11896 53264 53974 11886 53265 53975 11891 53266 53976 11887 53267 53977 11886 53268 53978 11898 53269 53979 11886 53270 53980 11888 53271 53981 11891 53272 53982 11892 53273 53983 11887 53274 53984 11898 53275 53985 11888 53276 53986 11894 53277 53987 11891 53278 53988 11889 53279 53989 11892 53280 53990 12007 53281 53991 11891 53282 53992 11890 53283 53993 12007 53284 53994 11890 53285 53995 12006 53286 53996 12008 53287 53997 11890 53288 53998 11891 53289 53999 12008 53290 54000 12006 53291 54001 11890 53292 54002 12008 53293 54003 11891 53294 54004 12005 53295 54005 12005 53296 54006 11891 53297 54007 12007 53298 54008 11907 53299 54009 11896 53300 54010 11898 53301 54011 11901 53302 54012 11899 53303 54013 11896 53304 54014 11907 53305 54015 11902 53306 54016 11896 53307 54017 11903 53308 54018 11899 53309 54019 11901 53310 54020 11905 53311 54021 11904 53312 54022 11901 53313 54023 11904 53314 54024 11903 53315 54025 11901 53316 54026 11927 53317 54027 11908 53318 54028 11909 53319 54029 11926 53320 54030 11925 53321 54031 11908 53322 54032 11927 53323 54033 11926 53324 54034 11908 53325 54035 11928 53326 54036 11909 53327 54037 11910 53328 54038 11928 53329 54039 11927 53330 54040 11909 53331 54041 11929 53332 54042 11910 53333 54043 11911 53334 54044 11929 53335 54045 11928 53336 54046 11910 53337 54047 11930 53338 54048 11911 53339 54049 11912 53340 54050 11930 53341 54051 11929 53342 54052 11911 53343 54053 11931 53344 54054 11912 53345 54055 11913 53346 54056 11931 53347 54057 11930 53348 54058 11912 53349 54059 11932 53350 54060 11913 53351 54061 11914 53352 54062 11932 53353 54063 11931 53354 54064 11913 53355 54065 11933 53356 54066 11914 53357 54067 11915 53358 54068 11933 53359 54069 11932 53360 54070 11914 53361 54071 11934 53362 54072 11933 53363 54073 11915 53364 54074 11924 53365 54075 11922 53366 54076 11919 53367 54077 11936 53368 54078 11925 53369 54079 11937 53370 54080 11978 53371 54081 11927 53372 54082 11928 53373 54083 11938 53374 54084 11927 53375 54085 11937 53376 54086 11978 53377 54087 11937 53378 54088 11927 53379 54089 11977 53380 54090 11928 53381 54091 11929 53382 54092 11978 53383 54093 11928 53384 54094 11977 53385 54095 11985 53386 54096 11929 53387 54097 11930 53388 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11941 53444 54154 11975 53445 54155 11977 53446 54156 11975 53447 54157 11941 53448 54158 11977 53449 54159 11976 53450 54160 11975 53451 54161 11954 53452 54162 11942 53453 54163 11941 53454 54164 11978 53455 54165 11941 53456 54166 11942 53457 54167 11978 53458 54168 11977 53459 54169 11941 53460 54170 11954 53461 54171 11953 53462 54172 11942 53463 54173 11951 53464 54174 11944 53465 54175 11943 53466 54176 11949 53467 54177 11945 53468 54178 11944 53469 54179 11951 53470 54180 11949 53471 54181 11944 53472 54182 11947 53473 54183 11946 53474 54184 11945 53475 54185 11948 53476 54186 11947 53477 54187 11945 53478 54188 11949 53479 54189 11948 53480 54190 11945 53481 54191 12001 53482 54192 11946 53483 54193 11947 53484 54194 12001 53485 54195 12000 53486 54196 11946 53487 54197 11996 53488 54198 11947 53489 54199 11948 53490 54200 11996 53491 54201 11995 53492 54202 11947 53493 54203 12009 53494 54204 11947 53495 54205 11995 53496 54206 12002 53497 54207 12001 53498 54208 11947 53499 54209 12009 53500 54210 12002 53501 54211 11947 53502 54212 11999 53503 54213 11948 53504 54214 11950 53505 54215 11997 53506 54216 11996 53507 54217 11948 53508 54218 11999 53509 54219 11997 53510 54220 11948 53511 54221 12017 53512 54222 11953 53513 54223 11954 53514 54224 11975 53515 54225 11955 53516 54226 11954 53517 54227 12019 53518 54228 11954 53519 54229 11955 53520 54230 12018 53521 54231 12017 53522 54232 11954 53523 54233 12019 53524 54234 12018 53525 54235 11954 53526 54236 11970 53527 54237 11956 53528 54238 11955 53529 54239 12020 53530 54240 11955 53531 54241 11956 53532 54242 11973 53533 54243 11970 53534 54244 11955 53535 54245 11974 53536 54246 11973 53537 54247 11955 53538 54248 11975 53539 54249 11974 53540 54250 11955 53541 54251 12020 53542 54252 12019 53543 54253 11955 53544 54254 11969 53545 54255 11957 53546 54256 11956 53547 54257 12021 53548 54258 11956 53549 54259 11957 53550 54260 11970 53551 54261 11969 53552 54262 11956 53553 54263 12021 53554 54264 12020 53555 54265 11956 53556 54266 11963 53557 54267 11958 53558 54268 11957 53559 54269 12022 53560 54270 11957 53561 54271 11958 53562 54272 11965 53563 54273 11963 53564 54274 11957 53565 54275 11966 53566 54276 11965 53567 54277 11957 53568 54278 11969 53569 54279 11966 53570 54280 11957 53571 54281 12022 53572 54282 12021 53573 54283 11957 53574 54284 11962 53575 54285 11959 53576 54286 11958 53577 54287 11963 53578 54288 11962 53579 54289 11958 53580 54290 11961 53581 54291 11960 53582 54292 11959 53583 54293 11962 53584 54294 11961 53585 54295 11959 53586 54296 11990 53587 54297 11967 53587 54298 11989 53587 54299 11988 53588 54300 11968 53589 54301 11969 53590 54302 11982 53591 54303 11969 53592 54304 11971 53593 54305 11988 53594 54306 11969 53595 54307 11982 53596 54308 11981 53597 54309 11971 53598 54310 11972 53599 54311 11982 53600 54312 11971 53601 54313 11981 53602 54314 11987 53603 54315 11981 53604 54316 11972 53605 54317 11979 53606 54318 11974 53607 54319 11975 53608 54320 11980 53609 54321 11974 53610 54322 11979 53611 54323 11986 53612 54324 11974 53613 54325 11980 53614 54326 11979 53615 54327 11975 53616 54328 11985 53617 54329 12007 53618 54330 11995 53619 54331 11996 53620 54332 12006 53621 54333 12004 53622 54334 11995 53623 54335 12007 53624 54336 12006 53625 54337 11995 53626 54338 12007 53627 54339 11996 53628 54340 11997 53629 54341 12005 53630 54342 11997 53631 54343 12003 53632 54344 12005 53633 54345 12007 53634 54346 11997 53635 54347 11999 53636 54348 11998 53637 54349 11997 53638 54350 12012 53639 54351 11998 53640 54352 11999 53641 54353 12008 53642 54354 12003 53643 54355 11998 53644 54356 12012 53645 54357 12008 53646 54358 11998 53647 54359 12005 53648 54360 12003 53649 54361 12008 53650 54362 12006 53651 54363 12008 53652 54364 12004 53653 54365 12011 53654 54366 12004 53655 54367 12008 53656 54368 12011 53657 54369 12010 53658 54370 12004 53659 54371 12012 53660 54372 12011 53661 54373 12008 53662 54374 12014 53663 54375 12010 53664 54376 12011 53665 54377 12031 53666 54378 12024 53667 54379 12026 53668 54380 12031 53669 54381 12027 53670 54382 12024 53671 54383 12035 53672 54384 12029 53673 54385 12027 53674 54386 12031 53675 54387 12035 53676 54388 12027 53677 54389 12035 53678 54390 12030 53679 54391 12029 53680 54392 12034 53681 54393 12030 53682 54394 12035 53683 54395 12036 53684 54396 12035 53685 54397 12031 53686 54398 12037 53687 54399 12036 53688 54400 12031 53689 54401 12037 53690 54402 12032 53691 54403 12033 53692 54404 12040 53693 54405 12033 53694 54406 12034 53695 54407 12040 53696 54408 12037 53697 54409 12033 53698 54410 12034 53699 54411 12035 53700 54412 12036 53701 54413 12038 53702 54414 12034 53703 54415 12036 53704 54416 12040 53705 54417 12034 53706 54418 12038 53707 54419 12039 53708 54420 12036 53709 54421 12037 53710 54422 12039 53711 54423 12038 53712 54424 12036 53713 54425 12040 53714 54426 12039 53715 54427 12037 53716 54428 12043 53717 54429 12038 53718 54430 12039 53719 54431 12042 53720 54432 12040 53721 54433 12038 53722 54434 12043 53723 54435 12042 53724 54436 12038 53725 54437 12044 53726 54438 12039 53727 54439 12040 53728 54440 12048 53729 54441 12043 53730 54442 12039 53731 54443 12044 53732 54444 12048 53733 54445 12039 53734 54446 12044 53735 54447 12040 53736 54448 12041 53737 54449 11845 53738 54450 12041 53739 54451 12040 53740 54452 12042 53741 54453 11845 53742 54454 12040 53743 54455

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      11666 51907 52611 11662 51908 52612 11789 51909 52613 11666 51968 52674 11749 51969 52675 11662 51970 52676 11666 51971 52677 11790 51972 52678 11749 51973 52679 11662 51974 52680 11636 51975 52681 11643 51976 52682 11663 51977 52683 11643 51978 52684 11637 51979 52685 11662 51980 52686 11643 51981 52687 11663 51982 52688 11663 51989 52695 11637 51990 52696 11664 51991 52697 11662 52127 52833 11788 52128 52834 11789 52129 52835 11665 52130 52836 11787 52131 52837 11664 52132 52838 11662 52133 52839 11663 52134 52840 11788 52135 52841 11666 52136 52842 11789 52137 52843 11790 52138 52844 11705 52184 52890 11681 52185 52891 11682 52186 52892 11664 52517 53226 11787 52518 53227 11663 52519 53228 12045 52757 53466 11842 52758 53467 11835 52759 53468 11845 52760 53469 11842 52761 53470 12045 52762 53471 12046 52763 53472 12047 52764 53473 11846 52765 53474 11846 52930 53640 11845 52931 53641 12046 52932 53642 12045 53744 54456 12041 53745 54457 11845 53746 54458 11835 53747 54459 12044 53748 54460 12041 53749 54461 11835 53750 54462 12041 53751 54463 12045 53752 54464 12046 53753 54465 11845 53754 54466 12042 53755 54467 12046 53756 54468 12042 53757 54469 12043 53758 54470 12047 53759 54471 12043 53760 54472 12048 53761 54473 12047 53762 54474 12046 53763 54475 12043 53764 54476 11835 53765 54477 12048 53766 54478 12044 53767 54479

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      11770 52415 53124 11764 52416 53125 11760 52417 53126 11770 52418 53127 11760 52419 53128 11771 52420 53129 11765 52421 53130 11771 52422 53131 11760 52423 53132 11773 52424 53133 11763 52425 53134 11764 52426 53135 11773 52427 53136 11767 52428 53137 11763 52429 53138 11770 52430 53139 11773 52431 53140 11764 52432 53141 11772 52436 53145 11765 52437 53146 11769 52438 53147 11769 52439 53148 11773 52440 53149 11772 52441 53150 11769 52442 53151 11766 52443 53152 11773 52444 53153 12053 52616 53325 12054 52617 53326 11849 52618 53327 11848 52936 53646 12052 52937 53647 11847 52938 53648 11847 52939 53649 12052 52940 53650 12053 52941 53651 11848 52942 53652 12051 52943 53653 12052 52944 53654

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      13022 57733 58455 13005 57734 58456 12966 57735 58457 13022 57739 58461 12966 57740 58462 12967 57741 58463 13022 57745 58467 12967 57746 58468 12968 57747 58469 13023 57751 58473 12968 57752 58474 12969 57753 58475 13023 57757 58479 13022 57758 58480 12968 57759 58481 13023 57763 58485 12969 57764 58486 12970 57765 58487 13023 57769 58491 12970 57770 58492 12998 57771 58493 13023 57778 58500 12998 57779 58501 12971 57780 58502 13024 57784 58506 12971 57785 58507 12972 57786 58508 13024 57787 58509 13023 57788 58510 12971 57789 58511 13024 57793 58515 12972 57794 58516 12973 57795 58517 13024 57799 58521 12973 57800 58522 12995 57801 58523 13024 57808 58530 12995 57809 58531 12974 57810 58532 13025 57814 58536 12974 57815 58537 12975 57816 58538 13025 57820 58542 13024 57821 58543 12974 57822 58544 13025 57823 58545 12975 57824 58546 12992 57825 58547 13025 57829 58551 12992 57830 58552 12976 57831 58553 13025 57835 58557 12976 57836 58558 12977 57837 58559 13026 57841 58563 12977 57842 58564 12978 57843 58565 13026 57844 58566 13025 57845 58567 12977 57846 58568 13027 57850 58572 12978 57851 58573 12979 57852 58574 13027 57862 58584 13026 57863 58585 12978 57864 58586 13029 57868 58590 12979 57869 58591 12980 57870 58592 13028 57874 58596 13027 57875 58597 12979 57876 58598 13029 57877 58599 13028 57878 58600 12979 57879 58601 13030 57883 58605 12980 57884 58606 12981 57885 58607 13030 57886 58608 13029 57887 58609 12980 57888 58610 13031 57892 58614 12981 57893 58615 12982 57894 58616 13031 57898 58620 13030 57899 58621 12981 57900 58622 13032 57904 58626 12982 57905 58627 12983 57906 58628 13032 57913 58635 13031 57914 58636 12982 57915 58637 13033 57919 58641 12983 57920 58642 13037 57921 58643 13033 57925 58647 13032 57926 58648 12983 57927 58649 13007 57994 58716 13006 57995 58717 13005 57996 58718 13007 57997 58719 13003 57998 58720 13009 57999 58721 13016 58000 58722 13009 58001 58723 13003 58002 58724 13007 58003 58725 13004 58004 58726 13003 58005 58727 13016 58006 58728 13003 58007 58729 13015 58008 58730 13039 58009 58731 13015 58010 58732 13003 58011 58733 13007 58012 58734 13005 58013 58735 13004 58014 58736 13039 58015 58737 13021 58016 58738 13005 58017 58739 13022 58018 58740 13039 58019 58741 13005 58020 58742 13012 58021 58743 13010 58022 58744 13008 58023 58745 13007 58024 58746 13009 58025 58747 13008 58026 58748 13013 58030 58752 13010 58031 58753 13012 58032 58754 13013 58039 58761 13012 58040 58762 13016 58041 58763 13014 58042 58764 13013 58043 58765 13016 58044 58766 13017 58048 58770 13014 58049 58771 13016 58050 58772 13018 58054 58776 13017 58055 58777 13015 58056 58778 13020 58057 58779 13017 58058 58780 13018 58059 58781 13017 58063 58785 13016 58064 58786 13015 58065 58787 13019 58066 58788 13018 58067 58789 13015 58068 58790 13041 58069 58791 13015 58070 58792 13039 58071 58793 13023 58078 58800 13039 58079 58801 13022 58080 58802 13034 58081 58803 13039 58082 58804 13023 58083 58805 13041 58084 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      1285 2036 3267 1277 2037 3268 1255 2038 3269 1287 2039 3270 1285 2040 3271 1255 2041 3272 1278 2068 3312 1269 2069 3313 1273 2070 3314 1281 2077 3321 1273 2078 3322 1275 2079 3323 1281 2080 3324 1278 2081 3325 1273 2082 3326 1283 2083 3327 1275 2084 3328 1277 2085 3329 1283 2086 3330 1281 2087 3331 1275 2088 3332 1285 2089 3333 1283 2090 3334 1277 2091 3335 2904 2211 3585 1404 2212 3586 1406 2213 3587 2909 2217 3591 1406 2218 3592 1408 2219 3593 2917 2220 3594 2904 2221 3595 1406 2222 3596 2917 2223 3597 1406 2224 3598 2909 2225 3599 2911 2226 3603 1408 2227 3604 1410 2228 3605 2911 2229 3606 2909 2230 3607 1408 2231 3608 2913 2235 3612 2911 2236 3613 1410 2237 3614 1459 2249 3642 1427 2250 3643 1429 2251 3644 1456 2252 3645 1446 2253 3646 1426 2254 3647 1458 2255 3648 1456 2256 3649 1426 2257 3650 1461 2258 3651 1429 2259 3652 1431 2260 3653 1461 2261 3654 1459 2262 3655 1429 2263 3656 1463 2264 3657 1431 2265 3658 1433 2266 3659 1463 2267 3660 1461 2268 3661 1431 2269 3662 1465 2270 3663 1433 2271 3664 1435 2272 3665 1465 2273 3666 1463 2274 3667 1433 2275 3668 1467 2276 3669 1435 2277 3670 1438 2278 3671 1467 2279 3672 1465 2280 3673 1435 2281 3674 1447 2282 3675 1437 2283 3676 1440 2284 3677 1467 2285 3678 1438 2286 3679 1448 2287 3680 1450 2288 3681 1440 2289 3682 1442 2290 3683 1450 2291 3684 1447 2292 3685 1440 2293 3686 1452 2294 3687 1442 2295 3688 1444 2296 3689 1452 2297 3690 1450 2298 3691 1442 2299 3692 1454 2300 3693 1444 2301 3694 1446 2302 3695 1454 2303 3696 1452 2304 3697 1444 2305 3698 1456 2306 3699 1454 2307 3700 1446 2308 3701 1496 2316 3756 1471 2317 3757 1473 2318 3758 1493 2319 3759 1486 2320 3760 1470 2321 3761 1495 2322 3762 1493 2323 3763 1470 2324 3764 1501 2325 3765 1473 2326 3766 1475 2327 3767 1499 2328 3768 1496 2329 3769 1473 2330 3770 1501 2331 3771 1499 2332 3772 1473 2333 3773 1503 2334 3774 1475 2335 3775 1477 2336 3776 1503 2337 3777 1501 2338 3778 1475 2339 3779 1503 2340 3780 1477 2341 3781 1480 2342 3782 1487 2343 3783 1479 2344 3784 1482 2345 3785 1503 2346 3786 1480 2347 3787 1488 2348 3788 1491 2349 3789 1482 2350 3790 1484 2351 3791 1491 2352 3792 1487 2353 3793 1482 2354 3794 1493 2355 3795 1484 2356 3796 1486 2357 3797 1493 2358 3798 1491 2359 3799 1484 2360 3800

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136 77917 31637 136 77918 31644 136 77919 31642 136 77920 31639 136 77921 31647 136 77922 31644 136 77923 31639 136 77924 31664 136 77925 31657 136 77926 31654 136 77927 31690 136 77928 31664 136 77929 31654 136 77930 31664 136 77931 31659 136 77932 31657 136 77933 31664 136 77934 31662 136 77935 31659 136 77936 31687 136 77937 31667 136 77938 31664 136 77939 31690 136 77940 31687 136 77941 31664 136 77942 31682 136 77943 31669 136 77944 31667 136 77945 31685 136 77946 31682 136 77947 31667 136 77948 31687 136 77949 31685 136 77950 31667 136 77951 31680 136 77952 31672 136 77953 31669 136 77954 31682 136 77955 31680 136 77956 31669 136 77957 31677 136 77958 31674 136 77959 31672 136 77960 31680 136 77961 31677 136 77962 31672 136 77963 31713 136 77964 31695 136 77965 31692 136 77966 31728 136 77967 31713 136 77968 31692 136 77969 31710 136 77970 31697 136 77971 31695 136 77972 31713 136 77973 31710 136 77974 31695 136 77975 31708 136 77976 31700 136 77977 31697 136 77978 31710 136 77979 31708 136 77980 31697 136 77981 31705 136 77982 31702 136 77983 31700 136 77984 31708 136 77985 31705 136 77986 31700 136 77987 31723 136 77988 31715 136 77989 31713 136 77990 31725 136 77991 31723 136 77992 31713 136 77993 31728 136 77994 31725 136 77995 31713 136 77996 31720 136 77997 31718 136 77998 31715 136 77999 31723 136 78000 31720 136 78001 31715 136 78002 31740 136 78003 31733 136 78004 31730 136 78005 31766 136 78006 31740 136 78007 31730 136 78008 31740 136 78009 31735 136 78010 31733 136 78011 31740 136 78012 31738 136 78013 31735 136 78014 31763 136 78015 31743 136 78016 31740 136 78017 31766 136 78018 31763 136 78019 31740 136 78020 31758 136 78021 31745 136 78022 31743 136 78023 31761 136 78024 31758 136 78025 31743 136 78026 31763 136 78027 31761 136 78028 31743 136 78029 31756 136 78030 31748 136 78031 31745 136 78032 31758 136 78033 31756 136 78034 31745 136 78035 31753 136 78036 31750 136 78037 31748 136 78038 31756 136 78039 31753 136 78040 31748 136 78041 31789 136 78042 31771 136 78043 31768 136 78044 31804 136 78045 31789 136 78046 31768 136 78047 31786 136 78048 31773 136 78049 31771 136 78050 31789 136 78051 31786 136 78052 31771 136 78053 31784 136 78054 31776 136 78055 31773 136 78056 31786 136 78057 31784 136 78058 31773 136 78059 31781 136 78060 31778 136 78061 31776 136 78062 31784 136 78063 31781 136 78064 31776 136 78065 31799 136 78066 31791 136 78067 31789 136 78068 31801 136 78069 31799 136 78070 31789 136 78071 31804 136 78072 31801 136 78073 31789 136 78074 31796 136 78075 31794 136 78076 31791 136 78077 31799 136 78078 31796 136 78079 31791 136 78080 31816 136 78081 31809 136 78082 31806 136 78083

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      9085 9325 14385 6011 9325 14386 6014 9325 14387 9084 9326 14388 7319 9326 14389 6010 9326 14390 9087 9332 14400 9085 9332 14401 6014 9332 14402 9097 9338 14418 6024 9338 14419 6026 9338 14420 9099 9338 14433 9097 9338 14434 6026 9338 14435 6963 9334 14439 6033 9334 14440 6035 9334 14441 9106 9335 14442 6033 9335 14443 6963 9335 14444 9109 9348 14448 6036 9348 14449 6039 9348 14450 9107 9339 14451 6963 9340 14452 6035 9341 14453 9112 9351 14460 9109 9351 14461 6039 9351 14462 6256 9380 14517 6059 9380 14518 6061 9380 14519 6260 9381 14520 6059 9381 14521 6256 9381 14522 6921 9382 14523 6059 9382 14524 6260 9382 14525 6930 9385 14532 6062 9385 14533 6065 9385 14534 6929 9386 14535 6256 9387 14536 6061 9388 14537 6936 9392 14547 6930 9392 14548 6065 9392 14549 6218 9394 14556 6071 9394 14557 6074 9394 14558 6239 9395 14559 6071 9395 14560 6218 9395 14561 6242 9396 14562 6071 9396 14563 6239 9396 14564 6943 9397 14565 6071 9397 14566 6242 9397 14567 6205 9399 14574 6073 9399 14575 6078 9399 14576 6218 9400 14577 6074 9401 14578 6207 9402 14579 6203 9421 14598 6078 9421 14599 6193 9421 14600 6203 9422 14601 6200 9422 14602 6078 9422 14603 6205 9423 14604 6078 9423 14605 6200 9423 14606 6208 9746 14979 6206 9746 14980 6201 9746 14981 6208 9747 14982 6201 9747 14983 6214 9747 14984 6214 9748 14985 6211 9748 14986 6208 9748 14987 6218 9752 14991 6207 9752 14992 6210 9752 14993 6929 9838 15105 6926 9838 15106 6256 9838 15107 6937 11542 16968 6928 11542 16969 6931 11542 16970 6937 11543 16971 6934 11543 16972 6928 11543 16973 9110 11564 17028 6956 11564 17029 6960 11564 17030 9107 11565 17031 6959 11565 17032 6963 11565 17033 9110 11566 17034 6960 11566 17035 9108 11566 17036 9098 11571 17049 6968 11571 17050 6972 11571 17051 9098 11573 17055 6972 11573 17056 9096 11573 17057 9086 11578 17070 6980 11578 17071 6984 11578 17072 9083 11581 17079 6984 11581 17080 7314 11581 17081 9086 11578 17082 6984 11578 17083 9083 11578 17084 9083 12215 18135 7314 12215 18136 7316 12215 18137 9084 12216 18141 7317 12216 18142 7319 12216 18143

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      9552 136 22536 9499 136 22537 9496 136 22538 9552 136 22542 9496 136 22543 9567 136 22544 9567 136 22545 9564 136 22546 9552 136 22547 9550 136 22563 9502 136 22564 9499 136 22565 9552 136 22569 9550 136 22570 9499 136 22571 9550 136 22575 9504 136 22576 9502 136 22577 9510 136 22587 9507 136 22588 9504 136 22589 9512 136 22593 9510 136 22594 9504 136 22595 9515 136 22596 9512 136 22597 9504 136 22598 9656 136 22599 9515 136 22600 9504 136 22601 9656 136 22602 9504 136 22603 9550 136 22604 9664 136 22641 9518 136 22642 9515 136 22643 9664 136 22647 9515 136 22648 9656 136 22649 9664 136 22653 9520 136 22654 9518 136 22655 9539 136 22662 9523 136 22663 9520 136 22664 9661 136 22668 9539 136 22669 9520 136 22670 9664 136 22671 9661 136 22672 9520 136 22673 9526 136 22692 9523 136 22693 9539 136 22694 9539 15339 22698 9528 15340 22699 9526 15341 22700 9534 136 22716 9531 136 22717 9528 136 22718 9536 136 22722 9534 136 22723 9528 136 22724 9539 136 22725 9536 136 22726 9528 136 22727 9661 136 22752 9542 136 22753 9539 136 22754 9661 136 22758 9544 136 22759 9542 136 22760 9661 136 22773 9546 136 22774 9544 136 22775 9659 136 22782 9548 136 22783 9546 136 22784 9661 136 22788 9659 136 22789 9546 136 22790 9656 136 22803 9550 136 22804 9548 136 22805 9659 136 22809 9656 136 22810 9548 136 22811 9564 136 22824 9555 136 22825 9552 136 22826 9564 136 22848 9558 136 22849 9555 136 22850 9564 136 22854 9560 136 22855 9558 136 22856 9611 136 22884 9572 136 22885 9569 136 22886 9637 136 22890 9569 136 22891 9577 136 22892 9630 136 22896 9611 136 22897 9569 136 22898 9633 136 22899 9630 136 22900 9569 136 22901 9635 136 22902 9633 136 22903 9569 136 22904 9637 136 22905 9635 136 22906 9569 136 22907 9606 136 22911 9574 136 22912 9572 136 22913 9609 136 22917 9606 136 22918 9572 136 22919 9611 136 22920 9609 136 22921 9572 136 22922 9639 136 22926 9577 136 22927 9574 136 22928 9606 136 22932 9595 136 22933 9574 136 22934 9641 136 22935 9574 136 22936 9595 136 22937 9641 136 22938 9639 136 22939 9574 136 22940 9639 136 22944 9637 136 22945 9577 136 22946 9654 136 22950 9582 136 22951 9579 136 22952 9585 136 22965 9582 136 22966 9590 136 22967 9590 136 22971 9587 136 22972 9585 136 22973 9643 136 22974 9590 136 22975 9582 136 22976 9646 136 22977 9643 136 22978 9582 136 22979 9649 136 22980 9646 136 22981 9582 136 22982 9651 136 22983 9649 136 22984 9582 136 22985 9654 136 22986 9651 136 22987 9582 136 22988 9643 136 23010 9593 136 23011 9590 136 23012 9641 136 23016 9595 136 23017 9593 136 23018 9643 136 23022 9641 136 23023 9593 136 23024 9601 136 23028 9598 136 23029 9595 136 23030 9603 136 23034 9601 136 23035 9595 136 23036 9606 136 23037 9603 136 23038 9595 136 23039 9630 136 23112 9614 136 23113 9611 136 23114 9630 136 23139 9617 136 23140 9614 136 23141 9630 136 23151 9619 136 23152 9617 136 23153 9625 136 23160 9622 136 23161 9619 136 23162 9627 136 23166 9625 136 23167 9619 136 23168 9630 136 23169 9627 136 23170 9619 136 23171 9711 136 23319 9669 136 23320 9666 136 23321 9676 136 23325 9666 136 23326 9674 136 23327 9737 136 23331 9666 136 23332 9676 136 23333 9735 136 23334 9711 136 23335 9666 136 23336 9737 136 23337 9735 136 23338 9666 136 23339 9709 136 23343 9671 136 23344 9669 136 23345 9711 136 23349 9709 136 23350 9669 136 23351 9700 136 23355 9674 136 23356 9671 136 23357 9703 136 23361 9700 136 23362 9671 136 23363 9707 136 23364 9703 136 23365 9671 136 23366 9709 136 23367 9707 136 23368 9671 136 23369 9679 136 23373 9676 136 23374 9674 136 23375 9681 136 23376 9679 136 23377 9674 136 23378 9689 136 23379 9681 136 23380 9674 136 23381 9692 136 23382 9689 136 23383 9674 136 23384 9700 136 23385 9692 136 23386 9674 136 23387 9745 136 23394 9737 136 23395 9676 136 23396 9687 136 23412 9684 136 23413 9681 136 23414 9689 136 23418 9687 136 23419 9681 136 23420 9700 136 23469 9695 136 23470 9692 136 23471 9700 136 23478 9697 136 23479 9695 136 23480 9707 136 23499 9705 136 23500 9703 136 23501 9735 136 23541 9713 136 23542 9711 136 23543 9724 136 23550 9716 136 23551 9713 136 23552 9732 136 23556 9724 136 23557 9713 136 23558 9735 136 23559 9732 136 23560 9713 136 23561 9724 136 23586 9719 136 23587 9716 136 23588 9724 136 23592 9721 136 23593 9719 136 23594 9727 136 23619 9724 136 23620 9732 136 23621 9732 136 23625 9729 136 23626 9727 136 23627 9743 136 23658 9740 136 23659 9737 136 23660 9745 136 23664 9743 136 23665 9737 136 23666 9796 136 23715 9751 136 23716 9748 136 23717 9761 136 23721 9748 136 23722 9756 136 23723 9822 136 23727 9748 136 23728 9761 136 23729 9822 136 23730 9796 136 23731 9748 136 23732 9794 136 23736 9753 136 23737 9751 136 23738 9796 136 23742 9794 136 23743 9751 136 23744 9785 136 23748 9756 136 23749 9753 136 23750 9788 136 23754 9785 136 23755 9753 136 23756 9792 136 23757 9788 136 23758 9753 136 23759 9794 136 23760 9792 136 23761 9753 136 23762 9764 136 23766 9761 136 23767 9756 136 23768 9766 136 23769 9764 136 23770 9756 136 23771 9769 136 23772 9766 136 23773 9756 136 23774 9772 136 23775 9769 136 23776 9756 136 23777 9774 136 23778 9772 136 23779 9756 136 23780 9785 136 23781 9774 136 23782 9756 136 23783 9822 136 23787 9761 136 23788 9758 136 23789 9828 136 23793 9822 136 23794 9758 136 23795 9785 136 23856 9777 136 23857 9774 136 23858 9785 136 23868 9780 136 23869 9777 136 23870 9785 136 23877 9782 136 23878 9780 136 23879 9792 136 23895 9790 136 23896 9788 136 23897 9820 136 23943 9798 136 23944 9796 136 23945 9822 136 23949 9820 136 23950 9796 136 23951 9809 136 23955 9801 136 23956 9798 136 23957 9817 136 23961 9809 136 23962 9798 136 23963 9820 136 23964 9817 136 23965 9798 136 23966 9809 136 23985 9804 136 23986 9801 136 23987 9809 136 23991 9806 136 23992 9804 136 23993 9812 16069 24012 9809 16070 24013 9817 16071 24014 9817 136 24018 9814 136 24019 9812 136 24020 9828 136 24051 9825 136 24052 9822 136 24053 14322 16127 24105 9832 16127 24106 9834 16127 24107 14932 16138 24120 14322 16138 24121 9834 16138 24122 14935 16139 24123 9834 16139 24124 14907 16139 24125 14935 16143 24129 14932 16143 24130 9834 16143 24131 14932 16258 24258 9881 16259 24259 9885 16260 24260 14932 16261 24261 14909 16261 24262 9881 16261 24263 14932 16262 24264 9885 16262 24265 14322 16262 24266 9965 16263 24267 9891 16264 24268 9888 16265 24269 10150 16266 24270 9890 16266 24271 9892 16266 24272 9965 16267 24273 9888 16268 24274 9947 16269 24275 10008 16270 24276 9948 16270 24277 9889 16270 24278 10008 16271 24279 9889 16271 24280 9997 16271 24281 10104 16272 24282 9998 16272 24283 9890 16272 24284 10121 16273 24285 10104 16273 24286 9890 16273 24287 10124 16274 24288 10121 16274 24289 9890 16274 24290 10126 16275 24291 10124 16275 24292 9890 16275 24293 10142 16276 24294 10126 16276 24295 9890 16276 24296 10145 16277 24297 10142 16277 24298 9890 16277 24299 10147 16278 24300 10145 16279 24301 9890 16280 24302 10150 16281 24303 10147 16281 24304 9890 16281 24305 9978 16282 24306 9893 16283 24307 9891 16284 24308 10162 16285 24309 9892 16285 24310 9894 16285 24311 9978 16286 24312 9891 16287 24313 9965 16288 24314 10152 16289 24315 10150 16290 24316 9892 16291 24317 10155 16292 24318 10152 16292 24319 9892 16292 24320 10157 16293 24321 10155 16293 24322 9892 16293 24323 10160 16294 24324 10157 16294 24325 9892 16294 24326 10162 16295 24327 10160 16295 24328 9892 16295 24329 9976 16296 24330 9895 16297 24331 9893 16298 24332 10167 16299 24333 9894 16299 24334 9896 16299 24335 9978 16300 24336 9976 16301 24337 9893 16302 24338 10165 16303 24339 10162 16303 24340 9894 16303 24341 10167 16304 24342 10165 16304 24343 9894 16304 24344 9938 16305 24345 9897 16306 24346 9895 16307 24347 10172 16308 24348 9896 16308 24349 9898 16308 24350 9973 16309 24351 9938 16310 24352 9895 16311 24353 9976 16312 24354 9973 16313 24355 9895 16314 24356 10170 16315 24357 10167 16315 24358 9896 16315 24359 10172 16316 24360 10170 16316 24361 9896 16316 24362 9949 16317 24363 9899 16318 24364 9897 16319 24365 10201 16320 24366 9898 16320 24367 9900 16320 24368 9949 16321 24369 9897 16322 24370 9938 16323 24371 10188 16324 24372 10172 16324 24373 9898 16324 24374 10191 16325 24375 10188 16325 24376 9898 16325 24377 10193 16326 24378 10191 16326 24379 9898 16326 24380 10196 16327 24381 10193 16327 24382 9898 16327 24383 10198 16328 24384 10196 16328 24385 9898 16328 24386 10201 16329 24387 10198 16329 24388 9898 16329 24389 9962 16330 24390 9901 16331 24391 9899 16332 24392 10206 16333 24393 9900 16333 24394 9902 16333 24395 9962 16334 24396 9899 16335 24397 9949 16336 24398 10203 16337 24399 10201 16337 24400 9900 16337 24401 10206 16338 24402 10203 16338 24403 9900 16338 24404 9957 16339 24405 9903 16340 24406 9901 16341 24407 10211 16342 24408 9902 16342 24409 9904 16342 24410 9960 16343 24411 9957 16344 24412 9901 16345 24413 9962 16346 24414 9960 16347 24415 9901 16348 24416 10208 16349 24417 10206 16349 24418 9902 16349 24419 10211 16350 24420 10208 16350 24421 9902 16350 24422 9936 16351 24423 9905 16352 24424 9903 16353 24425 10216 16354 24426 9904 16354 24427 9906 16354 24428 9954 16355 24429 9936 16356 24430 9903 16357 24431 9957 16358 24432 9954 16359 24433 9903 16360 24434 10213 16361 24435 10211 16361 24436 9904 16361 24437 10216 16362 24438 10213 16362 24439 9904 16362 24440 9934 16363 24441 9907 16364 24442 9905 16365 24443 10237 16366 24444 9906 16366 24445 9908 16366 24446 9936 16367 24447 9934 16368 24448 9905 16369 24449 10218 16370 24450 10216 16370 24451 9906 16370 24452 10229 16371 24453 10218 16371 24454 9906 16371 24455 10232 16372 24456 10229 16372 24457 9906 16372 24458 10234 16373 24459 10232 16373 24460 9906 16373 24461 10237 16374 24462 10234 16374 24463 9906 16374 24464 9934 16375 24465 9909 16376 24466 9907 16377 24467 10242 16378 24468 9908 16378 24469 9910 16378 24470 10239 16379 24471 10237 16379 24472 9908 16379 24473 10242 16380 24474 10239 16380 24475 9908 16380 24476 9934 16381 24477 9911 16382 24478 9909 16383 24479 10247 16384 24480 9910 16384 24481 9912 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2238 4377 6666 2236 4377 6667 2231 4377 6668 2252 21 6717 2250 21 6718 2248 21 6719 2274 21 6777 2272 21 6778 2269 21 6779

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76916 31589 57015 76917 31484 57016 76918 31587 57017 76919 31510 137 76920 31488 137 76921 31485 137 76922 31584 57018 76923 31486 57019 76924 31489 57020 76925 31587 57021 76926 31487 57022 76927 31585 57023 76928 31508 137 76929 31490 137 76930 31488 137 76931 31620 57024 76932 31489 57025 76933 31492 57026 76934 31510 137 76935 31508 137 76936 31488 137 76937 31620 57027 76938 31584 57028 76939 31489 57029 76940 31508 137 76941 31493 137 76942 31490 137 76943 31617 57030 76944 31491 57031 76945 31494 57032 76946 31620 57033 76947 31492 57034 76948 31618 57035 76949 31508 137 76950 31505 137 76951 31493 137 76952 31617 57036 76953 31494 57037 76954 31615 57038 76955 31540 137 76956 31498 137 76957 31495 137 76958 31543 137 76959 31540 137 76960 31495 137 76961 31535 137 76962 31525 137 76963 31523 137 76964 31535 137 76965 31528 137 76966 31525 137 76967 31535 137 76968 31530 137 76969 31528 137 76970 31535 137 76971 31533 137 76972 31530 137 76973 31581 137 76974 31548 137 76975 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77100 31675 137 77101 31672 137 77102 31703 137 77103 31701 137 77104 31672 137 77105 31701 137 77106 31677 137 77107 31675 137 77108 31683 137 77109 31680 137 77110 31677 137 77111 31701 137 77112 31683 137 77113 31677 137 77114 31698 137 77115 31685 137 77116 31683 137 77117 31701 137 77118 31698 137 77119 31683 137 77120 31696 137 77121 31688 137 77122 31685 137 77123 31698 137 77124 31696 137 77125 31685 137 77126 31693 137 77127 31690 137 77128 31688 137 77129 31696 137 77130 31693 137 77131 31688 137 77132 31719 57039 77133 31709 57039 77134 31706 57039 77135 31791 57040 77136 31708 57041 77137 31710 57042 77138 31717 57043 77139 31711 57043 77140 31709 57043 77141 31816 57044 77142 31710 57045 77143 31713 57046 77144 31719 57047 77145 31717 57047 77146 31709 57047 77147 31816 57048 77148 31791 57049 77149 31710 57050 77150 31717 21 77151 31714 21 77152 31711 21 77153 31799 57051 77154 31712 57051 77155 31716 57051 77156 31816 57052 77157 31713 57053 77158 31800 57054 77159 31728 21 77160 31725 21 77161 31722 21 77162 31793 57055 77163 31723 57055 77164 31726 57055 77165 31736 57056 77166 31728 57056 77167 31722 57056 77168 31814 57057 77169 31737 57058 77170 31724 57059 77171 31814 57060 77172 31724 57061 77173 31794 57062 77174 31797 57063 77175 31727 57064 77176 31729 57065 77177 31796 57066 77178 31793 57066 77179 31726 57066 77180 31736 21 77181 31730 21 77182 31728 21 77183 31808 57067 77184 31729 57068 77185 31732 57069 77186 31808 57070 77187 31797 57071 77188 31729 57072 77189 31736 21 77190 31733 21 77191 31730 21 77192 31802 57073 77193 31731 57073 77194 31734 57073 77195 31808 57074 77196 31732 57075 77197 31803 57076 77198 31806 57077 77199 31735 57078 77200 31737 57079 77201 31805 57080 77202 31802 57080 77203 31734 57080 77204 31814 57081 77205 31806 57082 77206 31737 57083 77207 31744 21 77208 31741 21 77209 31738 21 77210 31770 57084 77211 31739 57084 77212 31742 57084 77213 31752 57085 77214 31744 57085 77215 31738 57085 77216 31812 57086 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48 50 116 49 51 117 50 52 118 51 53 119 52 54 120 53 55 121 54 56 122 55 57 123 56 58 124 57 59 125 58 60 126 56 58 127 55 57 128 59 61 129 60 62 130 47 49 131 61 63 132 47 49 133 60 62 134 62 64 135 59 61 136 47 49 137 46 48 138 62 64 139 47 49 140 63 65 141 64 66 142 47 49 143 65 67 144 51 53 145 66 68 146 61 63 147 63 65 148 47 49 149 67 69 150 51 53 151 65 67 152 67 69 153 49 51 154 51 53 155 68 70 156 69 71 157 60 62 158 70 72 159 60 62 160 69 71 161 71 73 162 68 70 163 60 62 164 72 74 165 71 73 166 60 62 167 59 61 168 72 74 169 60 62 170 70 72 171 61 63 172 60 62 173 73 75 174 74 76 175 69 71 176 75 77 177 69 71 178 74 76 179 76 78 180 73 75 181 69 71 182 68 70 183 76 78 184 69 71 185 75 77 186 70 72 187 69 71 188 77 79 189 78 80 190 74 76 191 79 81 192 74 76 193 78 80 194 80 82 195 77 79 196 74 76 197 73 75 198 80 82 199 74 76 200 79 81 201 75 77 202 74 76 203 81 83 204 82 84 205 78 80 206 79 81 207 78 80 208 82 84 209 83 85 210 81 83 211 78 80 212 77 79 213 83 85 214 78 80 215 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397 396 1132 394 396 1133 395 391 1134 396 392 1135 399 394 1136 397 397 1137 401 397 1138 398 397 1139 402 398 1140 400 395 1141 403 399 1142 399 394 1143 400 395 1144 402 398 1145 404 400 1146 405 400 1147 401 400 1148 406 401 1149 403 399 1150 407 402 1151 397 403 1152 404 403 1153 401 403 1154 402 398 1155 403 399 1156 406 401 1157 408 404 1158 409 404 1159 405 404 1160 410 405 1161 411 406 1162 412 407 1163 404 352 1164 408 352 1165 405 352 1166 413 408 1167 411 406 1168 410 405 1169 414 409 1170 406 401 1171 407 402 1172 415 410 1173 416 410 1174 409 410 1175 417 411 1176 412 407 1177 418 412 1178 419 352 1179 415 352 1180 409 352 1181 408 413 1182 419 413 1183 409 413 1184 417 411 1185 410 405 1186 412 407 1187 420 352 1188 421 352 1189 416 352 1190 422 414 1191 418 412 1192 423 415 1193 415 416 1194 420 416 1195 416 416 1196 417 411 1197 418 412 1198 422 414 1199 424 352 1200 425 352 1201 421 352 1202 426 417 1203 423 415 1204 427 418 1205 428 419 1206 424 419 1207 421 419 1208 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      -
      -
      -
      -
      - - - - 9.05865e-4 0 4.23567e-4 -7.45058e-9 0 0.001 0 -1.49012e-8 -4.23567e-4 0 9.05865e-4 7.45058e-9 0 0 0 1 - - - - - - - - - - - - - - - - - - -
      \ No newline at end of file diff --git a/src/robots/cyberdog2_description/package.xml b/src/robots/cyberdog2_description/package.xml deleted file mode 100644 index d04aca8..0000000 --- a/src/robots/cyberdog2_description/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - cyberdog2_description - 1.0.0 - The cyberdog2_description package - TODO - - BSD - catkin - roscpp - std_msgs - - roslaunch - robot_state_publisher - rviz - joint_state_publisher_gui - gazebo - - \ No newline at end of file diff --git a/src/robots/cyberdog2_description/rviz/cyberdog.rviz b/src/robots/cyberdog2_description/rviz/cyberdog.rviz deleted file mode 100644 index 608e87e..0000000 --- a/src/robots/cyberdog2_description/rviz/cyberdog.rviz +++ /dev/null @@ -1,293 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - Splitter Ratio: 0.5558823347091675 - Tree Height: 719 - - 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: - AI_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - All Links Enabled: true - D435_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - FL_abad: - 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_shoulder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_knee: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FR_abad: - 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_shoulder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FR_knee: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - RGB_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_abad: - 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_shoulder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_knee: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RR_abad: - 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_shoulder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RR_knee: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - body: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - 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: 1.469738483428955 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.9903974533081055 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.3835859298706055 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1848 - X: 72 - Y: 27 diff --git a/src/robots/cyberdog2_description/xacro/const.xacro b/src/robots/cyberdog2_description/xacro/const.xacro deleted file mode 100644 index 1ffefbc..0000000 --- a/src/robots/cyberdog2_description/xacro/const.xacro +++ /dev/null @@ -1,130 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog2_description/xacro/gazebo.xacro b/src/robots/cyberdog2_description/xacro/gazebo.xacro deleted file mode 100644 index c72a72c..0000000 --- a/src/robots/cyberdog2_description/xacro/gazebo.xacro +++ /dev/null @@ -1,252 +0,0 @@ - - - - - - - $(arg ROBOT) - - - - - true - - true - 500 - true - __default_topic__ - - body_imu - imu_link - 500.0 - 0.0 - 0 0 0 - 0 0 0 - imu_link - - ~/out:=imu - - - 0 0 0 0 0 0 - - - - - - - - true - true - 0.0 0 0.0 0 0 0 - 5 - - - - 180 - 1.000000 - -1.5700 - 1.5700 - - - - 0.01 - 12.00 - 0.015000 - - - gaussian - 0.0 - 0.01 - - - - - ~/out:=scan - - sensor_msgs/LaserScan - lidar_link - - - - - - - - - 100 - - - FR_knee_fixed_joint_lump__FR_foot_collision_2 - - - - - - 100 - - - FL_knee_fixed_joint_lump__FL_foot_collision_2 - - - - - - 100 - - - RR_knee_fixed_joint_lump__RR_foot_collision_2 - - - - - - 100 - - - RL_knee_fixed_joint_lump__RL_foot_collision_2 - - - - - - - Gazebo/Green - false - - - - 0.2 - 0.2 - - - - - - 0.2 - 0.2 - Gazebo/White - - - - 0.2 - 0.2 - Gazebo/Red - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.7 - 0.7 - 1 - - - 0.7 - 0.7 - 1 - Gazebo/DarkGrey - - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.2 - 0.2 - 1 - - - 0.7 - 0.7 - 1 - Gazebo/DarkGrey - - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.7 - 0.7 - 1 - - - - - 0.7 - 0.7 - 1 - Gazebo/DarkGrey - - - - - - - 0.2 - 0.2 - Gazebo/DarkGrey - - - 0.2 - 0.2 - 1 - Gazebo/DarkGrey - - - - - 0.7 - 0.7 - 1 - - - - - 0.7 - 0.7 - 1 - Gazebo/DarkGrey - - - - - diff --git a/src/robots/cyberdog2_description/xacro/leg.xacro b/src/robots/cyberdog2_description/xacro/leg.xacro deleted file mode 100644 index 51faae5..0000000 --- a/src/robots/cyberdog2_description/xacro/leg.xacro +++ /dev/null @@ -1,247 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.001 - 0.0 - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog2_description/xacro/robot.xacro b/src/robots/cyberdog2_description/xacro/robot.xacro deleted file mode 100644 index 8c66d3f..0000000 --- a/src/robots/cyberdog2_description/xacro/robot.xacro +++ /dev/null @@ -1,228 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog2_description/xacro/transmission.xacro b/src/robots/cyberdog2_description/xacro/transmission.xacro deleted file mode 100644 index a0d0153..0000000 --- a/src/robots/cyberdog2_description/xacro/transmission.xacro +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "${abadGearRatio}" - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "${hipGearRatio}" - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - "${kneeGearRatio}" - - - - - - diff --git a/src/robots/cyberdog_old_description/CMakeLists.txt b/src/robots/cyberdog_old_description/CMakeLists.txt deleted file mode 100644 index a92631a..0000000 --- a/src/robots/cyberdog_old_description/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(cyberdog_old_description) - -find_package(catkin REQUIRED COMPONENTS - genmsg - roscpp - std_msgs - tf -) - -catkin_package( - CATKIN_DEPENDS -) - -include_directories( - # include - ${Boost_INCLUDE_DIR} - ${catkin_INCLUDE_DIRS} -) diff --git a/src/robots/cyberdog_old_description/config/robot_control.yaml b/src/robots/cyberdog_old_description/config/robot_control.yaml deleted file mode 100644 index 8807467..0000000 --- a/src/robots/cyberdog_old_description/config/robot_control.yaml +++ /dev/null @@ -1,70 +0,0 @@ -cyberdog_gazebo: - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 1000 - - # FL Controllers --------------------------------------- - FL_hip_controller: - type: robot_joint_controller/RobotJointController - joint: FL_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - FL_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: FL_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - FL_calf_controller: - type: robot_joint_controller/RobotJointController - joint: FL_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - # FR Controllers --------------------------------------- - FR_hip_controller: - type: robot_joint_controller/RobotJointController - joint: FR_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - FR_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: FR_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - FR_calf_controller: - type: robot_joint_controller/RobotJointController - joint: FR_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - # RL Controllers --------------------------------------- - RL_hip_controller: - type: robot_joint_controller/RobotJointController - joint: RL_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - RL_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: RL_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - RL_calf_controller: - type: robot_joint_controller/RobotJointController - joint: RL_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - # RR Controllers --------------------------------------- - RR_hip_controller: - type: robot_joint_controller/RobotJointController - joint: RR_hip_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - RR_thigh_controller: - type: robot_joint_controller/RobotJointController - joint: RR_thigh_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - - RR_calf_controller: - type: robot_joint_controller/RobotJointController - joint: RR_calf_joint - pid: {p: 300.0, i: 0.0, d: 8.0} - diff --git a/src/robots/cyberdog_old_description/launch/display.launch b/src/robots/cyberdog_old_description/launch/display.launch deleted file mode 100644 index 17cf0e1..0000000 --- a/src/robots/cyberdog_old_description/launch/display.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog_old_description/launch/gazebo.launch b/src/robots/cyberdog_old_description/launch/gazebo.launch deleted file mode 100644 index 4f11412..0000000 --- a/src/robots/cyberdog_old_description/launch/gazebo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog_old_description/launch/test.rviz b/src/robots/cyberdog_old_description/launch/test.rviz deleted file mode 100644 index fe255bb..0000000 --- a/src/robots/cyberdog_old_description/launch/test.rviz +++ /dev/null @@ -1,245 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 555 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/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/RobotModel - Collision Enabled: false - 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_foot: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_hip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FL_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FR_calf: - 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_thigh: - 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_foot: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_hip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RL_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RR_calf: - 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_thigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base: - 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 - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: trunk - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.3364639282226562 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.16539815068244934 - Target Frame: - Yaw: 1.430397391319275 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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a/src/robots/cyberdog_old_description/package.xml b/src/robots/cyberdog_old_description/package.xml deleted file mode 100644 index fa6c425..0000000 --- a/src/robots/cyberdog_old_description/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - cyberdog_old_description - 1.0.0 - The cyberdog_old_description package - TODO - - BSD - catkin - roscpp - std_msgs - - roslaunch - robot_state_publisher - rviz - joint_state_publisher_gui - gazebo - - \ No newline at end of file diff --git a/src/robots/cyberdog_old_description/urdf/cyberdog_old_description.urdf b/src/robots/cyberdog_old_description/urdf/cyberdog_old_description.urdf deleted file mode 100644 index 1febebb..0000000 --- a/src/robots/cyberdog_old_description/urdf/cyberdog_old_description.urdf +++ /dev/null @@ -1,933 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /cyberdog_gazebo - gazebo_ros_control/DefaultRobotHWSim - - - - - - 10 - - base - 0 0 0 0 0 0 - Gazebo/Yellow - - - - - - - 1000 - - FR_calf - 0 0 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hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - 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