559 lines
24 KiB
Python
559 lines
24 KiB
Python
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 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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from common.step_command import StepCommand
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from common.utils import (to_array, normalize, yaw_quat,
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axis_angle_from_quat,
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subtract_frame_transforms,
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wrap_to_pi,
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compute_pose_error
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)
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from config import Config
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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 tf2_ros import TransformBroadcaster, TransformStamped, StaticTransformBroadcaster
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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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isaaclab_joint_order = [
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'left_hip_pitch_joint',
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'right_hip_pitch_joint',
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'waist_yaw_joint',
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'left_hip_roll_joint',
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'right_hip_roll_joint',
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'waist_roll_joint',
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'left_hip_yaw_joint',
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'right_hip_yaw_joint',
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'waist_pitch_joint',
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'left_knee_joint',
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'right_knee_joint',
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'left_shoulder_pitch_joint',
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'right_shoulder_pitch_joint',
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'left_ankle_pitch_joint',
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'right_ankle_pitch_joint',
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'left_shoulder_roll_joint',
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'right_shoulder_roll_joint',
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'left_ankle_roll_joint',
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'right_ankle_roll_joint',
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'left_shoulder_yaw_joint',
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'right_shoulder_yaw_joint',
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'left_elbow_joint',
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'right_elbow_joint',
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'left_wrist_roll_joint',
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'right_wrist_roll_joint',
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'left_wrist_pitch_joint',
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'right_wrist_pitch_joint',
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'left_wrist_yaw_joint',
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'right_wrist_yaw_joint'
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]
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raw_joint_order = [
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'left_hip_pitch_joint',
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'left_hip_roll_joint',
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'left_hip_yaw_joint',
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'left_knee_joint',
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'left_ankle_pitch_joint',
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'left_ankle_roll_joint',
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'right_hip_pitch_joint',
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'right_hip_roll_joint',
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'right_hip_yaw_joint',
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'right_knee_joint',
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'right_ankle_pitch_joint',
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'right_ankle_roll_joint',
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'waist_yaw_joint',
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'waist_roll_joint',
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'waist_pitch_joint',
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'left_shoulder_pitch_joint',
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'left_shoulder_roll_joint',
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'left_shoulder_yaw_joint',
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'left_elbow_joint',
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'left_wrist_roll_joint',
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'left_wrist_pitch_joint',
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'left_wrist_yaw_joint',
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'right_shoulder_pitch_joint',
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'right_shoulder_roll_joint',
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'right_shoulder_yaw_joint',
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'right_elbow_joint',
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'right_wrist_roll_joint',
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'right_wrist_pitch_joint',
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'right_wrist_yaw_joint'
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]
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# Create a mapping tensor
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mapping_tensor = torch.zeros((len(raw_joint_order), len(isaaclab_joint_order)))
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# Fill the mapping tensor
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for b_idx, b_joint in enumerate(raw_joint_order):
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if b_joint in isaaclab_joint_order:
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a_idx = isaaclab_joint_order.index(b_joint)
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# if 'shoulder' in b_joint or 'elbow' in b_joint or 'wrist' in b_joint:
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# mapping_tensor[a_idx, b_idx] = 0.1
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# else:
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mapping_tensor[a_idx, b_idx] = 1.0
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mask = torch.ones(len(isaaclab_joint_order))
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for b_idx, b_joint in enumerate(isaaclab_joint_order):
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if 'shoulder' in b_joint or 'elbow' in b_joint or 'wrist' in b_joint:
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mask[b_idx] = 0
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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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self.tf_buffer = Buffer()
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self.tf_listener = TransformListener(self.tf_buffer, self._node)
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self.tf_broadcaster = TransformBroadcaster(self._node)
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self._step_command = None
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self._saved = False
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self._cur_time = None
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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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self._obs_buf = []
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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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torch.save(torch.cat(self._obs_buf, dim=0), "obs5.pt")
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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 tf_to_pose(self, tf, order='xyzw'):
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pos = to_array(tf.transform.translation)
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quat = to_array(tf.transform.rotation)
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if order == 'wxyz':
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quat = np.roll(quat, 1, axis=-1)
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return np.concatenate((pos, quat), axis=0)
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def publish_step_command(self, next_ctarget_left, next_ctarget_right):
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left_tf = TransformStamped()
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left_tf.header.stamp = self._node.get_clock().now().to_msg()
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left_tf.header.frame_id = 'world'
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left_tf.child_frame_id = 'left_ctarget'
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left_tf.transform.translation.x = float(next_ctarget_left[0])
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left_tf.transform.translation.y = float(next_ctarget_left[1])
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left_tf.transform.translation.z = float(next_ctarget_left[2])
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left_tf.transform.rotation.x = float(next_ctarget_left[4])
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left_tf.transform.rotation.y = float(next_ctarget_left[5])
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left_tf.transform.rotation.z = float(next_ctarget_left[6])
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left_tf.transform.rotation.w = float(next_ctarget_left[3])
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right_tf = TransformStamped()
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right_tf.header.stamp = left_tf.header.stamp
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right_tf.header.frame_id = 'world'
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right_tf.child_frame_id = 'right_ctarget'
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right_tf.transform.translation.x = float(next_ctarget_right[0])
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right_tf.transform.translation.y = float(next_ctarget_right[1])
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right_tf.transform.translation.z = float(next_ctarget_right[2])
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right_tf.transform.rotation.x = float(next_ctarget_right[4])
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right_tf.transform.rotation.y = float(next_ctarget_right[5])
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right_tf.transform.rotation.z = float(next_ctarget_right[6])
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right_tf.transform.rotation.w = float(next_ctarget_right[3])
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self.tf_broadcaster.sendTransform(left_tf)
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self.tf_broadcaster.sendTransform(right_tf)
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def get_command(self, pelvis_w,
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foot_left_b,
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foot_right_b,
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ctarget_left_w,
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ctarget_right_w):
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ctarget_left_b_pos, ctarget_left_b_quat = subtract_frame_transforms(pelvis_w[:3],
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pelvis_w[3:7],
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ctarget_left_w[:3],
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ctarget_left_w[3:7])
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ctarget_right_b_pos, ctarget_right_b_quat = subtract_frame_transforms(pelvis_w[:3],
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pelvis_w[3:7],
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ctarget_right_w[:3],
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ctarget_right_w[3:7])
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pos_delta_left, axa_delta_left = compute_pose_error(foot_left_b[:3],
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foot_left_b[3:7],
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ctarget_left_b_pos,
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ctarget_left_b_quat)
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pos_delta_right, axa_delta_right = compute_pose_error(foot_right_b[:3],
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foot_right_b[3:7],
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ctarget_right_b_pos,
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ctarget_right_b_quat)
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return np.concatenate((pos_delta_left, axa_delta_left, pos_delta_right, axa_delta_right), axis=0)
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def run_policy(self):
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if self._step_command is None:
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current_left_tf = self.tf_buffer.lookup_transform(
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"world",
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"left_ankle_roll_link",
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rp.time.Time())
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# rp.duration.Duration(seconds=0.02))
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current_left_pose = self.tf_to_pose(current_left_tf, 'wxyz')
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current_left_pose[2] = 0.0
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current_left_pose[3:7] = yaw_quat(current_left_pose[3:7])
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current_right_tf = self.tf_buffer.lookup_transform(
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"world",
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"right_ankle_roll_link",
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rp.time.Time())
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# rp.duration.Duration(seconds=0.02))
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current_right_pose = self.tf_to_pose(current_right_tf, 'wxyz')
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current_right_pose[2] = 0.0
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current_right_pose[3:7] = yaw_quat(current_right_pose[3:7])
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self._step_command = StepCommand(current_left_pose, current_right_pose)
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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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next_ctarget = self._step_command.get_next_ctarget(
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self.remote_controller,
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self.counter * self.config.control_dt)
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print(next_ctarget)
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next_ctarget_left, next_ctarget_right, dt_left, dt_right = next_ctarget
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self.publish_step_command(next_ctarget_left, next_ctarget_right)
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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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# foot pose
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left_foot_from_base_tf = self.tf_buffer.lookup_transform(
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"pelvis",
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"left_ankle_roll_link",
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rp.time.Time())
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right_foot_from_base_tf = self.tf_buffer.lookup_transform(
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"pelvis",
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"right_ankle_roll_link",
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rp.time.Time())
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lf_b = self.tf_to_pose(left_foot_from_base_tf, 'wxyz')
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rf_b = self.tf_to_pose(right_foot_from_base_tf, 'wxyz')
|
|
left_foot_axa = wrap_to_pi(axis_angle_from_quat(lf_b[3:7]))
|
|
right_foot_axa = wrap_to_pi(axis_angle_from_quat(rf_b[3:7]))
|
|
rel_foot = np.concatenate((lf_b[:3],
|
|
rf_b[:3],
|
|
left_foot_axa,
|
|
right_foot_axa), axis=0)
|
|
# hand pose
|
|
left_hand_from_base_tf = self.tf_buffer.lookup_transform(
|
|
"pelvis",
|
|
"left_rubber_hand",
|
|
rp.time.Time())
|
|
right_hand_from_base_tf = self.tf_buffer.lookup_transform(
|
|
"pelvis",
|
|
"right_rubber_hand",
|
|
rp.time.Time())
|
|
lh_b = self.tf_to_pose(left_hand_from_base_tf, 'wxyz')
|
|
rh_b = self.tf_to_pose(right_hand_from_base_tf, 'wxyz')
|
|
left_hand_axa = wrap_to_pi(axis_angle_from_quat(lh_b[3:7]))
|
|
right_hand_axa = wrap_to_pi(axis_angle_from_quat(rh_b[3:7]))
|
|
rel_hand = np.concatenate((lh_b[:3],
|
|
rh_b[:3],
|
|
left_hand_axa,
|
|
right_hand_axa), axis=0)
|
|
|
|
# foot command
|
|
base_pose_w = self.tf_to_pose(self.tf_buffer.lookup_transform(
|
|
"world", "pelvis",
|
|
rp.time.Time()), 'wxyz')
|
|
# dt_left = dt_right = 0.0
|
|
step_command = self.get_command(base_pose_w,
|
|
lf_b,
|
|
rf_b,
|
|
next_ctarget_left,
|
|
next_ctarget_right)
|
|
step_command = np.concatenate((step_command,
|
|
np.asarray([dt_left, dt_right])), axis=0)
|
|
|
|
num_actions = self.config.num_actions
|
|
self.obs[:3] = ang_vel
|
|
self.obs[3:6] = gravity_orientation
|
|
self.obs[6:18] = rel_foot
|
|
self.obs[18:30] = rel_hand
|
|
self.obs[30 : 30 + num_actions] = qj_obs
|
|
self.obs[30 + num_actions : 30 + num_actions * 2] = dqj_obs
|
|
self.obs[30 + num_actions * 2 : 30 + num_actions * 3] = self.action
|
|
self.obs[30 + num_actions * 3 : 30 + num_actions * 3 + 14] = step_command
|
|
|
|
# Get the action from the policy network
|
|
obs_tensor = torch.from_numpy(self.obs).unsqueeze(0)
|
|
obs_tensor[..., 30:30+num_actions] = obs_tensor[..., 30:30+num_actions] @ mapping_tensor.transpose(0, 1)
|
|
obs_tensor[..., 30 + num_actions : 30 + num_actions * 2] = obs_tensor[..., 30 + num_actions : 30 + num_actions * 2] @ mapping_tensor.transpose(0, 1)
|
|
obs_tensor[..., 30 + num_actions * 2 : 30 + num_actions * 3] = obs_tensor[..., 30 + num_actions * 2 : 30 + num_actions * 3] @ mapping_tensor.transpose(0, 1)
|
|
|
|
# if not self._saved:
|
|
# torch.save(obs_tensor, "obs.pt")
|
|
# self._saved = True
|
|
self._obs_buf.append(obs_tensor.clone())
|
|
|
|
self.action = self.policy(obs_tensor).detach().numpy().squeeze()
|
|
# self.action = self.action * mask.numpy()
|
|
# Reorder the actions
|
|
self.action = self.action @ mapping_tensor.detach().cpu().numpy()
|
|
|
|
# transform action to target_dof_pos
|
|
target_dof_pos = self.config.default_angles + self.action * self.config.action_scale * 0.7
|
|
|
|
# Build low cmd
|
|
if True:
|
|
for i, motor_idx in enumerate(self.config.joint2motor_idx):
|
|
self.low_cmd.motor_cmd[motor_idx].q = float(target_dof_pos[i])
|
|
self.low_cmd.motor_cmd[motor_idx].dq = 0.0
|
|
self.low_cmd.motor_cmd[motor_idx].kp = float(self.config.kps[i])
|
|
self.low_cmd.motor_cmd[motor_idx].kd = float(self.config.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...")
|
|
try:
|
|
current_left_tf = self.tf_buffer.lookup_transform(
|
|
"world",
|
|
"left_ankle_roll_link",
|
|
rp.time.Time())
|
|
self._mode_change = False
|
|
except Exception as ex:
|
|
print(ex)
|
|
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)
|