feat: add humanoid gr1t1

src/rl_sar/config.yaml

@@ -1,9 +1,4 @@
 a1:
-# order:
-# FL
-# FR
-# RL
-# RR
   model_name: "model_0522.pt"
   num_observations: 45
   clip_obs: 100.0
@@ -48,7 +43,39 @@ a1:
                     -0.1000, 0.8000, -1.5000, 
                      0.1000, 1.0000, -1.5000, 
                     -0.1000, 1.0000, -1.5000] 
-  joint_names: ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
-                "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
-                "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
-                "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
+  joint_controller_names: ["FL_hip_controller", "FL_thigh_controller", "FL_calf_controller",
+                           "FR_hip_controller", "FR_thigh_controller", "FR_calf_controller",
+                           "RL_hip_controller", "RL_thigh_controller", "RL_calf_controller",
+                           "RR_hip_controller", "RR_thigh_controller", "RR_calf_controller"]
+
+gr1t1:
+  model_name: "model_4000_jit.pt"
+  num_observations: 39
+  clip_obs: 100.0
+  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
+                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
+  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
+                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
+  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]
+  hip_scale_reduction: 0.5
+  hip_scale_reduction_indices: [0, 3, 6, 9]
+  num_of_dofs: 10
+  action_scale: 1.0
+  lin_vel_scale: 1.0
+  ang_vel_scale: 1.0
+  dof_pos_scale: 1.0
+  dof_vel_scale: 1.0
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
+                  60.0, 45.0, 130.0, 130.0, 16.0]
+  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
+                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
+  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
+                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]

src/rl_sar/launch/gazebo_gr1t1.launch

@@ -0,0 +1,52 @@
+<launch>
+    <arg name="wname" default="stairs"/>
+    <arg name="rname" default="gr1t1"/>
+    <param name="robot_name" type="str" value="gr1t1"/>
+    <param name="use_history" type="bool" value="false"/>
+    <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <arg name="robot_path" value="(find $(arg rname)_description)"/>
+    <arg name="dollar" value="$"/>
+
+    <arg name="paused" default="true"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="headless" value="$(arg headless)"/>
+    </include>
+
+    <!-- Load the URDF into the ROS Parameter Server -->
+    <param name="robot_description" textfile="$(find gr1t1_description)/urdf/GR1T1_lower_limb.urdf"/>
+
+    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+    <!-- Set trunk and joint positions at startup -->
+    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
+          args="-urdf -z 1.0 -model $(arg rname)_gazebo -param robot_description -unpause"/>
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
+
+    <!-- <rosparam param="/gr1t1_gazebo/joint_state_controller/publish_rate">5000</rosparam> -->
+
+    <!-- load the controllers -->
+    <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+          output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
+          l_hip_roll_controller l_hip_yaw_controller l_hip_pitch_controller l_knee_pitch_controller l_ankle_pitch_controller
+          r_hip_roll_controller r_hip_yaw_controller r_hip_pitch_controller r_knee_pitch_controller r_ankle_pitch_controller "/>
+
+    <!-- convert joint states to TF transforms for rviz, etc -->
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
+    </node>
+
+    <node pkg="rl_sar" type="rl_sim" name="rl_sim" output="screen"/>
+
+</launch>

src/rl_sar/library/rl_sdk/rl_sdk.cpp

@@ -293,7 +293,7 @@ void RL::ReadYaml(std::string robot_name)
     this->params.fixed_kd = torch::tensor(ReadVectorFromYaml<double>(config["fixed_kd"])).view({1, -1});
     this->params.torque_limits = torch::tensor(ReadVectorFromYaml<double>(config["torque_limits"])).view({1, -1});
     this->params.default_dof_pos = torch::tensor(ReadVectorFromYaml<double>(config["default_dof_pos"])).view({1, -1});
-    this->params.joint_names = ReadVectorFromYaml<std::string>(config["joint_names"]);
+    this->params.joint_controller_names = ReadVectorFromYaml<std::string>(config["joint_controller_names"]);
 }
 
 void RL::CSVInit(std::string robot_name)

src/rl_sar/library/rl_sdk/rl_sdk.hpp

@@ -83,7 +83,7 @@ struct ModelParams
     torch::Tensor fixed_kd;
     torch::Tensor commands_scale;
     torch::Tensor default_dof_pos;
-    std::vector<std::string> joint_names;
+    std::vector<std::string> joint_controller_names;
 };
 
 struct Observations

src/rl_sar/src/rl_sim.cpp

@@ -20,11 +20,11 @@ RL_Sim::RL_Sim()
 
     // 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
-    std::vector<std::string> sorted_joint_names = params.joint_names;
-    std::sort(sorted_joint_names.begin(), sorted_joint_names.end());
-    for(size_t i = 0; i < params.joint_names.size(); ++i)
+    std::vector<std::string> sorted_joint_controller_names = params.joint_controller_names;
+    std::sort(sorted_joint_controller_names.begin(), sorted_joint_controller_names.end());
+    for(size_t i = 0; i < params.joint_controller_names.size(); ++i)
     {
-        sorted_to_original_index[sorted_joint_names[i]] = i;
+        sorted_to_original_index[sorted_joint_controller_names[i]] = i;
     }
     mapped_joint_positions = std::vector<double>(params.num_of_dofs, 0.0);
     mapped_joint_velocities = std::vector<double>(params.num_of_dofs, 0.0);
@@ -48,8 +48,8 @@ RL_Sim::RL_Sim()
     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<robot_msgs::MotorCommand>(
-            ros_namespace + params.joint_names[i].substr(0, params.joint_names[i].size() - 6) + "_controller/command", 10);
+        torque_publishers[params.joint_controller_names[i]] = nh.advertise<robot_msgs::MotorCommand>(
+            ros_namespace + params.joint_controller_names[i] + "/command", 10);
     }
 
     // subscriber
@@ -127,7 +127,7 @@ void RL_Sim::SetCommand(const RobotCommand<double> *command)
     
     for(int i = 0; i < params.num_of_dofs; ++i)
     {
-        torque_publishers[params.joint_names[i]].publish(motor_commands[i]);
+        torque_publishers[params.joint_controller_names[i]].publish(motor_commands[i]);
     }
 }
 
@@ -166,7 +166,7 @@ void RL_Sim::MapData(const std::vector<double>& source_data, std::vector<double>
 {
     for(size_t i = 0; i < source_data.size(); ++i)
     {
-        target_data[i] = source_data[sorted_to_original_index[params.joint_names[i]]];
+        target_data[i] = source_data[sorted_to_original_index[params.joint_controller_names[i]]];
     }
 }
 

src/robots/gr1t1_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0)
+
+project(gr1t1_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

src/robots/gr1t1_description/config/robot_control.yaml

@@ -0,0 +1,57 @@
+gr1t1_gazebo:
+    # Publish all joint states -----------------------------------
+    joint_state_controller:
+        type: joint_state_controller/JointStateController
+        publish_rate: 1000  
+
+    # left leg Controllers ---------------------------------------
+    l_hip_roll_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: l_hip_roll
+        pid: {p: 57.0, i: 0.0, d: 5.7}
+    
+    l_hip_yaw_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: l_hip_yaw
+        pid: {p: 43.0, i: 0.0, d: 4.3}
+
+    l_hip_pitch_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: l_hip_pitch
+        pid: {p: 114.0, i: 0.0, d: 11.4}
+
+    l_knee_pitch_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: l_knee_pitch
+        pid: {p: 114.0, i: 0.0, d: 11.4}
+
+    l_ankle_pitch_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: l_ankle_pitch
+        pid: {p: 15.3, i: 0.0, d: 1.5}
+
+    # right leg Controllers ---------------------------------------
+    r_hip_roll_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: r_hip_roll
+        pid: {p: 57.0, i: 0.0, d: 5.7}
+    
+    r_hip_yaw_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: r_hip_yaw
+        pid: {p: 43.0, i: 0.0, d: 4.3}
+
+    r_hip_pitch_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: r_hip_pitch
+        pid: {p: 114.0, i: 0.0, d: 11.4}
+
+    r_knee_pitch_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: r_knee_pitch
+        pid: {p: 114.0, i: 0.0, d: 11.4}
+
+    r_ankle_pitch_controller:
+        type: robot_joint_controller/RobotJointController
+        joint: r_ankle_pitch
+        pid: {p: 15.3, i: 0.0, d: 1.5}

src/robots/gr1t1_description/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find gr1t1_description)/urdf/GR1T1_lower_limb.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find gr1t1_description)/urdf.rviz" />
+</launch>

src/robots/gr1t1_description/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find gr1t1_description)/urdf/GR1T1_lower_limb.urdf -urdf -model gr1t1_description"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

src/robots/gr1t1_description/package.xml

@@ -0,0 +1,20 @@
+<package format="2">
+  <name>gr1t1_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for gr1t1_description</p>
+    <p>This package contains configuration data, 3D models and launch files for fldlar_description robot</p>
+  </description>
+  <author>Ziqi Fan</author>
+  <maintainer email="fanziqi614@gmail.com" />
+  <license>Apache</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

src/robots/gr1t1_description/urdf.rviz

@@ -0,0 +1,225 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - 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: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        10:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        11:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        12:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        13:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        20:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        21:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        22:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        23:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        30:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        31:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        32:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        33:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        40:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        41:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        42:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        43:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          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
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base
+    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: 2.634476661682129
+      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: 0.0988716408610344
+        Y: 0.08353396505117416
+        Z: -0.19447802007198334
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5753985047340393
+      Target Frame: <Fixed Frame>
+      Yaw: 0.47539806365966797
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 278
+  Y: 96