385 lines
15 KiB
Python
385 lines
15 KiB
Python
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from legged_gym import LEGGED_GYM_ROOT_DIR
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from typing import Union
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import numpy as np
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import time
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import torch
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import rclpy as rp
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from unitree_hg.msg import LowCmd as LowCmdHG, LowState as LowStateHG
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from unitree_go.msg import LowCmd as LowCmdGo, LowState as LowStateGo
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from tf2_ros import TransformException
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from tf2_ros.buffer import Buffer
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from tf2_ros.transform_listener import TransformListener
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from common.command_helper_ros import create_damping_cmd, create_zero_cmd, init_cmd_hg, init_cmd_go, MotorMode
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from common.rotation_helper import get_gravity_orientation, transform_imu_data
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from common.remote_controller import RemoteController, KeyMap
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from config import Config
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from common.crc import CRC
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from enum import Enum
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class Mode(Enum):
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wait = 0
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zero_torque = 1
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default_pos = 2
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damping = 3
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policy = 4
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null = 5
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def body_pose_axa(frame:str):
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""" --> tf does not exist """
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try:
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t = tf_buffer.lookup_transform(
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to_frame_rel,
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from_frame_rel,
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rclpy.time.Time())
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except TransformException as ex:
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print(f'Could not transform {to_frame_rel} to {from_frame_rel}: {ex}')
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return (np.zeros(3), np.zeros(3))
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txn = t.transform.translation
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rxn = t.transform.rotation
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xyz = [txn.x, txn.y, txn.z]
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quat_wxyz = [rxn.w, rxn.x, rxn.y, rxn.z]
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xyz = np.array(xyz)
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axa = axa_from_quat(quat_wxyz)
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return (xyz, axa)
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def make_obs(config,
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low_state,
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quat,
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last_action):
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# observation terms (order preserved)
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# NOTE(ycho): dummy value
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base_lin_vel = np.zeros(3)
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base_ang_vel = np.array([self.low_state.imu_state.gyroscope], dtype=np.float32)
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# FIXME(ycho): check if the convention "q_base^{-1} @ g" holds.
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projected_gravity = get_gravity_orientation(quat)
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fp_l = body_pose_axa('left_ankle_roll_link')
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fp_r = body_pose_axa('right_ankle_roll_link')
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foot_pose = np.concatenate([fp_l[0], fp_r[0], fp_l[1], fp_r[1]])
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hp_l = body_pose_axa('left_hand_palm_link')
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hp_r = body_pose_axa('right_hand_palm_link')
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hand_pose = np.concatenate([hp_l[0], hp_r[0], hp_l[1], hp_r[1]])
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projected_com = _
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projected_zmp = _ # IMPOSSIBLE
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joint_pos = []
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joint_vel = []
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for i in range(len(config.leg_joint2motor_idx)):
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joint_pos[i] = low_state.motor_state[config.leg_joint2motor_idx[i]].q
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joint_vel[i] = low_state.motor_state[config.leg_joint2motor_idx[i]].dq
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actions = last_action
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hands_command = _ # goal
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right_arm_com = _
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left_arm_com = _
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pelvis_height = _
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class Controller:
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def __init__(self, config: Config) -> None:
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self.config = config
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self.remote_controller = RemoteController()
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# Initialize the policy network
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self.policy = torch.jit.load(config.policy_path)
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# Initializing process variables
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self.qj = np.zeros(config.num_actions, dtype=np.float32)
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self.dqj = np.zeros(config.num_actions, dtype=np.float32)
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self.action = np.zeros(config.num_actions, dtype=np.float32)
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self.target_dof_pos = config.default_angles.copy()
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self.obs = np.zeros(config.num_obs, dtype=np.float32)
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self.cmd = np.array([0.0, 0, 0])
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self.counter = 0
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rp.init()
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self._node = rp.create_node("low_level_cmd_sender")
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if config.msg_type == "hg":
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# g1 and h1_2 use the hg msg type
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self.low_cmd = LowCmdHG()
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self.low_state = LowStateHG()
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self.lowcmd_publisher_ = self._node.create_publisher(LowCmdHG,
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'lowcmd', 10)
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self.lowstate_subscriber = self._node.create_subscription(LowStateHG,
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'lowstate', self.LowStateHgHandler, 10)
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self.mode_pr_ = MotorMode.PR
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self.mode_machine_ = 0
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# self.lowcmd_publisher_ = ChannelPublisher(config.lowcmd_topic, LowCmdHG)
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# self.lowcmd_publisher_.Init()
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# self.lowstate_subscriber = ChannelSubscriber(config.lowstate_topic, LowStateHG)
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# self.lowstate_subscriber.Init(self.LowStateHgHandler, 10)
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elif config.msg_type == "go":
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raise ValueError(f"{config.msg_type} is not implemented yet.")
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else:
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raise ValueError("Invalid msg_type")
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# wait for the subscriber to receive data
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# self.wait_for_low_state()
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# Initialize the command msg
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if config.msg_type == "hg":
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init_cmd_hg(self.low_cmd, self.mode_machine_, self.mode_pr_)
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elif config.msg_type == "go":
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init_cmd_go(self.low_cmd, weak_motor=self.config.weak_motor)
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self.mode = Mode.wait
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self._mode_change = True
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self._timer = self._node.create_timer(self.config.control_dt, self.run_wrapper)
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self._terminate = False
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try:
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rp.spin(self._node)
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except KeyboardInterrupt:
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print("KeyboardInterrupt")
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finally:
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self._node.destroy_timer(self._timer)
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create_damping_cmd(self.low_cmd)
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self.send_cmd(self.low_cmd)
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self._node.destroy_node()
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rp.shutdown()
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print("Exit")
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def LowStateHgHandler(self, msg: LowStateHG):
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self.low_state = msg
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self.mode_machine_ = self.low_state.mode_machine
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self.remote_controller.set(self.low_state.wireless_remote)
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def LowStateGoHandler(self, msg: LowStateGo):
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self.low_state = msg
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self.remote_controller.set(self.low_state.wireless_remote)
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def send_cmd(self, cmd: Union[LowCmdGo, LowCmdHG]):
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cmd.mode_machine = self.mode_machine_
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cmd.crc = CRC().Crc(cmd)
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size = len(cmd.motor_cmd)
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# print(cmd.mode_machine)
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# for i in range(size):
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# print(i, cmd.motor_cmd[i].q,
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# cmd.motor_cmd[i].dq,
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# cmd.motor_cmd[i].kp,
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# cmd.motor_cmd[i].kd,
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# cmd.motor_cmd[i].tau)
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self.lowcmd_publisher_.publish(cmd)
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def wait_for_low_state(self):
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while self.low_state.crc == 0:
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print(self.low_state)
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time.sleep(self.config.control_dt)
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print("Successfully connected to the robot.")
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def zero_torque_state(self):
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if self.remote_controller.button[KeyMap.start] == 1:
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self._mode_change = True
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self.mode = Mode.default_pos
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else:
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create_zero_cmd(self.low_cmd)
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self.send_cmd(self.low_cmd)
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def prepare_default_pos(self):
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# move time 2s
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total_time = 2
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self.counter = 0
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self._num_step = int(total_time / self.config.control_dt)
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dof_idx = self.config.leg_joint2motor_idx + self.config.arm_waist_joint2motor_idx
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kps = self.config.kps + self.config.arm_waist_kps
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kds = self.config.kds + self.config.arm_waist_kds
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self._kps = [float(kp) for kp in kps]
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self._kds = [float(kd) for kd in kds]
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self._default_pos = np.concatenate((self.config.default_angles, self.config.arm_waist_target), axis=0)
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self._dof_size = len(dof_idx)
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self._dof_idx = dof_idx
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# record the current pos
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self._init_dof_pos = np.zeros(self._dof_size,
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dtype=np.float32)
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for i in range(self._dof_size):
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self._init_dof_pos[i] = self.low_state.motor_state[dof_idx[i]].q
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def move_to_default_pos(self):
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# move to default pos
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if self.counter < self._num_step:
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alpha = self.counter / self._num_step
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for j in range(self._dof_size):
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motor_idx = self._dof_idx[j]
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target_pos = self._default_pos[j]
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self.low_cmd.motor_cmd[motor_idx].q = (self._init_dof_pos[j] *
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(1 - alpha) + target_pos * alpha)
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self.low_cmd.motor_cmd[motor_idx].dq = 0.0
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self.low_cmd.motor_cmd[motor_idx].kp = self._kps[j]
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self.low_cmd.motor_cmd[motor_idx].kd = self._kds[j]
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self.low_cmd.motor_cmd[motor_idx].tau = 0.0
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self.send_cmd(self.low_cmd)
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self.counter += 1
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else:
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self._mode_change = True
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self.mode = Mode.damping
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def default_pos_state(self):
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if self.remote_controller.button[KeyMap.A] != 1:
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for i in range(len(self.config.leg_joint2motor_idx)):
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motor_idx = self.config.leg_joint2motor_idx[i]
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self.low_cmd.motor_cmd[motor_idx].q = float(self.config.default_angles[i])
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self.low_cmd.motor_cmd[motor_idx].dq = 0.0
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self.low_cmd.motor_cmd[motor_idx].kp = self._kps[i]
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self.low_cmd.motor_cmd[motor_idx].kd = self._kds[i]
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self.low_cmd.motor_cmd[motor_idx].tau = 0.0
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for i in range(len(self.config.arm_waist_joint2motor_idx)):
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motor_idx = self.config.arm_waist_joint2motor_idx[i]
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self.low_cmd.motor_cmd[motor_idx].q = float(self.config.arm_waist_target[i])
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self.low_cmd.motor_cmd[motor_idx].dq = 0.0
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self.low_cmd.motor_cmd[motor_idx].kp = self._kps[i]
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self.low_cmd.motor_cmd[motor_idx].kd = self._kds[i]
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self.low_cmd.motor_cmd[motor_idx].tau = 0.0
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self.send_cmd(self.low_cmd)
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else:
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self._mode_change = True
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self.mode = Mode.policy
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def run_policy(self):
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if self.remote_controller.button[KeyMap.select] == 1:
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self._mode_change = True
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self.mode = Mode.null
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return
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self.counter += 1
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# Get the current joint position and velocity
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for i in range(len(self.config.leg_joint2motor_idx)):
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self.qj[i] = self.low_state.motor_state[self.config.leg_joint2motor_idx[i]].q
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self.dqj[i] = self.low_state.motor_state[self.config.leg_joint2motor_idx[i]].dq
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# imu_state quaternion: w, x, y, z
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quat = self.low_state.imu_state.quaternion
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ang_vel = np.array([self.low_state.imu_state.gyroscope], dtype=np.float32)
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if self.config.imu_type == "torso":
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# h1 and h1_2 imu is on the torso
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# imu data needs to be transformed to the pelvis frame
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waist_yaw = self.low_state.motor_state[self.config.arm_waist_joint2motor_idx[0]].q
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waist_yaw_omega = self.low_state.motor_state[self.config.arm_waist_joint2motor_idx[0]].dq
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quat, ang_vel = transform_imu_data(waist_yaw=waist_yaw, waist_yaw_omega=waist_yaw_omega, imu_quat=quat, imu_omega=ang_vel)
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# create observation
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gravity_orientation = get_gravity_orientation(quat)
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qj_obs = self.qj.copy()
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dqj_obs = self.dqj.copy()
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qj_obs = (qj_obs - self.config.default_angles) * self.config.dof_pos_scale
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dqj_obs = dqj_obs * self.config.dof_vel_scale
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ang_vel = ang_vel * self.config.ang_vel_scale
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period = 0.8
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count = self.counter * self.config.control_dt
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phase = count % period / period
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sin_phase = np.sin(2 * np.pi * phase)
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cos_phase = np.cos(2 * np.pi * phase)
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self.cmd[0] = self.remote_controller.ly
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self.cmd[1] = self.remote_controller.lx * -1
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self.cmd[2] = self.remote_controller.rx * -1
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# print(self.remote_controller.ly,
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# self.remote_controller.lx,
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# self.remote_controller.rx)
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# self.cmd[0] = 0.0
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# self.cmd[1] = 0.0
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# self.cmd[2] = 0.0
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num_actions = self.config.num_actions
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self.obs[:3] = ang_vel
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self.obs[3:6] = gravity_orientation
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self.obs[6:9] = self.cmd * self.config.cmd_scale * self.config.max_cmd
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self.obs[9 : 9 + num_actions] = qj_obs
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self.obs[9 + num_actions : 9 + num_actions * 2] = dqj_obs
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self.obs[9 + num_actions * 2 : 9 + num_actions * 3] = self.action
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self.obs[9 + num_actions * 3] = sin_phase
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self.obs[9 + num_actions * 3 + 1] = cos_phase
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# Get the action from the policy network
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obs_tensor = torch.from_numpy(self.obs).unsqueeze(0)
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self.action = self.policy(obs_tensor).detach().numpy().squeeze()
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# transform action to target_dof_pos
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target_dof_pos = self.config.default_angles + self.action * self.config.action_scale
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# Build low cmd
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for i in range(len(self.config.leg_joint2motor_idx)):
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motor_idx = self.config.leg_joint2motor_idx[i]
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self.low_cmd.motor_cmd[motor_idx].q = float(target_dof_pos[i])
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self.low_cmd.motor_cmd[motor_idx].dq = 0.0
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self.low_cmd.motor_cmd[motor_idx].kp = float(self.config.kps[i])
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self.low_cmd.motor_cmd[motor_idx].kd = float(self.config.kds[i])
|
||
|
|
self.low_cmd.motor_cmd[motor_idx].tau = 0.0
|
||
|
|
|
||
|
|
for i in range(len(self.config.arm_waist_joint2motor_idx)):
|
||
|
|
motor_idx = self.config.arm_waist_joint2motor_idx[i]
|
||
|
|
self.low_cmd.motor_cmd[motor_idx].q = float(self.config.arm_waist_target[i])
|
||
|
|
self.low_cmd.motor_cmd[motor_idx].dq = 0.0
|
||
|
|
self.low_cmd.motor_cmd[motor_idx].kp = float(self.config.arm_waist_kps[i])
|
||
|
|
self.low_cmd.motor_cmd[motor_idx].kd = float(self.config.arm_waist_kds[i])
|
||
|
|
self.low_cmd.motor_cmd[motor_idx].tau = 0.0
|
||
|
|
|
||
|
|
# send the command
|
||
|
|
self.send_cmd(self.low_cmd)
|
||
|
|
|
||
|
|
def run_wrapper(self):
|
||
|
|
# print("hello", self.mode,
|
||
|
|
# self.mode == Mode.zero_torque)
|
||
|
|
if self.mode == Mode.wait:
|
||
|
|
if self.low_state.crc != 0:
|
||
|
|
self.mode = Mode.zero_torque
|
||
|
|
self.low_cmd.mode_machine = self.mode_machine_
|
||
|
|
print("Successfully connected to the robot.")
|
||
|
|
elif self.mode == Mode.zero_torque:
|
||
|
|
if self._mode_change:
|
||
|
|
print("Enter zero torque state.")
|
||
|
|
print("Waiting for the start signal...")
|
||
|
|
self._mode_change = False
|
||
|
|
self.zero_torque_state()
|
||
|
|
elif self.mode == Mode.default_pos:
|
||
|
|
if self._mode_change:
|
||
|
|
print("Moving to default pos.")
|
||
|
|
self._mode_change = False
|
||
|
|
self.prepare_default_pos()
|
||
|
|
self.move_to_default_pos()
|
||
|
|
elif self.mode == Mode.damping:
|
||
|
|
if self._mode_change:
|
||
|
|
print("Enter default pos state.")
|
||
|
|
print("Waiting for the Button A signal...")
|
||
|
|
self._mode_change = False
|
||
|
|
self.default_pos_state()
|
||
|
|
elif self.mode == Mode.policy:
|
||
|
|
if self._mode_change:
|
||
|
|
print("Run policy.")
|
||
|
|
self._mode_change = False
|
||
|
|
self.counter = 0
|
||
|
|
self.run_policy()
|
||
|
|
elif self.mode == Mode.null:
|
||
|
|
self._terminate = True
|
||
|
|
|
||
|
|
# time.sleep(self.config.control_dt)
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
import argparse
|
||
|
|
|
||
|
|
parser = argparse.ArgumentParser()
|
||
|
|
parser.add_argument("config", type=str, help="config file name in the configs folder", default="g1.yaml")
|
||
|
|
args = parser.parse_args()
|
||
|
|
|
||
|
|
# Load config
|
||
|
|
config_path = f"{LEGGED_GYM_ROOT_DIR}/deploy/deploy_real/configs/{args.config}"
|
||
|
|
config = Config(config_path)
|
||
|
|
|
||
|
|
controller = Controller(config)
|