From ffe9f7faeacbd308c06eac46ac264ddbc594dd01 Mon Sep 17 00:00:00 2001 From: Dennis Da Date: Wed, 12 Nov 2025 23:13:39 -0800 Subject: [PATCH] Initial commit --- .gitattributes | 23 + .gitignore | 175 + LICENSE | 38 + Makefile | 16 + README.md | 140 + docker/.bashrc | 160 + docker/.tmux.conf | 84 + docker/70-manus-hid.rules | 5 + docker/Dockerfile.deploy | 127 + docker/Dockerfile.deploy.base | 155 + docker/build_deploy_base.sh | 55 + docker/entrypoint/bash.sh | 5 + docker/entrypoint/deploy.sh | 20 + docker/entrypoint/install_deps.sh | 23 + docker/image_name.txt | 1 + docker/kill_all_containers.sh | 79 + docker/kill_gr00t_wbc_processors.sh | 192 + docker/publish.sh | 3 + docker/run_docker.sh | 454 +++ .../unitree_sdk2_python/.gitignore | 39 + .../unitree_sdk2_python/LICENSE | 29 + .../unitree_sdk2_python/README zh.md | 121 + .../unitree_sdk2_python/README.md | 118 + .../example/b2/camera/camera_opencv.py | 51 + .../example/b2/camera/capture_image.py | 51 + 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create mode 100644 tests/control/robot_model/robot_model_test.py create mode 100644 tests/control/teleop/__init__.py create mode 100644 tests/control/teleop/test_teleop_retargeting_ik.py create mode 100644 tests/control/visualization/__init__.py create mode 100644 tests/control/visualization/test_meshcat_visualizer_env.py create mode 100644 tests/data/test_exporter.py create mode 100644 tests/replay_data/all_joints_raw_data_replay.pkl create mode 100644 tests/replay_data/calibration_data.pkl create mode 100644 tests/replay_data/g1_pnpbottle.parquet create mode 100644 tests/replay_data/interpolation_data.pkl create mode 100644 tests/replay_data/sin_wave_arm_replay.pkl create mode 100644 tests/replay_data/target_joints_data.pkl create mode 100644 tests/sim/test_sim_data_collection.py diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..264e058 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,23 @@ +# Machine learning models and data files +*.pt filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +# 3D assets and models +*.usd filter=lfs diff=lfs merge=lfs -text +*.usda filter=lfs diff=lfs merge=lfs -text +*.STL filter=lfs diff=lfs merge=lfs -text +*.stl filter=lfs diff=lfs merge=lfs -text +# Shared libraries +*.a filter=lfs diff=lfs merge=lfs -text +*.so* filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +*.deb filter=lfs diff=lfs merge=lfs -text +# Collect demo in sim +*.hdf5 filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text +*.dae filter=lfs diff=lfs merge=lfs -text +*.so filter=lfs diff=lfs merge=lfs -text +*.so.* filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..920382b --- /dev/null +++ b/.gitignore @@ -0,0 +1,175 @@ + # Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions + + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# UV +# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +#uv.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/latest/usage/project/#working-with-version-control +.pdm.toml +.pdm-python +.pdm-build/ + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# IDE +.idea/ +.vscode/ + +# log +outputs/ + +# Ruff stuff: +.ruff_cache/ + +# PyPI configuration file +.pypirc + +outputs/ + +.DS_Store + + +# Mujoco +MUJOCO_LOG.TXT + +# IsaacDeploy +external_dependencies/isaac_teleop_app/isaac-deploy + diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..7f9b118 --- /dev/null +++ b/LICENSE @@ -0,0 +1,38 @@ +NVIDIA License + +1. 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Limitation of Liability. + +EXCEPT AS PROHIBITED BY APPLICABLE LAW, IN NO EVENT AND UNDER NO LEGAL THEORY, WHETHER IN TORT (INCLUDING NEGLIGENCE), CONTRACT, OR OTHERWISE SHALL ANY LICENSOR BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE, THE USE OR INABILITY TO USE THE WORK (INCLUDING BUT NOT LIMITED TO LOSS OF GOODWILL, BUSINESS INTERRUPTION, LOST PROFITS OR DATA, COMPUTER FAILURE OR MALFUNCTION, OR ANY OTHER DAMAGES OR LOSSES), EVEN IF THE LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. + diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..09d1141 --- /dev/null +++ b/Makefile @@ -0,0 +1,16 @@ +.PHONY : run-checks +run-checks : + isort --check . + black --check . + ruff check . + # mypy . + +.PHONY : format +format : + isort . + black . + +.PHONY : build +build : + rm -rf *.egg-info/ + python -m build diff --git a/README.md b/README.md new file mode 100644 index 0000000..b593832 --- /dev/null +++ b/README.md @@ -0,0 +1,140 @@ +# gr00t_wbc + +Software stack for loco-manipulation experiments across multiple humanoid platforms, with primary support for the Unitree G1. This repository provides whole-body control policies, a teleoperation stack, and a data exporter. + +--- + +## System Installation + +### Prerequisites +- Ubuntu 22.04 +- NVIDIA GPU with a recent driver +- Docker and NVIDIA Container Toolkit (required for GPU access inside the container) + +### Repository Setup +Install Git and Git LFS: +```bash +sudo apt update +sudo apt install git git-lfs +git lfs install +``` + +Clone the repository: +```bash +mkdir -p ~/Projects +cd ~/Projects +git clone https://github.com/NVlabs/gr00t_wbc.git +cd gr00t_wbc +``` + +### Docker Environment +We provide a Docker image with all dependencies pre-installed. + +Install a fresh image and start a container: +```bash +./docker/run_docker.sh --install --root +``` +This pulls the latest `gr00t_wbc` image from `docker.io/nvgear`. + +Start or re-enter a container: +```bash +./docker/run_docker.sh --root +``` + +Use `--root` to run as the `root` user. To run as a normal user, build the image locally: +```bash +./docker/run_docker.sh --build +``` +--- + +## Running the Control Stack + +Once inside the container, the control policies can be launched directly. + +- Simulation: + ```bash + python gr00t_wbc/control/main/teleop/run_g1_control_loop.py + ``` +- Real robot: Ensure the host machine network is configured per the [G1 SDK Development Guide](https://support.unitree.com/home/en/G1_developer) and set a static IP at `192.168.123.222`, subnet mask `255.255.255.0`: + ```bash + python gr00t_wbc/control/main/teleop/run_g1_control_loop.py --interface real + ``` + +Keyboard shortcuts (terminal window): +- `]`: Activate policy +- `o`: Deactivate policy +- `9`: Release / Hold the robot +- `w` / `s`: Move forward / backward +- `a` / `d`: Strafe left / right +- `q` / `e`: Rotate left / right +- `z`: Zero navigation commands +- `1` / `2`: Raise / lower the base height +- `backspace` (viewer): Reset the robot in the visualizer + +--- + +## Running the Teleoperation Stack + +The teleoperation policy primarily uses Pico controllers for coordinated hand and body control. It also supports other teleoperation devices, including LeapMotion and HTC Vive with Nintendo Switch Joy-Con controllers. + +Keep `run_g1_control_loop.py` running, and in another terminal run: + +```bash +python gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py --hand_control_device=pico --body_control_device=pico +``` + +### Pico Setup and Controls +Configure the teleop app on your Pico headset by following the [XR Robotics guidelines](https://github.com/XR-Robotics). + +The necessary PC software is pre-installed in the Docker container. Only the [XRoboToolkit-PC-Service](https://github.com/XR-Robotics/XRoboToolkit-PC-Service) component is needed. + +Prerequisites: Connect the Pico to the same network as the host computer. + +Controller bindings: +- `menu + left trigger`: Toggle lower-body policy +- `menu + right trigger`: Toggle upper-body policy +- `Left stick`: X/Y translation +- `Right stick`: Yaw rotation +- `L/R triggers`: Control hand grippers + +Pico unit test: +```bash +python gr00t_wbc/control/teleop/streamers/pico_streamer.py +``` + +--- + +## Running the Data Collection Stack + +Run the full stack (control loop, teleop policy, and camera forwarder) via the deployment helper: +```bash +python scripts/deploy_g1.py \ + --interface sim \ + --camera_host localhost \ + --sim_in_single_process \ + --simulator robocasa \ + --image-publish \ + --enable-offscreen \ + --env_name PnPBottle \ + --hand_control_device=pico \ + --body_control_device=pico +``` + +The `tmux` session `g1_deployment` is created with panes for: +- `control_data_teleop`: Main control loop, data collection, and teleoperation policy +- `camera`: Camera forwarder +- `camera_viewer`: Optional live camera feed + +Operations in the `controller` window (`control_data_teleop` pane, left): +- `]`: Activate policy +- `o`: Deactivate policy +- `k`: Reset the simulation and policies +- `` ` ``: Terminate the tmux session +- `ctrl + d`: Exit the shell in the pane + +Operations in the `data exporter` window (`control_data_teleop` pane, right top): +- Enter the task prompt + +Operations on Pico controllers: +- `A`: Start/Stop recording +- `B`: Discard trajectory diff --git a/docker/.bashrc b/docker/.bashrc new file mode 100644 index 0000000..ecd18c6 --- /dev/null +++ b/docker/.bashrc @@ -0,0 +1,160 @@ +# ~/.bashrc: executed by bash(1) for non-login shells. +# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc) +# for examples + +# If not running interactively, don't do anything +case $- in + *i*) ;; + *) return;; +esac + +# don't put duplicate lines or lines starting with space in the history. +# See bash(1) for more options +HISTCONTROL=ignoreboth + +# append to the history file, don't overwrite it +shopt -s histappend + +# for setting history length see HISTSIZE and HISTFILESIZE in bash(1) +HISTSIZE=1000 +HISTFILESIZE=2000 + +# check the window size after each command and, if necessary, +# update the values of LINES and COLUMNS. +shopt -s checkwinsize + +# If set, the pattern "**" used in a pathname expansion context will +# match all files and zero or more directories and subdirectories. +#shopt -s globstar + +# make less more friendly for non-text input files, see lesspipe(1) +[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" + +# set variable identifying the chroot you work in (used in the prompt below) +if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then + debian_chroot=$(cat /etc/debian_chroot) +fi + +# set a fancy prompt (non-color, unless we know we "want" color) +case "$TERM" in + xterm-color|*-256color) color_prompt=yes;; +esac + +# uncomment for a colored prompt, if the terminal has the capability; turned +# off by default to not distract the user: the focus in a terminal window +# should be on the output of commands, not on the prompt +force_color_prompt=yes + +if [ -n "$force_color_prompt" ]; then + if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then + # We have color support; assume it's compliant with Ecma-48 + # (ISO/IEC-6429). (Lack of such support is extremely rare, and such + # a case would tend to support setf rather than setaf.) + color_prompt=yes + else + color_prompt= + fi +fi + +if [ "$color_prompt" = yes ]; then + PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ ' +else + PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ ' +fi +unset color_prompt force_color_prompt + +# If this is an xterm set the title to user@host:dir +case "$TERM" in +xterm*|rxvt*) + PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1" + ;; +*) + ;; +esac + +# enable color support of ls and also add handy aliases +if [ -x /usr/bin/dircolors ]; then + test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" + alias ls='ls --color=auto' + #alias dir='dir --color=auto' + #alias vdir='vdir --color=auto' + + alias grep='grep --color=auto' + alias fgrep='fgrep --color=auto' + alias egrep='egrep --color=auto' +fi + +# colored GCC warnings and errors +export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01' + +# Set terminal type for color support +export TERM=xterm-256color + +# some more ls aliases +alias ll='ls -alF' +alias la='ls -A' +alias l='ls -CF' + +# Add an "alert" alias for long running commands. Use like so: +# sleep 10; alert +alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"' + +# Alias definitions. +# You may want to put all your additions into a separate file like +# ~/.bash_aliases, instead of adding them here directly. +# See /usr/share/doc/bash-doc/examples in the bash-doc package. + +if [ -f ~/.bash_aliases ]; then + . ~/.bash_aliases +fi + +# enable programmable completion features (you don't need to enable +# this, if it's already enabled in /etc/bash.bashrc and /etc/profile +# sources /etc/bash.bashrc). +if ! shopt -oq posix; then + if [ -f /usr/share/bash-completion/bash_completion ]; then + . /usr/share/bash-completion/bash_completion + elif [ -f /etc/bash_completion ]; then + . /etc/bash_completion + fi +fi + +# useful commands +bind '"\e[A": history-search-backward' +bind '"\e[B": history-search-forward' + +# Store the last 10 directories in a history file +CD_HISTFILE=~/.cd_history +CD_HISTSIZE=10 + +cd() { + local histfile="${CD_HISTFILE:-$HOME/.cd_history}" + local max="${CD_HISTSIZE:-10}" + + case "$1" in + --) [ -f "$histfile" ] && tac "$histfile" | nl -w2 -s' ' || echo "No directory history yet."; return ;; + -[0-9]*) + local idx=${1#-} + local dir=$(tac "$histfile" 2>/dev/null | sed -n "${idx}p") + [ -n "$dir" ] && builtin cd "$dir" || echo "Invalid selection: $1" + return ;; + esac + + builtin cd "$@" || return + + [[ $(tail -n1 "$histfile" 2>/dev/null) != "$PWD" ]] && echo "$PWD" >> "$histfile" + tail -n "$max" "$histfile" > "${histfile}.tmp" && mv "${histfile}.tmp" "$histfile" +} + +# Manus to LD_LIBRARY_PATH +export LD_LIBRARY_PATH=$GR00T_WBC_DIR/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib:$LD_LIBRARY_PATH + +# CUDA support +export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:/usr/lib:/lib/x86_64-linux-gnu:/lib64:/lib:$LD_LIBRARY_PATH + +# gr00t_wbc aliases +alias dg="python $GR00T_WBC_DIR/scripts/deploy_g1.py" +alias rsl="python $GR00T_WBC_DIR/gr00t_wbc/control/main/teleop/run_sim_loop.py" +alias rgcl="python $GR00T_WBC_DIR/gr00t_wbc/control/main/teleop/run_g1_control_loop.py" +alias rtpl="python $GR00T_WBC_DIR/gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py" +alias tgcl="pytest $GR00T_WBC_DIR/tests/control/main/teleop/test_g1_control_loop.py -s" diff --git a/docker/.tmux.conf b/docker/.tmux.conf new file mode 100644 index 0000000..0da4a31 --- /dev/null +++ b/docker/.tmux.conf @@ -0,0 +1,84 @@ +# Enable mouse mode +set -g mouse on + +# Start window numbering at 0 (default) +set -g base-index 0 +setw -g pane-base-index 0 + +# Increase scrollback buffer size +set -g history-limit 50000 + +# Use Alt-arrow keys without prefix key to switch panes +bind -n M-Left select-pane -L +bind -n M-Right select-pane -R +bind -n M-Up select-pane -U +bind -n M-Down select-pane -D + +# Use Alt-1,2,3... to switch windows +bind -n M-1 select-window -t 1 +bind -n M-2 select-window -t 2 +bind -n M-3 select-window -t 3 +bind -n M-4 select-window -t 4 +bind -n M-5 select-window -t 5 +bind -n M-6 select-window -t 6 +bind -n M-7 select-window -t 7 +bind -n M-8 select-window -t 8 +bind -n M-9 select-window -t 9 + +# Split panes using Alt-| and Alt-- +bind -n M-| split-window -h +bind -n M-- split-window -v + +# Easy config reload +bind -n M-r source-file ~/.tmux.conf \; display-message "Config reloaded!" + +# Status bar customization +set -g status-style bg=colour240,fg=colour255 +set -g status-left "#[fg=colour255,bg=colour240] #S #[fg=colour240,bg=colour238]" +set -g status-right "#[fg=colour255,bg=colour240] %H:%M #[fg=colour240,bg=colour238]" + +# Window status format +setw -g window-status-format "#[fg=colour255,bg=colour238] #I:#W " +setw -g window-status-current-format "#[fg=colour238,bg=colour255]#[fg=colour238,bg=colour255] #I:#W #[fg=colour255,bg=colour238]" + +# Pane border colors +set -g pane-border-style fg=colour240 +set -g pane-active-border-style fg=colour255 + +# Message text +set -g message-style bg=colour238,fg=colour255 + +# Clock mode +setw -g clock-mode-colour colour255 + +# Enable focus events +set -g focus-events on + +# Increase escape time +set -sg escape-time 0 + +# Enable true color support +set -ga terminal-overrides ",*256col*:Tc" + +# Set default terminal mode to 256 colors +set -g default-terminal "screen-256color" + +# Display a message when a window is created +set -g display-time 4000 + +# Automatically set window title +setw -g automatic-rename on +set -g set-titles on +set -g set-titles-string "#T" + +# Enable clipboard integration +set -g @plugin 'tmux-plugins/tmux-yank' + +# List of plugins +set -g @plugin 'tmux-plugins/tpm' +set -g @plugin 'tmux-plugins/tmux-sensible' +set -g @plugin 'tmux-plugins/tmux-resurrect' +set -g @plugin 'tmux-plugins/tmux-continuum' + +# Initialize TMUX plugin manager (keep this line at the very bottom of tmux.conf) +run '~/.tmux/plugins/tpm/tpm' \ No newline at end of file diff --git a/docker/70-manus-hid.rules b/docker/70-manus-hid.rules new file mode 100644 index 0000000..3c2bb32 --- /dev/null +++ b/docker/70-manus-hid.rules @@ -0,0 +1,5 @@ + # HIDAPI/libusb + SUBSYSTEMS=="usb", ATTRS{idVendor}=="3325", MODE:="0666" + + # HIDAPI/hidraw + KERNEL=="hidraw*", ATTRS{idVendor}=="3325", MODE:="0666" \ No newline at end of file diff --git a/docker/Dockerfile.deploy b/docker/Dockerfile.deploy new file mode 100644 index 0000000..7ba55e3 --- /dev/null +++ b/docker/Dockerfile.deploy @@ -0,0 +1,127 @@ +FROM nvgear/ros-2:latest + +# Accept build argument for username +ARG USERNAME +ARG USERID +ARG HOME_DIR +ARG WORKTREE_NAME + +# Create user with the same name as host +RUN if [ "$USERID" != "0" ]; then \ + useradd -m -u ${USERID} -s /bin/bash ${USERNAME} && \ + echo "${USERNAME} ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers && \ + # Add user to video and render groups for GPU access + usermod -a -G video,render ${USERNAME} || true; \ + fi + +# Copy .bashrc with color settings before switching user +COPY --chown=${USERNAME}:${USERNAME} docker/.bashrc ${HOME_DIR}/.bashrc + +# Install Manus udev rules +COPY --chown=${USERNAME}:${USERNAME} docker/70-manus-hid.rules /etc/udev/rules.d/70-manus-hid.rules + +# Copy tmux configuration +COPY --chown=${USERNAME}:${USERNAME} docker/.tmux.conf ${HOME_DIR}/.tmux.conf + +# Switch to user +USER ${USERNAME} + +# Install tmux plugin manager and uv in parallel +RUN git clone https://github.com/tmux-plugins/tpm ${HOME_DIR}/.tmux/plugins/tpm & \ + curl -LsSf https://astral.sh/uv/install.sh | env UV_INSTALL_DIR=${HOME_DIR}/.cargo/bin sh & \ + wait + +# Install tmux plugins automatically +RUN ${HOME_DIR}/.tmux/plugins/tpm/bin/install_plugins || true + +# Add uv to PATH +ENV PATH="${HOME_DIR}/.cargo/bin:$PATH" +ENV UV_PYTHON=${HOME_DIR}/venv/bin/python + +# Create venv +RUN uv venv --python 3.10 ${HOME_DIR}/venv + +# Install hardware-specific packages (x86 only - not available on ARM64/Orin) +USER root +COPY --chown=${USERNAME}:${USERNAME} gr00t_wbc/control/teleop/device/pico/XRoboToolkit_PC_Service_1.0.0_ubuntu_22.04_amd64.deb ${HOME_DIR}/XRoboToolkit_PC_Service_1.0.0_ubuntu_22.04_amd64.deb +COPY --chown=${USERNAME}:${USERNAME} gr00t_wbc/control/teleop/device/pico/roboticsservice_1.0.0.0_arm64.deb ${HOME_DIR}/roboticsservice_1.0.0.0_arm64.deb + +RUN if [ "$(dpkg --print-architecture)" = "amd64" ]; then \ + # Ultra Leap setup + wget -qO - https://repo.ultraleap.com/keys/apt/gpg | gpg --dearmor | tee /etc/apt/trusted.gpg.d/ultraleap.gpg && \ + echo 'deb [arch=amd64] https://repo.ultraleap.com/apt stable main' | tee /etc/apt/sources.list.d/ultraleap.list && \ + apt-get update && \ + echo "yes" | DEBIAN_FRONTEND=noninteractive apt-get install -y ultraleap-hand-tracking libhidapi-dev && \ + # Space Mouse udev rules + echo 'KERNEL=="hidraw*", SUBSYSTEM=="hidraw", MODE="0664", GROUP="plugdev"' > /etc/udev/rules.d/99-hidraw-permissions.rules && \ + usermod -aG plugdev ${USERNAME}; \ + # Pico setup + apt-get install -y xdg-utils && \ + dpkg -i ${HOME_DIR}/XRoboToolkit_PC_Service_1.0.0_ubuntu_22.04_amd64.deb; \ + else \ + echo "Skipping x86-only hardware packages on $(dpkg --print-architecture)"; \ + fi + +USER ${USERNAME} +# Install hardware Python packages (x86 only) with caching +RUN --mount=type=cache,target=${HOME_DIR}/.cache/uv,uid=${USERID},gid=${USERID} \ + if [ "$(dpkg --print-architecture)" = "amd64" ]; then \ + # Ultra Leap Python bindings + git clone https://github.com/ultraleap/leapc-python-bindings ${HOME_DIR}/leapc-python-bindings && \ + cd ${HOME_DIR}/leapc-python-bindings && \ + UV_CONCURRENT_DOWNLOADS=8 uv pip install -r requirements.txt && \ + MAKEFLAGS="-j$(nproc)" ${HOME_DIR}/venv/bin/python -m build leapc-cffi && \ + uv pip install leapc-cffi/dist/leapc_cffi-0.0.1.tar.gz && \ + uv pip install -e leapc-python-api && \ + # Space Mouse Python package + uv pip install pyspacemouse && \ + # Pico Python bindings + git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind.git ${HOME_DIR}/XRoboToolkit-PC-Service-Pybind && \ + cd ${HOME_DIR}/XRoboToolkit-PC-Service-Pybind && \ + uv pip install setuptools pybind11 && \ + sed -i "s|pip install|uv pip install|g" setup_ubuntu.sh && \ + sed -i "s|pip uninstall|uv pip uninstall|g" setup_ubuntu.sh && \ + sed -i "s|python setup.py install|${HOME_DIR}/venv/bin/python setup.py install|g" setup_ubuntu.sh && \ + bash setup_ubuntu.sh; \ + fi + +# Install Python dependencies using uv with caching +RUN --mount=type=cache,target=${HOME_DIR}/.cache/uv,uid=${USERID},gid=${USERID} \ + UV_CONCURRENT_DOWNLOADS=8 uv pip install --upgrade pip ipython jupyter notebook debugpy + + +# Copy entire project to the workspace directory where it will be mounted at runtime +# NOTE: The build context must be the project root for this to work +# Use dynamic worktree name to match runtime mount path +COPY --chown=${USERNAME}:${USERNAME} . ${HOME_DIR}/Projects/${WORKTREE_NAME} + +# Install Python dependencies inside the venv with caching - split into separate commands +RUN --mount=type=cache,target=${HOME_DIR}/.cache/uv,uid=${USERID},gid=${USERID} \ + UV_CONCURRENT_DOWNLOADS=8 uv pip install \ + -e ${HOME_DIR}/Projects/${WORKTREE_NAME}/external_dependencies/unitree_sdk2_python + +# Unlike pip, uv downloads LFS files by default. There's a bug in uv that causes LFS files +# to fail to download (https://github.com/astral-sh/uv/issues/3312). So we need to set +# UV_GIT_LFS=1 to prevent uv from downloading LFS files. +# Install project dependencies (VLA extras only on x86) with caching +RUN --mount=type=cache,target=${HOME_DIR}/.cache/uv,uid=${USERID},gid=${USERID} \ + GIT_LFS_SKIP_SMUDGE=1 UV_CONCURRENT_DOWNLOADS=8 uv pip install -e "${HOME_DIR}/Projects/${WORKTREE_NAME}[dev]" + +# Clone and install robosuite with specific branch +RUN --mount=type=cache,target=${HOME_DIR}/.cache/uv,uid=${USERID},gid=${USERID} \ + git clone https://github.com/xieleo5/robosuite.git ${HOME_DIR}/robosuite && \ + cd ${HOME_DIR}/robosuite && \ + git checkout leo/support_g1_locomanip && \ + UV_CONCURRENT_DOWNLOADS=8 uv pip install -e . + +# Install gr00trobocasa +RUN --mount=type=cache,target=${HOME_DIR}/.cache/uv,uid=${USERID},gid=${USERID} \ + UV_CONCURRENT_DOWNLOADS=8 uv pip install -e ${HOME_DIR}/Projects/${WORKTREE_NAME}/gr00t_wbc/dexmg/gr00trobocasa + +# Configure bash environment with virtual environment and ROS2 setup +RUN echo "source ${HOME_DIR}/venv/bin/activate" >> ${HOME_DIR}/.bashrc && \ + echo "source /opt/ros/humble/setup.bash" >> ${HOME_DIR}/.bashrc && \ + echo "export ROS_LOCALHOST_ONLY=1" >> ${HOME_DIR}/.bashrc + +# Default command (can be overridden at runtime) +CMD ["/bin/bash"] diff --git a/docker/Dockerfile.deploy.base b/docker/Dockerfile.deploy.base new file mode 100644 index 0000000..360d2c5 --- /dev/null +++ b/docker/Dockerfile.deploy.base @@ -0,0 +1,155 @@ +# Multi-architecture Dockerfile for NVIDIA CUDA +# Supports linux/amd64 and linux/arm64 +FROM nvidia/cuda:12.4.0-runtime-ubuntu22.04 + +# Build info - ARGs need to be redeclared after FROM to use in RUN commands +ARG TARGETPLATFORM +ARG BUILDPLATFORM +RUN echo "Building for $TARGETPLATFORM on $BUILDPLATFORM" + +# Avoid prompts from apt +ENV DEBIAN_FRONTEND=noninteractive + +# Install minimal system dependencies +RUN apt-get update && \ + apt-get install -y \ + # Basic tools + build-essential \ + curl \ + gdb \ + git \ + git-lfs \ + net-tools \ + sudo \ + wget \ + iputils-ping \ + vim \ + unzip \ + # System services + udev \ + # Graphics and X11 + libgl1-mesa-dri \ + libgl1-mesa-glx \ + libglu1-mesa \ + mesa-utils \ + libxcb-cursor0 \ + x11-apps \ + xauth \ + # EGL and GPU access + libegl1 \ + libegl1-mesa \ + libegl1-mesa-dev \ + libgl1-mesa-dev \ + libgles2-mesa-dev \ + libglvnd-dev \ + mesa-common-dev \ + # XCB and Qt platform dependencies + libxcb-icccm4 \ + libxcb-image0 \ + libxcb-keysyms1 \ + libxcb-randr0 \ + libxcb-render-util0 \ + libxcb-shape0 \ + libxcb-xfixes0 \ + libxcb-xinerama0 \ + libxcb-xinput0 \ + libxcb-xkb1 \ + libxkbcommon-x11-0 \ + # D-Bus and system dependencies + libdbus-1-3 \ + # Other dependencies + libncurses5-dev \ + libudev-dev \ + libusb-1.0-0-dev \ + # Python 3.10 and pip + python3.10 \ + python3.10-venv \ + python3.10-distutils \ + python3-pip \ + expect \ + # ffmpeg and related libraries + ffmpeg \ + libavcodec-dev \ + libavformat-dev \ + libavdevice-dev \ + libavfilter-dev \ + libavutil-dev \ + libswresample-dev \ + libswscale-dev \ + # opencv + libgtk2.0-dev \ + # Clean up + && rm -rf /var/lib/apt/lists/* + +# --- Install ROS 2 Humble (following official instructions) --- +# Enable required repositories +RUN apt-get update && apt-get install -y software-properties-common \ + && add-apt-repository universe \ + # Add ROS 2 GPG key and repository + && apt-get install -y curl gnupg lsb-release \ + && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list \ + # Upgrade system to avoid removal of critical packages (see ROS 2 docs) + && apt-get update \ + && apt-get upgrade -y \ + # Install ROS 2 Humble desktop + && apt-get install -y ros-humble-desktop \ + # (Optional) Install development tools + && apt-get install -y ros-dev-tools \ + # Install Eclipse Cyclone DDS RMW implementation + && apt-get install -y ros-humble-rmw-cyclonedds-cpp \ + # Clean up + && rm -rf /var/lib/apt/lists/* + +# Source ROS 2 setup in bashrc for all users +RUN echo 'source /opt/ros/humble/setup.bash' >> /etc/bash.bashrc + +# Clone, build, and install CycloneDDS 0.10.x +RUN git clone --branch releases/0.10.x https://github.com/eclipse-cyclonedds/cyclonedds /opt/cyclonedds && \ + mkdir -p /opt/cyclonedds/build /opt/cyclonedds/install && \ + cd /opt/cyclonedds/build && \ + cmake .. -DCMAKE_INSTALL_PREFIX=../install && \ + cmake --build . --target install && \ + # Clean up build files to reduce image size + rm -rf /opt/cyclonedds/build + +# Set CYCLONEDDS_HOME for all users +ENV CYCLONEDDS_HOME=/opt/cyclonedds/install + +# Install uv +RUN curl -LsSf https://astral.sh/uv/install.sh | env UV_INSTALL_DIR=/opt/uv sh + +# Add uv to PATH +ENV PATH="/opt/uv:$PATH" +ENV UV_PYTHON=/opt/venv/bin/python + +# Fix dpkg state and install tmux +RUN dpkg --configure -a && apt-get update && apt-get install -y tmux && rm -rf /var/lib/apt/lists/* + +# Create NVIDIA ICD config for EGL if it doesn't exist +# Note: This might need platform-specific handling for ARM64 +RUN if [ ! -f /usr/share/glvnd/egl_vendor.d/10_nvidia.json ]; then \ + mkdir -p /usr/share/glvnd/egl_vendor.d && \ + printf '{\n "file_format_version" : "1.0.0",\n "ICD" : {\n "library_path" : "libEGL_nvidia.so.0"\n }\n}' | tee /usr/share/glvnd/egl_vendor.d/10_nvidia.json > /dev/null; \ + fi + +# Platform-specific configurations +RUN case "$TARGETPLATFORM" in \ + "linux/arm64") \ + echo "Configuring for ARM64 platform" && \ + # Add any ARM64-specific configurations here + echo "export GPU_FORCE_64BIT_PTR=1" >> /etc/environment \ + ;; \ + "linux/amd64") \ + echo "Configuring for AMD64 platform" && \ + # Add any AMD64-specific configurations here + echo "AMD64 platform configured" \ + ;; \ + *) \ + echo "Unknown platform: $TARGETPLATFORM" \ + ;; \ + esac + +# Add labels for better image management +LABEL org.opencontainers.image.title="Multi-Arch CUDA Runtime with ROS 2 Humble" +LABEL org.opencontainers.image.description="Multi-architecture Docker image with CUDA runtime and ROS 2 Humble" diff --git a/docker/build_deploy_base.sh b/docker/build_deploy_base.sh new file mode 100644 index 0000000..6c1ddb6 --- /dev/null +++ b/docker/build_deploy_base.sh @@ -0,0 +1,55 @@ +#!/bin/bash + +# Multi-architecture Docker build script +# Supports linux/amd64 + +set -e + +# Configuration +IMAGE_NAME="nvgear/ros-2" +TAG="${1:-latest}" +DOCKERFILE="docker/Dockerfile.deploy.base" + +# Colors for output +RED='\033[0;31m' +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +NC='\033[0m' # No Color + +echo -e "${GREEN}Building multi-architecture Docker image: ${IMAGE_NAME}:${TAG}${NC}" + +# Ensure we're using the multiarch builder +echo -e "${YELLOW}Setting up multiarch builder...${NC}" +sudo docker buildx use multiarch-builder 2>/dev/null || { + echo -e "${YELLOW}Creating multiarch builder...${NC}" + sudo docker buildx create --name multiarch-builder --use --bootstrap +} + +# Show supported platforms +echo -e "${YELLOW}Supported platforms:${NC}" +sudo docker buildx inspect --bootstrap | grep Platforms + +# Build for multiple architectures +echo -e "${GREEN}Starting multi-arch build...${NC}" +sudo docker buildx build \ + --platform linux/amd64 \ + --file "${DOCKERFILE}" \ + --tag "${IMAGE_NAME}:${TAG}" \ + --push \ + . + +# Alternative: Build and load locally (only works for single platform) +# docker buildx build \ +# --platform linux/amd64 \ +# --file "${DOCKERFILE}" \ +# --tag "${IMAGE_NAME}:${TAG}" \ +# --load \ +# . + +echo -e "${GREEN}Multi-arch build completed successfully!${NC}" +echo -e "${GREEN}Image: ${IMAGE_NAME}:${TAG}${NC}" +echo -e "${GREEN}Platforms: linux/amd64${NC}" + +# Verify the manifest +echo -e "${YELLOW}Verifying multi-arch manifest...${NC}" +sudo docker buildx imagetools inspect "${IMAGE_NAME}:${TAG}" \ No newline at end of file diff --git a/docker/entrypoint/bash.sh b/docker/entrypoint/bash.sh new file mode 100755 index 0000000..1142dd8 --- /dev/null +++ b/docker/entrypoint/bash.sh @@ -0,0 +1,5 @@ +#!/bin/bash +set -e # Exit on error + +echo "Dependencies installed successfully. Starting interactive bash shell..." +exec /bin/bash \ No newline at end of file diff --git a/docker/entrypoint/deploy.sh b/docker/entrypoint/deploy.sh new file mode 100755 index 0000000..216fbc2 --- /dev/null +++ b/docker/entrypoint/deploy.sh @@ -0,0 +1,20 @@ +#!/bin/bash +set -e # Exit on error + +# Run the deployment script +# Check for script existence before running +DEPLOY_SCRIPT="scripts/deploy_g1.py" +if [ -f "$DEPLOY_SCRIPT" ]; then + echo "Running deployment script at $DEPLOY_SCRIPT" + echo "Using python from $(which python)" + echo "Deploy args: $@" + exec python "$DEPLOY_SCRIPT" "$@" +else + echo "ERROR: Deployment script not found at $DEPLOY_SCRIPT" + echo "Current directory structure:" + find . -type f -name "*.py" | grep -i deploy + echo "Available script options:" + find . -type f -name "*.py" | sort + echo "Starting a bash shell for troubleshooting..." + exec /bin/bash +fi \ No newline at end of file diff --git a/docker/entrypoint/install_deps.sh b/docker/entrypoint/install_deps.sh new file mode 100755 index 0000000..cb602fb --- /dev/null +++ b/docker/entrypoint/install_deps.sh @@ -0,0 +1,23 @@ +#!/bin/bash +set -e + +# Source virtual environment and ROS2 +source ${HOME}/venv/bin/activate +source /opt/ros/humble/setup.bash +export ROS_LOCALHOST_ONLY=1 + +# Install external dependencies +echo "Current directory: $(pwd)" +echo "Installing dependencies..." + +# Install Unitree SDK and LeRobot +if [ -d "external_dependencies/unitree_sdk2_python" ]; then + cd external_dependencies/unitree_sdk2_python/ + uv pip install -e . --no-deps + cd ../.. +fi + +# Install project +if [ -f "pyproject.toml" ]; then + UV_GIT_LFS=1 uv pip install -e ".[dev]" +fi diff --git a/docker/image_name.txt b/docker/image_name.txt new file mode 100644 index 0000000..10b5635 --- /dev/null +++ b/docker/image_name.txt @@ -0,0 +1 @@ +nvcr.io/nvidian/gr00t_wbc:base diff --git a/docker/kill_all_containers.sh b/docker/kill_all_containers.sh new file mode 100755 index 0000000..1043070 --- /dev/null +++ b/docker/kill_all_containers.sh @@ -0,0 +1,79 @@ +#!/bin/bash + +# Script to kill all running Docker containers +# Usage: ./kill_all_containers.sh [--force] + +set -e + +# Colors for output +RED='\033[0;31m' +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +NC='\033[0m' # No Color + +# Function to print colored output +print_info() { + echo -e "${GREEN}[INFO]${NC} $1" +} + +print_warning() { + echo -e "${YELLOW}[WARNING]${NC} $1" +} + +print_error() { + echo -e "${RED}[ERROR]${NC} $1" +} + +# Check if Docker is running +if ! sudo docker info >/dev/null 2>&1; then + print_error "Docker is not running or not accessible. Please start Docker first." + exit 1 +fi + +# Get list of running containers +RUNNING_CONTAINERS=$(sudo docker ps -q) + +if [ -z "$RUNNING_CONTAINERS" ]; then + print_info "No running containers found." + exit 0 +fi + +# Count running containers +CONTAINER_COUNT=$(echo "$RUNNING_CONTAINERS" | wc -l | tr -d ' ') + +print_info "Found $CONTAINER_COUNT running container(s):" +sudo docker ps --format "table {{.ID}}\t{{.Image}}\t{{.Names}}\t{{.Status}}" + +# Check for --force flag +FORCE_KILL=false +if [ "$1" = "--force" ]; then + FORCE_KILL=true + print_warning "Force mode enabled. Containers will be killed without confirmation." +fi + +# Ask for confirmation unless --force is used +if [ "$FORCE_KILL" = false ]; then + echo + read -p "Are you sure you want to kill all running containers? (y/N): " -n 1 -r + echo + if [[ ! $REPLY =~ ^[Yy]$ ]]; then + print_info "Operation cancelled." + exit 0 + fi +fi + +# Kill all running containers +print_info "Killing all running containers..." +if sudo docker kill $RUNNING_CONTAINERS; then + print_info "Successfully killed all running containers." +else + print_error "Failed to kill some containers. You may need to run with sudo or check Docker permissions." + exit 1 +fi + +# Optional: Remove stopped containers (commented out by default) +# Uncomment the following lines if you also want to remove the stopped containers +# print_info "Removing stopped containers..." +# sudo docker container prune -f + +print_info "Done!" \ No newline at end of file diff --git a/docker/kill_gr00t_wbc_processors.sh b/docker/kill_gr00t_wbc_processors.sh new file mode 100755 index 0000000..03d0819 --- /dev/null +++ b/docker/kill_gr00t_wbc_processors.sh @@ -0,0 +1,192 @@ +#!/bin/bash + +# kill_gr00t_wbc_processors.sh +# Kill gr00t_wbc processes in current container to prevent message passing conflicts + +# Note: Don't use 'set -e' as tmux/pgrep commands may return non-zero exit codes + +# Configuration +DRY_RUN=false +FORCE=false +QUIET=false +declare -A FOUND_PROCESSES + +# Default to verbose mode if no arguments +[[ $# -eq 0 ]] && { QUIET=false; DRY_RUN=false; } + +# Parse arguments +while [[ $# -gt 0 ]]; do + case $1 in + --dry-run) DRY_RUN=true ;; + --force) FORCE=true ;; + --verbose|-v) VERBOSE=true ;; + --help|-h) + echo "Usage: $0 [--dry-run] [--force] [--verbose] [--help]" + echo "Kill gr00t_wbc processes to prevent message passing conflicts" + exit 0 ;; + *) echo "Unknown option: $1"; exit 1 ;; + esac + shift +done + +# Colors (only if not quiet) +if [[ "$QUIET" != true ]]; then + RED='\033[0;31m'; GREEN='\033[0;32m'; YELLOW='\033[1;33m'; BLUE='\033[0;34m'; NC='\033[0m' +else + RED=''; GREEN=''; YELLOW=''; BLUE=''; NC='' +fi + +# Show processes by pattern (for preview) +show_processes_by_pattern() { + local pattern="$1" desc="$2" + local pids=$(pgrep -f "$pattern" 2>/dev/null || true) + + [[ -z "$pids" ]] && return 0 + + echo -e "${YELLOW}$desc processes:${NC}" + + for pid in $pids; do + local cmd=$(ps -p $pid -o cmd= 2>/dev/null || echo "Process not found") + echo " PID $pid: $cmd" + done +} + +# Kill processes by pattern (silent killing) +kill_by_pattern() { + local pattern="$1" desc="$2" signal="${3:-TERM}" + local pids=$(pgrep -f "$pattern" 2>/dev/null || true) + + [[ -z "$pids" ]] && return 0 + + for pid in $pids; do + # Kill if not dry run + [[ "$DRY_RUN" != true ]] && kill -$signal $pid 2>/dev/null + done +} + +# Show tmux sessions (for preview) +show_tmux() { + local pattern="$1" + local sessions=$(tmux list-sessions 2>/dev/null | grep "$pattern" | cut -d: -f1 || true) + + [[ -z "$sessions" ]] && return 0 + + echo -e "${YELLOW}Tmux sessions:${NC}" + + for session in $sessions; do + echo " Session: $session" + done +} + +# Kill tmux sessions (silent killing) +kill_tmux() { + local pattern="$1" + local sessions=$(tmux list-sessions 2>/dev/null | grep "$pattern" | cut -d: -f1 || true) + + [[ -z "$sessions" ]] && return 0 + + for session in $sessions; do + [[ "$DRY_RUN" != true ]] && tmux kill-session -t "$session" 2>/dev/null + done +} + +# Show processes by port (for preview) +show_processes_by_port() { + local port="$1" desc="$2" + local pids=$(lsof -ti:$port 2>/dev/null || true) + + [[ -z "$pids" ]] && return 0 + + echo -e "${YELLOW}$desc (port $port):${NC}" + + for pid in $pids; do + local cmd=$(ps -p $pid -o cmd= 2>/dev/null || echo "Process not found") + echo " PID $pid: $cmd" + done +} + +# Kill processes by port (silent killing) +kill_by_port() { + local port="$1" desc="$2" + local pids=$(lsof -ti:$port 2>/dev/null || true) + + [[ -z "$pids" ]] && return 0 + + for pid in $pids; do + [[ "$DRY_RUN" != true ]] && kill -TERM $pid 2>/dev/null + done +} + +# Check if any processes exist +has_processes() { + # Check for processes + local has_tmux=$(tmux list-sessions 2>/dev/null | grep "g1_deployment" || true) + local has_control=$(pgrep -f "run_g1_control_loop.py" 2>/dev/null || true) + local has_teleop=$(pgrep -f "run_teleop_policy_loop.py" 2>/dev/null || true) + local has_camera=$(pgrep -f "camera_forwarder.py" 2>/dev/null || true) + local has_rqt=$(pgrep -f "rqt.*image_view" 2>/dev/null || true) + local has_port=$(lsof -ti:5555 2>/dev/null || true) + + [[ -n "$has_tmux" || -n "$has_control" || -n "$has_teleop" || -n "$has_camera" || -n "$has_rqt" || -n "$has_port" ]] +} + +# Main execution +main() { + # Check if any processes exist first + if ! has_processes; then + # No processes to kill, exit silently + exit 0 + fi + + # Show header and processes to be killed + if [[ "$QUIET" != true ]]; then + echo -e "${BLUE}=== gr00t_wbc Process Killer ===${NC}" + [[ "$DRY_RUN" == true ]] && echo -e "${BLUE}=== DRY RUN MODE ===${NC}" + + # Show what will be killed + show_tmux "g1_deployment" + show_processes_by_pattern "run_g1_control_loop.py" "G1 control loop" + show_processes_by_pattern "run_teleop_policy_loop.py" "Teleop policy" + show_processes_by_pattern "camera_forwarder.py" "Camera forwarder" + show_processes_by_pattern "rqt.*image_view" "RQT viewer" + show_processes_by_port "5555" "Inference server" + + # Ask for confirmation + if [[ "$FORCE" != true && "$DRY_RUN" != true ]]; then + echo + echo -e "${RED}WARNING: This will terminate the above gr00t_wbc processes!${NC}" + read -p "Continue? [Y/n]: " -n 1 -r + echo + # Default to Y - only abort if user explicitly types 'n' or 'N' + [[ $REPLY =~ ^[Nn]$ ]] && { echo "Aborted."; exit 0; } + fi + echo + fi + + # Kill processes (silently) + kill_tmux "g1_deployment" + kill_by_pattern "run_g1_control_loop.py" "G1 control loop" + kill_by_pattern "run_teleop_policy_loop.py" "Teleop policy" + kill_by_pattern "camera_forwarder.py" "Camera forwarder" + kill_by_pattern "rqt.*image_view" "RQT viewer" + kill_by_port "5555" "Inference server" + + # Force kill remaining (SIGKILL) + [[ "$DRY_RUN" != true ]] && { + sleep 1 + kill_by_pattern "run_g1_control_loop.py" "G1 control loop" "KILL" + kill_by_pattern "run_teleop_policy_loop.py" "Teleop policy" "KILL" + kill_by_pattern "camera_forwarder.py" "Camera forwarder" "KILL" + } + + # Summary (unless quiet) + [[ "$QUIET" != true ]] && { + if [[ "$DRY_RUN" == true ]]; then + echo -e "${BLUE}=== DRY RUN COMPLETE ===${NC}" + else + echo -e "${GREEN}All gr00t_wbc processes terminated${NC}" + fi + } +} + +main "$@" diff --git a/docker/publish.sh b/docker/publish.sh new file mode 100644 index 0000000..a9d909e --- /dev/null +++ b/docker/publish.sh @@ -0,0 +1,3 @@ +#!/bin/bash +image_name=$(cat image_name.txt) +docker push "$@" $image_name \ No newline at end of file diff --git a/docker/run_docker.sh b/docker/run_docker.sh new file mode 100755 index 0000000..cca4621 --- /dev/null +++ b/docker/run_docker.sh @@ -0,0 +1,454 @@ +#!/bin/bash + +# Docker run script for gr00t_wbc with branch-based container isolation +# +# Usage: +# ./docker/run_docker.sh [OPTIONS] +# +# Options: +# --build Build Docker image +# --clean Clean containers +# --deploy Run in deploy mode +# --install Pull prebuilt Docker image +# --push Push built image to Docker Hub +# --branch Use branch-specific container names +# +# Branch-based Container Isolation (when --branch flag is used): +# - Each git branch gets its own isolated containers +# - Container names include branch identifier (e.g., gr00t_wbc-deploy-user-main) +# - Works with git worktrees, separate clones, or nested repositories +# - Clean and build operations only affect the current branch + +# Exit on error +set -e + +# Default values +BUILD=false +CLEAN=false +DEPLOY=false +INSTALL=false +# Flag to push the built Docker image to Docker Hub +# This should be used when someone updates the Docker image dependencies +# because this image is used for CI/CD pipelines +# When true, the image will be tagged and pushed to docker.io/nvgear/gr00t_wbc:latest (lowercased in practice) +DOCKER_HUB_PUSH=false +# Flag to build the docker with root user +# This could cause some of your local files to be owned by root +# If you get error like "PermissionError: [Errno 13] Permission denied:" +# You can run `sudo chown -R $USER:$USER .` in local machine to fix it +ROOT=false +BRANCH_MODE=false +EXTRA_ARGS=() +PROJECT_NAME="gr00t_wbc" +PROJECT_SLUG=$(echo "$PROJECT_NAME" | tr '[:upper:]' '[:lower:]') +REMOTE_IMAGE="nvgear/${PROJECT_SLUG}:latest" + +# Parse command line arguments +while [[ $# -gt 0 ]]; do + case $1 in + --build) + BUILD=true + shift + ;; + --clean) + CLEAN=true + shift + ;; + --deploy) + DEPLOY=true + shift + ;; + --install) + INSTALL=true + shift + ;; + --push) + DOCKER_HUB_PUSH=true + shift + ;; + --root) + ROOT=true + shift + ;; + --branch) + BRANCH_MODE=true + shift + ;; + *) + # Collect all unknown arguments as extra args for the deployment script + EXTRA_ARGS+=("$1") + shift + ;; + esac +done + +if [ "$INSTALL" = true ] && [ "$BUILD" = true ]; then + echo "Cannot use --install and --build together. Choose one." + exit 1 +fi + + +# Function to get branch name for container naming +function get_branch_id { + # Check if we're in a git repository + if git rev-parse --is-inside-work-tree > /dev/null 2>&1; then + # Get current branch name (returns "HEAD" in detached state) + local branch_name=$(git rev-parse --abbrev-ref HEAD) + # Replace forward slashes with dashes for valid container names + echo "${branch_name//\//-}" + else + # Default: no branch identifier (not in git repo) + echo "" + fi +} + +# Architecture detection helpers +is_arm64() { [ "$(dpkg --print-architecture)" = "arm64" ]; } +is_amd64() { [ "$(dpkg --print-architecture)" = "amd64" ]; } + +# Get current user's username and UID +if [ "$ROOT" = true ]; then + USERNAME=root + USERID=0 + DOCKER_HOME_DIR=/root + CACHE_FROM=${PROJECT_SLUG}-deploy-cache-root +else + USERNAME=$(whoami) + USERID=$(id -u) + DOCKER_HOME_DIR=/home/${USERNAME} + CACHE_FROM=${PROJECT_SLUG}-deploy-cache +fi +# Get input group ID for device access +INPUT_GID=$(getent group input | cut -d: -f3) + +# Get script directory for path calculations +SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" + +# Function to get the actual project directory (worktree-aware) +function get_project_dir { + # For worktrees, use the actual worktree root path + if git rev-parse --is-inside-work-tree > /dev/null 2>&1; then + git rev-parse --show-toplevel + else + # Fallback to script-based detection + dirname "$SCRIPT_DIR" + fi +} + +# Get branch identifier +BRANCH_ID=$(get_branch_id) + +# Set project directory (needs to be after branch detection) +PROJECT_DIR="$(get_project_dir)" + +# Function to generate container name with optional branch support +function get_container_name { + local container_type="$1" + if [[ -n "$BRANCH_ID" ]] && [[ "$BRANCH_MODE" = true ]]; then + echo "${PROJECT_SLUG}-${container_type}-${USERNAME}-${BRANCH_ID}" + else + echo "${PROJECT_SLUG}-${container_type}-${USERNAME}" + fi +} + +# Set common variables used throughout the script +DEPLOY_CONTAINER=$(get_container_name "deploy") +BASH_CONTAINER=$(get_container_name "bash") +WORKTREE_NAME=$(basename "$PROJECT_DIR") + +# Debug output for branch detection +if [[ -n "$BRANCH_ID" ]] && [[ "$BRANCH_MODE" = true ]]; then + echo "Branch mode enabled - using branch: $BRANCH_ID" + echo "Project directory: $PROJECT_DIR" +elif [[ -n "$BRANCH_ID" ]]; then + echo "Branch mode disabled - using default containers" + echo "Project directory: $PROJECT_DIR" +else + echo "Running outside git repository" + echo "Project directory: $PROJECT_DIR" +fi + +# Get host's hostname and append -docker +HOSTNAME=$(hostname)-docker + +function clean_container { + echo "Cleaning up Docker containers..." + + # Stop containers + sudo docker stop $DEPLOY_CONTAINER 2>/dev/null || true + sudo docker stop $BASH_CONTAINER 2>/dev/null || true + # Remove containers + echo "Removing containers..." + sudo docker rm $DEPLOY_CONTAINER 2>/dev/null || true + sudo docker rm $BASH_CONTAINER 2>/dev/null || true + echo "Containers cleaned!" +} + + +# Function to install Docker Buildx if needed +function install_docker_buildx { + # Check if Docker Buildx is already installed + if sudo docker buildx version &> /dev/null; then + echo "Docker Buildx is already installed." + return 0 + fi + + echo "Installing Docker Buildx..." + + # Create directories and detect architecture + mkdir -p ~/.docker/cli-plugins/ && sudo mkdir -p /root/.docker/cli-plugins/ + ARCH=$(dpkg --print-architecture) + [[ "$ARCH" == "arm64" ]] && BUILDX_ARCH="linux-arm64" || BUILDX_ARCH="linux-amd64" + + # Get version (with fallback) + BUILDX_VERSION=$(curl -s https://api.github.com/repos/docker/buildx/releases/latest | grep tag_name | cut -d '"' -f 4) + BUILDX_VERSION=${BUILDX_VERSION:-v0.13.1} + + # Download and install for both user and root + curl -L "https://github.com/docker/buildx/releases/download/${BUILDX_VERSION}/buildx-${BUILDX_VERSION}.${BUILDX_ARCH}" -o ~/.docker/cli-plugins/docker-buildx + sudo cp ~/.docker/cli-plugins/docker-buildx /root/.docker/cli-plugins/docker-buildx + chmod +x ~/.docker/cli-plugins/docker-buildx && sudo chmod +x /root/.docker/cli-plugins/docker-buildx + + # Create builder + sudo docker buildx create --use --name mybuilder || true + sudo docker buildx inspect --bootstrap + + echo "Docker Buildx installation complete!" +} + +# Function to install NVIDIA Container Toolkit if needed +function install_nvidia_toolkit { + # Check if NVIDIA Container Toolkit is already installed + if command -v nvidia-container-toolkit &> /dev/null; then + echo "NVIDIA Container Toolkit is already installed." + return 0 + fi + + echo "Installing NVIDIA Container Toolkit..." + + # Add the package repositories + distribution=$(. /etc/os-release;echo $ID$VERSION_ID) + + # Check if GPG key exists and remove it if it does + if [ -f "/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg" ]; then + echo "Removing existing NVIDIA GPG key..." + sudo rm /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg + fi + + # Add new GPG key + curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg + + # Add repository + curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | \ + sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ + sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list + + # Install nvidia-container-toolkit and docker if needed + sudo apt-get update + sudo apt-get install -y nvidia-container-toolkit + + # Install docker if not already installed + if ! command -v docker &> /dev/null; then + sudo apt-get install -y docker.io + fi + + # Configure Docker to use the NVIDIA runtime + sudo nvidia-ctk runtime configure --runtime=docker + + # Restart the Docker daemon + sudo systemctl restart docker + + echo "NVIDIA Container Toolkit installation complete!" +} + + +# Function to build Docker image for current branch +function build_docker_image { + echo "Building Docker image: $DEPLOY_CONTAINER" + + sudo docker buildx build \ + --build-arg USERNAME=$USERNAME \ + --build-arg USERID=$USERID \ + --build-arg HOME_DIR=$DOCKER_HOME_DIR \ + --build-arg WORKTREE_NAME=$WORKTREE_NAME \ + --cache-from $CACHE_FROM \ + -t $DEPLOY_CONTAINER \ + -f docker/Dockerfile.deploy \ + --load \ + . + + # Tag for persistent cache + # sudo docker tag $DEPLOY_CONTAINER $CACHE_FROM + echo "Docker image build complete!" +} + +# Build function +function build_with_cleanup { + echo "Building Docker image..." + echo "Removing existing containers and images..." + clean_container + # Tag for persistent cache before deleting the image + sudo docker tag $DEPLOY_CONTAINER $CACHE_FROM 2>/dev/null || true + sudo docker rmi $DEPLOY_CONTAINER 2>/dev/null || true + echo "Images cleaned!" + + install_docker_buildx + install_nvidia_toolkit + build_docker_image +} + +function install_remote_image { + echo "Installing Docker image from remote registry: $REMOTE_IMAGE" + echo "Removing existing containers to ensure a clean install..." + clean_container + sudo docker pull "$REMOTE_IMAGE" + sudo docker tag "$REMOTE_IMAGE" "$DEPLOY_CONTAINER" + sudo docker tag "$REMOTE_IMAGE" "$CACHE_FROM" 2>/dev/null || true + echo "Docker image install complete!" +} + +# Clean up if requested +if [ "$CLEAN" = true ]; then + clean_container + exit 0 +fi + +# Build if requested +if [ "$BUILD" = true ]; then + build_with_cleanup +fi + +if [ "$INSTALL" = true ]; then + install_remote_image +fi + +if [ "$DOCKER_HUB_PUSH" = true ]; then + echo "Pushing Docker image to Docker Hub: docker.io/nvgear/${PROJECT_SLUG}:latest" + sudo docker tag $DEPLOY_CONTAINER docker.io/nvgear/${PROJECT_SLUG}:latest + sudo docker push docker.io/nvgear/${PROJECT_SLUG}:latest + echo "Docker image pushed to Docker Hub!" + exit 0 +fi + +# Setup X11 display forwarding +setup_x11() { + # Set display if missing and X server available + if [ -z "$DISPLAY" ] && command -v xset >/dev/null 2>&1 && xset q >/dev/null 2>&1; then + export DISPLAY=:1 + echo "No DISPLAY set, using :1" + fi + + # Enable X11 forwarding if possible + if [ -n "$DISPLAY" ] && command -v xhost >/dev/null 2>&1 && xhost +local:docker 2>/dev/null; then + echo "X11 forwarding enabled" + return 0 + else + echo "Headless environment - X11 disabled" + export DISPLAY="" + return 1 + fi +} + +X11_ENABLED=false +setup_x11 && X11_ENABLED=true + +# Mount entire /dev directory for dynamic device access (including hidraw for joycon) +# This allows JoyCon controllers to be detected even when connected after container launch +sudo chmod g+r+w /dev/input/* + +# Detect GPU setup and set appropriate environment variables +echo "Detecting GPU setup..." +GPU_ENV_VARS="" + +# Check if we have both integrated and discrete GPUs (hybrid/Optimus setup) +HAS_AMD_GPU=$(lspci | grep -i "vga\|3d\|display" | grep -i amd | wc -l) +HAS_INTEL_GPU=$(lspci | grep -i "vga\|3d\|display" | grep -i intel | wc -l) +HAS_NVIDIA_GPU=$(lspci | grep -i "vga\|3d\|display" | grep -i nvidia | wc -l) + +if [[ "$HAS_INTEL_GPU" -gt 0 ]] || [[ "$HAS_AMD_GPU" -gt 0 ]] && [[ "$HAS_NVIDIA_GPU" -gt 0 ]]; then + echo "Detected hybrid GPU setup (Intel/AMD integrated + NVIDIA discrete)" + echo "Setting NVIDIA Optimus environment variables for proper rendering offload..." + GPU_ENV_VARS="-e __NV_PRIME_RENDER_OFFLOAD=1 \ + -e __VK_LAYER_NV_optimus=NVIDIA_only" +else + GPU_ENV_VARS="" +fi + +# Set GPU runtime based on architecture +if is_arm64; then + echo "Detected ARM64 architecture (Jetson Orin), using device access instead of nvidia runtime..." + GPU_RUNTIME_ARGS="--device /dev/nvidia0 --device /dev/nvidiactl --device /dev/nvidia-modeset --device /dev/nvidia-uvm --device /dev/nvidia-uvm-tools" +else + GPU_RUNTIME_ARGS="--gpus all --runtime=nvidia" +fi + +# Common Docker run parameters +DOCKER_RUN_ARGS="--hostname $HOSTNAME \ + --user $USERNAME \ + --group-add $INPUT_GID \ + $GPU_RUNTIME_ARGS \ + --ipc=host \ + --network=host \ + --privileged \ + --device=/dev \ + $GPU_ENV_VARS \ + -p 5678:5678 \ + -e DISPLAY=$DISPLAY \ + -e NVIDIA_VISIBLE_DEVICES=all \ + -e NVIDIA_DRIVER_CAPABILITIES=graphics,compute,utility \ + -e __GLX_VENDOR_LIBRARY_NAME=nvidia \ + -e USERNAME=$USERNAME \ + -e GR00T_WBC_DIR="$DOCKER_HOME_DIR/Projects/$WORKTREE_NAME" \ + -v /dev/bus/usb:/dev/bus/usb \ + -v /tmp/.X11-unix:/tmp/.X11-unix \ + -v $HOME/.ssh:$DOCKER_HOME_DIR/.ssh \ + -v $HOME/.gear:$DOCKER_HOME_DIR/.gear \ + -v $HOME/.Xauthority:$DOCKER_HOME_DIR/.Xauthority \ + -v $PROJECT_DIR:$DOCKER_HOME_DIR/Projects/$(basename "$PROJECT_DIR") + --device /dev/snd \ + --group-add audio \ + -e PULSE_SERVER=unix:/run/user/$(id -u)/pulse/native \ + -v /run/user/$(id -u)/pulse/native:/run/user/$(id -u)/pulse/native \ + -v $HOME/.config/pulse/cookie:/home/$USERNAME/.config/pulse/cookie" + +# Check if RL mode first, then handle container logic +if [ "$DEPLOY" = true ]; then + # Deploy mode - use gr00t_wbc-deploy-${USERNAME} container + + # Always clean up old processes and create a new container + # Kill all gr00t_wbc processes across containers to prevent message passing conflicts + "$SCRIPT_DIR/kill_gr00t_wbc_processors.sh" + echo "Creating new deploy container..." + + # Clean up old processes and create a fresh deploy container + # Remove existing deploy container if it exists + if sudo docker ps -a --format '{{.Names}}' | grep -q "^$DEPLOY_CONTAINER$"; then + echo "Removing existing deploy container..." + sudo docker rm -f $DEPLOY_CONTAINER + fi + sudo docker run -it --rm $DOCKER_RUN_ARGS \ + -w $DOCKER_HOME_DIR/Projects/$WORKTREE_NAME \ + --name $DEPLOY_CONTAINER \ + $DEPLOY_CONTAINER \ + /bin/bash -ic 'exec "$0" "$@"' \ + "${DOCKER_HOME_DIR}/Projects/${WORKTREE_NAME}/docker/entrypoint/deploy.sh" \ + "${EXTRA_ARGS[@]}" +else + # Bash mode - use gr00t_wbc-bash-${USERNAME} container + if sudo docker ps -a --format '{{.Names}}' | grep -q "^$BASH_CONTAINER$"; then + echo "Bash container exists, starting it..." + sudo docker start $BASH_CONTAINER > /dev/null + sudo docker exec -it $BASH_CONTAINER /bin/bash + else + echo "Creating new bash container with auto-install gr00t_wbc..." + sudo docker run -it $DOCKER_RUN_ARGS \ + -w $DOCKER_HOME_DIR/Projects/$WORKTREE_NAME \ + --name $BASH_CONTAINER \ + $DEPLOY_CONTAINER \ + /bin/bash -ic 'exec "$0"' \ + "${DOCKER_HOME_DIR}/Projects/${WORKTREE_NAME}/docker/entrypoint/bash.sh" + fi +fi + +# Cleanup X11 permissions +$X11_ENABLED && xhost -local:docker 2>/dev/null diff --git a/external_dependencies/unitree_sdk2_python/.gitignore b/external_dependencies/unitree_sdk2_python/.gitignore new file mode 100644 index 0000000..001de9a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/.gitignore @@ -0,0 +1,39 @@ +# Generated by MacOS +.DS_Store + +# Generated by Windows +Thumbs.db + +# Applications +*.app +*.exe +*.war + +# Large media files +*.mp4 +*.tiff +*.avi +*.flv +*.mov +*.wmv +*.jpg +*.png + +# VS Code +.vscode + +# other +*.egg-info +__pycache__ + +# IDEs +.idea + +# cache +.pytest_cache + +# JetBrains IDE +.idea/ + +# python +dist/ \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/LICENSE b/external_dependencies/unitree_sdk2_python/LICENSE new file mode 100644 index 0000000..42d2e64 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/external_dependencies/unitree_sdk2_python/README zh.md b/external_dependencies/unitree_sdk2_python/README zh.md new file mode 100644 index 0000000..a7e6a8c --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/README zh.md @@ -0,0 +1,121 @@ +# unitree_sdk2_python +unitree_sdk2 python 接口 + +# 安装 +## 依赖 +- python>=3.8 +- cyclonedds==0.10.2 +- numpy +- opencv-python + +## 安装 unitree_sdk2_python +在终端中执行： +```bash +cd ~ +sudo apt install python3-pip +git clone https://github.com/unitreerobotics/unitree_sdk2_python.git +cd unitree_sdk2_python +pip3 install -e . +``` +## FAQ +##### 1. `pip3 install -e .` 遇到报错 +```bash +Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH +``` +该错误提示找不到 cyclonedds 路径。首先编译安装cyclonedds： +```bash +cd ~ +git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x +cd cyclonedds && mkdir build install && cd build +cmake .. -DCMAKE_INSTALL_PREFIX=../install +cmake --build . --target install +``` +进入 unitree_sdk2_python 目录，设置 `CYCLONEDDS_HOME` 为刚刚编译好的 cyclonedds 所在路径，再安装 unitree_sdk2_python +```bash +cd ~/unitree_sdk2_python +export CYCLONEDDS_HOME="~/cyclonedds/install" +pip3 install -e . +``` + +详细见： +https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries + +# 使用 +python sdk2 接口与 unitree_skd2的接口保持一致，通过请求响应或订阅发布topic实现机器人的状态获取和控制。相应的例程位于`/example`目录下。在运行例程前，需要根据文档 https://support.unitree.com/home/zh/developer/Quick_start 配置好机器人的网络连接。 +## DDS通讯 +在终端中执行： +```bash +python3 ./example/helloworld/publisher.py +``` +打开新的终端，执行： +```bash +python3 ./example/helloworld/subscriber.py +``` +可以看到终端输出的数据信息。`publisher.py` 和 `subscriber.py` 传输的数据定义在 `user_data.py` 中，用户可以根据需要自行定义需要传输的数据结构。 + +## 高层状态和控制 +高层接口的数据结构和控制方式与unitree_sdk2一致。具体可见：https://support.unitree.com/home/zh/developer/sports_services +### 高层状态 +终端中执行： +```bash +python3 ./example/high_level/read_highstate.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 +### 高层控制 +终端中执行： +```bash +python3 ./example/high_level/sportmode_test.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 +该例程提供了几种测试方法，可根据测试需要选择: +```python +test.StandUpDown() # 站立趴下 +# test.VelocityMove() # 速度控制 +# test.BalanceAttitude() # 姿态控制 +# test.TrajectoryFollow() # 轨迹跟踪 +# test.SpecialMotions() # 特殊动作 + +``` +## 底层状态和控制 +底层接口的数据结构和控制方式与unitree_sdk2一致。具体可见：https://support.unitree.com/home/zh/developer/Basic_services +### 底层状态 +终端中执行： +```bash +python3 ./example/low_level/lowlevel_control.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。程序会输出右前腿hip关节的状态、IMU和电池电压信息。 + +### 底层电机控制 +首先使用 app 关闭高层运动服务(sport_mode)，否则会导致指令冲突。 +终端中执行： +```bash +python3 ./example/low_level/lowlevel_control.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。左后腿 hip 关节会保持在0角度 (安全起见，这里设置 kp=10, kd=1)，左后腿 calf 关节将持续输出 1Nm 的转矩。 + +## 遥控器状态获取 +终端中执行： +```bash +python3 ./example/wireless_controller/wireless_controller.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 +终端将输出每一个按键的状态。对于遥控器按键的定义和数据结构可见： https://support.unitree.com/home/zh/developer/Get_remote_control_status + +## 前置摄像头 +使用opencv获取前置摄像头(确保在有图形界面的系统下运行, 按 ESC 退出程序): +```bash +python3 ./example/front_camera/camera_opencv.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 + +## 避障开关 +```bash +python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。机器人将循环开启和关闭避障功能。关于避障服务，详细见 https://support.unitree.com/home/zh/developer/ObstaclesAvoidClient + +## 灯光音量控制 +```bash +python3 ./example/vui_client/vui_client_example.py enp2s0 +``` +其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。机器人将循环调节音量和灯光亮度。该接口详细见 https://support.unitree.com/home/zh/developer/VuiClient diff --git a/external_dependencies/unitree_sdk2_python/README.md b/external_dependencies/unitree_sdk2_python/README.md new file mode 100644 index 0000000..fb799c2 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/README.md @@ -0,0 +1,118 @@ +# unitree_sdk2_python +Python interface for unitree sdk2 + +# Installation +## Dependencies +- Python >= 3.8 +- cyclonedds == 0.10.2 +- numpy +- opencv-python +## Install unitree_sdk2_python + +```bash +pip install unitree_sdk2py +``` + +### Installing from source +Execute the following commands in the terminal: +```bash +cd ~ +sudo apt install python3-pip +git clone https://github.com/unitreerobotics/unitree_sdk2_python.git +cd unitree_sdk2_python +pip3 install -e . +``` +## FAQ +##### 1. Error when `pip3 install -e .`: +```bash +Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH +``` +This error mentions that the cyclonedds path could not be found. First compile and install cyclonedds: + +```bash +cd ~ +git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x +cd cyclonedds && mkdir build install && cd build +cmake .. -DCMAKE_INSTALL_PREFIX=../install +cmake --build . --target install +``` +Enter the unitree_sdk2_python directory, set `CYCLONEDDS_HOME` to the path of the cyclonedds you just compiled, and then install unitree_sdk2_python. +```bash +cd ~/unitree_sdk2_python +export CYCLONEDDS_HOME="~/cyclonedds/install" +pip3 install -e . +``` +For details, see: https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries + +# Usage +The Python sdk2 interface maintains consistency with the unitree_sdk2 interface, achieving robot status acquisition and control through request-response or topic subscription/publishing. Example programs are located in the `/example` directory. Before running the examples, configure the robot's network connection as per the instructions in the document at https://support.unitree.com/home/en/developer/Quick_start. +## DDS Communication +In the terminal, execute: +```bash +python3 ./example/helloworld/publisher.py +``` +Open a new terminal and execute: +```bash +python3 ./example/helloworld/subscriber.py +``` +You will see the data output in the terminal. The data structure transmitted between `publisher.py` and `subscriber.py` is defined in `user_data.py`, and users can define the required data structure as needed. +## High-Level Status and Control +The high-level interface maintains consistency with unitree_sdk2 in terms of data structure and control methods. For detailed information, refer to https://support.unitree.com/home/en/developer/sports_services. +### High-Level Status +Execute the following command in the terminal: +```bash +python3 ./example/high_level/read_highstate.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected,. +### High-Level Control +Execute the following command in the terminal: +```bash +python3 ./example/high_level/sportmode_test.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected. This example program provides several test methods, and you can choose the required tests as follows: +```python +test.StandUpDown() # Stand up and lie down +# test.VelocityMove() # Velocity control +# test.BalanceAttitude() # Attitude control +# test.TrajectoryFollow() # Trajectory tracking +# test.SpecialMotions() # Special motions +``` +## Low-Level Status and Control +The low-level interface maintains consistency with unitree_sdk2 in terms of data structure and control methods. For detailed information, refer to https://support.unitree.com/home/en/developer/Basic_services. +### Low-Level Status +Execute the following command in the terminal: +```bash +python3 ./example/low_level/lowlevel_control.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected. The program will output the state of the right front leg hip joint, IMU, and battery voltage. +### Low-Level Motor Control +First, use the app to turn off the high-level motion service (sport_mode) to prevent conflicting instructions. +Execute the following command in the terminal: +```bash +python3 ./example/low_level/lowlevel_control.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected. The left hind leg hip joint will maintain a 0-degree position (for safety, set kp=10, kd=1), and the left hind leg calf joint will continuously output 1Nm of torque. +## Wireless Controller Status +Execute the following command in the terminal: +```bash +python3 ./example/wireless_controller/wireless_controller.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected. The terminal will output the status of each key. For the definition and data structure of the remote control keys, refer to https://support.unitree.com/home/en/developer/Get_remote_control_status. +## Front Camera +Use OpenCV to obtain the front camera (ensure to run on a system with a graphical interface, and press ESC to exit the program): +```bash +python3 ./example/front_camera/camera_opencv.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected. + +## Obstacle Avoidance Switch +```bash +python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected. The robot will cycle obstacle avoidance on and off. For details on the obstacle avoidance service, see https://support.unitree.com/home/en/developer/ObstaclesAvoidClient + +## Light and volume control +```bash +python3 ./example/vui_client/vui_client_example.py enp2s0 +``` +Replace `enp2s0` with the name of the network interface to which the robot is connected.T he robot will cycle the volume and light brightness. The interface is detailed at https://support.unitree.com/home/en/developer/VuiClient \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/b2/camera/camera_opencv.py b/external_dependencies/unitree_sdk2_python/example/b2/camera/camera_opencv.py new file mode 100644 index 0000000..3fafcef --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2/camera/camera_opencv.py @@ -0,0 +1,51 @@ +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient +from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient +import cv2 +import numpy as np +import sys + +def display_image(window_name, data): + # If data is a list, we need to convert it to a bytes object + if isinstance(data, list): + data = bytes(data) + + # Now convert to numpy image + image_data = np.frombuffer(data, dtype=np.uint8) + image = cv2.imdecode(image_data, cv2.IMREAD_COLOR) + if image is not None: + cv2.imshow(window_name, image) + +if __name__ == "__main__": + if len(sys.argv) > 1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + frontCameraClient = FrontVideoClient() # Create a front camera video client + frontCameraClient.SetTimeout(3.0) + frontCameraClient.Init() + + backCameraClient = BackVideoClient() # Create a back camera video client + backCameraClient.SetTimeout(3.0) + backCameraClient.Init() + + # Loop to continuously fetch images + while True: + # Get front camera image + front_code, front_data = frontCameraClient.GetImageSample() + if front_code == 0: + display_image("Front Camera", front_data) + + # Get back camera image + back_code, back_data = backCameraClient.GetImageSample() + if back_code == 0: + display_image("Back Camera", back_data) + + # Press ESC to stop + if cv2.waitKey(20) == 27: + break + + # Clean up windows + cv2.destroyAllWindows() + diff --git a/external_dependencies/unitree_sdk2_python/example/b2/camera/capture_image.py b/external_dependencies/unitree_sdk2_python/example/b2/camera/capture_image.py new file mode 100644 index 0000000..dcfaad6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2/camera/capture_image.py @@ -0,0 +1,51 @@ +import time +import os +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient +from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient + +if __name__ == "__main__": + if len(sys.argv) > 1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + # 创建前置相机客户端 + front_client = FrontVideoClient() + front_client.SetTimeout(3.0) + front_client.Init() + + # 创建后置相机客户端 + back_client = BackVideoClient() + back_client.SetTimeout(3.0) + back_client.Init() + + print("##################Get Front Camera Image###################") + # 获取前置相机图像 + front_code, front_data = front_client.GetImageSample() + + if front_code != 0: + print("Get front camera image error. Code:", front_code) + else: + front_image_name = "./front_img.jpg" + print("Front Image Saved as:", front_image_name) + + with open(front_image_name, "+wb") as f: + f.write(bytes(front_data)) + + print("##################Get Back Camera Image###################") + # 获取后置相机图像 + back_code, back_data = back_client.GetImageSample() + + if back_code != 0: + print("Get back camera image error. Code:", back_code) + else: + back_image_name = "./back_img.jpg" + print("Back Image Saved as:", back_image_name) + + with open(back_image_name, "+wb") as f: + f.write(bytes(back_data)) + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/b2/high_level/b2_sport_client.py b/external_dependencies/unitree_sdk2_python/example/b2/high_level/b2_sport_client.py new file mode 100644 index 0000000..695d28e --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2/high_level/b2_sport_client.py @@ -0,0 +1,105 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.b2.sport.sport_client import SportClient +import math +from dataclasses import dataclass + +@dataclass +class TestOption: + name: str + id: int + +option_list = [ + TestOption(name="damp", id=0), + TestOption(name="stand_up", id=1), + TestOption(name="stand_down", id=2), + TestOption(name="move forward", id=3), + TestOption(name="move lateral", id=4), + TestOption(name="move rotate", id=5), + TestOption(name="stop_move", id=6), + TestOption(name="switch_gait", id=7), + TestOption(name="switch_gait", id=8), + TestOption(name="recovery", id=9), + TestOption(name="balanced stand", id=10) +] + +class UserInterface: + def __init__(self): + self.test_option_ = None + + def convert_to_int(self, input_str): + try: + return int(input_str) + except ValueError: + return None + + def terminal_handle(self): + input_str = input("Enter id or name: \n") + + if input_str == "list": + self.test_option_.name = None + self.test_option_.id = None + for option in option_list: + print(f"{option.name}, id: {option.id}") + return + + for option in option_list: + if input_str == option.name or self.convert_to_int(input_str) == option.id: + self.test_option_.name = option.name + self.test_option_.id = option.id + print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}") + return + + print("No matching test option found.") + +if __name__ == "__main__": + + if len(sys.argv) < 2: + print(f"Usage: python3 {sys.argv[0]} networkInterface") + sys.exit(-1) + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + ChannelFactoryInitialize(0, sys.argv[1]) + + test_option = TestOption(name=None, id=None) + user_interface = UserInterface() + user_interface.test_option_ = test_option + + sport_client = SportClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + + print("Input \"list\" to list all test option ...") + + while True: + user_interface.terminal_handle() + + print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}") + + if test_option.id == 0: + sport_client.Damp() + elif test_option.id == 1: + sport_client.StandUp() + elif test_option.id == 2: + sport_client.StandDown() + elif test_option.id == 3: + sport_client.Move(0.3,0,0) + elif test_option.id == 4: + sport_client.Move(0,0.3,0) + elif test_option.id == 5: + sport_client.Move(0,0,0.5) + elif test_option.id == 6: + sport_client.StopMove() + elif test_option.id == 7: + sport_client.SwitchGait(0) + elif test_option.id == 8: + sport_client.SwitchGait(1) + elif test_option.id == 9: + sport_client.RecoveryStand() + elif test_option.id == 10: + sport_client.BalanceStand() + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/b2/low_level/b2_stand_example.py b/external_dependencies/unitree_sdk2_python/example/b2/low_level/b2_stand_example.py new file mode 100644 index 0000000..a091630 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2/low_level/b2_stand_example.py @@ -0,0 +1,175 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ +from unitree_sdk2py.utils.thread import RecurrentThread +import unitree_legged_const as b2 +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient +from unitree_sdk2py.b2.sport.sport_client import SportClient + +from unitree_sdk2py.utils.crc import CRC + +class Custom: + def __init__(self): + self.Kp = 1000.0 + self.Kd = 10.0 + self.time_consume = 0 + self.rate_count = 0 + self.sin_count = 0 + self.motiontime = 0 + self.dt = 0.002 + + self.low_cmd = unitree_go_msg_dds__LowCmd_() + self.low_state = None + + self.targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65] + + self.targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3] + + self.targetPos_3 = [-0.5, 1.36, -2.65, 0.5, 1.36, -2.65, + -0.5, 1.36, -2.65, 0.5, 1.36, -2.65] + + self.startPos = [0.0] * 12 + self.duration_1 = 500 + self.duration_2 = 900 + self.duration_3 = 1000 + self.duration_4 = 900 + self.percent_1 = 0 + self.percent_2 = 0 + self.percent_3 = 0 + self.percent_4 = 0 + + self.firstRun = True + self.done = False + + # thread handling + self.lowCmdWriteThreadPtr = None + + self.crc = CRC() + + def Init(self): + self.InitLowCmd() + + # create publisher # + self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10) + + self.sc = SportClient() + self.sc.SetTimeout(5.0) + self.sc.Init() + + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.sc.StandDown() + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=0.002, target=self.LowCmdWrite, name="writebasiccmd" + ) + self.lowCmdWriteThreadPtr.Start() + + def InitLowCmd(self): + self.low_cmd.head[0] = 0xFE + self.low_cmd.head[1] = 0xEF + self.low_cmd.level_flag = 0xFF + self.low_cmd.gpio = 0 + for i in range(20): + self.low_cmd.motor_cmd[i].mode = 0x01 + self.low_cmd.motor_cmd[i].q= b2.PosStopF + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = b2.VelStopF + self.low_cmd.motor_cmd[i].kd = 0 + self.low_cmd.motor_cmd[i].tau = 0 + + def LowStateMessageHandler(self, msg: LowState_): + self.low_state = msg + + def LowCmdWrite(self): + + if self.firstRun: + for i in range(12): + self.startPos[i] = self.low_state.motor_state[i].q + self.firstRun = False + + self.percent_1 += 1.0 / self.duration_1 + self.percent_1 = min(self.percent_1, 1) + if self.percent_1 < 1: + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self.targetPos_1[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 <= 1): + self.percent_2 += 1.0 / self.duration_2 + self.percent_2 = min(self.percent_2, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self.targetPos_1[i] + self.percent_2 * self.targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1): + self.percent_3 += 1.0 / self.duration_3 + self.percent_3 = min(self.percent_3, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = self.targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1): + self.percent_4 += 1.0 / self.duration_4 + self.percent_4 = min(self.percent_4, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self.targetPos_2[i] + self.percent_4 * self.targetPos_3[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + if custom.percent_4 == 1.0: + time.sleep(1) + print("Done!") + sys.exit(-1) + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/b2/low_level/unitree_legged_const.py b/external_dependencies/unitree_sdk2_python/example/b2/low_level/unitree_legged_const.py new file mode 100644 index 0000000..153a051 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2/low_level/unitree_legged_const.py @@ -0,0 +1,20 @@ +LegID = { + "FR_0": 0, # Front right hip + "FR_1": 1, # Front right thigh + "FR_2": 2, # Front right calf + "FL_0": 3, + "FL_1": 4, + "FL_2": 5, + "RR_0": 6, + "RR_1": 7, + "RR_2": 8, + "RL_0": 9, + "RL_1": 10, + "RL_2": 11, +} + +HIGHLEVEL = 0xEE +LOWLEVEL = 0xFF +TRIGERLEVEL = 0xF0 +PosStopF = 2.146e9 +VelStopF = 16000.0 diff --git a/external_dependencies/unitree_sdk2_python/example/b2w/camera/camera_opencv.py b/external_dependencies/unitree_sdk2_python/example/b2w/camera/camera_opencv.py new file mode 100644 index 0000000..3fafcef --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2w/camera/camera_opencv.py @@ -0,0 +1,51 @@ +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient +from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient +import cv2 +import numpy as np +import sys + +def display_image(window_name, data): + # If data is a list, we need to convert it to a bytes object + if isinstance(data, list): + data = bytes(data) + + # Now convert to numpy image + image_data = np.frombuffer(data, dtype=np.uint8) + image = cv2.imdecode(image_data, cv2.IMREAD_COLOR) + if image is not None: + cv2.imshow(window_name, image) + +if __name__ == "__main__": + if len(sys.argv) > 1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + frontCameraClient = FrontVideoClient() # Create a front camera video client + frontCameraClient.SetTimeout(3.0) + frontCameraClient.Init() + + backCameraClient = BackVideoClient() # Create a back camera video client + backCameraClient.SetTimeout(3.0) + backCameraClient.Init() + + # Loop to continuously fetch images + while True: + # Get front camera image + front_code, front_data = frontCameraClient.GetImageSample() + if front_code == 0: + display_image("Front Camera", front_data) + + # Get back camera image + back_code, back_data = backCameraClient.GetImageSample() + if back_code == 0: + display_image("Back Camera", back_data) + + # Press ESC to stop + if cv2.waitKey(20) == 27: + break + + # Clean up windows + cv2.destroyAllWindows() + diff --git a/external_dependencies/unitree_sdk2_python/example/b2w/camera/capture_image.py b/external_dependencies/unitree_sdk2_python/example/b2w/camera/capture_image.py new file mode 100644 index 0000000..dcfaad6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2w/camera/capture_image.py @@ -0,0 +1,51 @@ +import time +import os +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient +from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient + +if __name__ == "__main__": + if len(sys.argv) > 1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + # 创建前置相机客户端 + front_client = FrontVideoClient() + front_client.SetTimeout(3.0) + front_client.Init() + + # 创建后置相机客户端 + back_client = BackVideoClient() + back_client.SetTimeout(3.0) + back_client.Init() + + print("##################Get Front Camera Image###################") + # 获取前置相机图像 + front_code, front_data = front_client.GetImageSample() + + if front_code != 0: + print("Get front camera image error. Code:", front_code) + else: + front_image_name = "./front_img.jpg" + print("Front Image Saved as:", front_image_name) + + with open(front_image_name, "+wb") as f: + f.write(bytes(front_data)) + + print("##################Get Back Camera Image###################") + # 获取后置相机图像 + back_code, back_data = back_client.GetImageSample() + + if back_code != 0: + print("Get back camera image error. Code:", back_code) + else: + back_image_name = "./back_img.jpg" + print("Back Image Saved as:", back_image_name) + + with open(back_image_name, "+wb") as f: + f.write(bytes(back_data)) + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/b2w/high_level/b2w_sport_client.py b/external_dependencies/unitree_sdk2_python/example/b2w/high_level/b2w_sport_client.py new file mode 100644 index 0000000..e324f75 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2w/high_level/b2w_sport_client.py @@ -0,0 +1,101 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.b2.sport.sport_client import SportClient +import math +from dataclasses import dataclass + +@dataclass +class TestOption: + name: str + id: int + +option_list = [ + TestOption(name="damp", id=0), + TestOption(name="stand_up", id=1), + TestOption(name="stand_down", id=2), + TestOption(name="move forward", id=3), + TestOption(name="move lateral", id=4), + TestOption(name="move rotate", id=5), + TestOption(name="stop_move", id=6), + TestOption(name="switch_gait", id=7), + TestOption(name="switch_gait", id=8), + TestOption(name="recovery", id=9) +] + +class UserInterface: + def __init__(self): + self.test_option_ = None + + def convert_to_int(self, input_str): + try: + return int(input_str) + except ValueError: + return None + + def terminal_handle(self): + input_str = input("Enter id or name: \n") + + if input_str == "list": + self.test_option_.name = None + self.test_option_.id = None + for option in option_list: + print(f"name: {option.name}, id: {option.id}") + return + + for option in option_list: + if input_str == option.name or self.convert_to_int(input_str) == option.id: + self.test_option_.name = option.name + self.test_option_.id = option.id + print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}") + return + + print("No matching test option found.") + +if __name__ == "__main__": + if len(sys.argv) < 2: + print(f"Usage: python3 {sys.argv[0]} networkInterface") + sys.exit(-1) + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + ChannelFactoryInitialize(0, sys.argv[1]) + + test_option = TestOption(name=None, id=None) + user_interface = UserInterface() + user_interface.test_option_ = test_option + + sport_client = SportClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + + print("Input \"list\" to list all test option ...") + + while True: + user_interface.terminal_handle() + + print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}\n") + + if test_option.id == 0: + sport_client.Damp() + elif test_option.id == 1: + sport_client.StandUp() + elif test_option.id == 2: + sport_client.StandDown() + elif test_option.id == 3: + sport_client.Move(0.3,0,0) + elif test_option.id == 4: + sport_client.Move(0,0.3,0) + elif test_option.id == 5: + sport_client.Move(0,0,0.5) + elif test_option.id == 6: + sport_client.StopMove() + elif test_option.id == 7: + sport_client.SwitchGait(0) + elif test_option.id == 8: + sport_client.SwitchGait(1) + elif test_option.id == 9: + sport_client.RecoveryStand() + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/b2w/low_level/b2w_stand_example.py b/external_dependencies/unitree_sdk2_python/example/b2w/low_level/b2w_stand_example.py new file mode 100644 index 0000000..b535059 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2w/low_level/b2w_stand_example.py @@ -0,0 +1,196 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +import unitree_legged_const as b2w +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient +from unitree_sdk2py.b2.sport.sport_client import SportClient + +class Custom: + def __init__(self): + self.Kp = 1000.0 + self.Kd = 10.0 + self.time_consume = 0 + self.rate_count = 0 + self.sin_count = 0 + self.motiontime = 0 + self.dt = 0.002 + + self.low_cmd = unitree_go_msg_dds__LowCmd_() + self.low_state = None + + self.targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65] + + self.targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3] + + self.targetPos_3 = [-0.65, 1.36, -2.65, 0.65, 1.36, -2.65, + -0.65, 1.36, -2.65, 0.65, 1.36, -2.65] + + self.startPos = [0.0] * 12 + self.duration_1 = 800 + self.duration_2 = 800 + self.duration_3 = 2000 + self.duration_4 = 1500 + self.percent_1 = 0 + self.percent_2 = 0 + self.percent_3 = 0 + self.percent_4 = 0 + + self.firstRun = True + self.done = False + + # thread handling + self.lowCmdWriteThreadPtr = None + + self.crc = CRC() + + def Init(self): + self.InitLowCmd() + + # create publisher # + self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10) + + self.sc = SportClient() + self.sc.SetTimeout(5.0) + self.sc.Init() + + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.sc.StandDown() + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + name="writebasiccmd", interval=self.dt, target=self.LowCmdWrite, + ) + self.lowCmdWriteThreadPtr.Start() + + def InitLowCmd(self): + self.low_cmd.head[0] = 0xFE + self.low_cmd.head[1] = 0xEF + self.low_cmd.level_flag = 0xFF + self.low_cmd.gpio = 0 + for i in range(20): + self.low_cmd.motor_cmd[i].mode = 0x01 # (PMSM) mode + self.low_cmd.motor_cmd[i].q = b2w.PosStopF + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = b2w.VelStopF + self.low_cmd.motor_cmd[i].kd = 0 + self.low_cmd.motor_cmd[i].tau = 0 + + def LowStateMessageHandler(self, msg: LowState_): + self.low_state = msg + + def LowCmdWrite(self): + if self.firstRun: + for i in range(12): + self.startPos[i] = self.low_state.motor_state[i].q + self.firstRun = False + + self.percent_1 += 1.0 / self.duration_1 + self.percent_1 = min(self.percent_1, 1) + if self.percent_1 < 1: + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self.targetPos_1[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 <= 1): + self.percent_2 += 1.0 / self.duration_2 + self.percent_2 = min(self.percent_2, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self.targetPos_1[i] + self.percent_2 * self.targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1): + self.percent_3 += 1.0 / self.duration_3 + self.percent_3 = min(self.percent_3, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = self.targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if self.percent_3 < 0.4: + for i in range(12, 16): + self.low_cmd.motor_cmd[i].q = 0 + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = 3 + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if 0.4 <= self.percent_3 < 0.8: + for i in range(12, 16): + self.low_cmd.motor_cmd[i].q = 0 + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = -3 + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if self.percent_3 >= 0.8: + for i in range(12, 16): + self.low_cmd.motor_cmd[i].q = 0 + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1): + self.percent_4 += 1.0 / self.duration_4 + self.percent_4 = min(self.percent_4, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self.targetPos_2[i] + self.percent_4 * self.targetPos_3[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + if custom.percent_4 == 1.0: + time.sleep(1) + print("Done!") + sys.exit(-1) + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/b2w/low_level/unitree_legged_const.py b/external_dependencies/unitree_sdk2_python/example/b2w/low_level/unitree_legged_const.py new file mode 100644 index 0000000..7943e31 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/b2w/low_level/unitree_legged_const.py @@ -0,0 +1,24 @@ +LegID = { + "FR_0": 0, # Front right hip + "FR_1": 1, # Front right thigh + "FR_2": 2, # Front right calf + "FL_0": 3, + "FL_1": 4, + "FL_2": 5, + "RR_0": 6, + "RR_1": 7, + "RR_2": 8, + "RL_0": 9, + "RL_1": 10, + "RL_2": 11, + "FR_w": 12, # Front right wheel + "FL_w": 13, # Front left wheel + "RR_w": 14, # Rear right wheel + "RL_w": 15, # Rear left wheel +} + +HIGHLEVEL = 0xEE +LOWLEVEL = 0xFF +TRIGERLEVEL = 0xF0 +PosStopF = 2.146e9 +VelStopF = 16000.0 diff --git a/external_dependencies/unitree_sdk2_python/example/g1/audio/g1_audio_client_example.py b/external_dependencies/unitree_sdk2_python/example/g1/audio/g1_audio_client_example.py new file mode 100644 index 0000000..6e0cc25 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/audio/g1_audio_client_example.py @@ -0,0 +1,44 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.g1.audio.g1_audio_client import AudioClient +from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient + +if __name__ == "__main__": + if len(sys.argv) < 2: + print(f"Usage: python3 {sys.argv[0]} networkInterface") + sys.exit(-1) + + ChannelFactoryInitialize(0, sys.argv[1]) + + audio_client = AudioClient() + audio_client.SetTimeout(10.0) + audio_client.Init() + + sport_client = LocoClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + + ret = audio_client.GetVolume() + print("debug GetVolume: ",ret) + + audio_client.SetVolume(85) + + ret = audio_client.GetVolume() + print("debug GetVolume: ",ret) + + sport_client.WaveHand() + + audio_client.TtsMaker("大家好!我是宇树科技人形机器人。语音开发测试例程运行成功！ 很高兴认识你！",0) + time.sleep(8) + audio_client.TtsMaker("接下来测试灯带开发例程！",0) + time.sleep(1) + audio_client.LedControl(255,0,0) + time.sleep(1) + audio_client.LedControl(0,255,0) + time.sleep(1) + audio_client.LedControl(0,0,255) + + time.sleep(3) + audio_client.TtsMaker("测试完毕，谢谢大家！",0) + diff --git a/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm5_sdk_dds_example.py b/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm5_sdk_dds_example.py new file mode 100644 index 0000000..6090807 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm5_sdk_dds_example.py @@ -0,0 +1,192 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient + +import numpy as np + +kPi = 3.141592654 +kPi_2 = 1.57079632 + +class G1JointIndex: + # Left leg + LeftHipPitch = 0 + LeftHipRoll = 1 + LeftHipYaw = 2 + LeftKnee = 3 + LeftAnklePitch = 4 + LeftAnkleB = 4 + LeftAnkleRoll = 5 + LeftAnkleA = 5 + + # Right leg + RightHipPitch = 6 + RightHipRoll = 7 + RightHipYaw = 8 + RightKnee = 9 + RightAnklePitch = 10 + RightAnkleB = 10 + RightAnkleRoll = 11 + RightAnkleA = 11 + + WaistYaw = 12 + WaistRoll = 13 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistA = 13 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistPitch = 14 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistB = 14 # NOTE: INVALID for g1 23dof/29dof with waist locked + + # Left arm + LeftShoulderPitch = 15 + LeftShoulderRoll = 16 + LeftShoulderYaw = 17 + LeftElbow = 18 + LeftWristRoll = 19 + LeftWristPitch = 20 # NOTE: INVALID for g1 23dof + LeftWristYaw = 21 # NOTE: INVALID for g1 23dof + + # Right arm + RightShoulderPitch = 22 + RightShoulderRoll = 23 + RightShoulderYaw = 24 + RightElbow = 25 + RightWristRoll = 26 + RightWristPitch = 27 # NOTE: INVALID for g1 23dof + RightWristYaw = 28 # NOTE: INVALID for g1 23dof + + kNotUsedJoint = 29 # NOTE: Weight + +class Custom: + def __init__(self): + self.time_ = 0.0 + self.control_dt_ = 0.02 + self.duration_ = 3.0 + self.counter_ = 0 + self.weight = 0. + self.weight_rate = 0.2 + self.kp = 60. + self.kd = 1.5 + self.dq = 0. + self.tau_ff = 0. + self.mode_machine_ = 0 + self.low_cmd = unitree_hg_msg_dds__LowCmd_() + self.low_state = None + self.first_update_low_state = False + self.crc = CRC() + self.done = False + + self.target_pos = [ + 0.0, kPi_2, 0.0, kPi_2, 0.0, + 0.0, -kPi_2, 0.0, kPi_2, 0.0, + 0.0, 0.0, 0.0 + ] + + self.arm_joints = [ + G1JointIndex.LeftShoulderPitch, G1JointIndex.LeftShoulderRoll, + G1JointIndex.LeftShoulderYaw, G1JointIndex.LeftElbow, + G1JointIndex.LeftWristRoll, + G1JointIndex.RightShoulderPitch, G1JointIndex.RightShoulderRoll, + G1JointIndex.RightShoulderYaw, G1JointIndex.RightElbow, + G1JointIndex.RightWristRoll, + G1JointIndex.WaistYaw, + G1JointIndex.WaistRoll, + G1JointIndex.WaistPitch + ] + + def Init(self): + # create publisher # + self.arm_sdk_publisher = ChannelPublisher("rt/arm_sdk", LowCmd_) + self.arm_sdk_publisher.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateHandler, 10) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=self.control_dt_, target=self.LowCmdWrite, name="control" + ) + while self.first_update_low_state == False: + time.sleep(1) + + if self.first_update_low_state == True: + self.lowCmdWriteThreadPtr.Start() + + def LowStateHandler(self, msg: LowState_): + self.low_state = msg + + if self.first_update_low_state == False: + self.first_update_low_state = True + + def LowCmdWrite(self): + self.time_ += self.control_dt_ + + if self.time_ < self.duration_ : + # [Stage 1]: set robot to zero posture + self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q = 1 # 1:Enable arm_sdk, 0:Disable arm_sdk + for i,joint in enumerate(self.arm_joints): + ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0) + self.low_cmd.motor_cmd[joint].tau = 0. + self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q + self.low_cmd.motor_cmd[joint].dq = 0. + self.low_cmd.motor_cmd[joint].kp = self.kp + self.low_cmd.motor_cmd[joint].kd = self.kd + + elif self.time_ < self.duration_ * 3 : + # [Stage 2]: lift arms up + for i,joint in enumerate(self.arm_joints): + ratio = np.clip((self.time_ - self.duration_) / (self.duration_ * 2), 0.0, 1.0) + self.low_cmd.motor_cmd[joint].tau = 0. + self.low_cmd.motor_cmd[joint].q = ratio * self.target_pos[i] + (1.0 - ratio) * self.low_state.motor_state[joint].q + self.low_cmd.motor_cmd[joint].dq = 0. + self.low_cmd.motor_cmd[joint].kp = self.kp + self.low_cmd.motor_cmd[joint].kd = self.kd + + elif self.time_ < self.duration_ * 6 : + # [Stage 3]: set robot back to zero posture + for i,joint in enumerate(self.arm_joints): + ratio = np.clip((self.time_ - self.duration_*3) / (self.duration_ * 3), 0.0, 1.0) + self.low_cmd.motor_cmd[joint].tau = 0. + self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q + self.low_cmd.motor_cmd[joint].dq = 0. + self.low_cmd.motor_cmd[joint].kp = self.kp + self.low_cmd.motor_cmd[joint].kd = self.kd + + elif self.time_ < self.duration_ * 7 : + # [Stage 4]: release arm_sdk + for i,joint in enumerate(self.arm_joints): + ratio = np.clip((self.time_ - self.duration_*6) / (self.duration_), 0.0, 1.0) + self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q = (1 - ratio) # 1:Enable arm_sdk, 0:Disable arm_sdk + + else: + self.done = True + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.arm_sdk_publisher.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + time.sleep(1) + if custom.done: + print("Done!") + sys.exit(-1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm7_sdk_dds_example.py b/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm7_sdk_dds_example.py new file mode 100644 index 0000000..6ced14f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm7_sdk_dds_example.py @@ -0,0 +1,194 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient + +import numpy as np + +kPi = 3.141592654 +kPi_2 = 1.57079632 + +class G1JointIndex: + # Left leg + LeftHipPitch = 0 + LeftHipRoll = 1 + LeftHipYaw = 2 + LeftKnee = 3 + LeftAnklePitch = 4 + LeftAnkleB = 4 + LeftAnkleRoll = 5 + LeftAnkleA = 5 + + # Right leg + RightHipPitch = 6 + RightHipRoll = 7 + RightHipYaw = 8 + RightKnee = 9 + RightAnklePitch = 10 + RightAnkleB = 10 + RightAnkleRoll = 11 + RightAnkleA = 11 + + WaistYaw = 12 + WaistRoll = 13 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistA = 13 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistPitch = 14 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistB = 14 # NOTE: INVALID for g1 23dof/29dof with waist locked + + # Left arm + LeftShoulderPitch = 15 + LeftShoulderRoll = 16 + LeftShoulderYaw = 17 + LeftElbow = 18 + LeftWristRoll = 19 + LeftWristPitch = 20 # NOTE: INVALID for g1 23dof + LeftWristYaw = 21 # NOTE: INVALID for g1 23dof + + # Right arm + RightShoulderPitch = 22 + RightShoulderRoll = 23 + RightShoulderYaw = 24 + RightElbow = 25 + RightWristRoll = 26 + RightWristPitch = 27 # NOTE: INVALID for g1 23dof + RightWristYaw = 28 # NOTE: INVALID for g1 23dof + + kNotUsedJoint = 29 # NOTE: Weight + +class Custom: + def __init__(self): + self.time_ = 0.0 + self.control_dt_ = 0.02 + self.duration_ = 3.0 + self.counter_ = 0 + self.weight = 0. + self.weight_rate = 0.2 + self.kp = 60. + self.kd = 1.5 + self.dq = 0. + self.tau_ff = 0. + self.mode_machine_ = 0 + self.low_cmd = unitree_hg_msg_dds__LowCmd_() + self.low_state = None + self.first_update_low_state = False + self.crc = CRC() + self.done = False + + self.target_pos = [ + 0., kPi_2, 0., kPi_2, 0., 0., 0., + 0., -kPi_2, 0., kPi_2, 0., 0., 0., + 0, 0, 0 + ] + + self.arm_joints = [ + G1JointIndex.LeftShoulderPitch, G1JointIndex.LeftShoulderRoll, + G1JointIndex.LeftShoulderYaw, G1JointIndex.LeftElbow, + G1JointIndex.LeftWristRoll, G1JointIndex.LeftWristPitch, + G1JointIndex.LeftWristYaw, + G1JointIndex.RightShoulderPitch, G1JointIndex.RightShoulderRoll, + G1JointIndex.RightShoulderYaw, G1JointIndex.RightElbow, + G1JointIndex.RightWristRoll, G1JointIndex.RightWristPitch, + G1JointIndex.RightWristYaw, + G1JointIndex.WaistYaw, + G1JointIndex.WaistRoll, + G1JointIndex.WaistPitch + ] + + def Init(self): + # create publisher # + self.arm_sdk_publisher = ChannelPublisher("rt/arm_sdk", LowCmd_) + self.arm_sdk_publisher.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateHandler, 10) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=self.control_dt_, target=self.LowCmdWrite, name="control" + ) + while self.first_update_low_state == False: + time.sleep(1) + + if self.first_update_low_state == True: + self.lowCmdWriteThreadPtr.Start() + + def LowStateHandler(self, msg: LowState_): + self.low_state = msg + + if self.first_update_low_state == False: + self.first_update_low_state = True + + def LowCmdWrite(self): + self.time_ += self.control_dt_ + + if self.time_ < self.duration_ : + # [Stage 1]: set robot to zero posture + self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q = 1 # 1:Enable arm_sdk, 0:Disable arm_sdk + for i,joint in enumerate(self.arm_joints): + ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0) + self.low_cmd.motor_cmd[joint].tau = 0. + self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q + self.low_cmd.motor_cmd[joint].dq = 0. + self.low_cmd.motor_cmd[joint].kp = self.kp + self.low_cmd.motor_cmd[joint].kd = self.kd + + elif self.time_ < self.duration_ * 3 : + # [Stage 2]: lift arms up + for i,joint in enumerate(self.arm_joints): + ratio = np.clip((self.time_ - self.duration_) / (self.duration_ * 2), 0.0, 1.0) + self.low_cmd.motor_cmd[joint].tau = 0. + self.low_cmd.motor_cmd[joint].q = ratio * self.target_pos[i] + (1.0 - ratio) * self.low_state.motor_state[joint].q + self.low_cmd.motor_cmd[joint].dq = 0. + self.low_cmd.motor_cmd[joint].kp = self.kp + self.low_cmd.motor_cmd[joint].kd = self.kd + + elif self.time_ < self.duration_ * 6 : + # [Stage 3]: set robot back to zero posture + for i,joint in enumerate(self.arm_joints): + ratio = np.clip((self.time_ - self.duration_*3) / (self.duration_ * 3), 0.0, 1.0) + self.low_cmd.motor_cmd[joint].tau = 0. + self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q + self.low_cmd.motor_cmd[joint].dq = 0. + self.low_cmd.motor_cmd[joint].kp = self.kp + self.low_cmd.motor_cmd[joint].kd = self.kd + + elif self.time_ < self.duration_ * 7 : + # [Stage 4]: release arm_sdk + for i,joint in enumerate(self.arm_joints): + ratio = np.clip((self.time_ - self.duration_*6) / (self.duration_), 0.0, 1.0) + self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q = (1 - ratio) # 1:Enable arm_sdk, 0:Disable arm_sdk + + else: + self.done = True + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.arm_sdk_publisher.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + time.sleep(1) + if custom.done: + print("Done!") + sys.exit(-1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_loco_client_example.py b/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_loco_client_example.py new file mode 100644 index 0000000..55ee059 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_loco_client_example.py @@ -0,0 +1,117 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_ +from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient +import math +from dataclasses import dataclass + +@dataclass +class TestOption: + name: str + id: int + +option_list = [ + TestOption(name="damp", id=0), + TestOption(name="Squat2StandUp", id=1), + TestOption(name="StandUp2Squat", id=2), + TestOption(name="move forward", id=3), + TestOption(name="move lateral", id=4), + TestOption(name="move rotate", id=5), + TestOption(name="low stand", id=6), + TestOption(name="high stand", id=7), + TestOption(name="zero torque", id=8), + TestOption(name="wave hand1", id=9), # wave hand without turning around + TestOption(name="wave hand2", id=10), # wave hand and trun around + TestOption(name="shake hand", id=11), + TestOption(name="Lie2StandUp", id=12), +] + +class UserInterface: + def __init__(self): + self.test_option_ = None + + def convert_to_int(self, input_str): + try: + return int(input_str) + except ValueError: + return None + + def terminal_handle(self): + input_str = input("Enter id or name: \n") + + if input_str == "list": + self.test_option_.name = None + self.test_option_.id = None + for option in option_list: + print(f"{option.name}, id: {option.id}") + return + + for option in option_list: + if input_str == option.name or self.convert_to_int(input_str) == option.id: + self.test_option_.name = option.name + self.test_option_.id = option.id + print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}") + return + + print("No matching test option found.") + +if __name__ == "__main__": + if len(sys.argv) < 2: + print(f"Usage: python3 {sys.argv[0]} networkInterface") + sys.exit(-1) + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + ChannelFactoryInitialize(0, sys.argv[1]) + + test_option = TestOption(name=None, id=None) + user_interface = UserInterface() + user_interface.test_option_ = test_option + + sport_client = LocoClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + + print("Input \"list\" to list all test option ...") + while True: + user_interface.terminal_handle() + + print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}") + + if test_option.id == 0: + sport_client.Damp() + elif test_option.id == 1: + sport_client.Damp() + time.sleep(0.5) + sport_client.Squat2StandUp() + elif test_option.id == 2: + sport_client.StandUp2Squat() + elif test_option.id == 3: + sport_client.Move(0.3,0,0) + elif test_option.id == 4: + sport_client.Move(0,0.3,0) + elif test_option.id == 5: + sport_client.Move(0,0,0.3) + elif test_option.id == 6: + sport_client.LowStand() + elif test_option.id == 7: + sport_client.HighStand() + elif test_option.id == 8: + sport_client.ZeroTorque() + elif test_option.id == 9: + sport_client.WaveHand() + elif test_option.id == 10: + sport_client.WaveHand(True) + elif test_option.id == 11: + sport_client.ShakeHand() + time.sleep(3) + sport_client.ShakeHand() + elif test_option.id == 12: + sport_client.Damp() + time.sleep(0.5) + sport_client.Lie2StandUp() # When using the Lie2StandUp function, ensure that the robot faces up and the ground is hard, flat and rough. + + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_low_level_example.py b/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_low_level_example.py new file mode 100644 index 0000000..382e863 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_low_level_example.py @@ -0,0 +1,205 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient + +import numpy as np + +G1_NUM_MOTOR = 29 + +Kp = [ + 60, 60, 60, 100, 40, 40, # legs + 60, 60, 60, 100, 40, 40, # legs + 60, 40, 40, # waist + 40, 40, 40, 40, 40, 40, 40, # arms + 40, 40, 40, 40, 40, 40, 40 # arms +] + +Kd = [ + 1, 1, 1, 2, 1, 1, # legs + 1, 1, 1, 2, 1, 1, # legs + 1, 1, 1, # waist + 1, 1, 1, 1, 1, 1, 1, # arms + 1, 1, 1, 1, 1, 1, 1 # arms +] + +class G1JointIndex: + LeftHipPitch = 0 + LeftHipRoll = 1 + LeftHipYaw = 2 + LeftKnee = 3 + LeftAnklePitch = 4 + LeftAnkleB = 4 + LeftAnkleRoll = 5 + LeftAnkleA = 5 + RightHipPitch = 6 + RightHipRoll = 7 + RightHipYaw = 8 + RightKnee = 9 + RightAnklePitch = 10 + RightAnkleB = 10 + RightAnkleRoll = 11 + RightAnkleA = 11 + WaistYaw = 12 + WaistRoll = 13 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistA = 13 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistPitch = 14 # NOTE: INVALID for g1 23dof/29dof with waist locked + WaistB = 14 # NOTE: INVALID for g1 23dof/29dof with waist locked + LeftShoulderPitch = 15 + LeftShoulderRoll = 16 + LeftShoulderYaw = 17 + LeftElbow = 18 + LeftWristRoll = 19 + LeftWristPitch = 20 # NOTE: INVALID for g1 23dof + LeftWristYaw = 21 # NOTE: INVALID for g1 23dof + RightShoulderPitch = 22 + RightShoulderRoll = 23 + RightShoulderYaw = 24 + RightElbow = 25 + RightWristRoll = 26 + RightWristPitch = 27 # NOTE: INVALID for g1 23dof + RightWristYaw = 28 # NOTE: INVALID for g1 23dof + + +class Mode: + PR = 0 # Series Control for Pitch/Roll Joints + AB = 1 # Parallel Control for A/B Joints + +class Custom: + def __init__(self): + self.time_ = 0.0 + self.control_dt_ = 0.002 # [2ms] + self.duration_ = 3.0 # [3 s] + self.counter_ = 0 + self.mode_pr_ = Mode.PR + self.mode_machine_ = 0 + self.low_cmd = unitree_hg_msg_dds__LowCmd_() + self.low_state = None + self.update_mode_machine_ = False + self.crc = CRC() + + def Init(self): + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + # create publisher # + self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher_.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateHandler, 10) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=self.control_dt_, target=self.LowCmdWrite, name="control" + ) + while self.update_mode_machine_ == False: + time.sleep(1) + + if self.update_mode_machine_ == True: + self.lowCmdWriteThreadPtr.Start() + + def LowStateHandler(self, msg: LowState_): + self.low_state = msg + + if self.update_mode_machine_ == False: + self.mode_machine_ = self.low_state.mode_machine + self.update_mode_machine_ = True + + self.counter_ +=1 + if (self.counter_ % 500 == 0) : + self.counter_ = 0 + print(self.low_state.imu_state.rpy) + + def LowCmdWrite(self): + self.time_ += self.control_dt_ + + if self.time_ < self.duration_ : + # [Stage 1]: set robot to zero posture + for i in range(G1_NUM_MOTOR): + ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0) + self.low_cmd.mode_pr = Mode.PR + self.low_cmd.mode_machine = self.mode_machine_ + self.low_cmd.motor_cmd[i].mode = 1 # 1:Enable, 0:Disable + self.low_cmd.motor_cmd[i].tau = 0. + self.low_cmd.motor_cmd[i].q = (1.0 - ratio) * self.low_state.motor_state[i].q + self.low_cmd.motor_cmd[i].dq = 0. + self.low_cmd.motor_cmd[i].kp = Kp[i] + self.low_cmd.motor_cmd[i].kd = Kd[i] + + elif self.time_ < self.duration_ * 2 : + # [Stage 2]: swing ankle using PR mode + max_P = np.pi * 30.0 / 180.0 + max_R = np.pi * 10.0 / 180.0 + t = self.time_ - self.duration_ + L_P_des = max_P * np.sin(2.0 * np.pi * t) + L_R_des = max_R * np.sin(2.0 * np.pi * t) + R_P_des = max_P * np.sin(2.0 * np.pi * t) + R_R_des = -max_R * np.sin(2.0 * np.pi * t) + + self.low_cmd.mode_pr = Mode.PR + self.low_cmd.mode_machine = self.mode_machine_ + self.low_cmd.motor_cmd[G1JointIndex.LeftAnklePitch].q = L_P_des + self.low_cmd.motor_cmd[G1JointIndex.LeftAnkleRoll].q = L_R_des + self.low_cmd.motor_cmd[G1JointIndex.RightAnklePitch].q = R_P_des + self.low_cmd.motor_cmd[G1JointIndex.RightAnkleRoll].q = R_R_des + + else : + # [Stage 3]: swing ankle using AB mode + max_A = np.pi * 30.0 / 180.0 + max_B = np.pi * 10.0 / 180.0 + t = self.time_ - self.duration_ * 2 + L_A_des = max_A * np.sin(2.0 * np.pi * t) + L_B_des = max_B * np.sin(2.0 * np.pi * t + np.pi) + R_A_des = -max_A * np.sin(2.0 * np.pi * t) + R_B_des = -max_B * np.sin(2.0 * np.pi * t + np.pi) + + self.low_cmd.mode_pr = Mode.AB + self.low_cmd.mode_machine = self.mode_machine_ + self.low_cmd.motor_cmd[G1JointIndex.LeftAnkleA].q = L_A_des + self.low_cmd.motor_cmd[G1JointIndex.LeftAnkleB].q = L_B_des + self.low_cmd.motor_cmd[G1JointIndex.RightAnkleA].q = R_A_des + self.low_cmd.motor_cmd[G1JointIndex.RightAnkleB].q = R_B_des + + max_WristYaw = np.pi * 30.0 / 180.0 + L_WristYaw_des = max_WristYaw * np.sin(2.0 * np.pi * t) + R_WristYaw_des = max_WristYaw * np.sin(2.0 * np.pi * t) + self.low_cmd.motor_cmd[G1JointIndex.LeftWristRoll].q = L_WristYaw_des + self.low_cmd.motor_cmd[G1JointIndex.RightWristRoll].q = R_WristYaw_des + + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher_.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_move_hands_example.py b/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_move_hands_example.py new file mode 100644 index 0000000..4b43fd2 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_move_hands_example.py @@ -0,0 +1,225 @@ +import time +import sys + +import numpy as np + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import HandCmd_, HandState_ +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__HandCmd_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread + +MOTOR_NUM_HAND = 7 + +Kp = [0.5] * MOTOR_NUM_HAND +Kd = [0.1] * MOTOR_NUM_HAND + +Kp[0] = 2.0 + +maxTorqueLimits_left = [1.05, 1.05, 1.75, 0.0, 0.0, 0.0, 0.0] +minTorqueLimits_left = [-1.05, -0.72, 0.0, -1.57, -1.75, -1.57, -1.75] +maxTorqueLimits_right = [1.05, 0.74, 0.0, 1.57, 1.75, 1.57, 1.75] +minTorqueLimits_right = [-1.05, -1.05, -1.75, 0.0, 0.0, 0.0, 0.0] + + +def make_hand_mode(motor_index): + status = 0x01 + timeout = 0x01 + mode = (motor_index & 0x0F) + mode |= (status << 4) # bits [4..6] + mode |= (timeout << 7) # bit 7 + return mode + + +class HandControl: + def __init__(self, network_interface="enp36s0f1"): + ChannelFactoryInitialize(0, network_interface) + + self.left_cmd_pub = ChannelPublisher("rt/dex3/left/cmd", HandCmd_) + self.right_cmd_pub = ChannelPublisher("rt/dex3/right/cmd", HandCmd_) + + self.left_state_sub = ChannelSubscriber("rt/dex3/left/state", HandState_) + self.right_state_sub = ChannelSubscriber("rt/dex3/right/state", HandState_) + + self.left_cmd_pub.Init() + self.right_cmd_pub.Init() + + self.left_state_sub.Init(self.left_state_handler, 10) + self.right_state_sub.Init(self.right_state_handler, 10) + + self.left_state = None + self.right_state = None + + self.crc = CRC() + + # Control loop timing + self.control_dt = 0.01 # 10 ms + self.time_ = 0.0 + self.stage_time = 3.0 # 3s per stage + + # To let the code run once we start: + self.run_flag = False + + self.counter = 0 + + def left_state_handler(self, msg: HandState_): + self.left_state = msg + + # self.counter +=1 + # if (self.counter % 1000 == 0) : + # self.counter = 0 + # print('Left hand state:') + # for i in range(MOTOR_NUM_HAND): + # print(180/np.pi*self.left_state.motor_state[i].q) + + def right_state_handler(self, msg: HandState_): + self.right_state = msg + + self.counter += 1 + if (self.counter % 1000 == 0): + self.counter = 0 + print('Right hand state:') + for i in range(MOTOR_NUM_HAND): + print(180 / np.pi * self.right_state.motor_state[i].q) + + def start(self): + """ + Kick off the main control loop thread. + """ + self.run_flag = True + self.control_thread = RecurrentThread(interval=self.control_dt, + target=self.hand_control_loop, + name="HandControlLoop") + self.control_thread.Start() + + def hand_control_loop(self): + """ + This gets called at a fixed rate (every self.control_dt seconds). + We'll demonstrate 3 stages of motion: + 1) Move from current position to 'zero' (or some nominal) in 3s + 2) Sinusoidal motion in stage 2 (3s) + 3) Another motion in stage 3 (final) + """ + if not self.run_flag: + return + + self.time_ += self.control_dt + t = self.time_ + cmd_left = unitree_hg_msg_dds__HandCmd_() + cmd_right = unitree_hg_msg_dds__HandCmd_() + + # cmd_left.motor_cmd.resize(MOTOR_NUM_HAND) + # cmd_right.motor_cmd.resize(MOTOR_NUM_HAND) + + # Prepare stage times + stage1_end = self.stage_time + stage2_end = self.stage_time * 2.0 + + # We'll fetch current positions for left and right if available + # so we can blend from actual state to zero. + # If we haven't gotten a state yet, default to 0. + left_q_now = [0.0] * MOTOR_NUM_HAND + right_q_now = [0.0] * MOTOR_NUM_HAND + + if self.left_state is not None: + for i in range(MOTOR_NUM_HAND): + left_q_now[i] = self.left_state.motor_state[i].q + + if self.right_state is not None: + for i in range(MOTOR_NUM_HAND): + right_q_now[i] = self.right_state.motor_state[i].q + + left_q_desired = np.deg2rad([50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + + right_q_desired = np.deg2rad([50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + + # Decide the desired position for each stage: + if t < stage1_end: + # Stage 1: Move from the current joint positions to zero in [0..3s] + ratio = np.clip(t / stage1_end, 0.0, 1.0) + # Simple linear blend: final = (1-ratio)*initial + ratio*0 + left_q_des = np.zeros(MOTOR_NUM_HAND) + right_q_des = np.zeros(MOTOR_NUM_HAND) + for i in range(MOTOR_NUM_HAND): + left_q_des[i] = (1.0 - ratio) * (left_q_now[i] - left_q_desired[i]) + left_q_desired[i] + right_q_des[i] = (1.0 - ratio) * (right_q_now[i] - right_q_desired[i]) + right_q_desired[i] + + else: + # Stage 2: Some sinusoidal wave + # We'll wave only the first 2 or 3 motors, just as a demo + dt2 = t - stage1_end + freq = 1.0 # 1 Hz + amp = 0.3 # ~ 0.3 rad amplitude + + left_q_des = left_q_desired + right_q_des = right_q_desired + + # E.g. wave motor 0 and 1: + left_q_des[0] += amp * np.sin(2 * np.pi * freq * dt2) + left_q_des[1] += amp * (1 - np.cos(2 * np.pi * freq * dt2)) + left_q_des[2] += amp * (1 - np.cos(2 * np.pi * freq * dt2)) + right_q_des[0] += amp * np.sin(2 * np.pi * freq * dt2) + right_q_des[1] += amp * (np.cos(2 * np.pi * freq * dt2) - 1) + right_q_des[2] += amp * (np.cos(2 * np.pi * freq * dt2) - 1) + + freqA = 2.0 + freqB = 2.0 + ampA = 0.2 + ampB = 0.4 + + left_q_des[3] += ampA * (np.cos(2 * np.pi * freqA * dt2) - 1) + left_q_des[4] += ampB * (np.cos(2 * np.pi * freqB * dt2) - 1) + left_q_des[5] += ampA * (np.cos(2 * np.pi * freqA * dt2) - 1) + left_q_des[6] += ampB * (np.cos(2 * np.pi * freqB * dt2) - 1) + right_q_des[3] += ampA * (1 - np.cos(2 * np.pi * freqA * dt2)) + right_q_des[4] += ampB * (1 - np.cos(2 * np.pi * freqB * dt2)) + right_q_des[5] += ampA * (1 - np.cos(2 * np.pi * freqA * dt2)) + right_q_des[6] += ampB * (1 - np.cos(2 * np.pi * freqB * dt2)) + + # Fill in the commands + for i in range(MOTOR_NUM_HAND): + # Build the bitfield mode (see your C++ example) + mode_val = make_hand_mode(i) + + # Left + cmd_left.motor_cmd[i].mode = mode_val + cmd_left.motor_cmd[i].q = left_q_des[i] + cmd_left.motor_cmd[i].dq = 0.0 + cmd_left.motor_cmd[i].tau = 0.0 + cmd_left.motor_cmd[i].kp = Kp[i] + cmd_left.motor_cmd[i].kd = Kd[i] + + # Right + cmd_right.motor_cmd[i].mode = mode_val + cmd_right.motor_cmd[i].q = right_q_des[i] + cmd_right.motor_cmd[i].dq = 0.0 + cmd_right.motor_cmd[i].tau = 0.0 + cmd_right.motor_cmd[i].kp = Kp[i] + cmd_right.motor_cmd[i].kd = Kd[i] + + # Compute CRC if your firmware requires it + # cmd_left.crc = self.crc.Crc(cmd_left) + # cmd_right.crc = self.crc.Crc(cmd_right) + + # Publish + self.left_cmd_pub.Write(cmd_left) + self.right_cmd_pub.Write(cmd_right) + + +if __name__ == "__main__": + print("WARNING: Make sure your robot’s hands can move freely before running.") + input("Press Enter to continue...") + + # Optionally pass a specific interface name, e.g. "enp37s0f0" or "eth0" + if len(sys.argv) > 1: + net_if = sys.argv[1] + else: + net_if = "enp36s0f1" + + # Create and start + hand_control = HandControl(network_interface=net_if) + hand_control.start() + + # Just wait + while True: + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/g1/readme.md b/external_dependencies/unitree_sdk2_python/example/g1/readme.md new file mode 100644 index 0000000..9fb7900 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/g1/readme.md @@ -0,0 +1,5 @@ +This example is a test of Unitree G1/H1-2 robot. + +**Note:** +idl/unitree_go is used for Unitree Go2/B2/H1/B2w/Go2w robots +idl/unitree_hg is used for Unitree G1/H1-2 robots diff --git a/external_dependencies/unitree_sdk2_python/example/go2/front_camera/camera_opencv.py b/external_dependencies/unitree_sdk2_python/example/go2/front_camera/camera_opencv.py new file mode 100644 index 0000000..9d98839 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2/front_camera/camera_opencv.py @@ -0,0 +1,41 @@ +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.video.video_client import VideoClient +import cv2 +import numpy as np +import sys + + +if __name__ == "__main__": + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + client = VideoClient() # Create a video client + client.SetTimeout(3.0) + client.Init() + + code, data = client.GetImageSample() + + # Request normal when code==0 + while code == 0: + # Get Image data from Go2 robot + code, data = client.GetImageSample() + + # Convert to numpy image + image_data = np.frombuffer(bytes(data), dtype=np.uint8) + image = cv2.imdecode(image_data, cv2.IMREAD_COLOR) + + # Display image + cv2.imshow("front_camera", image) + # Press ESC to stop + if cv2.waitKey(20) == 27: + break + + if code != 0: + print("Get image sample error. code:", code) + else: + # Capture an image + cv2.imwrite("front_image.jpg", image) + + cv2.destroyWindow("front_camera") diff --git a/external_dependencies/unitree_sdk2_python/example/go2/front_camera/capture_image.py b/external_dependencies/unitree_sdk2_python/example/go2/front_camera/capture_image.py new file mode 100644 index 0000000..1e85643 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2/front_camera/capture_image.py @@ -0,0 +1,30 @@ +import time +import os +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.video.video_client import VideoClient + +if __name__ == "__main__": + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + client = VideoClient() + client.SetTimeout(3.0) + client.Init() + + print("##################GetImageSample###################") + code, data = client.GetImageSample() + + if code != 0: + print("get image sample error. code:", code) + else: + imageName = "./img.jpg" + print("ImageName:", imageName) + + with open(imageName, "+wb") as f: + f.write(bytes(data)) + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_sport_client.py b/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_sport_client.py new file mode 100644 index 0000000..b14d79d --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_sport_client.py @@ -0,0 +1,170 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_ +from unitree_sdk2py.go2.sport.sport_client import ( + SportClient, + PathPoint, + SPORT_PATH_POINT_SIZE, +) +import math +from dataclasses import dataclass + +@dataclass +class TestOption: + name: str + id: int + +option_list = [ + TestOption(name="damp", id=0), + TestOption(name="stand_up", id=1), + TestOption(name="stand_down", id=2), + TestOption(name="move forward", id=3), + TestOption(name="move lateral", id=4), + TestOption(name="move rotate", id=5), + TestOption(name="stop_move", id=6), + TestOption(name="switch_gait", id=7), + TestOption(name="switch_gait", id=8), + TestOption(name="balanced stand", id=9), + TestOption(name="recovery", id=10), + TestOption(name="recovery", id=10), + TestOption(name="left flip", id=11), + TestOption(name="back flip", id=12), + TestOption(name="free walk", id=13), + TestOption(name="free bound", id=14), + TestOption(name="free avoid", id=15), + TestOption(name="walk stair", id=16), + TestOption(name="walk upright", id=17), + TestOption(name="cross step", id=18), + TestOption(name="free jump", id=19) +] + +class UserInterface: + def __init__(self): + self.test_option_ = None + + def convert_to_int(self, input_str): + try: + return int(input_str) + except ValueError: + return None + + def terminal_handle(self): + input_str = input("Enter id or name: \n") + + if input_str == "list": + self.test_option_.name = None + self.test_option_.id = None + for option in option_list: + print(f"{option.name}, id: {option.id}") + return + + for option in option_list: + if input_str == option.name or self.convert_to_int(input_str) == option.id: + self.test_option_.name = option.name + self.test_option_.id = option.id + print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}") + return + + print("No matching test option found.") + +if __name__ == "__main__": + + if len(sys.argv) < 2: + print(f"Usage: python3 {sys.argv[0]} networkInterface") + sys.exit(-1) + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + ChannelFactoryInitialize(0, sys.argv[1]) + + test_option = TestOption(name=None, id=None) + user_interface = UserInterface() + user_interface.test_option_ = test_option + + sport_client = SportClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + while True: + + user_interface.terminal_handle() + + print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}\n") + + if test_option.id == 0: + sport_client.Damp() + elif test_option.id == 1: + sport_client.StandUp() + elif test_option.id == 2: + sport_client.StandDown() + elif test_option.id == 3: + sport_client.Move(0.3,0,0) + elif test_option.id == 4: + sport_client.Move(0,0.3,0) + elif test_option.id == 5: + sport_client.Move(0,0,0.5) + elif test_option.id == 6: + sport_client.StopMove() + elif test_option.id == 7: + sport_client.SwitchGait(0) + elif test_option.id == 8: + sport_client.SwitchGait(1) + elif test_option.id == 9: + sport_client.BalanceStand() + elif test_option.id == 10: + sport_client.RecoveryStand() + elif test_option.id == 11: + ret = sport_client.LeftFlip() + print("ret: ",ret) + elif test_option.id == 12: + ret = sport_client.BackFlip() + print("ret: ",ret) + elif test_option.id == 13: + ret = sport_client.FreeWalk(True) + print("ret: ",ret) + elif test_option.id == 14: + ret = sport_client.FreeBound(True) + print("ret: ",ret) + time.sleep(2) + ret = sport_client.FreeBound(False) + print("ret: ",ret) + elif test_option.id == 14: + ret = sport_client.FreeBound(True) + print("ret: ",ret) + time.sleep(2) + ret = sport_client.FreeBound(False) + print("ret: ",ret) + elif test_option.id == 15: + ret = sport_client.FreeAvoid(True) + print("ret: ",ret) + time.sleep(2) + ret = sport_client.FreeAvoid(False) + print("ret: ",ret) + elif test_option.id == 16: + ret = sport_client.WalkStair(True) + print("ret: ",ret) + time.sleep(10) + ret = sport_client.WalkStair(False) + print("ret: ",ret) + elif test_option.id == 17: + ret = sport_client.WalkUpright(True) + print("ret: ",ret) + time.sleep(4) + ret = sport_client.WalkUpright(False) + print("ret: ",ret) + elif test_option.id == 18: + ret = sport_client.CrossStep(True) + print("ret: ",ret) + time.sleep(4) + ret = sport_client.CrossStep(False) + print("ret: ",ret) + elif test_option.id == 19: + ret = sport_client.FreeJump(True) + print("ret: ",ret) + time.sleep(4) + ret = sport_client.FreeJump(False) + print("ret: ",ret) + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_utlidar_switch.py b/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_utlidar_switch.py new file mode 100644 index 0000000..09e0ce9 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_utlidar_switch.py @@ -0,0 +1,39 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.std_msgs.msg.dds_ import String_ +from unitree_sdk2py.idl.default import std_msgs_msg_dds__String_ + +class Custom: + def __init__(self): + # create publisher # + self.publisher = ChannelPublisher("rt/utlidar/switch", String_) + self.publisher.Init() + self.low_cmd = std_msgs_msg_dds__String_() + + def go2_utlidar_switch(self,status): + if status == "OFF": + self.low_cmd.data = "OFF" + elif status == "ON": + self.low_cmd.data = "ON" + + self.publisher.Write(self.low_cmd) + + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.go2_utlidar_switch("OFF") + + + diff --git a/external_dependencies/unitree_sdk2_python/example/go2/low_level/go2_stand_example.py b/external_dependencies/unitree_sdk2_python/example/go2/low_level/go2_stand_example.py new file mode 100644 index 0000000..f2241ce --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2/low_level/go2_stand_example.py @@ -0,0 +1,176 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +import unitree_legged_const as go2 +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient +from unitree_sdk2py.go2.sport.sport_client import SportClient + +class Custom: + def __init__(self): + self.Kp = 60.0 + self.Kd = 5.0 + self.time_consume = 0 + self.rate_count = 0 + self.sin_count = 0 + self.motiontime = 0 + self.dt = 0.002 # 0.001~0.01 + + self.low_cmd = unitree_go_msg_dds__LowCmd_() + self.low_state = None + + self._targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65] + self._targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3] + self._targetPos_3 = [-0.35, 1.36, -2.65, 0.35, 1.36, -2.65, + -0.5, 1.36, -2.65, 0.5, 1.36, -2.65] + + self.startPos = [0.0] * 12 + self.duration_1 = 500 + self.duration_2 = 500 + self.duration_3 = 1000 + self.duration_4 = 900 + self.percent_1 = 0 + self.percent_2 = 0 + self.percent_3 = 0 + self.percent_4 = 0 + + self.firstRun = True + self.done = False + + # thread handling + self.lowCmdWriteThreadPtr = None + + self.crc = CRC() + + # Public methods + def Init(self): + self.InitLowCmd() + + # create publisher # + self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10) + + self.sc = SportClient() + self.sc.SetTimeout(5.0) + self.sc.Init() + + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.sc.StandDown() + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=0.002, target=self.LowCmdWrite, name="writebasiccmd" + ) + self.lowCmdWriteThreadPtr.Start() + + # Private methods + def InitLowCmd(self): + self.low_cmd.head[0]=0xFE + self.low_cmd.head[1]=0xEF + self.low_cmd.level_flag = 0xFF + self.low_cmd.gpio = 0 + for i in range(20): + self.low_cmd.motor_cmd[i].mode = 0x01 # (PMSM) mode + self.low_cmd.motor_cmd[i].q= go2.PosStopF + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = go2.VelStopF + self.low_cmd.motor_cmd[i].kd = 0 + self.low_cmd.motor_cmd[i].tau = 0 + + def LowStateMessageHandler(self, msg: LowState_): + self.low_state = msg + # print("FR_0 motor state: ", msg.motor_state[go2.LegID["FR_0"]]) + # print("IMU state: ", msg.imu_state) + # print("Battery state: voltage: ", msg.power_v, "current: ", msg.power_a) + + def LowCmdWrite(self): + + if self.firstRun: + for i in range(12): + self.startPos[i] = self.low_state.motor_state[i].q + self.firstRun = False + + self.percent_1 += 1.0 / self.duration_1 + self.percent_1 = min(self.percent_1, 1) + if self.percent_1 < 1: + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self._targetPos_1[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 <= 1): + self.percent_2 += 1.0 / self.duration_2 + self.percent_2 = min(self.percent_2, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self._targetPos_1[i] + self.percent_2 * self._targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1): + self.percent_3 += 1.0 / self.duration_3 + self.percent_3 = min(self.percent_3, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = self._targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1): + self.percent_4 += 1.0 / self.duration_4 + self.percent_4 = min(self.percent_4, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self._targetPos_2[i] + self.percent_4 * self._targetPos_3[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + if custom.percent_4 == 1.0: + time.sleep(1) + print("Done!") + sys.exit(-1) + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/go2/low_level/unitree_legged_const.py b/external_dependencies/unitree_sdk2_python/example/go2/low_level/unitree_legged_const.py new file mode 100644 index 0000000..153a051 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2/low_level/unitree_legged_const.py @@ -0,0 +1,20 @@ +LegID = { + "FR_0": 0, # Front right hip + "FR_1": 1, # Front right thigh + "FR_2": 2, # Front right calf + "FL_0": 3, + "FL_1": 4, + "FL_2": 5, + "RR_0": 6, + "RR_1": 7, + "RR_2": 8, + "RL_0": 9, + "RL_1": 10, + "RL_2": 11, +} + +HIGHLEVEL = 0xEE +LOWLEVEL = 0xFF +TRIGERLEVEL = 0xF0 +PosStopF = 2.146e9 +VelStopF = 16000.0 diff --git a/external_dependencies/unitree_sdk2_python/example/go2w/high_level/go2w_sport_client.py b/external_dependencies/unitree_sdk2_python/example/go2w/high_level/go2w_sport_client.py new file mode 100644 index 0000000..824a882 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2w/high_level/go2w_sport_client.py @@ -0,0 +1,99 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_ +from unitree_sdk2py.go2.sport.sport_client import SportClient +import math +from dataclasses import dataclass + +@dataclass +class TestOption: + name: str + id: int + +option_list = [ + TestOption(name="damp", id=0), + TestOption(name="stand_up", id=1), + TestOption(name="stand_down", id=2), + TestOption(name="move", id=3), + TestOption(name="stop_move", id=4), + TestOption(name="speed_level", id=5), + TestOption(name="switch_gait", id=6), + TestOption(name="get_state", id=7), + TestOption(name="recovery", id=8), + TestOption(name="balance", id=9) +] + +class UserInterface: + def __init__(self): + self.test_option_ = None + + def convert_to_int(self, input_str): + try: + return int(input_str) + except ValueError: + return None + + def terminal_handle(self): + input_str = input("Enter id or name: \n") + + if input_str == "list": + self.test_option_.name = None + self.test_option_.id = None + for option in option_list: + print(f"{option.name}, id: {option.id}") + return + + for option in option_list: + if input_str == option.name or self.convert_to_int(input_str) == option.id: + self.test_option_.name = option.name + self.test_option_.id = option.id + print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}") + return + + print("No matching test option found.") + +if __name__ == "__main__": + if len(sys.argv) < 2: + print(f"Usage: python3 {sys.argv[0]} networkInterface") + sys.exit(-1) + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + ChannelFactoryInitialize(0, sys.argv[1]) + + test_option = TestOption(name=None, id=None) + user_interface = UserInterface() + user_interface.test_option_ = test_option + + sport_client = SportClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + + while True: + user_interface.terminal_handle() + + print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}\n") + + if test_option.id == 0: + sport_client.Damp() + elif test_option.id == 1: + sport_client.StandUp() + elif test_option.id == 2: + sport_client.StandDown() + elif test_option.id == 3: + sport_client.Move(0.5,0,0) + elif test_option.id == 4: + sport_client.StopMove() + elif test_option.id == 5: + sport_client.SpeedLevel(1) + elif test_option.id == 6: + sport_client.SwitchGait(1) + elif test_option.id == 8: + sport_client.RecoveryStand() + elif test_option.id == 9: + sport_client.BalanceStand() + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/example/go2w/low_level/go2w_stand_example.py b/external_dependencies/unitree_sdk2_python/example/go2w/low_level/go2w_stand_example.py new file mode 100644 index 0000000..e3a54de --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2w/low_level/go2w_stand_example.py @@ -0,0 +1,196 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +import unitree_legged_const as go2w +from unitree_sdk2py.go2.robot_state.robot_state_client import RobotStateClient +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient +from unitree_sdk2py.go2.sport.sport_client import SportClient + +class Custom: + def __init__(self): + self.Kp = 70.0 + self.Kd = 5.0 + self.time_consume = 0 + self.rate_count = 0 + self.sin_count = 0 + self.motiontime = 0 + self.dt = 0.002 + + self.low_cmd = unitree_go_msg_dds__LowCmd_() + self.low_state = None + + self.targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65] + + self.targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3] + + self.targetPos_3 = [-0.35, 1.36, -2.65, 0.35, 1.36, -2.65, + -0.5, 1.36, -2.65, 0.5, 1.36, -2.65] + + self.startPos = [0.0] * 12 + self.duration_1 = 500 + self.duration_2 = 500 + self.duration_3 = 2000 + self.duration_4 = 900 + self.percent_1 = 0 + self.percent_2 = 0 + self.percent_3 = 0 + self.percent_4 = 0 + + self.firstRun = True + self.done = False + + # thread handling + self.lowCmdWriteThreadPtr = None + + self.crc = CRC() + + # Public methods + def Init(self): + self.InitLowCmd() + + # create publisher # + self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10) + + self.sc = SportClient() + self.sc.SetTimeout(5.0) + self.sc.Init() + + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.sc.StandUp() + self.sc.StandDown() + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + name="writebasiccmd", interval=0.002, target=self.LowCmdWrite, + ) + self.lowCmdWriteThreadPtr.Start() + + def InitLowCmd(self): + self.low_cmd.head[0] = 0xFE + self.low_cmd.head[1] = 0xEF + self.low_cmd.level_flag = 0xFF + self.low_cmd.gpio = 0 + for i in range(20): + self.low_cmd.motor_cmd[i].mode = 0x01 + self.low_cmd.motor_cmd[i].q= go2w.PosStopF + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = go2w.VelStopF + self.low_cmd.motor_cmd[i].kd = 0 + self.low_cmd.motor_cmd[i].tau = 0 + + def LowStateMessageHandler(self, msg: LowState_): + self.low_state = msg + + def LowCmdWrite(self): + if self.firstRun: + for i in range(12): + self.startPos[i] = self.low_state.motor_state[i].q + self.firstRun = False + + self.percent_1 += 1.0 / self.duration_1 + self.percent_1 = min(self.percent_1, 1) + if self.percent_1 < 1: + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self.targetPos_1[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 <= 1): + self.percent_2 += 1.0 / self.duration_2 + self.percent_2 = min(self.percent_2, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self.targetPos_1[i] + self.percent_2 * self.targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1): + self.percent_3 += 1.0 / self.duration_3 + self.percent_3 = min(self.percent_3, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = self.targetPos_2[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if self.percent_3 < 0.4: + for i in range(12, 16): + self.low_cmd.motor_cmd[i].q = 0 + self.low_cmd.motor_cmd[i].kp = 0.0 + self.low_cmd.motor_cmd[i].dq = 3 + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if 0.4 <= self.percent_3 < 0.8: + for i in range(12, 16): + self.low_cmd.motor_cmd[i].q = 0 + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = -3 + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if self.percent_3 >= 0.8: + for i in range(12, 16): + self.low_cmd.motor_cmd[i].q = 0 + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1): + self.percent_4 += 1.0 / self.duration_4 + self.percent_4 = min(self.percent_4, 1) + for i in range(12): + self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self.targetPos_2[i] + self.percent_4 * self.targetPos_3[i] + self.low_cmd.motor_cmd[i].dq = 0 + self.low_cmd.motor_cmd[i].kp = self.Kp + self.low_cmd.motor_cmd[i].kd = self.Kd + self.low_cmd.motor_cmd[i].tau = 0 + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher.Write(self.low_cmd) + +if __name__ == '__main__': + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + if custom.percent_4 == 1.0: + time.sleep(1) + print("Done!") + sys.exit(-1) + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/go2w/low_level/unitree_legged_const.py b/external_dependencies/unitree_sdk2_python/example/go2w/low_level/unitree_legged_const.py new file mode 100644 index 0000000..7943e31 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/go2w/low_level/unitree_legged_const.py @@ -0,0 +1,24 @@ +LegID = { + "FR_0": 0, # Front right hip + "FR_1": 1, # Front right thigh + "FR_2": 2, # Front right calf + "FL_0": 3, + "FL_1": 4, + "FL_2": 5, + "RR_0": 6, + "RR_1": 7, + "RR_2": 8, + "RL_0": 9, + "RL_1": 10, + "RL_2": 11, + "FR_w": 12, # Front right wheel + "FL_w": 13, # Front left wheel + "RR_w": 14, # Rear right wheel + "RL_w": 15, # Rear left wheel +} + +HIGHLEVEL = 0xEE +LOWLEVEL = 0xFF +TRIGERLEVEL = 0xF0 +PosStopF = 2.146e9 +VelStopF = 16000.0 diff --git a/external_dependencies/unitree_sdk2_python/example/h1/high_level/h1_loco_client_example.py b/external_dependencies/unitree_sdk2_python/example/h1/high_level/h1_loco_client_example.py new file mode 100644 index 0000000..4432d8a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/h1/high_level/h1_loco_client_example.py @@ -0,0 +1,96 @@ +import time +import sys +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_ +from unitree_sdk2py.h1.loco.h1_loco_client import LocoClient +import math +from dataclasses import dataclass + +@dataclass +class TestOption: + name: str + id: int + +option_list = [ + TestOption(name="damp", id=0), + TestOption(name="stand_up", id=1), + TestOption(name="move forward", id=3), + TestOption(name="move lateral", id=4), + TestOption(name="move rotate", id=5), + TestOption(name="low stand", id=6), + TestOption(name="high stand", id=7), + TestOption(name="zero torque", id=8) +] + +class UserInterface: + def __init__(self): + self.test_option_ = None + + def convert_to_int(self, input_str): + try: + return int(input_str) + except ValueError: + return None + + def terminal_handle(self): + input_str = input("Enter id or name: \n") + + if input_str == "list": + self.test_option_.name = None + self.test_option_.id = None + for option in option_list: + print(f"{option.name}, id: {option.id}") + return + + for option in option_list: + if input_str == option.name or self.convert_to_int(input_str) == option.id: + self.test_option_.name = option.name + self.test_option_.id = option.id + print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}") + return + + print("No matching test option found.") + +if __name__ == "__main__": + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + test_option = TestOption(name=None, id=None) + user_interface = UserInterface() + user_interface.test_option_ = test_option + + sport_client = LocoClient() + sport_client.SetTimeout(10.0) + sport_client.Init() + + while True: + + user_interface.terminal_handle() + + print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}\n") + + if test_option.id == 0: + sport_client.Damp() + elif test_option.id == 1: + sport_client.StandUp() + elif test_option.id == 3: + sport_client.Move(0.3,0,0) + elif test_option.id == 4: + sport_client.Move(0,0.3,0) + elif test_option.id == 5: + sport_client.Move(0,0,0.3) + elif test_option.id == 6: + sport_client.LowStand() + elif test_option.id == 7: + sport_client.HighStand() + elif test_option.id == 8: + sport_client.ZeroTorque() + + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/h1/low_level/h1_low_level_example.py b/external_dependencies/unitree_sdk2_python/example/h1/low_level/h1_low_level_example.py new file mode 100644 index 0000000..51a9111 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/h1/low_level/h1_low_level_example.py @@ -0,0 +1,167 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient +import unitree_legged_const as h1 +import numpy as np + +H1_NUM_MOTOR = 20 + +class H1JointIndex: + # Right leg + kRightHipYaw = 8 + kRightHipRoll = 0 + kRightHipPitch = 1 + kRightKnee = 2 + kRightAnkle = 11 + # Left leg + kLeftHipYaw = 7 + kLeftHipRoll = 3 + kLeftHipPitch = 4 + kLeftKnee = 5 + kLeftAnkle = 10 + + kWaistYaw = 6 + + kNotUsedJoint = 9 + + # Right arm + kRightShoulderPitch = 12 + kRightShoulderRoll = 13 + kRightShoulderYaw = 14 + kRightElbow = 15 + # Left arm + kLeftShoulderPitch = 16 + kLeftShoulderRoll = 17 + kLeftShoulderYaw = 18 + kLeftElbow = 19 + +class Custom: + def __init__(self): + self.time_ = 0.0 + self.control_dt_ = 0.01 + self.duration_ = 10.0 + self.counter_ = 0 + self.kp_low_ = 60.0 + self.kp_high_ = 200.0 + self.kd_low_ = 1.5 + self.kd_high_ = 5.0 + self.low_cmd = unitree_go_msg_dds__LowCmd_() + self.InitLowCmd() + self.low_state = None + self.crc = CRC() + + def Init(self): + # # create publisher # + self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher_.Init() + + # # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateHandler, 10) + + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + self.report_rpy_ptr_ = RecurrentThread( + interval=0.1, target=self.ReportRPY, name="report_rpy" + ) + + self.report_rpy_ptr_.Start() + + def is_weak_motor(self,motor_index): + return motor_index in { + H1JointIndex.kLeftAnkle, + H1JointIndex.kRightAnkle, + H1JointIndex.kRightShoulderPitch, + H1JointIndex.kRightShoulderRoll, + H1JointIndex.kRightShoulderYaw, + H1JointIndex.kRightElbow, + H1JointIndex.kLeftShoulderPitch, + H1JointIndex.kLeftShoulderRoll, + H1JointIndex.kLeftShoulderYaw, + H1JointIndex.kLeftElbow, + } + + def InitLowCmd(self): + self.low_cmd.head[0] = 0xFE + self.low_cmd.head[1] = 0xEF + self.low_cmd.level_flag = 0xFF + self.low_cmd.gpio = 0 + for i in range(H1_NUM_MOTOR): + if self.is_weak_motor(i): + self.low_cmd.motor_cmd[i].mode = 0x01 + else: + self.low_cmd.motor_cmd[i].mode = 0x0A + self.low_cmd.motor_cmd[i].q= h1.PosStopF + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = h1.VelStopF + self.low_cmd.motor_cmd[i].kd = 0 + self.low_cmd.motor_cmd[i].tau = 0 + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=self.control_dt_, target=self.LowCmdWrite, name="control" + ) + self.lowCmdWriteThreadPtr.Start() + + def LowStateHandler(self, msg: LowState_): + self.low_state = msg + + def ReportRPY(self): + print("rpy: [",self.low_state.imu_state.rpy[0],", " + ,self.low_state.imu_state.rpy[1],", " + ,self.low_state.imu_state.rpy[2],"]" + ) + + def LowCmdWrite(self): + self.time_ += self.control_dt_ + self.time_ = np.clip(self.time_ , 0.0, self.duration_) + + # set robot to zero posture + for i in range(H1_NUM_MOTOR): + ratio = self.time_ / self.duration_ + self.low_cmd.motor_cmd[i].tau = 0. + self.low_cmd.motor_cmd[i].q = (1.0 - ratio) * self.low_state.motor_state[i].q + self.low_cmd.motor_cmd[i].dq = 0. + self.low_cmd.motor_cmd[i].kp = self.kp_low_ if self.is_weak_motor(i) else self.kp_high_ + self.low_cmd.motor_cmd[i].kd = self.kd_low_ if self.is_weak_motor(i) else self.kd_high_ + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher_.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + if custom.time_ == custom.duration_: + time.sleep(1) + print("Done!") + sys.exit(-1) + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/h1/low_level/unitree_legged_const.py b/external_dependencies/unitree_sdk2_python/example/h1/low_level/unitree_legged_const.py new file mode 100644 index 0000000..c9112ea --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/h1/low_level/unitree_legged_const.py @@ -0,0 +1,5 @@ +HIGHLEVEL = 0xEE +LOWLEVEL = 0xFF +TRIGERLEVEL = 0xF0 +PosStopF = 2.146e9 +VelStopF = 16000.0 diff --git a/external_dependencies/unitree_sdk2_python/example/h1_2/low_level/h1_2_low_level_example.py b/external_dependencies/unitree_sdk2_python/example/h1_2/low_level/h1_2_low_level_example.py new file mode 100644 index 0000000..0959b32 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/h1_2/low_level/h1_2_low_level_example.py @@ -0,0 +1,201 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_ +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import RecurrentThread +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient + +import numpy as np + +H1_2_NUM_MOTOR = 27 + +class H1_2_JointIndex: + # legs + LeftHipYaw = 0 + LeftHipPitch = 1 + LeftHipRoll = 2 + LeftKnee = 3 + LeftAnklePitch = 4 + LeftAnkleB = 4 + LeftAnkleRoll = 5 + LeftAnkleA = 5 + RightHipYaw = 6 + RightHipPitch = 7 + RightHipRoll = 8 + RightKnee = 9 + RightAnklePitch = 10 + RightAnkleB = 10 + RightAnkleRoll = 11 + RightAnkleA = 11 + # torso + WaistYaw = 12 + # arms + LeftShoulderPitch = 13 + LeftShoulderRoll = 14 + LeftShoulderYaw = 15 + LeftElbow = 16 + LeftWristRoll = 17 + LeftWristPitch = 18 + LeftWristYaw = 19 + RightShoulderPitch = 20 + RightShoulderRoll = 21 + RightShoulderYaw = 22 + RightElbow = 23 + RightWristRoll = 24 + RightWristPitch = 25 + RightWristYaw = 26 + + +class Mode: + PR = 0 # Series Control for Pitch/Roll Joints + AB = 1 # Parallel Control for A/B Joints + +class Custom: + def __init__(self): + self.time_ = 0.0 + self.control_dt_ = 0.002 # [2ms] + self.duration_ = 3.0 # [3 s] + self.counter_ = 0 + self.mode_pr_ = Mode.PR + self.mode_machine_ = 0 + self.low_cmd = unitree_hg_msg_dds__LowCmd_() + self.low_state = None + self.update_mode_machine_ = False + self.crc = CRC() + + def Init(self): + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + status, result = self.msc.CheckMode() + while result['name']: + self.msc.ReleaseMode() + status, result = self.msc.CheckMode() + time.sleep(1) + + # create publisher # + self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher_.Init() + + # create subscriber # + self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_) + self.lowstate_subscriber.Init(self.LowStateHandler, 10) + + def Start(self): + self.lowCmdWriteThreadPtr = RecurrentThread( + interval=self.control_dt_, target=self.LowCmdWrite, name="control" + ) + while self.update_mode_machine_ == False: + time.sleep(1) + + if self.update_mode_machine_ == True: + self.lowCmdWriteThreadPtr.Start() + + def LowStateHandler(self, msg: LowState_): + self.low_state = msg + + if self.update_mode_machine_ == False: + self.mode_machine_ = self.low_state.mode_machine + self.update_mode_machine_ = True + + self.counter_ +=1 + if (self.counter_ % 500 == 0) : + self.counter_ = 0 + print(self.low_state.imu_state.rpy) + + def LowCmdWrite(self): + self.time_ += self.control_dt_ + self.low_cmd.mode_pr = Mode.PR + self.low_cmd.mode_machine = self.mode_machine_ + for i in range(H1_2_NUM_MOTOR): + ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0) + self.low_cmd.motor_cmd[i].mode = 1 # 1:Enable, 0:Disable + self.low_cmd.motor_cmd[i].tau = 0.0 + self.low_cmd.motor_cmd[i].q = 0.0 + self.low_cmd.motor_cmd[i].dq = 0.0 + self.low_cmd.motor_cmd[i].kp = 100.0 if i < 13 else 50.0 + self.low_cmd.motor_cmd[i].kd = 1.0 + + if self.time_ < self.duration_ : + # [Stage 1]: set robot to zero posture + for i in range(H1_2_NUM_MOTOR): + ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0) + self.low_cmd.mode_pr = Mode.PR + self.low_cmd.mode_machine = self.mode_machine_ + self.low_cmd.motor_cmd[i].mode = 1 # 1:Enable, 0:Disable + self.low_cmd.motor_cmd[i].tau = 0. + self.low_cmd.motor_cmd[i].q = (1.0 - ratio) * self.low_state.motor_state[i].q + self.low_cmd.motor_cmd[i].dq = 0. + self.low_cmd.motor_cmd[i].kp = 100.0 if i < 13 else 50.0 + self.low_cmd.motor_cmd[i].kd = 1.0 + else : + # [Stage 2]: swing ankle using PR mode + max_P = 0.25 + max_R = 0.25 + t = self.time_ - self.duration_ + L_P_des = max_P * np.cos(2.0 * np.pi * t) + L_R_des = max_R * np.sin(2.0 * np.pi * t) + R_P_des = max_P * np.cos(2.0 * np.pi * t) + R_R_des = -max_R * np.sin(2.0 * np.pi * t) + + Kp_Pitch = 80 + Kd_Pitch = 1 + Kp_Roll = 80 + Kd_Roll = 1 + + self.low_cmd.mode_pr = Mode.PR + self.low_cmd.mode_machine = self.mode_machine_ + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].q = L_P_des + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].dq = 0 + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].kp = Kp_Pitch + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].kd = Kd_Pitch + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].q = L_R_des + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].dq = 0 + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].kp = Kp_Roll + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].kd = Kd_Roll + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].q = R_P_des + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].dq = 0 + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].kp = Kp_Pitch + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].kd = Kd_Pitch + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].q = R_R_des + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].dq = 0 + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].kp = Kp_Roll + self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].kd = Kd_Roll + + max_wrist_roll_angle = 0.5; # [rad] + WristRoll_des = max_wrist_roll_angle * np.sin(2.0 * np.pi * t) + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].q = WristRoll_des + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].dq = 0 + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].kp = 50 + self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].kd = 1 + self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].q = WristRoll_des + self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].dq = 0 + self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].kp = 50 + self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].kd = 1 + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher_.Write(self.low_cmd) + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + custom.Start() + + while True: + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/helloworld/publisher.py b/external_dependencies/unitree_sdk2_python/example/helloworld/publisher.py new file mode 100644 index 0000000..cfe4f1f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/helloworld/publisher.py @@ -0,0 +1,28 @@ +import time + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from user_data import * + + +if __name__ == "__main__": + ChannelFactoryInitialize() + + # Create a publisher to publish the data defined in UserData class + pub = ChannelPublisher("topic", UserData) + pub.Init() + + for i in range(30): + # Create a Userdata message + msg = UserData(" ", 0) + msg.string_data = "Hello world" + msg.float_data = time.time() + + # Publish message + if pub.Write(msg, 0.5): + print("Publish success. msg:", msg) + else: + print("Waitting for subscriber.") + + time.sleep(1) + + pub.Close() diff --git a/external_dependencies/unitree_sdk2_python/example/helloworld/subscriber.py b/external_dependencies/unitree_sdk2_python/example/helloworld/subscriber.py new file mode 100644 index 0000000..a7d0b63 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/helloworld/subscriber.py @@ -0,0 +1,20 @@ +import time + +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from user_data import * + + +if __name__ == "__main__": + ChannelFactoryInitialize() + # Create a subscriber to subscribe the data defined in UserData class + sub = ChannelSubscriber("topic", UserData) + sub.Init() + + while True: + msg = sub.Read() + if msg is not None: + print("Subscribe success. msg:", msg) + else: + print("No data subscribed.") + break + sub.Close() diff --git a/external_dependencies/unitree_sdk2_python/example/helloworld/user_data.py b/external_dependencies/unitree_sdk2_python/example/helloworld/user_data.py new file mode 100644 index 0000000..9696ce3 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/helloworld/user_data.py @@ -0,0 +1,9 @@ +from dataclasses import dataclass +from cyclonedds.idl import IdlStruct + + +# This class defines user data consisting of a float data and a string data +@dataclass +class UserData(IdlStruct, typename="UserData"): + string_data: str + float_data: float diff --git a/external_dependencies/unitree_sdk2_python/example/motionSwitcher/motion_switcher_example.py b/external_dependencies/unitree_sdk2_python/example/motionSwitcher/motion_switcher_example.py new file mode 100644 index 0000000..4f39f72 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/motionSwitcher/motion_switcher_example.py @@ -0,0 +1,36 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient + + +class Custom: + def __init__(self): + self.msc = MotionSwitcherClient() + self.msc.SetTimeout(5.0) + self.msc.Init() + + def selectMode(self,name): + ret = self.msc.SelectMode(name) + return ret + + +if __name__ == '__main__': + + print("WARNING: Please ensure there are no obstacles around the robot while running this example.") + input("Press Enter to continue...") + + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + selectMode = "ai" + # selectMode = "normal" + # selectMode = "advanced" + # selectMode = "ai-w" # for wheeled robot + ret = custom.selectMode(selectMode) + print("ret: ",ret) + diff --git a/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_move.py b/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_move.py new file mode 100644 index 0000000..284f8ea --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_move.py @@ -0,0 +1,35 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient + +if __name__ == "__main__": + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + try: + client = ObstaclesAvoidClient() + client.SetTimeout(3.0) + client.Init() + + while not client.SwitchGet()[1]: + client.SwitchSet(True) + time.sleep(0.1) + + print("obstacles avoid switch on") + + client.UseRemoteCommandFromApi(True) + time.sleep(0.5) + client.Move(0.5, 0.0, 0.0) + time.sleep(1.0) # move 1s + client.Move(0.0, 0.0, 0.0) + client.UseRemoteCommandFromApi(False) + + except KeyboardInterrupt: + client.Move(0.0, 0.0, 0.0) + client.UseRemoteCommandFromApi(False) + print("exit!!") + \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_switch.py b/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_switch.py new file mode 100644 index 0000000..eb345c0 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_switch.py @@ -0,0 +1,94 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient + +if __name__ == "__main__": + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + client = ObstaclesAvoidClient() + client.SetTimeout(3.0) + client.Init() + + while True: + print("##################GetServerApiVersion###################") + code, serverAPiVersion = client.GetServerApiVersion() + if code != 0: + print("get server api error. code:", code) + else: + print("get server api version:", serverAPiVersion) + + if serverAPiVersion != client.GetApiVersion(): + print("api version not equal.") + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable) + + time.sleep(3) + + print("##################SwitchSet (on)###################") + code = client.SwitchSet(True) + if code != 0: + print("switch set error. code:", code) + else: + print("switch set success.") + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable1 = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable1) + + time.sleep(3) + + print("##################SwitchSet (off)###################") + code = client.SwitchSet(False) + if code != 0: + print("switch set error. code:", code) + else: + print("switch set success.") + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable1 = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable1) + + time.sleep(3) + + + print("##################SwitchSet (enable)###################") + + code = client.SwitchSet(enable) + if code != 0: + print("switch set error. code:", code) + else: + print("switch set success. enable:", enable) + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable) + + time.sleep(3) + \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/example/vui_client/vui_client_example.py b/external_dependencies/unitree_sdk2_python/example/vui_client/vui_client_example.py new file mode 100644 index 0000000..a5e6932 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/vui_client/vui_client_example.py @@ -0,0 +1,77 @@ +import time +import sys + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.vui.vui_client import VuiClient + +if __name__ == "__main__": + if len(sys.argv)>1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + client = VuiClient() + client.SetTimeout(3.0) + client.Init() + + for i in range(1, 11): + print("#################GetBrightness####################") + code, level = client.GetBrightness() + + if code != 0: + print("get brightness error. code:", code) + else: + print("get brightness success. level:", level) + + time.sleep(1) + + print("#################SetBrightness####################") + + code = client.SetBrightness(i) + + if code != 0: + print("set brightness error. code:", code) + else: + print("set brightness success. level:", i) + + time.sleep(1) + + print("#################SetBrightness 0####################") + + code = client.SetBrightness(0) + + if code != 0: + print("set brightness error. code:", code) + else: + print("set brightness 0 success.") + + for i in range(1, 11): + print("#################GetVolume####################") + code, level = client.GetVolume() + + if code != 0: + print("get volume error. code:", code) + else: + print("get volume success. level:", level) + + time.sleep(1) + + print("#################SetVolume####################") + + code = client.SetVolume(i) + + if code != 0: + print("set volume error. code:", code) + else: + print("set volume success. level:", i) + + time.sleep(1) + + print("#################SetVolume 0####################") + + code = client.SetVolume(0) + + if code != 0: + print("set volume error. code:", code) + else: + print("set volume 0 success.") diff --git a/external_dependencies/unitree_sdk2_python/example/wireless_controller/wireless_controller.py b/external_dependencies/unitree_sdk2_python/example/wireless_controller/wireless_controller.py new file mode 100644 index 0000000..995487f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/example/wireless_controller/wireless_controller.py @@ -0,0 +1,131 @@ +import time +import sys +import struct + +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize + +# Uncomment the following two lines when using Go2、Go2-W、B2、B2-W、H1 robot +# from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +# from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ + +# Uncomment the following two lines when using G1、H1-2 robot +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_ + +class unitreeRemoteController: + def __init__(self): + # key + self.Lx = 0 + self.Rx = 0 + self.Ry = 0 + self.Ly = 0 + + # button + self.L1 = 0 + self.L2 = 0 + self.R1 = 0 + self.R2 = 0 + self.A = 0 + self.B = 0 + self.X = 0 + self.Y = 0 + self.Up = 0 + self.Down = 0 + self.Left = 0 + self.Right = 0 + self.Select = 0 + self.F1 = 0 + self.F3 = 0 + self.Start = 0 + + def parse_botton(self,data1,data2): + self.R1 = (data1 >> 0) & 1 + self.L1 = (data1 >> 1) & 1 + self.Start = (data1 >> 2) & 1 + self.Select = (data1 >> 3) & 1 + self.R2 = (data1 >> 4) & 1 + self.L2 = (data1 >> 5) & 1 + self.F1 = (data1 >> 6) & 1 + self.F3 = (data1 >> 7) & 1 + self.A = (data2 >> 0) & 1 + self.B = (data2 >> 1) & 1 + self.X = (data2 >> 2) & 1 + self.Y = (data2 >> 3) & 1 + self.Up = (data2 >> 4) & 1 + self.Right = (data2 >> 5) & 1 + self.Down = (data2 >> 6) & 1 + self.Left = (data2 >> 7) & 1 + + def parse_key(self,data): + lx_offset = 4 + self.Lx = struct.unpack('1: + ChannelFactoryInitialize(0, sys.argv[1]) + else: + ChannelFactoryInitialize(0) + + custom = Custom() + custom.Init() + + while True: + time.sleep(1) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/pyproject.toml b/external_dependencies/unitree_sdk2_python/pyproject.toml new file mode 100644 index 0000000..07de284 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/pyproject.toml @@ -0,0 +1,3 @@ +[build-system] +requires = ["setuptools", "wheel"] +build-backend = "setuptools.build_meta" \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/setup.py b/external_dependencies/unitree_sdk2_python/setup.py new file mode 100644 index 0000000..54d8cac --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/setup.py @@ -0,0 +1,21 @@ +from setuptools import setup, find_packages + +setup(name='unitree_sdk2py', + version='1.0.1', + author='UnitreeRobotics', + author_email='unitree@unitree.com', + long_description=open('README.md').read(), + long_description_content_type="text/markdown", + license="BSD-3-Clause", + packages=find_packages(include=['unitree_sdk2py','unitree_sdk2py.*']), + description='Unitree robot sdk version 2 for python', + project_urls={ + "Source Code": "https://github.com/unitreerobotics/unitree_sdk2_python", + }, + python_requires='>=3.8', + install_requires=[ + "cyclonedds==0.10.2", + "numpy", + "opencv-python", + ], + ) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/__init__.py new file mode 100644 index 0000000..f071aeb --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/__init__.py @@ -0,0 +1,10 @@ +from . import idl, utils, core, rpc, go2, b2 + +__all__ = [ + "idl" + "utils" + "core", + "rpc", + "go2", + "b2", +] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/back_video/back_video_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/back_video/back_video_api.py new file mode 100644 index 0000000..16f566b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/back_video/back_video_api.py @@ -0,0 +1,16 @@ +""" +" service name +""" +ROBOT_BACK_VIDEO_SERVICE_NAME = "back_videohub" + + +""" +" service api version +""" +ROBOT_BACK_VIDEO_API_VERSION = "1.0.0.0" + + +""" +" api id +""" +ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE = 1001 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/back_video/back_video_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/back_video/back_video_client.py new file mode 100644 index 0000000..e19c97f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/back_video/back_video_client.py @@ -0,0 +1,23 @@ +import json + +from ...rpc.client import Client +from .back_video_api import * + + +""" +" class FrontVideoClient +""" +class BackVideoClient(Client): + def __init__(self): + super().__init__(ROBOT_BACK_VIDEO_SERVICE_NAME, False) + + + def Init(self): + # set api version + self._SetApiVerson(ROBOT_BACK_VIDEO_API_VERSION) + # regist api + self._RegistApi(ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE, 0) + + # 1001 + def GetImageSample(self): + return self._CallBinary(ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE, []) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/front_video/front_video_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/front_video/front_video_api.py new file mode 100644 index 0000000..6f4717a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/front_video/front_video_api.py @@ -0,0 +1,16 @@ +""" +" service name +""" +ROBOT_FRONT_VIDEO_SERVICE_NAME = "front_videohub" + + +""" +" service api version +""" +ROBOT_FRONT_VIDEO_API_VERSION = "1.0.0.0" + + +""" +" api id +""" +ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE = 1001 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/front_video/front_video_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/front_video/front_video_client.py new file mode 100644 index 0000000..5ba065a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/front_video/front_video_client.py @@ -0,0 +1,23 @@ +import json + +from ...rpc.client import Client +from .front_video_api import * + + +""" +" class FrontVideoClient +""" +class FrontVideoClient(Client): + def __init__(self): + super().__init__(ROBOT_FRONT_VIDEO_SERVICE_NAME, False) + + + def Init(self): + # set api version + self._SetApiVerson(ROBOT_FRONT_VIDEO_API_VERSION) + # regist api + self._RegistApi(ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE, 0) + + # 1001 + def GetImageSample(self): + return self._CallBinary(ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE, []) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/robot_state/robot_state_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/robot_state/robot_state_api.py new file mode 100644 index 0000000..fde54df --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/robot_state/robot_state_api.py @@ -0,0 +1,25 @@ +""" +" service name +""" +ROBOT_STATE_SERVICE_NAME = "robot_state" + + +""" +" service api version +""" +ROBOT_STATE_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001 +ROBOT_STATE_API_ID_REPORT_FREQ = 1002 +ROBOT_STATE_API_ID_SERVICE_LIST = 1003 + + +""" +" error code +""" +ROBOT_STATE_ERR_SERVICE_SWITCH = 5201 +ROBOT_STATE_ERR_SERVICE_PROTECTED = 5202 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/robot_state/robot_state_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/robot_state/robot_state_client.py new file mode 100644 index 0000000..5b2e74d --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/robot_state/robot_state_client.py @@ -0,0 +1,84 @@ +import json + +from ...rpc.client import Client +from ...rpc.client_internal import * +from .robot_state_api import * + + +""" +" class ServiceState +""" +class ServiceState: + def __init__(self, name: str = None, status: int = None, protect: bool = None): + self.name = name + self.status = status + self.protect = protect + +""" +" class RobotStateClient +""" +class RobotStateClient(Client): + def __init__(self): + super().__init__(ROBOT_STATE_SERVICE_NAME, False) + + def Init(self): + # set api version + self._SetApiVerson(ROBOT_STATE_API_VERSION) + # regist api + self._RegistApi(ROBOT_STATE_API_ID_SERVICE_SWITCH, 0) + self._RegistApi(ROBOT_STATE_API_ID_REPORT_FREQ, 0) + self._RegistApi(ROBOT_STATE_API_ID_SERVICE_LIST, 0) + + def ServiceList(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_LIST, parameter) + + if code != 0: + return code, None + + lst = [] + + d = json.loads(data) + for t in d: + s = ServiceState() + s.name = t["name"] + s.status = t["status"] + s.protect = t["protect"] + lst.append(s) + + return code, lst + + + def ServiceSwitch(self, name: str, switch: bool): + p = {} + p["name"] = name + p["switch"] = int(switch) + parameter = json.dumps(p) + + code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_SWITCH, parameter) + + if code != 0: + return code + + d = json.loads(data) + + status = d["status"] + + if status == 5: + return ROBOT_STATE_ERR_SERVICE_PROTECTED + + if status != 0 and status != 1: + return ROBOT_STATE_ERR_SERVICE_SWITCH + + return code + + def SetReportFreq(self, interval: int, duration: int): + p = {} + p["interval"] = interval + p["duration"] = duration + parameter = json.dumps(p) + + code, data = self._Call(ROBOT_STATE_API_ID_REPORT_FREQ, p) + return code diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/sport/sport_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/sport/sport_api.py new file mode 100644 index 0000000..72520b6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/sport/sport_api.py @@ -0,0 +1,58 @@ +""" +" service name +""" +SPORT_SERVICE_NAME = "sport" + + +""" +" service api version +""" +SPORT_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +SPORT_API_ID_DAMP = 1001; +SPORT_API_ID_BALANCESTAND = 1002; +SPORT_API_ID_STOPMOVE = 1003; +SPORT_API_ID_STANDUP = 1004; +SPORT_API_ID_STANDDOWN = 1005; +SPORT_API_ID_RECOVERYSTAND = 1006; +SPORT_API_ID_EULER = 1007; +SPORT_API_ID_MOVE = 1008; +SPORT_API_ID_SIT = 1009; +SPORT_API_ID_RISESIT = 1010; +SPORT_API_ID_SWITCHGAIT = 1011; +SPORT_API_ID_TRIGGER = 1012; +SPORT_API_ID_BODYHEIGHT = 1013; +SPORT_API_ID_FOOTRAISEHEIGHT = 1014; +SPORT_API_ID_SPEEDLEVEL = 1015; +SPORT_API_ID_HELLO = 1016; +SPORT_API_ID_STRETCH = 1017; +SPORT_API_ID_TRAJECTORYFOLLOW = 1018; +SPORT_API_ID_CONTINUOUSGAIT = 1019; +SPORT_API_ID_CONTENT = 1020; +SPORT_API_ID_WALLOW = 1021; +SPORT_API_ID_DANCE1 = 1022; +SPORT_API_ID_DANCE2 = 1023; +SPORT_API_ID_GETBODYHEIGHT = 1024; +SPORT_API_ID_GETFOOTRAISEHEIGHT = 1025; +SPORT_API_ID_GETSPEEDLEVEL = 1026; +SPORT_API_ID_SWITCHJOYSTICK = 1027; +SPORT_API_ID_POSE = 1028; +SPORT_API_ID_FRONTJUMP = 1031; +SPORT_API_ID_ECONOMICGAIT = 1035; +SPORT_API_ID_MOVETOPOS = 1036; +SPORT_API_ID_SWITCHEULERMODE = 1037; +SPORT_API_ID_SWITCHMOVEMODE = 1038; + + +""" +" error code +""" +# client side +SPORT_ERR_CLIENT_POINT_PATH = 4101 +# server side +SPORT_ERR_SERVER_OVERTIME = 4201 +SPORT_ERR_SERVER_NOT_INIT = 4202 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/sport/sport_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/sport/sport_client.py new file mode 100644 index 0000000..9ca34a3 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/sport/sport_client.py @@ -0,0 +1,241 @@ +import json + +from ...rpc.client import Client +from .sport_api import * + +""" +" SPORT_PATH_POINT_SIZE +""" +SPORT_PATH_POINT_SIZE = 30 + + +""" +" class PathPoint +""" +class PathPoint: + def __init__(self, timeFromStart: float, x: float, y: float, yaw: float, vx: float, vy: float, vyaw: float): + self.timeFromStart = timeFromStart + self.x = x + self.y = y + self.yaw = yaw + self.vx = vx + self.vy = vy + self.vyaw = vyaw + + +""" +" class SportClient +""" +class SportClient(Client): + def __init__(self, enableLease: bool = False): + super().__init__(SPORT_SERVICE_NAME, enableLease) + + + def Init(self): + # set api version + self._SetApiVerson(SPORT_API_VERSION) + + # regist api + self._RegistApi(SPORT_API_ID_DAMP, 0) + self._RegistApi(SPORT_API_ID_BALANCESTAND, 0) + self._RegistApi(SPORT_API_ID_STOPMOVE, 0) + self._RegistApi(SPORT_API_ID_STANDUP, 0) + self._RegistApi(SPORT_API_ID_STANDDOWN, 0) + self._RegistApi(SPORT_API_ID_RECOVERYSTAND, 0) + self._RegistApi(SPORT_API_ID_EULER, 0) + self._RegistApi(SPORT_API_ID_MOVE, 0) + self._RegistApi(SPORT_API_ID_SIT, 0) + self._RegistApi(SPORT_API_ID_SWITCHGAIT, 0) + self._RegistApi(SPORT_API_ID_BODYHEIGHT, 0) + self._RegistApi(SPORT_API_ID_FOOTRAISEHEIGHT, 0) + self._RegistApi(SPORT_API_ID_SPEEDLEVEL, 0) + self._RegistApi(SPORT_API_ID_TRAJECTORYFOLLOW, 0) + self._RegistApi(SPORT_API_ID_CONTINUOUSGAIT, 0) + self._RegistApi(SPORT_API_ID_MOVETOPOS, 0) + self._RegistApi(SPORT_API_ID_FRONTJUMP, 0) + self._RegistApi(SPORT_API_ID_ECONOMICGAIT, 0) + self._RegistApi(SPORT_API_ID_POSE, 0) + self._RegistApi(SPORT_API_ID_SWITCHEULERMODE, 0) + self._RegistApi(SPORT_API_ID_SWITCHMOVEMODE, 0) + + # 1001 + def Damp(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_DAMP, parameter) + return code + + # 1002 + def BalanceStand(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_BALANCESTAND, parameter) + return code + + # 1003 + def StopMove(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STOPMOVE, parameter) + return code + + # 1004 + def StandUp(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STANDUP, parameter) + return code + + # 1005 + def StandDown(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STANDDOWN, parameter) + return code + + # 1006 + def RecoveryStand(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_RECOVERYSTAND, parameter) + return code + + # 1007 + def Euler(self, roll: float, pitch: float, yaw: float): + p = {} + p["x"] = roll + p["y"] = pitch + p["z"] = yaw + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_EULER, parameter) + return code + + # 1008 + def Move(self, vx: float, vy: float, vyaw: float): + p = {} + p["x"] = vx + p["y"] = vy + p["z"] = vyaw + parameter = json.dumps(p) + code = self._CallNoReply(SPORT_API_ID_MOVE, parameter) + return code + + # 1009 + def Sit(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SIT, parameter) + return code + + # 1011 + def SwitchGait(self, t: int): + p = {} + p["data"] = t + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SWITCHGAIT, parameter) + return code + + # 1013 + def BodyHeight(self, height: float): + p = {} + p["data"] = height + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_BODYHEIGHT, parameter) + return code + + # 1014 + def FootRaiseHeight(self, height: float): + p = {} + p["data"] = height + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_FOOTRAISEHEIGHT, parameter) + return code + + # 1015 + def SpeedLevel(self, level: int): + p = {} + p["data"] = level + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SPEEDLEVEL, parameter) + return code + + # 1018 + def TrajectoryFollow(self, path: list): + l = len(path) + if l != SPORT_PATH_POINT_SIZE: + return SPORT_ERR_CLIENT_POINT_PATH + + path_p = [] + for i in range(l): + point = path[i] + p = {} + p["t_from_start"] = point.timeFromStart + p["x"] = point.x + p["y"] = point.y + p["yaw"] = point.yaw + p["vx"] = point.vx + p["vy"] = point.vy + p["vyaw"] = point.vyaw + path_p.append(p) + + parameter = json.dumps(path_p) + code = self._CallNoReply(SPORT_API_ID_TRAJECTORYFOLLOW, parameter) + return code + + # 1019 + def ContinuousGait(self, flag: int): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_CONTINUOUSGAIT, parameter) + return code + + # 1036 + def MoveToPos(self, x: float, y: float, yaw: float): + p = {} + p["x"] = x + p["y"] = y + p["yaw"] = yaw + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_MOVETOPOS, parameter) + return code + + # 1031 + def FrontJump(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_FRONTJUMP, parameter) + return code + + + # 1035 + def EconomicGait(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_ECONOMICGAIT, parameter) + return code + + # 1028 + def Pose(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_POSE, parameter) + return code + + # 1037 + def SwitchEulerMode(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SWITCHEULERMODE, parameter) + return code + + # 1038 + def SwitchMoveMode(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SWITCHMOVEMODE, parameter) + return code diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/vui/vui_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/vui/vui_api.py new file mode 100644 index 0000000..d5dcd34 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/vui/vui_api.py @@ -0,0 +1,21 @@ +""" +" service name +""" +VUI_SERVICE_NAME = "vui" + + +""" +" service api version +""" +VUI_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +VUI_API_ID_SETSWITCH = 1001 +VUI_API_ID_GETSWITCH = 1002 +VUI_API_ID_SETVOLUME = 1003 +VUI_API_ID_GETVOLUME = 1004 +VUI_API_ID_SETBRIGHTNESS = 1005 +VUI_API_ID_GETBRIGHTNESS = 1006 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/vui/vui_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/vui/vui_client.py new file mode 100644 index 0000000..234f285 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/b2/vui/vui_client.py @@ -0,0 +1,86 @@ +import json + +from ...rpc.client import Client +from .vui_api import * + + +""" +" class VideoClient +""" +class VuiClient(Client): + def __init__(self): + super().__init__(VUI_SERVICE_NAME, False) + + def Init(self): + # set api version + self._SetApiVerson(VUI_API_VERSION) + # regist api + self._RegistApi(VUI_API_ID_SETSWITCH, 0) + self._RegistApi(VUI_API_ID_GETSWITCH, 0) + self._RegistApi(VUI_API_ID_SETVOLUME, 0) + self._RegistApi(VUI_API_ID_GETVOLUME, 0) + self._RegistApi(VUI_API_ID_SETBRIGHTNESS, 0) + self._RegistApi(VUI_API_ID_GETBRIGHTNESS, 0) + + # 1001 + def SetSwitch(self, enable: int): + p = {} + p["enable"] = enable + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_SETSWITCH, parameter) + return code + + # 1002 + def GetSwitch(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_GETSWITCH, parameter) + if code == 0: + d = json.loads(data) + return code, d["enable"] + else: + return code, None + + # 1003 + def SetVolume(self, level: int): + p = {} + p["volume"] = level + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_SETVOLUME, parameter) + return code + + # 1006 + def GetVolume(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_GETVOLUME, parameter) + if code == 0: + d = json.loads(data) + return code, d["volume"] + else: + return code, None + + # 1005 + def SetBrightness(self, level: int): + p = {} + p["brightness"] = level + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_SETBRIGHTNESS, parameter) + return code + + # 1006 + def GetBrightness(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_GETBRIGHTNESS, parameter) + if code == 0: + d = json.loads(data) + return code, d["brightness"] + else: + return code, None \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/motion_switcher_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/motion_switcher_api.py new file mode 100644 index 0000000..ddb9a42 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/motion_switcher_api.py @@ -0,0 +1,29 @@ +""" +" service name +""" +MOTION_SWITCHER_SERVICE_NAME = "motion_switcher" + + +""" +" service api version +""" +MOTION_SWITCHER_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +MOTION_SWITCHER_API_ID_CHECK_MODE = 1001 +MOTION_SWITCHER_API_ID_SELECT_MODE = 1002 +MOTION_SWITCHER_API_ID_RELEASE_MODE = 1003 +MOTION_SWITCHER_API_ID_SET_SILENT = 1004 +MOTION_SWITCHER_API_ID_GET_SILENT = 1005 + +# """ +# " error code +# """ +# # client side +# SPORT_ERR_CLIENT_POINT_PATH = 4101 +# # server side +# SPORT_ERR_SERVER_OVERTIME = 4201 +# SPORT_ERR_SERVER_NOT_INIT = 4202 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/motion_switcher_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/motion_switcher_client.py new file mode 100644 index 0000000..1ad411a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/comm/motion_switcher/motion_switcher_client.py @@ -0,0 +1,51 @@ +import json + +from ...rpc.client import Client +from .motion_switcher_api import * + +""" +" class MotionSwitcherClient +""" +class MotionSwitcherClient(Client): + def __init__(self): + super().__init__(MOTION_SWITCHER_SERVICE_NAME, False) + + + def Init(self): + # set api version + self._SetApiVerson(MOTION_SWITCHER_API_VERSION) + + # regist api + self._RegistApi(MOTION_SWITCHER_API_ID_CHECK_MODE, 0) + self._RegistApi(MOTION_SWITCHER_API_ID_SELECT_MODE, 0) + self._RegistApi(MOTION_SWITCHER_API_ID_RELEASE_MODE, 0) + self._RegistApi(MOTION_SWITCHER_API_ID_SET_SILENT, 0) + self._RegistApi(MOTION_SWITCHER_API_ID_GET_SILENT, 0) + + # 1001 + def CheckMode(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(MOTION_SWITCHER_API_ID_CHECK_MODE, parameter) + if code == 0: + return code, json.loads(data) + else: + return code, None + + # 1002 + def SelectMode(self, nameOrAlias): + p = {} + p["name"] = nameOrAlias + parameter = json.dumps(p) + code, data = self._Call(MOTION_SWITCHER_API_ID_SELECT_MODE, parameter) + + return code, None + + # 1003 + def ReleaseMode(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(MOTION_SWITCHER_API_ID_RELEASE_MODE, parameter) + + return code, None + \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel.py new file mode 100644 index 0000000..daacc63 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel.py @@ -0,0 +1,290 @@ +import time +from typing import Any, Callable +from threading import Thread, Event + +from cyclonedds.domain import Domain, DomainParticipant +from cyclonedds.internal import dds_c_t +from cyclonedds.pub import DataWriter +from cyclonedds.sub import DataReader +from cyclonedds.topic import Topic +from cyclonedds.qos import Qos +from cyclonedds.core import DDSException, Listener +from cyclonedds.util import duration +from cyclonedds.internal import dds_c_t, InvalidSample + +# for channel config +from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface + +# for singleton +from ..utils.singleton import Singleton +from ..utils.bqueue import BQueue + + +""" +" class ChannelReader +""" + +""" +" class Channel +""" +class Channel: + + """ + " internal class __Reader + """ + class __Reader: + def __init__(self): + self.__reader = None + self.__handler = None + self.__queue = None + self.__queueEnable = False + self.__threadEvent = None + self.__threadReader = None + + def Init(self, participant: DomainParticipant, topic: Topic, qos: Qos = None, handler: Callable = None, queueLen: int = 0): + if handler is None: + self.__reader = DataReader(participant, topic, qos) + else: + self.__handler = handler + if queueLen > 0: + self.__queueEnable = True + self.__queue = BQueue(queueLen) + self.__threadEvent = Event() + self.__threadReader = Thread(target=self.__ChannelReaderThreadFunc, name="ch_reader", daemon=True) + self.__threadReader.start() + self.__reader = DataReader(participant, topic, qos, Listener(on_data_available=self.__OnDataAvailable)) + + def Read(self, timeout: float = None): + sample = None + try: + if timeout is None: + sample = self.__reader.take_one() + else: + sample = self.__reader.take_one(timeout=duration(seconds=timeout)) + except DDSException as e: + print("[Reader] catch DDSException msg:", e.msg) + except TimeoutError as e: + print("[Reader] take sample timeout") + except: + print("[Reader] take sample error") + + return sample + + def Close(self): + if self.__reader is not None: + del self.__reader + + if self.__queueEnable: + self.__threadEvent.set() + self.__queue.Interrupt() + self.__queue.Clear() + self.__threadReader.join() + + def __OnDataAvailable(self, reader: DataReader): + samples = [] + try: + samples = reader.take(1) + except DDSException as e: + print("[Reader] catch DDSException error. msg:", e.msg) + return + except TimeoutError as e: + print("[Reader] take sample timeout") + return + except: + print("[Reader] take sample error") + return + + if samples is None: + return + + # check invalid sample + sample = samples[0] + if isinstance(sample, InvalidSample): + return + + # do sample + if self.__queueEnable: + self.__queue.Put(sample) + else: + self.__handler(sample) + + def __ChannelReaderThreadFunc(self): + while not self.__threadEvent.is_set(): + sample = self.__queue.Get() + if sample is not None: + self.__handler(sample) + + """ + " internal class __Writer + """ + class __Writer: + def __init__(self): + self.__writer = None + self.__publication_matched_count = 0 + + def Init(self, participant: DomainParticipant, topic: Topic, qos: Qos = None): + self.__writer = DataWriter(participant, topic, qos, Listener(on_publication_matched=self.__OnPublicationMatched)) + time.sleep(0.2) + + def Write(self, sample: Any, timeout: float = None): + waitsec = 0.0 if timeout is None else timeout + + # check publication_matched_count + while waitsec > 0.0 and self.__publication_matched_count == 0: + time.sleep(0.1) + waitsec = waitsec - 0.1 + # print(time.time()) + + # check waitsec + if timeout is not None and waitsec <= 0.0: + return False + + try: + self.__writer.write(sample) + except DDSException as e: + print("[Writer] catch DDSException error. msg:", e.msg) + return False + except Exception as e: + print("[Writer] write sample error. msg:", e.args()) + return False + + return True + + def Close(self): + if self.__writer is not None: + del self.__writer + + def __OnPublicationMatched(self, writer: DataWriter, status: dds_c_t.publication_matched_status): + self.__publication_matched_count = status.current_count + + + # channel __init__ + def __init__(self, participant: DomainParticipant, name: str, type: Any, qos: Qos = None): + self.__reader = self.__Reader() + self.__writer = self.__Writer() + self.__participant = participant + self.__topic = Topic(self.__participant, name, type, qos) + + def SetWriter(self, qos: Qos = None): + self.__writer.Init(self.__participant, self.__topic, qos) + + def SetReader(self, qos: Qos = None, handler: Callable = None, queueLen: int = 0): + self.__reader.Init(self.__participant, self.__topic, qos, handler, queueLen) + + def Write(self, sample: Any, timeout: float = None): + return self.__writer.Write(sample, timeout) + + def Read(self, timeout: float = None): + return self.__reader.Read(timeout) + + def CloseReader(self): + self.__reader.Close() + + def CloseWriter(self): + self.__writer.Close() + + +""" +" class ChannelFactory +""" +class ChannelFactory(Singleton): + __domain = None + __participant = None + __qos = None + + def __init__(self): + super().__init__() + + def Init(self, id: int, networkInterface: str = None, qos: Qos = None): + config = None + # choose config + if networkInterface is None: + config = ChannelConfigAutoDetermine + else: + config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface) + + try: + self.__domain = Domain(id, config) + except DDSException as e: + print("[ChannelFactory] create domain error. msg:", e.msg) + return False + except: + print("[ChannelFactory] create domain error.") + return False + + try: + self.__participant = DomainParticipant(id) + except DDSException as e: + print("[ChannelFactory] create domain participant error. msg:", e.msg) + return False + except: + print("[ChannelFactory] create domain participant error") + return False + + self.__qos = qos + + return True + + def CreateChannel(self, name: str, type: Any): + return Channel(self.__participant, name, type, self.__qos) + + def CreateSendChannel(self, name: str, type: Any): + channel = self.CreateChannel(name, type) + channel.SetWriter(None) + return channel + + def CreateRecvChannel(self, name: str, type: Any, handler: Callable = None, queueLen: int = 0): + channel = self.CreateChannel(name, type) + channel.SetReader(None, handler, queueLen) + return channel + + +""" +" class ChannelPublisher +""" +class ChannelPublisher: + def __init__(self, name: str, type: Any): + factory = ChannelFactory() + self.__channel = factory.CreateChannel(name, type) + self.__inited = False + + def Init(self): + if not self.__inited: + self.__channel.SetWriter(None) + self.__inited = True + + def Close(self): + self.__channel.CloseWriter() + self.__inited = False + + def Write(self, sample: Any, timeout: float = None): + return self.__channel.Write(sample, timeout) + +""" +" class ChannelSubscriber +""" +class ChannelSubscriber: + def __init__(self, name: str, type: Any): + factory = ChannelFactory() + self.__channel = factory.CreateChannel(name, type) + self.__inited = False + + def Init(self, handler: Callable = None, queueLen: int = 0): + if not self.__inited: + self.__channel.SetReader(None, handler, queueLen) + self.__inited = True + + def Close(self): + self.__channel.CloseReader() + self.__inited = False + + def Read(self, timeout: float = None): + return self.__channel.Read(timeout) + +""" +" function ChannelFactoryInitialize. used to intialize channel everenment. +""" +def ChannelFactoryInitialize(id: int = 0, networkInterface: str = None): + factory = ChannelFactory() + if not factory.Init(id, networkInterface): + raise Exception("channel factory init error.") diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel_config.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel_config.py new file mode 100644 index 0000000..19a67a4 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel_config.py @@ -0,0 +1,25 @@ +ChannelConfigHasInterface = ''' + + + + + + + + + config + /tmp/cdds.LOG + + + ''' + +ChannelConfigAutoDetermine = ''' + + + + + + + + + ''' diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel_name.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel_name.py new file mode 100644 index 0000000..722e408 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel_name.py @@ -0,0 +1,34 @@ +from enum import Enum + +""" +" Enum ChannelType +""" +class ChannelType(Enum): + SEND = 0 + RECV = 1 + +""" +" function GetClientChannelName +""" +def GetClientChannelName(serviceName: str, channelType: ChannelType): + name = "rt/api/" + serviceName + + if channelType == ChannelType.SEND: + name += "/request" + else: + name += "/response" + + return name + +""" +" function GetClientChannelName +""" +def GetServerChannelName(serviceName: str, channelType: ChannelType): + name = "rt/api/" + serviceName + + if channelType == ChannelType.SEND: + name += "/response" + else: + name += "/request" + + return name \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio/g1_audio_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio/g1_audio_api.py new file mode 100644 index 0000000..9aba780 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio/g1_audio_api.py @@ -0,0 +1,24 @@ +""" +" service name +""" +AUDIO_SERVICE_NAME = "voice" + +""" +" service api version +""" +AUDIO_API_VERSION = "1.0.0.0" + +""" +" api id +""" +ROBOT_API_ID_AUDIO_TTS = 1001 +ROBOT_API_ID_AUDIO_ASR = 1002 +ROBOT_API_ID_AUDIO_START_PLAY = 1003 +ROBOT_API_ID_AUDIO_STOP_PLAY = 1004 +ROBOT_API_ID_AUDIO_GET_VOLUME = 1005 +ROBOT_API_ID_AUDIO_SET_VOLUME = 1006 +ROBOT_API_ID_AUDIO_SET_RGB_LED = 1010 + +""" +" error code +""" \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio/g1_audio_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio/g1_audio_client.py new file mode 100644 index 0000000..d8d0bc3 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio/g1_audio_client.py @@ -0,0 +1,62 @@ +import json + +from ...rpc.client import Client +from .g1_audio_api import * + +""" +" class SportClient +""" +class AudioClient(Client): + def __init__(self): + super().__init__(AUDIO_SERVICE_NAME, False) + self.tts_index = 0 + + def Init(self): + # set api version + self._SetApiVerson(AUDIO_API_VERSION) + + # regist api + self._RegistApi(ROBOT_API_ID_AUDIO_TTS, 0) + self._RegistApi(ROBOT_API_ID_AUDIO_ASR, 0) + self._RegistApi(ROBOT_API_ID_AUDIO_START_PLAY, 0) + self._RegistApi(ROBOT_API_ID_AUDIO_STOP_PLAY, 0) + self._RegistApi(ROBOT_API_ID_AUDIO_GET_VOLUME, 0) + self._RegistApi(ROBOT_API_ID_AUDIO_SET_VOLUME, 0) + self._RegistApi(ROBOT_API_ID_AUDIO_SET_RGB_LED, 0) + + ## API Call ## + def TtsMaker(self, text: str, speaker_id: int): + self.tts_index += self.tts_index + p = {} + p["index"] = self.tts_index + p["text"] = text + p["speaker_id"] = speaker_id + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_AUDIO_TTS, parameter) + return code + + def GetVolume(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_AUDIO_GET_VOLUME, parameter) + if code == 0: + return code, json.loads(data) + else: + return code, None + + def SetVolume(self, volume: int): + p = {} + p["volume"] = volume + # p["name"] = 'volume' + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_AUDIO_SET_VOLUME, parameter) + return code + + def LedControl(self, R: int, G: int, B: int): + p = {} + p["R"] = R + p["G"] = G + p["B"] = B + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_AUDIO_SET_RGB_LED, parameter) + return code diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/loco/g1_loco_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/loco/g1_loco_api.py new file mode 100644 index 0000000..937de19 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/loco/g1_loco_api.py @@ -0,0 +1,32 @@ +""" +" service name +""" +LOCO_SERVICE_NAME = "loco" + + +""" +" service api version +""" +LOCO_API_VERSION = "1.0.0.0" + + +""" +" api id +""" +ROBOT_API_ID_LOCO_GET_FSM_ID = 7001 +ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002 +ROBOT_API_ID_LOCO_GET_BALANCE_MODE = 7003 +ROBOT_API_ID_LOCO_GET_SWING_HEIGHT = 7004 +ROBOT_API_ID_LOCO_GET_STAND_HEIGHT = 7005 +ROBOT_API_ID_LOCO_GET_PHASE = 7006 # deprecated + +ROBOT_API_ID_LOCO_SET_FSM_ID = 7101 +ROBOT_API_ID_LOCO_SET_BALANCE_MODE = 7102 +ROBOT_API_ID_LOCO_SET_SWING_HEIGHT = 7103 +ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 7104 +ROBOT_API_ID_LOCO_SET_VELOCITY = 7105 +ROBOT_API_ID_LOCO_SET_ARM_TASK = 7106 + +""" +" error code +""" \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/loco/g1_loco_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/loco/g1_loco_client.py new file mode 100644 index 0000000..9d3a632 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/loco/g1_loco_client.py @@ -0,0 +1,127 @@ +import json + +from ...rpc.client import Client +from .g1_loco_api import * + +""" +" class SportClient +""" +class LocoClient(Client): + def __init__(self): + super().__init__(LOCO_SERVICE_NAME, False) + self.first_shake_hand_stage_ = -1 + + def Init(self): + # set api version + self._SetApiVerson(LOCO_API_VERSION) + + # regist api + self._RegistApi(ROBOT_API_ID_LOCO_GET_FSM_ID, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_FSM_MODE, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_BALANCE_MODE, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_PHASE, 0) # deprecated + + self._RegistApi(ROBOT_API_ID_LOCO_SET_FSM_ID, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_BALANCE_MODE, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_VELOCITY, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_ARM_TASK, 0) + + # 7101 + def SetFsmId(self, fsm_id: int): + p = {} + p["data"] = fsm_id + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter) + return code + + # 7102 + def SetBalanceMode(self, balance_mode: int): + p = {} + p["data"] = balance_mode + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_BALANCE_MODE, parameter) + return code + + # 7104 + def SetStandHeight(self, stand_height: float): + p = {} + p["data"] = stand_height + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, parameter) + return code + + # 7105 + def SetVelocity(self, vx: float, vy: float, omega: float, duration: float = 1.0): + p = {} + velocity = [vx,vy,omega] + p["velocity"] = velocity + p["duration"] = duration + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter) + return code + + # 7106 + def SetTaskId(self, task_id: float): + p = {} + p["data"] = task_id + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_ARM_TASK, parameter) + return code + + def Damp(self): + self.SetFsmId(1) + + def Start(self): + self.SetFsmId(200) + + def Squat2StandUp(self): + self.SetFsmId(706) + + def Lie2StandUp(self): + self.SetFsmId(702) + + def Sit(self): + self.SetFsmId(3) + + def StandUp2Squat(self): + self.SetFsmId(706) + + def ZeroTorque(self): + self.SetFsmId(0) + + def StopMove(self): + self.SetVelocity(0., 0., 0.) + + def HighStand(self): + UINT32_MAX = (1 << 32) - 1 + self.SetStandHeight(UINT32_MAX) + + def LowStand(self): + UINT32_MIN = 0 + self.SetStandHeight(UINT32_MIN) + + def Move(self, vx: float, vy: float, vyaw: float, continous_move: bool = False): + duration = 864000.0 if continous_move else 1 + self.SetVelocity(vx, vy, vyaw, duration) + + def BalanceStand(self, balance_mode: int): + self.SetBalanceMode(balance_mode) + + def WaveHand(self, turn_flag: bool = False): + self.SetTaskId(1 if turn_flag else 0) + + def ShakeHand(self, stage: int = -1): + if stage == 0: + self.first_shake_hand_stage_ = False + self.SetTaskId(2) + elif stage == 1: + self.first_shake_hand_stage_ = True + self.SetTaskId(3) + else: + self.first_shake_hand_stage_ = not self.first_shake_hand_stage_ + return self.SetTaskId(3 if self.first_shake_hand_stage_ else 2) + \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_api.py new file mode 100644 index 0000000..ad9dc06 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_api.py @@ -0,0 +1,19 @@ +""" +" service name +""" +OBSTACLES_AVOID_SERVICE_NAME = "obstacles_avoid" + + +""" +" service api version +""" +OBSTACLES_AVOID_API_VERSION = "1.0.0.2" + + +""" +" api id +""" +OBSTACLES_AVOID_API_ID_SWITCH_SET = 1001 +OBSTACLES_AVOID_API_ID_SWITCH_GET = 1002 +OBSTACLES_AVOID_API_ID_MOVE = 1003 +OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API = 1004 \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_client.py new file mode 100644 index 0000000..4d7b62b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_client.py @@ -0,0 +1,60 @@ +import json + +from ...rpc.client import Client +from .obstacles_avoid_api import * + + +""" +" class ObstaclesAvoidClient +""" +class ObstaclesAvoidClient(Client): + def __init__(self): + super().__init__(OBSTACLES_AVOID_SERVICE_NAME, False) + + def Init(self): + # set api version + self._SetApiVerson(OBSTACLES_AVOID_API_VERSION) + # regist api + self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_SET, 0) + self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_GET, 0) + self._RegistApi(OBSTACLES_AVOID_API_ID_MOVE, 0) + self._RegistApi(OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API, 0) + + # 1001 + def SwitchSet(self, on: bool): + p = {} + p["enable"] = on + parameter = json.dumps(p) + + code, data = self._Call(OBSTACLES_AVOID_API_ID_SWITCH_SET, parameter) + return code + + # 1002 + def SwitchGet(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(OBSTACLES_AVOID_API_ID_SWITCH_GET, parameter) + if code == 0: + d = json.loads(data) + return code, d["enable"] + else: + return code, None + + # 1003 + def Move(self, vx: float, vy: float, vyaw: float): + p = {} + p["x"] = vx + p["y"] = vy + p["yaw"] = vyaw + p["mode"] = 0 + parameter = json.dumps(p) + code = self._CallNoReply(OBSTACLES_AVOID_API_ID_MOVE, parameter) + return code + + def UseRemoteCommandFromApi(self, isRemoteCommandsFromApi: bool): + p = {} + p["is_remote_commands_from_api"] = isRemoteCommandsFromApi + parameter = json.dumps(p) + code, data = self._Call(OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API, parameter) + return code \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/robot_state_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/robot_state_api.py new file mode 100644 index 0000000..fde54df --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/robot_state_api.py @@ -0,0 +1,25 @@ +""" +" service name +""" +ROBOT_STATE_SERVICE_NAME = "robot_state" + + +""" +" service api version +""" +ROBOT_STATE_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001 +ROBOT_STATE_API_ID_REPORT_FREQ = 1002 +ROBOT_STATE_API_ID_SERVICE_LIST = 1003 + + +""" +" error code +""" +ROBOT_STATE_ERR_SERVICE_SWITCH = 5201 +ROBOT_STATE_ERR_SERVICE_PROTECTED = 5202 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/robot_state_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/robot_state_client.py new file mode 100644 index 0000000..097a891 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/robot_state/robot_state_client.py @@ -0,0 +1,84 @@ +import json + +from ...rpc.client import Client +from ...rpc.internal import * +from .robot_state_api import * + + +""" +" class ServiceState +""" +class ServiceState: + def __init__(self, name: str = None, status: int = None, protect: bool = None): + self.name = name + self.status = status + self.protect = protect + +""" +" class RobotStateClient +""" +class RobotStateClient(Client): + def __init__(self): + super().__init__(ROBOT_STATE_SERVICE_NAME, False) + + def Init(self): + # set api version + self._SetApiVerson(ROBOT_STATE_API_VERSION) + # regist api + self._RegistApi(ROBOT_STATE_API_ID_SERVICE_SWITCH, 0) + self._RegistApi(ROBOT_STATE_API_ID_REPORT_FREQ, 0) + self._RegistApi(ROBOT_STATE_API_ID_SERVICE_LIST, 0) + + def ServiceList(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_LIST, parameter) + + if code != 0: + return code, None + + lst = [] + + d = json.loads(data) + for t in d: + s = ServiceState() + s.name = t["name"] + s.status = t["status"] + s.protect = t["protect"] + lst.append(s) + + return code, lst + + + def ServiceSwitch(self, name: str, switch: bool): + p = {} + p["name"] = name + p["switch"] = int(switch) + parameter = json.dumps(p) + + code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_SWITCH, parameter) + + if code != 0: + return code + + d = json.loads(data) + + status = d["status"] + + if status == 5: + return ROBOT_STATE_ERR_SERVICE_PROTECTED + + if status != 0 and status != 1: + return ROBOT_STATE_ERR_SERVICE_SWITCH + + return code + + def SetReportFreq(self, interval: int, duration: int): + p = {} + p["interval"] = interval + p["duration"] = duration + parameter = json.dumps(p) + + code, data = self._Call(ROBOT_STATE_API_ID_REPORT_FREQ, p) + return code diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/sport_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/sport_api.py new file mode 100644 index 0000000..bfca62a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/sport_api.py @@ -0,0 +1,74 @@ +""" +" service name +""" +SPORT_SERVICE_NAME = "sport" + + +""" +" service api version +""" +SPORT_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +SPORT_API_ID_DAMP = 1001 +SPORT_API_ID_BALANCESTAND = 1002 +SPORT_API_ID_STOPMOVE = 1003 +SPORT_API_ID_STANDUP = 1004 +SPORT_API_ID_STANDDOWN = 1005 +SPORT_API_ID_RECOVERYSTAND = 1006 +SPORT_API_ID_EULER = 1007 +SPORT_API_ID_MOVE = 1008 +SPORT_API_ID_SIT = 1009 +SPORT_API_ID_RISESIT = 1010 +SPORT_API_ID_SWITCHGAIT = 1011 +SPORT_API_ID_TRIGGER = 1012 +SPORT_API_ID_BODYHEIGHT = 1013 +SPORT_API_ID_FOOTRAISEHEIGHT = 1014 +SPORT_API_ID_SPEEDLEVEL = 1015 +SPORT_API_ID_HELLO = 1016 +SPORT_API_ID_STRETCH = 1017 +SPORT_API_ID_TRAJECTORYFOLLOW = 1018 +SPORT_API_ID_CONTINUOUSGAIT = 1019 +SPORT_API_ID_CONTENT = 1020 +SPORT_API_ID_WALLOW = 1021 +SPORT_API_ID_DANCE1 = 1022 +SPORT_API_ID_DANCE2 = 1023 +SPORT_API_ID_GETBODYHEIGHT = 1024 +SPORT_API_ID_GETFOOTRAISEHEIGHT = 1025 +SPORT_API_ID_GETSPEEDLEVEL = 1026 +SPORT_API_ID_SWITCHJOYSTICK = 1027 +SPORT_API_ID_POSE = 1028 +SPORT_API_ID_SCRAPE = 1029 +SPORT_API_ID_FRONTFLIP = 1030 +SPORT_API_ID_FRONTJUMP = 1031 +SPORT_API_ID_FRONTPOUNCE = 1032 +SPORT_API_ID_WIGGLEHIPS = 1033 +SPORT_API_ID_GETSTATE = 1034 +SPORT_API_ID_ECONOMICGAIT = 1035 +SPORT_API_ID_HEART = 1036 +ROBOT_SPORT_API_ID_DANCE3 = 1037 +ROBOT_SPORT_API_ID_DANCE4 = 1038 +ROBOT_SPORT_API_ID_HOPSPINLEFT = 1039 +ROBOT_SPORT_API_ID_HOPSPINRIGHT = 1040 + +ROBOT_SPORT_API_ID_LEFTFLIP = 1042 +ROBOT_SPORT_API_ID_BACKFLIP = 1044 +ROBOT_SPORT_API_ID_FREEWALK = 1045 +ROBOT_SPORT_API_ID_FREEBOUND = 1046 +ROBOT_SPORT_API_ID_FREEJUMP = 1047 +ROBOT_SPORT_API_ID_FREEAVOID = 1048 +ROBOT_SPORT_API_ID_WALKSTAIR = 1049 +ROBOT_SPORT_API_ID_WALKUPRIGHT = 1050 +ROBOT_SPORT_API_ID_CROSSSTEP = 1051 + +""" +" error code +""" +# client side +SPORT_ERR_CLIENT_POINT_PATH = 4101 +# server side +SPORT_ERR_SERVER_OVERTIME = 4201 +SPORT_ERR_SERVER_NOT_INIT = 4202 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/sport_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/sport_client.py new file mode 100644 index 0000000..d058e51 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/sport/sport_client.py @@ -0,0 +1,446 @@ +import json + +from ...rpc.client import Client +from .sport_api import * + +""" +" SPORT_PATH_POINT_SIZE +""" +SPORT_PATH_POINT_SIZE = 30 + + +""" +" class PathPoint +""" +class PathPoint: + def __init__(self, timeFromStart: float, x: float, y: float, yaw: float, vx: float, vy: float, vyaw: float): + self.timeFromStart = timeFromStart + self.x = x + self.y = y + self.yaw = yaw + self.vx = vx + self.vy = vy + self.vyaw = vyaw + + +""" +" class SportClient +""" +class SportClient(Client): + def __init__(self, enableLease: bool = False): + super().__init__(SPORT_SERVICE_NAME, enableLease) + + + def Init(self): + # set api version + self._SetApiVerson(SPORT_API_VERSION) + + # regist api + self._RegistApi(SPORT_API_ID_DAMP, 0) + self._RegistApi(SPORT_API_ID_BALANCESTAND, 0) + self._RegistApi(SPORT_API_ID_STOPMOVE, 0) + self._RegistApi(SPORT_API_ID_STANDUP, 0) + self._RegistApi(SPORT_API_ID_STANDDOWN, 0) + self._RegistApi(SPORT_API_ID_RECOVERYSTAND, 0) + self._RegistApi(SPORT_API_ID_EULER, 0) + self._RegistApi(SPORT_API_ID_MOVE, 0) + self._RegistApi(SPORT_API_ID_SIT, 0) + self._RegistApi(SPORT_API_ID_RISESIT, 0) + self._RegistApi(SPORT_API_ID_SWITCHGAIT, 0) + self._RegistApi(SPORT_API_ID_TRIGGER, 0) + self._RegistApi(SPORT_API_ID_BODYHEIGHT, 0) + self._RegistApi(SPORT_API_ID_FOOTRAISEHEIGHT, 0) + self._RegistApi(SPORT_API_ID_SPEEDLEVEL, 0) + self._RegistApi(SPORT_API_ID_HELLO, 0) + self._RegistApi(SPORT_API_ID_STRETCH, 0) + self._RegistApi(SPORT_API_ID_TRAJECTORYFOLLOW, 0) + self._RegistApi(SPORT_API_ID_CONTINUOUSGAIT, 0) + # self._RegistApi(SPORT_API_ID_CONTENT, 0) + self._RegistApi(SPORT_API_ID_WALLOW, 0) + self._RegistApi(SPORT_API_ID_DANCE1, 0) + self._RegistApi(SPORT_API_ID_DANCE2, 0) + # self._RegistApi(SPORT_API_ID_GETBODYHEIGHT, 0) + # self._RegistApi(SPORT_API_ID_GETFOOTRAISEHEIGHT, 0) + # self._RegistApi(SPORT_API_ID_GETSPEEDLEVEL, 0) + self._RegistApi(SPORT_API_ID_SWITCHJOYSTICK, 0) + self._RegistApi(SPORT_API_ID_POSE, 0) + self._RegistApi(SPORT_API_ID_SCRAPE, 0) + self._RegistApi(SPORT_API_ID_FRONTFLIP, 0) + self._RegistApi(SPORT_API_ID_FRONTJUMP, 0) + self._RegistApi(SPORT_API_ID_FRONTPOUNCE, 0) + self._RegistApi(SPORT_API_ID_WIGGLEHIPS, 0) + self._RegistApi(SPORT_API_ID_GETSTATE, 0) + self._RegistApi(SPORT_API_ID_ECONOMICGAIT, 0) + self._RegistApi(SPORT_API_ID_HEART, 0) + + self._RegistApi(ROBOT_SPORT_API_ID_LEFTFLIP, 0) + self._RegistApi(ROBOT_SPORT_API_ID_BACKFLIP, 0) + self._RegistApi(ROBOT_SPORT_API_ID_FREEWALK, 0) + self._RegistApi(ROBOT_SPORT_API_ID_FREEBOUND, 0) + self._RegistApi(ROBOT_SPORT_API_ID_FREEJUMP, 0) + self._RegistApi(ROBOT_SPORT_API_ID_FREEAVOID, 0) + self._RegistApi(ROBOT_SPORT_API_ID_WALKSTAIR, 0) + self._RegistApi(ROBOT_SPORT_API_ID_WALKUPRIGHT, 0) + self._RegistApi(ROBOT_SPORT_API_ID_CROSSSTEP, 0) + + # 1001 + def Damp(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_DAMP, parameter) + return code + + # 1002 + def BalanceStand(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_BALANCESTAND, parameter) + return code + + # 1003 + def StopMove(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STOPMOVE, parameter) + return code + + # 1004 + def StandUp(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STANDUP, parameter) + return code + + # 1005 + def StandDown(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STANDDOWN, parameter) + return code + + # 1006 + def RecoveryStand(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_RECOVERYSTAND, parameter) + return code + + # 1007 + def Euler(self, roll: float, pitch: float, yaw: float): + p = {} + p["x"] = roll + p["y"] = pitch + p["z"] = yaw + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_EULER, parameter) + return code + + # 1008 + def Move(self, vx: float, vy: float, vyaw: float): + p = {} + p["x"] = vx + p["y"] = vy + p["z"] = vyaw + parameter = json.dumps(p) + code = self._CallNoReply(SPORT_API_ID_MOVE, parameter) + return code + + # 1009 + def Sit(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SIT, parameter) + return code + + #1010 + def RiseSit(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_RISESIT, parameter) + return code + + # 1011 + def SwitchGait(self, t: int): + p = {} + p["data"] = t + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SWITCHGAIT, parameter) + return code + + # 1012 + def Trigger(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_TRIGGER, parameter) + return code + + # 1013 + def BodyHeight(self, height: float): + p = {} + p["data"] = height + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_BODYHEIGHT, parameter) + return code + + # 1014 + def FootRaiseHeight(self, height: float): + p = {} + p["data"] = height + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_FOOTRAISEHEIGHT, parameter) + return code + + # 1015 + def SpeedLevel(self, level: int): + p = {} + p["data"] = level + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SPEEDLEVEL, parameter) + return code + + # 1016 + def Hello(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_HELLO, parameter) + return code + + # 1017 + def Stretch(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_STRETCH, parameter) + return code + + # 1018 + def TrajectoryFollow(self, path: list): + l = len(path) + if l != SPORT_PATH_POINT_SIZE: + return SPORT_ERR_CLIENT_POINT_PATH + + path_p = [] + for i in range(l): + point = path[i] + p = {} + p["t_from_start"] = point.timeFromStart + p["x"] = point.x + p["y"] = point.y + p["yaw"] = point.yaw + p["vx"] = point.vx + p["vy"] = point.vy + p["vyaw"] = point.vyaw + path_p.append(p) + + parameter = json.dumps(path_p) + code = self._CallNoReply(SPORT_API_ID_TRAJECTORYFOLLOW, parameter) + return code + + # 1019 + def ContinuousGait(self, flag: int): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_CONTINUOUSGAIT, parameter) + return code + + # # 1020 + # def Content(self): + # p = {} + # parameter = json.dumps(p) + # code, data = self._Call(SPORT_API_ID_CONTENT, parameter) + # return code + + # 1021 + def Wallow(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_WALLOW, parameter) + return code + + # 1022 + def Dance1(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_DANCE1, parameter) + return code + + # 1023 + def Dance2(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_DANCE2, parameter) + return code + + # 1025 + def GetFootRaiseHeight(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(SPORT_API_ID_GETFOOTRAISEHEIGHT, parameter) + + if code == 0: + d = json.loads(data) + return code, d["data"] + else: + return code, None + + + # 1026 + def GetSpeedLevel(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(SPORT_API_ID_GETSPEEDLEVEL, parameter) + + if code == 0: + d = json.loads(data) + return code, d["data"] + else: + return code, None + + # 1027 + def SwitchJoystick(self, on: bool): + p = {} + p["data"] = on + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SWITCHJOYSTICK, parameter) + return code + + # 1028 + def Pose(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_POSE, parameter) + return code + + # 1029 + def Scrape(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_SCRAPE, parameter) + return code + + # 1030 + def FrontFlip(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_FRONTFLIP, parameter) + return code + + # 1031 + def FrontJump(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_FRONTJUMP, parameter) + return code + + # 1032 + def FrontPounce(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_FRONTPOUNCE, parameter) + return code + + # 1033 + def WiggleHips(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_WIGGLEHIPS, parameter) + return code + + # 1034 + def GetState(self, keys: list): + parameter = json.dumps(keys) + code, data = self._Call(SPORT_API_ID_GETSTATE, parameter) + if code == 0: + return code, json.loads(data) + else: + return code, None + + # 1035 + def EconomicGait(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_ECONOMICGAIT, parameter) + return code + + # 1036 + def Heart(self): + p = {} + parameter = json.dumps(p) + code, data = self._Call(SPORT_API_ID_HEART, parameter) + return code + + # 1042 + def LeftFlip(self): + p = {} + p["data"] = True + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_LEFTFLIP, parameter) + return code + + # 1044 + def BackFlip(self): + p = {} + p["data"] = True + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_BACKFLIP, parameter) + return code + + # 1045 + def FreeWalk(self, flag: bool): + p = {} + p["data"] = True + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_FREEWALK, parameter) + return code + + # 1046 + def FreeBound(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_FREEBOUND, parameter) + return code + + # 1047 + def FreeJump(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_FREEJUMP, parameter) + return code + + # 1048 + def FreeAvoid(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_FREEAVOID, parameter) + return code + + # 1049 + def WalkStair(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_WALKSTAIR, parameter) + return code + + # 1050 + def WalkUpright(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_WALKUPRIGHT, parameter) + return code + + # 1051 + def CrossStep(self, flag: bool): + p = {} + p["data"] = flag + parameter = json.dumps(p) + code, data = self._Call(ROBOT_SPORT_API_ID_CROSSSTEP, parameter) + return code \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/video_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/video_api.py new file mode 100644 index 0000000..a4cb1b6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/video_api.py @@ -0,0 +1,16 @@ +""" +" service name +""" +VIDEO_SERVICE_NAME = "videohub" + + +""" +" service api version +""" +VIDEO_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +VIDEO_API_ID_GETIMAGESAMPLE = 1001 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/video_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/video_client.py new file mode 100644 index 0000000..79e1fb5 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/video/video_client.py @@ -0,0 +1,23 @@ +import json + +from ...rpc.client import Client +from .video_api import * + + +""" +" class VideoClient +""" +class VideoClient(Client): + def __init__(self): + super().__init__(VIDEO_SERVICE_NAME, False) + + + def Init(self): + # set api version + self._SetApiVerson(VIDEO_API_VERSION) + # regist api + self._RegistApi(VIDEO_API_ID_GETIMAGESAMPLE, 0) + + # 1001 + def GetImageSample(self): + return self._CallBinary(VIDEO_API_ID_GETIMAGESAMPLE, []) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/vui_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/vui_api.py new file mode 100644 index 0000000..d5dcd34 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/vui_api.py @@ -0,0 +1,21 @@ +""" +" service name +""" +VUI_SERVICE_NAME = "vui" + + +""" +" service api version +""" +VUI_API_VERSION = "1.0.0.1" + + +""" +" api id +""" +VUI_API_ID_SETSWITCH = 1001 +VUI_API_ID_GETSWITCH = 1002 +VUI_API_ID_SETVOLUME = 1003 +VUI_API_ID_GETVOLUME = 1004 +VUI_API_ID_SETBRIGHTNESS = 1005 +VUI_API_ID_GETBRIGHTNESS = 1006 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/vui_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/vui_client.py new file mode 100644 index 0000000..234f285 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/go2/vui/vui_client.py @@ -0,0 +1,86 @@ +import json + +from ...rpc.client import Client +from .vui_api import * + + +""" +" class VideoClient +""" +class VuiClient(Client): + def __init__(self): + super().__init__(VUI_SERVICE_NAME, False) + + def Init(self): + # set api version + self._SetApiVerson(VUI_API_VERSION) + # regist api + self._RegistApi(VUI_API_ID_SETSWITCH, 0) + self._RegistApi(VUI_API_ID_GETSWITCH, 0) + self._RegistApi(VUI_API_ID_SETVOLUME, 0) + self._RegistApi(VUI_API_ID_GETVOLUME, 0) + self._RegistApi(VUI_API_ID_SETBRIGHTNESS, 0) + self._RegistApi(VUI_API_ID_GETBRIGHTNESS, 0) + + # 1001 + def SetSwitch(self, enable: int): + p = {} + p["enable"] = enable + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_SETSWITCH, parameter) + return code + + # 1002 + def GetSwitch(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_GETSWITCH, parameter) + if code == 0: + d = json.loads(data) + return code, d["enable"] + else: + return code, None + + # 1003 + def SetVolume(self, level: int): + p = {} + p["volume"] = level + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_SETVOLUME, parameter) + return code + + # 1006 + def GetVolume(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_GETVOLUME, parameter) + if code == 0: + d = json.loads(data) + return code, d["volume"] + else: + return code, None + + # 1005 + def SetBrightness(self, level: int): + p = {} + p["brightness"] = level + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_SETBRIGHTNESS, parameter) + return code + + # 1006 + def GetBrightness(self): + p = {} + parameter = json.dumps(p) + + code, data = self._Call(VUI_API_ID_GETBRIGHTNESS, parameter) + if code == 0: + d = json.loads(data) + return code, d["brightness"] + else: + return code, None \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/h1/loco/h1_loco_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/h1/loco/h1_loco_api.py new file mode 100644 index 0000000..bd8ddbe --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/h1/loco/h1_loco_api.py @@ -0,0 +1,31 @@ +""" +" service name +""" +LOCO_SERVICE_NAME = "loco" + + +""" +" service api version +""" +LOCO_API_VERSION = "2.0.0.0" + + +""" +" api id +""" +ROBOT_API_ID_LOCO_GET_FSM_ID = 8001 +ROBOT_API_ID_LOCO_GET_FSM_MODE = 8002 +ROBOT_API_ID_LOCO_GET_BALANCE_MODE = 8003 +ROBOT_API_ID_LOCO_GET_SWING_HEIGHT = 8004 +ROBOT_API_ID_LOCO_GET_STAND_HEIGHT = 8005 +ROBOT_API_ID_LOCO_GET_PHASE = 8006 # deprecated + +ROBOT_API_ID_LOCO_SET_FSM_ID = 8101 +ROBOT_API_ID_LOCO_SET_BALANCE_MODE = 8102 +ROBOT_API_ID_LOCO_SET_SWING_HEIGHT = 8103 +ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 8104 +ROBOT_API_ID_LOCO_SET_VELOCITY = 8105 + +""" +" error code +""" \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/h1/loco/h1_loco_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/h1/loco/h1_loco_client.py new file mode 100644 index 0000000..3bc01e3 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/h1/loco/h1_loco_client.py @@ -0,0 +1,83 @@ +import json + +from ...rpc.client import Client +from .h1_loco_api import * + +""" +" class SportClient +""" +class LocoClient(Client): + def __init__(self): + super().__init__(LOCO_SERVICE_NAME, False) + + + def Init(self): + # set api version + self._SetApiVerson(LOCO_API_VERSION) + + # regist api + self._RegistApi(ROBOT_API_ID_LOCO_GET_FSM_ID, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_FSM_MODE, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_BALANCE_MODE, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_GET_PHASE, 0) # deprecated + + self._RegistApi(ROBOT_API_ID_LOCO_SET_FSM_ID, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_BALANCE_MODE, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, 0) + self._RegistApi(ROBOT_API_ID_LOCO_SET_VELOCITY, 0) + + # 8101 + def SetFsmId(self, fsm_id: int): + p = {} + p["data"] = fsm_id + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter) + return code + + # 8104 + def SetStandHeight(self, stand_height: float): + p = {} + p["data"] = stand_height + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, parameter) + return code + + # 8105 + def SetVelocity(self, vx: float, vy: float, omega: float, duration: float = 1.0): + p = {} + velocity = [vx,vy,omega] + p["velocity"] = velocity + p["duration"] = duration + parameter = json.dumps(p) + code, data = self._Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter) + return code + + def Damp(self): + self.SetFsmId(1) + + def Start(self): + self.SetFsmId(204) + + def StandUp(self): + self.SetFsmId(2) + + def ZeroTorque(self): + self.SetFsmId(0) + + def StopMove(self): + self.SetVelocity(0., 0., 0.) + + def HighStand(self): + UINT32_MAX = (1 << 32) - 1 + self.SetStandHeight(UINT32_MAX) + + def LowStand(self): + UINT32_MIN = 0 + self.SetStandHeight(UINT32_MIN) + + def Move(self, vx: float, vy: float, vyaw: float, continous_move: bool = False): + duration = 864000.0 if continous_move else 1 + self.SetVelocity(vx, vy, vyaw, duration) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/__init__.py new file mode 100644 index 0000000..38d706e --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/__init__.py @@ -0,0 +1,12 @@ +from .default import * +from . import builtin_interfaces, geometry_msgs, sensor_msgs, std_msgs, unitree_go, unitree_api + +__all__ = [ + "builtin_interfaces", + "geometry_msgs", + "sensor_msgs", + "std_msgs", + "unitree_go", + "unitree_hg", + "unitree_api", +] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/__init__.py new file mode 100644 index 0000000..c0397fd --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: builtin_interfaces + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/__init__.py new file mode 100644 index 0000000..b791398 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: builtin_interfaces.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/dds_/_Time_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/dds_/_Time_.py new file mode 100644 index 0000000..970c671 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/dds_/_Time_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: builtin_interfaces.msg.dds_ + IDL file: Time_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import builtin_interfaces + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Time_(idl.IdlStruct, typename="builtin_interfaces.msg.dds_.Time_"): + sec: types.int32 + nanosec: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/dds_/__init__.py new file mode 100644 index 0000000..c3f9730 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/builtin_interfaces/msg/dds_/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: builtin_interfaces.msg.dds_ + +""" + +from ._Time_ import Time_ +__all__ = ["Time_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/default.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/default.py new file mode 100644 index 0000000..778006a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/default.py @@ -0,0 +1,272 @@ +from .builtin_interfaces.msg.dds_ import * +from .std_msgs.msg.dds_ import * +from .geometry_msgs.msg.dds_ import * +from .nav_msgs.msg.dds_ import * +from .sensor_msgs.msg.dds_ import * +from .unitree_go.msg.dds_ import * +from .unitree_api.msg.dds_ import * + +# IDL for unitree_hg +from .unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_ +from .unitree_hg.msg.dds_ import LowState_ as HGLowState_ +from .unitree_hg.msg.dds_ import MotorCmd_ as HGMotorCmd_ +from .unitree_hg.msg.dds_ import MotorState_ as HGMotorState_ +from .unitree_hg.msg.dds_ import BmsState_ as HGBmsState_ +from .unitree_hg.msg.dds_ import IMUState_ as HGIMUState_ +from .unitree_hg.msg.dds_ import MainBoardState_ as HGMainBoardState_ +from .unitree_hg.msg.dds_ import PressSensorState_ as HGPressSensorState_ +from .unitree_hg.msg.dds_ import HandCmd_ as HGHandCmd_ +from .unitree_hg.msg.dds_ import HandState_ as HGHandState_ +from .unitree_hg.msg.dds_ import OdoState_ as HGOdoState_ + +""" +" builtin_interfaces_msgs.msg.dds_ dafault +""" +def builtin_interfaces_msgs_msg_dds__Time_(): + return Time_(0, 0) + + +""" +" std_msgs.msg.dds_ dafault +""" +def std_msgs_msg_dds__Header_(): + return Header_(builtin_interfaces_msgs_msg_dds__Time_(), "") + +def std_msgs_msg_dds__String_(): + return String_("") + + +""" +" geometry_msgs.msg.dds_ dafault +""" +def geometry_msgs_msg_dds__Point_(): + return Point_(0.0, 0.0, 0.0) + +def geometry_msgs_msg_dds__Point32_(): + return Point32_(0.0, 0.0, 0.0) + +def geometry_msgs_msg_dds__PointStamped_(): + return PointStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Point_()) + +def geometry_msgs_msg_dds__Quaternion_(): + return Quaternion_(0.0, 0.0, 0.0, 0.0) + +def geometry_msgs_msg_dds__Vector3_(): + return Vector3_(0.0, 0.0, 0.0) + +def geometry_msgs_msg_dds__Pose_(): + return Pose_(geometry_msgs_msg_dds__Point_(), geometry_msgs_msg_dds__Quaternion_()) + +def geometry_msgs_msg_dds__Pose2D_(): + return Pose2D_(0.0, 0.0, 0.0) + +def geometry_msgs_msg_dds__PoseStamped_(): + return PoseStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Pose_()) + +def geometry_msgs_msg_dds__PoseWithCovariance_(): + return PoseWithCovariance_(geometry_msgs_msg_dds__Pose_(), [ + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 + ]) + +def geometry_msgs_msg_dds__PoseWithCovarianceStamped_(): + return PoseWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__PoseWithCovariance_()) + +def geometry_msgs_msg_dds__QuaternionStamped_(): + return QuaternionStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Quaternion_()) + +def geometry_msgs_msg_dds__Twist_(): + return Twist_(geometry_msgs_msg_dds__Vector3_(), geometry_msgs_msg_dds__Vector3_()) + +def geometry_msgs_msg_dds__TwistStamped_(): + return TwistStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Twist_()) + +def geometry_msgs_msg_dds__TwistWithCovariance_(): + return TwistWithCovariance_(geometry_msgs_msg_dds__Twist_(), [ + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 + ]) + +def geometry_msgs_msg_dds__TwistWithCovarianceStamped_(): + return TwistWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__TwistWithCovariance_()) + + +""" +" nav_msgs.msg.dds_ dafault +""" +def nav_msgs_msg_dds__MapMetaData_(): + return MapMetaData_(builtin_interfaces_msgs_msg_dds__Time_(), 0, 0, geometry_msgs_msg_dds__Pose_()) + +def nav_msgs_msg_dds__OccupancyGrid_(): + return OccupancyGrid_(std_msgs_msg_dds__Header_(), nav_msgs_msg_dds__MapMetaData_(), []) + +def nav_msgs_msg_dds__Odometry_(): + return Odometry_(std_msgs_msg_dds__Header_(), "", geometry_msgs_msg_dds__PoseWithCovariance_(), + geometry_msgs_msg_dds__TwistWithCovariance_()) + + +""" +" sensor_msgs.msg.dds_ dafault +""" +def sensor_msgs_msg_dds__PointField_Constants_PointField_(): + return PointField_("", 0, 0, 0) + +def sensor_msgs_msg_dds__PointField_Constants_PointCloud2_(): + return PointCloud2_(std_msgs_msg_dds__Header_(), 0, 0, [], False, 0, 0, [], False) + + +""" +" unitree_go.msg.dds_ dafault +""" +def unitree_go_msg_dds__AudioData_(): + return AudioData_(0, []) + +def unitree_go_msg_dds__BmsCmd_(): + return BmsCmd_(0, [0, 0, 0]) + +def unitree_go_msg_dds__BmsState_(): + return BmsState_(0, 0, 0, 0, 0, 0, [0, 0], [0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) + +def unitree_go_msg_dds__Error_(): + return Error_(0, 0) + +def unitree_go_msg_dds__Go2FrontVideoData_(): + return Go2FrontVideoData_(0, [], [], []) + +def unitree_go_msg_dds__HeightMap_(): + return HeightMap_(0.0, "", 0.0, 0, 0, [0.0, 0.0], []) + +def unitree_go_msg_dds__IMUState_(): + return IMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0) + +def unitree_go_msg_dds__InterfaceConfig_(): + return InterfaceConfig_(0, 0, [0, 0]) + +def unitree_go_msg_dds__LidarState_(): + return LidarState_(0.0, "", "", "", 0.0, 0.0, 0, 0.0, 0.0, 0, 0, 0.0, 0.0, [0.0, 0.0, 0.0], 0.0, 0, 0) + +def unitree_go_msg_dds__MotorCmd_(): + return MotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, [0, 0, 0]) + +def unitree_go_msg_dds__MotorState_(): + return MotorState_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0, [0, 0]) + +def unitree_go_msg_dds__LowCmd_(): + return LowCmd_([0, 0], 0, 0, [0, 0], [0, 0], 0, [unitree_go_msg_dds__MotorCmd_() for i in range(20)], + unitree_go_msg_dds__BmsCmd_(), + [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0], 0, 0, 0) + +def unitree_go_msg_dds__LowState_(): + return LowState_([0, 0], 0, 0, [0, 0], [0, 0], 0, unitree_go_msg_dds__IMUState_(), + [unitree_go_msg_dds__MotorState_() for i in range(20)], + unitree_go_msg_dds__BmsState_(), [0, 0, 0, 0], [0, 0, 0, 0], 0, + [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], + 0, 0, 0, 0, 0.0, 0.0, [0, 0, 0, 0], 0, 0) + +def unitree_go_msg_dds__Req_(): + return Req_("", "") + +def unitree_go_msg_dds__Res_(): + return Res_("", [], "") + +def unitree_go_msg_dds__TimeSpec_(): + return TimeSpec_(0, 0) + +def unitree_go_msg_dds__PathPoint_(): + return PathPoint_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + +def unitree_go_msg_dds__SportModeState_(): + return SportModeState_(unitree_go_msg_dds__TimeSpec_(), 0, unitree_go_msg_dds__IMUState_(), + 0, 0, 0, 0.0, [0.0, 0.0, 0.0], 0.0, + [0.0, 0.0, 0.0], 0.0, [0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],[unitree_go_msg_dds__PathPoint_() for i in range(10)]) + +def unitree_go_msg_dds__UwbState_(): + return UwbState_([0, 0], 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, [0.0, 0.0], 0, 0, 0) + +def unitree_go_msg_dds__UwbSwitch_(): + return UwbSwitch_(0) + +def unitree_go_msg_dds__WirelessController_(): + return WirelessController_(0.0, 0.0, 0.0, 0.0, 0) + + +""" +" unitree_hg.msg.dds_ dafault +""" +def unitree_hg_msg_dds__BmsCmd_(): + return HGBmsCmd_(0, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) + +def unitree_hg_msg_dds__BmsState_(): + return HGBmsState_(0, 0, 0, + [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0], 0, 0, 0, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 0, 0, [0, 0, 0, 0, 0], [0, 0, 0]) + +def unitree_hg_msg_dds__IMUState_(): + return HGIMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0) + +def unitree_hg_msg_dds__MotorCmd_(): + return HGMotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0) + +def unitree_hg_msg_dds__MotorState_(): + return HGMotorState_(0, 0.0, 0.0, 0.0, 0.0, [0, 0], 0.0, [0, 0], 0, [0, 0, 0, 0]) + +def unitree_hg_msg_dds__MainBoardState_(): + return HGMainBoardState_([0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0, 0, 0]) + +def unitree_hg_msg_dds__LowCmd_(): + return HGLowCmd_(0, 0, [unitree_hg_msg_dds__MotorCmd_() for i in range(35)], [0, 0, 0, 0], 0) + +def unitree_hg_msg_dds__LowState_(): + return HGLowState_([0, 0], 0, 0, 0, unitree_hg_msg_dds__IMUState_(), + [unitree_hg_msg_dds__MotorState_() for i in range(35)], + [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 0], 0) + +def unitree_hg_msg_dds__PressSensorState_(): + return HGPressSensorState_([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0, 0) + +def unitree_hg_msg_dds__HandCmd_(): + return HGHandCmd_([unitree_hg_msg_dds__MotorCmd_() for i in range(7)], [0, 0, 0, 0]) + +def unitree_hg_msg_dds__HandState_(): + return HGHandState_([unitree_hg_msg_dds__MotorState_() for i in range(7)], + [unitree_hg_msg_dds__PressSensorState_() for i in range(7)], + unitree_hg_msg_dds__IMUState_(), + 0.0, 0.0, 0.0, 0.0, [0, 0], [0, 0]) + +def unitree_hg_msg_dds__OdoState_(): + return HGOdoState_([0, 0], 0, [0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0) + + +""" +" unitree_api.msg.dds_ dafault +""" +def unitree_api_msg_dds__RequestIdentity_(): + return RequestIdentity_(0, 0) + +def unitree_api_msg_dds__RequestLease_(): + return RequestLease_(0, unitree_hg_msg_dds__IMUState_(), [], ) + +def unitree_api_msg_dds__RequestPolicy_(): + return RequestPolicy_(0, False) + +def unitree_api_msg_dds__RequestHeader_(): + return RequestHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__RequestLease_(), + unitree_api_msg_dds__RequestPolicy_()) + +def unitree_api_msg_dds__Request_(): + return Request_(unitree_api_msg_dds__RequestHeader_(), "", []) + +def unitree_api_msg_dds__ResponseStatus_(): + return ResponseStatus_(0) + +def unitree_api_msg_dds__ResponseHeader_(): + return ResponseHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__ResponseStatus_()) + +def unitree_api_msg_dds__Response_(): + return Response_(unitree_api_msg_dds__ResponseHeader_(), "", [], 0, 0, [0, 0]) + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/__init__.py new file mode 100644 index 0000000..ab19108 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/__init__.py new file mode 100644 index 0000000..7d10dec --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point32_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point32_.py new file mode 100644 index 0000000..34eefd4 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point32_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Point32_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Point32_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Point32_"): + x: types.float32 + y: types.float32 + z: types.float32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PointStamped_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PointStamped_.py new file mode 100644 index 0000000..19de6ae --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PointStamped_.py @@ -0,0 +1,31 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: PointStamped_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PointStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PointStamped_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + point: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Point_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point_.py new file mode 100644 index 0000000..efbc562 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Point_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Point_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Point_"): + x: types.float64 + y: types.float64 + z: types.float64 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose2D_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose2D_.py new file mode 100644 index 0000000..c223370 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose2D_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Pose2D_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Pose2D_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Pose2D_"): + x: types.float64 + y: types.float64 + theta: types.float64 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseStamped_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseStamped_.py new file mode 100644 index 0000000..7864bb0 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseStamped_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: PoseStamped_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PoseStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseStamped_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovarianceStamped_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovarianceStamped_.py new file mode 100644 index 0000000..843d4c8 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovarianceStamped_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: PoseWithCovarianceStamped_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PoseWithCovarianceStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseWithCovarianceStamped_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.PoseWithCovariance_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovariance_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovariance_.py new file mode 100644 index 0000000..bd75301 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovariance_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: PoseWithCovariance_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PoseWithCovariance_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseWithCovariance_"): + pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_' + covariance: types.array[types.float64, 36] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose_.py new file mode 100644 index 0000000..2ea78d1 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Pose_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Pose_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Pose_"): + position: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Point_' + orientation: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Quaternion_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_QuaternionStamped_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_QuaternionStamped_.py new file mode 100644 index 0000000..ae2b360 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_QuaternionStamped_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: QuaternionStamped_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class QuaternionStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.QuaternionStamped_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + quaternion: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Quaternion_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Quaternion_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Quaternion_.py new file mode 100644 index 0000000..0a401fb --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Quaternion_.py @@ -0,0 +1,30 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Quaternion_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Quaternion_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Quaternion_"): + x: types.float64 + y: types.float64 + z: types.float64 + w: types.float64 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistStamped_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistStamped_.py new file mode 100644 index 0000000..97aa7c9 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistStamped_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: TwistStamped_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class TwistStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistStamped_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Twist_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovarianceStamped_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovarianceStamped_.py new file mode 100644 index 0000000..d322b7f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovarianceStamped_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: TwistWithCovarianceStamped_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class TwistWithCovarianceStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistWithCovarianceStamped_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.TwistWithCovariance_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovariance_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovariance_.py new file mode 100644 index 0000000..7281bfc --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovariance_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: TwistWithCovariance_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class TwistWithCovariance_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistWithCovariance_"): + twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Twist_' + covariance: types.array[types.float64, 36] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Twist_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Twist_.py new file mode 100644 index 0000000..5cd3b23 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Twist_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Twist_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Twist_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Twist_"): + linear: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Vector3_' + angular: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Vector3_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Vector3_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Vector3_.py new file mode 100644 index 0000000..9cdeb0f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Vector3_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + IDL file: Vector3_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import geometry_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Vector3_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Vector3_"): + x: types.float64 + y: types.float64 + z: types.float64 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/__init__.py new file mode 100644 index 0000000..68c4fe2 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/geometry_msgs/msg/dds_/__init__.py @@ -0,0 +1,23 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: geometry_msgs.msg.dds_ + +""" + +from ._Point32_ import Point32_ +from ._Point_ import Point_ +from ._PointStamped_ import PointStamped_ +from ._Pose2D_ import Pose2D_ +from ._Pose_ import Pose_ +from ._PoseStamped_ import PoseStamped_ +from ._PoseWithCovariance_ import PoseWithCovariance_ +from ._PoseWithCovarianceStamped_ import PoseWithCovarianceStamped_ +from ._Quaternion_ import Quaternion_ +from ._QuaternionStamped_ import QuaternionStamped_ +from ._Twist_ import Twist_ +from ._TwistStamped_ import TwistStamped_ +from ._TwistWithCovariance_ import TwistWithCovariance_ +from ._TwistWithCovarianceStamped_ import TwistWithCovarianceStamped_ +from ._Vector3_ import Vector3_ +__all__ = ["Point32_", "Point_", "PointStamped_", "Pose2D_", "Pose_", "PoseStamped_", "PoseWithCovariance_", "PoseWithCovarianceStamped_", "Quaternion_", "QuaternionStamped_", "Twist_", "TwistStamped_", "TwistWithCovariance_", "TwistWithCovarianceStamped_", "Vector3_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/__init__.py new file mode 100644 index 0000000..a2724c2 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: nav_msgs + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/__init__.py new file mode 100644 index 0000000..d47683b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: nav_msgs.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_MapMetaData_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_MapMetaData_.py new file mode 100644 index 0000000..9228cd6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_MapMetaData_.py @@ -0,0 +1,35 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: nav_msgs.msg.dds_ + IDL file: MapMetaData_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import nav_msgs + +# if TYPE_CHECKING: +# import builtin_interfaces.msg.dds_ +# import geometry_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MapMetaData_(idl.IdlStruct, typename="nav_msgs.msg.dds_.MapMetaData_"): + map_load_time: 'unitree_sdk2py.idl.builtin_interfaces.msg.dds_.Time_' + resolution: types.float32 + width: types.uint32 + height: types.uint32 + origin: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_' + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_OccupancyGrid_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_OccupancyGrid_.py new file mode 100644 index 0000000..0274c58 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_OccupancyGrid_.py @@ -0,0 +1,33 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: nav_msgs.msg.dds_ + IDL file: OccupancyGrid_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import nav_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class OccupancyGrid_(idl.IdlStruct, typename="nav_msgs.msg.dds_.OccupancyGrid_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + info: 'unitree_sdk2py.idl.nav_msgs.msg.dds_.MapMetaData_' + data: types.sequence[types.uint8] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_Odometry_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_Odometry_.py new file mode 100644 index 0000000..054bb5c --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/_Odometry_.py @@ -0,0 +1,35 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: nav_msgs.msg.dds_ + IDL file: Odometry_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import nav_msgs + +# if TYPE_CHECKING: +# import geometry_msgs.msg.dds_ +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Odometry_(idl.IdlStruct, typename="nav_msgs.msg.dds_.Odometry_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + child_frame_id: str + pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.PoseWithCovariance_' + twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.TwistWithCovariance_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/__init__.py new file mode 100644 index 0000000..a14e17a --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/nav_msgs/msg/dds_/__init__.py @@ -0,0 +1,11 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: nav_msgs.msg.dds_ + +""" + +from ._MapMetaData_ import MapMetaData_ +from ._OccupancyGrid_ import OccupancyGrid_ +from ._Odometry_ import Odometry_ +__all__ = ["MapMetaData_", "OccupancyGrid_", "Odometry_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/__init__.py new file mode 100644 index 0000000..984e7e2 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/__init__.py new file mode 100644 index 0000000..62a2292 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/_PointField_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/_PointField_.py new file mode 100644 index 0000000..673aa84 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/_PointField_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs.msg.dds_.PointField_Constants + IDL file: PointField_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import sensor_msgs + +INT8_ = 1 +UINT8_ = 2 +INT16_ = 3 +UINT16_ = 4 +INT32_ = 5 +UINT32_ = 6 +FLOAT32_ = 7 +FLOAT64_ = 8 + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/__init__.py new file mode 100644 index 0000000..310fecd --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs.msg.dds_.PointField_Constants + +""" + +from ._PointField_ import FLOAT32_, FLOAT64_, INT16_, INT32_, INT8_, UINT16_, UINT32_, UINT8_ +__all__ = ["FLOAT32_", "FLOAT64_", "INT16_", "INT32_", "INT8_", "UINT16_", "UINT32_", "UINT8_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointCloud2_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointCloud2_.py new file mode 100644 index 0000000..ffdf713 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointCloud2_.py @@ -0,0 +1,39 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs.msg.dds_ + IDL file: PointCloud2_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import sensor_msgs + +# if TYPE_CHECKING: +# import std_msgs.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PointCloud2_(idl.IdlStruct, typename="sensor_msgs.msg.dds_.PointCloud2_"): + header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' + height: types.uint32 + width: types.uint32 + fields: types.sequence['unitree_sdk2py.idl.sensor_msgs.msg.dds_.PointField_'] + is_bigendian: bool + point_step: types.uint32 + row_step: types.uint32 + data: types.sequence[types.uint8] + is_dense: bool + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointField_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointField_.py new file mode 100644 index 0000000..e62dbf9 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointField_.py @@ -0,0 +1,30 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs.msg.dds_ + IDL file: PointField_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import sensor_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PointField_(idl.IdlStruct, typename="sensor_msgs.msg.dds_.PointField_"): + name: str + offset: types.uint32 + datatype: types.uint8 + count: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/__init__.py new file mode 100644 index 0000000..68e0141 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/sensor_msgs/msg/dds_/__init__.py @@ -0,0 +1,11 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: sensor_msgs.msg.dds_ + +""" + +from . import PointField_Constants +from ._PointCloud2_ import PointCloud2_ +from ._PointField_ import PointField_ +__all__ = ["PointField_Constants", "PointCloud2_", "PointField_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/__init__.py new file mode 100644 index 0000000..c17a705 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: std_msgs + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/__init__.py new file mode 100644 index 0000000..02c8fe3 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: std_msgs.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/_Header_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/_Header_.py new file mode 100644 index 0000000..bd3564f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/_Header_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: std_msgs.msg.dds_ + IDL file: Header_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import std_msgs + +# if TYPE_CHECKING: +# import builtin_interfaces.msg.dds_ + + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Header_(idl.IdlStruct, typename="std_msgs.msg.dds_.Header_"): + stamp: 'unitree_sdk2py.idl.builtin_interfaces.msg.dds_.Time_' + frame_id: str + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/_String_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/_String_.py new file mode 100644 index 0000000..052f122 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/_String_.py @@ -0,0 +1,27 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: std_msgs.msg.dds_ + IDL file: String_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import std_msgs + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class String_(idl.IdlStruct, typename="std_msgs.msg.dds_.String_"): + data: str + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/__init__.py new file mode 100644 index 0000000..f5282e5 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/std_msgs/msg/dds_/__init__.py @@ -0,0 +1,10 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: std_msgs.msg.dds_ + +""" + +from ._Header_ import Header_ +from ._String_ import String_ +__all__ = ["Header_", "String_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/__init__.py new file mode 100644 index 0000000..e6546ff --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/__init__.py new file mode 100644 index 0000000..bbf9fde --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestHeader_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestHeader_.py new file mode 100644 index 0000000..57d67a0 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestHeader_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: RequestHeader_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class RequestHeader_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestHeader_"): + identity: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestIdentity_' + lease: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestLease_' + policy: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestPolicy_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestIdentity_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestIdentity_.py new file mode 100644 index 0000000..a891b54 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestIdentity_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: RequestIdentity_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class RequestIdentity_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestIdentity_"): + id: types.int64 + api_id: types.int64 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestLease_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestLease_.py new file mode 100644 index 0000000..32cef0f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestLease_.py @@ -0,0 +1,27 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: RequestLease_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class RequestLease_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestLease_"): + id: types.int64 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestPolicy_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestPolicy_.py new file mode 100644 index 0000000..aa7ef2f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestPolicy_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: RequestPolicy_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class RequestPolicy_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestPolicy_"): + priority: types.int32 + noreply: bool + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_Request_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_Request_.py new file mode 100644 index 0000000..39c6b43 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_Request_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: Request_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Request_(idl.IdlStruct, typename="unitree_api.msg.dds_.Request_"): + header: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestHeader_' + parameter: str + binary: types.sequence[types.uint8] + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseHeader_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseHeader_.py new file mode 100644 index 0000000..ef47340 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseHeader_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: ResponseHeader_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class ResponseHeader_(idl.IdlStruct, typename="unitree_api.msg.dds_.ResponseHeader_"): + identity: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestIdentity_' + status: 'unitree_sdk2py.idl.unitree_api.msg.dds_.ResponseStatus_' + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseStatus_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseStatus_.py new file mode 100644 index 0000000..92c0b1b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseStatus_.py @@ -0,0 +1,27 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: ResponseStatus_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class ResponseStatus_(idl.IdlStruct, typename="unitree_api.msg.dds_.ResponseStatus_"): + code: types.int32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_Response_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_Response_.py new file mode 100644 index 0000000..c743651 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/_Response_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + IDL file: Response_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_api + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Response_(idl.IdlStruct, typename="unitree_api.msg.dds_.Response_"): + header: 'unitree_sdk2py.idl.unitree_api.msg.dds_.ResponseHeader_' + data: str + binary: types.sequence[types.uint8] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/__init__.py new file mode 100644 index 0000000..1e4c9f8 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_api/msg/dds_/__init__.py @@ -0,0 +1,16 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.10.2 + Module: unitree_api.msg.dds_ + +""" + +from ._RequestHeader_ import RequestHeader_ +from ._RequestIdentity_ import RequestIdentity_ +from ._RequestLease_ import RequestLease_ +from ._RequestPolicy_ import RequestPolicy_ +from ._Request_ import Request_ +from ._ResponseHeader_ import ResponseHeader_ +from ._ResponseStatus_ import ResponseStatus_ +from ._Response_ import Response_ +__all__ = ["RequestHeader_", "RequestIdentity_", "RequestLease_", "RequestPolicy_", "Request_", "ResponseHeader_", "ResponseStatus_", "Response_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/__init__.py new file mode 100644 index 0000000..b553006 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/__init__.py new file mode 100644 index 0000000..f8cae9b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_AudioData_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_AudioData_.py new file mode 100644 index 0000000..27913c9 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_AudioData_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: AudioData_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class AudioData_(idl.IdlStruct, typename="unitree_go.msg.dds_.AudioData_"): + time_frame: types.uint64 + data: types.sequence[types.uint8] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsCmd_.py new file mode 100644 index 0000000..5da647e --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsCmd_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: BmsCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class BmsCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsCmd_"): + off: types.uint8 + reserve: types.array[types.uint8, 3] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsState_.py new file mode 100644 index 0000000..af635e8 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsState_.py @@ -0,0 +1,35 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: BmsState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class BmsState_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsState_"): + version_high: types.uint8 + version_low: types.uint8 + status: types.uint8 + soc: types.uint8 + current: types.int32 + cycle: types.uint16 + bq_ntc: types.array[types.uint8, 2] + mcu_ntc: types.array[types.uint8, 2] + cell_vol: types.array[types.uint16, 15] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Error_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Error_.py new file mode 100644 index 0000000..c338c69 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Error_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: Error_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Error_(idl.IdlStruct, typename="unitree_go.msg.dds_.Error_"): + source: types.uint32 + state: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Go2FrontVideoData_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Go2FrontVideoData_.py new file mode 100644 index 0000000..04d245b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Go2FrontVideoData_.py @@ -0,0 +1,30 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: Go2FrontVideoData_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Go2FrontVideoData_(idl.IdlStruct, typename="unitree_go.msg.dds_.Go2FrontVideoData_"): + time_frame: types.uint64 + video720p: types.sequence[types.uint8] + video360p: types.sequence[types.uint8] + video180p: types.sequence[types.uint8] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_HeightMap_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_HeightMap_.py new file mode 100644 index 0000000..48168da --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_HeightMap_.py @@ -0,0 +1,33 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: HeightMap_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class HeightMap_(idl.IdlStruct, typename="unitree_go.msg.dds_.HeightMap_"): + stamp: types.float64 + frame_id: str + resolution: types.float32 + width: types.uint32 + height: types.uint32 + origin: types.array[types.float32, 2] + data: types.sequence[types.float32] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_IMUState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_IMUState_.py new file mode 100644 index 0000000..e48908f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_IMUState_.py @@ -0,0 +1,31 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: IMUState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class IMUState_(idl.IdlStruct, typename="unitree_go.msg.dds_.IMUState_"): + quaternion: types.array[types.float32, 4] + gyroscope: types.array[types.float32, 3] + accelerometer: types.array[types.float32, 3] + rpy: types.array[types.float32, 3] + temperature: types.uint8 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_InterfaceConfig_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_InterfaceConfig_.py new file mode 100644 index 0000000..5efbd64 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_InterfaceConfig_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: InterfaceConfig_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class InterfaceConfig_(idl.IdlStruct, typename="unitree_go.msg.dds_.InterfaceConfig_"): + mode: types.uint8 + value: types.uint8 + reserve: types.array[types.uint8, 2] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LidarState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LidarState_.py new file mode 100644 index 0000000..6861068 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LidarState_.py @@ -0,0 +1,43 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: LidarState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class LidarState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LidarState_"): + stamp: types.float64 + firmware_version: str + software_version: str + sdk_version: str + sys_rotation_speed: types.float32 + com_rotation_speed: types.float32 + error_state: types.uint8 + cloud_frequency: types.float32 + cloud_packet_loss_rate: types.float32 + cloud_size: types.uint32 + cloud_scan_num: types.uint32 + imu_frequency: types.float32 + imu_packet_loss_rate: types.float32 + imu_rpy: types.array[types.float32, 3] + serial_recv_stamp: types.float64 + serial_buffer_size: types.uint32 + serial_buffer_read: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LowCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LowCmd_.py new file mode 100644 index 0000000..bcd4781 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LowCmd_.py @@ -0,0 +1,40 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: LowCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class LowCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowCmd_"): + head: types.array[types.uint8, 2] + level_flag: types.uint8 + frame_reserve: types.uint8 + sn: types.array[types.uint32, 2] + version: types.array[types.uint32, 2] + bandwidth: types.uint16 + motor_cmd: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorCmd_', 20] + bms_cmd: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsCmd_' + wireless_remote: types.array[types.uint8, 40] + led: types.array[types.uint8, 12] + fan: types.array[types.uint8, 2] + gpio: types.uint8 + reserve: types.uint32 + crc: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LowState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LowState_.py new file mode 100644 index 0000000..79ecbe6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_LowState_.py @@ -0,0 +1,48 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: LowState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class LowState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowState_"): + head: types.array[types.uint8, 2] + level_flag: types.uint8 + frame_reserve: types.uint8 + sn: types.array[types.uint32, 2] + version: types.array[types.uint32, 2] + bandwidth: types.uint16 + imu_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.IMUState_' + motor_state: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorState_', 20] + bms_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsState_' + foot_force: types.array[types.int16, 4] + foot_force_est: types.array[types.int16, 4] + tick: types.uint32 + wireless_remote: types.array[types.uint8, 40] + bit_flag: types.uint8 + adc_reel: types.float32 + temperature_ntc1: types.uint8 + temperature_ntc2: types.uint8 + power_v: types.float32 + power_a: types.float32 + fan_frequency: types.array[types.uint16, 4] + reserve: types.uint32 + crc: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmd_.py new file mode 100644 index 0000000..5a2dd85 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmd_.py @@ -0,0 +1,33 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: MotorCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MotorCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorCmd_"): + mode: types.uint8 + q: types.float32 + dq: types.float32 + tau: types.float32 + kp: types.float32 + kd: types.float32 + reserve: types.array[types.uint32, 3] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmds_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmds_.py new file mode 100644 index 0000000..11d3029 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmds_.py @@ -0,0 +1,23 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: MotorCmds_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass, field + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MotorCmds_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorCmds_"): + cmds: types.sequence['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorCmd_'] = field(default_factory=lambda: []) + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorState_.py new file mode 100644 index 0000000..0787acb --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorState_.py @@ -0,0 +1,37 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: MotorState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MotorState_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorState_"): + mode: types.uint8 + q: types.float32 + dq: types.float32 + ddq: types.float32 + tau_est: types.float32 + q_raw: types.float32 + dq_raw: types.float32 + ddq_raw: types.float32 + temperature: types.uint8 + lost: types.uint32 + reserve: types.array[types.uint32, 2] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorStates_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorStates_.py new file mode 100644 index 0000000..4b0245b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorStates_.py @@ -0,0 +1,23 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: MotorStates_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass, field + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MotorStates_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorStates_"): + states: types.sequence['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorState_'] = field(default_factory=lambda: []) + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_PathPoint_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_PathPoint_.py new file mode 100644 index 0000000..20a8c55 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_PathPoint_.py @@ -0,0 +1,33 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: PathPoint_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PathPoint_(idl.IdlStruct, typename="unitree_go.msg.dds_.PathPoint_"): + t_from_start: types.float32 + x: types.float32 + y: types.float32 + yaw: types.float32 + vx: types.float32 + vy: types.float32 + vyaw: types.float32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Req_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Req_.py new file mode 100644 index 0000000..5bb39b3 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Req_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: Req_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Req_(idl.IdlStruct, typename="unitree_go.msg.dds_.Req_"): + uuid: str + body: str + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Res_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Res_.py new file mode 100644 index 0000000..684a5a7 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_Res_.py @@ -0,0 +1,29 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: Res_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class Res_(idl.IdlStruct, typename="unitree_go.msg.dds_.Res_"): + uuid: str + data: types.sequence[types.uint8] + body: str + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_SportModeState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_SportModeState_.py new file mode 100644 index 0000000..e0a26a1 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_SportModeState_.py @@ -0,0 +1,42 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: SportModeState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class SportModeState_(idl.IdlStruct, typename="unitree_go.msg.dds_.SportModeState_"): + stamp: 'unitree_sdk2py.idl.unitree_go.msg.dds_.TimeSpec_' + error_code: types.uint32 + imu_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.IMUState_' + mode: types.uint8 + progress: types.float32 + gait_type: types.uint8 + foot_raise_height: types.float32 + position: types.array[types.float32, 3] + body_height: types.float32 + velocity: types.array[types.float32, 3] + yaw_speed: types.float32 + range_obstacle: types.array[types.float32, 4] + foot_force: types.array[types.int16, 4] + foot_position_body: types.array[types.float32, 12] + foot_speed_body: types.array[types.float32, 12] + path_point: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.PathPoint_', 10] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_TimeSpec_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_TimeSpec_.py new file mode 100644 index 0000000..7a580b6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_TimeSpec_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: TimeSpec_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class TimeSpec_(idl.IdlStruct, typename="unitree_go.msg.dds_.TimeSpec_"): + sec: types.int32 + nanosec: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_UwbState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_UwbState_.py new file mode 100644 index 0000000..d5f2588 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_UwbState_.py @@ -0,0 +1,43 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: UwbState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class UwbState_(idl.IdlStruct, typename="unitree_go.msg.dds_.UwbState_"): + version: types.array[types.uint8, 2] + channel: types.uint8 + joy_mode: types.uint8 + orientation_est: types.float32 + pitch_est: types.float32 + distance_est: types.float32 + yaw_est: types.float32 + tag_roll: types.float32 + tag_pitch: types.float32 + tag_yaw: types.float32 + base_roll: types.float32 + base_pitch: types.float32 + base_yaw: types.float32 + joystick: types.array[types.float32, 2] + error_state: types.uint8 + buttons: types.uint8 + enabled_from_app: types.uint8 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_UwbSwitch_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_UwbSwitch_.py new file mode 100644 index 0000000..b902ef8 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_UwbSwitch_.py @@ -0,0 +1,27 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: UwbSwitch_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class UwbSwitch_(idl.IdlStruct, typename="unitree_go.msg.dds_.UwbSwitch_"): + enabled: types.uint8 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_WirelessController_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_WirelessController_.py new file mode 100644 index 0000000..18919dd --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/_WirelessController_.py @@ -0,0 +1,31 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + IDL file: WirelessController_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_go + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class WirelessController_(idl.IdlStruct, typename="unitree_go.msg.dds_.WirelessController_"): + lx: types.float32 + ly: types.float32 + rx: types.float32 + ry: types.float32 + keys: types.uint16 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/__init__.py new file mode 100644 index 0000000..fc24f6f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_go/msg/dds_/__init__.py @@ -0,0 +1,31 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_go.msg.dds_ + +""" + +from ._AudioData_ import AudioData_ +from ._BmsCmd_ import BmsCmd_ +from ._BmsState_ import BmsState_ +from ._Error_ import Error_ +from ._Go2FrontVideoData_ import Go2FrontVideoData_ +from ._HeightMap_ import HeightMap_ +from ._IMUState_ import IMUState_ +from ._InterfaceConfig_ import InterfaceConfig_ +from ._LidarState_ import LidarState_ +from ._LowCmd_ import LowCmd_ +from ._LowState_ import LowState_ +from ._MotorCmd_ import MotorCmd_ +from ._MotorCmds_ import MotorCmds_ +from ._MotorState_ import MotorState_ +from ._MotorStates_ import MotorStates_ +from ._Req_ import Req_ +from ._Res_ import Res_ +from ._SportModeState_ import SportModeState_ +from ._TimeSpec_ import TimeSpec_ +from ._PathPoint_ import PathPoint_ +from ._UwbState_ import UwbState_ +from ._UwbSwitch_ import UwbSwitch_ +from ._WirelessController_ import WirelessController_ +__all__ = ["AudioData_", "BmsCmd_", "BmsState_", "Error_", "Go2FrontVideoData_", "HeightMap_", "IMUState_", "InterfaceConfig_", "LidarState_", "LowCmd_", "LowState_", "MotorCmd_", "MotorCmds_", "MotorState_", "MotorStates_", "Req_", "Res_", "SportModeState_", "TimeSpec_", "PathPoint_", "UwbState_", "UwbSwitch_", "WirelessController_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/.idlpy_manifest b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/.idlpy_manifest new file mode 100644 index 0000000..fd4ea94 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/.idlpy_manifest @@ -0,0 +1,43 @@ +BmsCmd_ +msg + + +BmsState_ +msg + + +HandCmd_ +msg + + +HandState_ +msg + + +IMUState_ +msg + + +LowCmd_ +msg + + +LowState_ +msg + + +MainBoardState_ +msg + + +MotorCmd_ +msg + + +MotorState_ +msg + + +PressSensorState_ +msg + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/__init__.py new file mode 100644 index 0000000..5f55ee5 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg + +""" + +from . import msg +__all__ = ["msg", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/.idlpy_manifest b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/.idlpy_manifest new file mode 100644 index 0000000..3218e96 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/.idlpy_manifest @@ -0,0 +1,43 @@ +BmsCmd_ +dds_ + + +BmsState_ +dds_ + + +HandCmd_ +dds_ + + +HandState_ +dds_ + + +IMUState_ +dds_ + + +LowCmd_ +dds_ + + +LowState_ +dds_ + + +MainBoardState_ +dds_ + + +MotorCmd_ +dds_ + + +MotorState_ +dds_ + + +PressSensorState_ +dds_ + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/__init__.py new file mode 100644 index 0000000..02b132d --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/__init__.py @@ -0,0 +1,9 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg + +""" + +from . import dds_ +__all__ = ["dds_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/.idlpy_manifest b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/.idlpy_manifest new file mode 100644 index 0000000..6174f37 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/.idlpy_manifest @@ -0,0 +1,43 @@ +BmsCmd_ + +BmsCmd_ + +BmsState_ + +BmsState_ + +HandCmd_ + +HandCmd_ + +HandState_ + +HandState_ + +IMUState_ + +IMUState_ + +LowCmd_ + +LowCmd_ + +LowState_ + +LowState_ + +MainBoardState_ + +MainBoardState_ + +MotorCmd_ + +MotorCmd_ + +MotorState_ + +MotorState_ + +PressSensorState_ + +PressSensorState_ diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsCmd_.py new file mode 100644 index 0000000..525d1a4 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsCmd_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: BmsCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class BmsCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.BmsCmd_"): + cmd: types.uint8 + reserve: types.array[types.uint8, 40] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsState_.py new file mode 100644 index 0000000..dd0c6bd --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsState_.py @@ -0,0 +1,39 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: BmsState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class BmsState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.BmsState_"): + version_high: types.uint8 + version_low: types.uint8 + fn: types.uint8 + cell_vol: types.array[types.uint16, 40] + bmsvoltage: types.array[types.uint32, 3] + current: types.int32 + soc: types.uint8 + soh: types.uint8 + temperature: types.array[types.int16, 12] + cycle: types.uint16 + manufacturer_date: types.uint16 + bmsstate: types.array[types.uint32, 5] + reserve: types.array[types.uint32, 3] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py new file mode 100644 index 0000000..044afcb --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py @@ -0,0 +1,28 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: HandCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class HandCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.HandCmd_"): + motor_cmd: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorCmd_'] + reserve: types.array[types.uint32, 4] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py new file mode 100644 index 0000000..351dc75 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py @@ -0,0 +1,35 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: HandState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class HandState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.HandState_"): + motor_state: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorState_'] + press_sensor_state: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.PressSensorState_'] + imu_state: 'unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_' + power_v: types.float32 + power_a: types.float32 + system_v: types.float32 + device_v: types.float32 + error: types.array[types.uint32, 2] + reserve: types.array[types.uint32, 2] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_IMUState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_IMUState_.py new file mode 100644 index 0000000..75d01a6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_IMUState_.py @@ -0,0 +1,31 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: IMUState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class IMUState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.IMUState_"): + quaternion: types.array[types.float32, 4] + gyroscope: types.array[types.float32, 3] + accelerometer: types.array[types.float32, 3] + rpy: types.array[types.float32, 3] + temperature: types.int16 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowCmd_.py new file mode 100644 index 0000000..56b4b8b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowCmd_.py @@ -0,0 +1,31 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: LowCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class LowCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.LowCmd_"): + mode_pr: types.uint8 + mode_machine: types.uint8 + motor_cmd: types.array['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorCmd_', 35] + reserve: types.array[types.uint32, 4] + crc: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowState_.py new file mode 100644 index 0000000..003c815 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowState_.py @@ -0,0 +1,37 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: LowState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class LowState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.LowState_"): + version: types.array[types.uint32, 2] + mode_pr: types.uint8 + mode_machine: types.uint8 + tick: types.uint32 + imu_state: 'unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_' + # position: types.array[types.float32, 3] + # linear_velocity: types.array[types.float32, 3] + motor_state: types.array['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorState_', 35] + wireless_remote: types.array[types.uint8, 40] + reserve: types.array[types.uint32, 4] + crc: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MainBoardState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MainBoardState_.py new file mode 100644 index 0000000..c280245 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MainBoardState_.py @@ -0,0 +1,30 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: MainBoardState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MainBoardState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.MainBoardState_"): + fan_state: types.array[types.uint16, 6] + temperature: types.array[types.int16, 6] + value: types.array[types.float32, 6] + state: types.array[types.uint32, 6] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorCmd_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorCmd_.py new file mode 100644 index 0000000..3dd8f9d --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorCmd_.py @@ -0,0 +1,33 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: MotorCmd_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MotorCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.MotorCmd_"): + mode: types.uint8 + q: types.float32 + dq: types.float32 + tau: types.float32 + kp: types.float32 + kd: types.float32 + reserve: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorState_.py new file mode 100644 index 0000000..839fccf --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorState_.py @@ -0,0 +1,36 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: MotorState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class MotorState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.MotorState_"): + mode: types.uint8 + q: types.float32 + dq: types.float32 + ddq: types.float32 + tau_est: types.float32 + temperature: types.array[types.int16, 2] + vol: types.float32 + sensor: types.array[types.uint32, 2] + motorstate: types.uint32 + reserve: types.array[types.uint32, 4] + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_OdoState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_OdoState_.py new file mode 100644 index 0000000..f3ff673 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_OdoState_.py @@ -0,0 +1,32 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DX IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: OdoState_.idl + + +""" + +from enum import auto +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class OdoState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.OdoState_"): + version: types.array[types.uint32, 2] + tick: types.uint32 + position: types.array[types.float32, 3] + orientation: types.array[types.float32, 4] # quaternion [x, y, z, w] + linear_velocity: types.array[types.float32, 3] + angular_velocity: types.array[types.float32, 3] + crc: types.uint32 + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py new file mode 100644 index 0000000..7dcf794 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py @@ -0,0 +1,30 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + IDL file: PressSensorState_.idl + +""" + +from enum import auto +from typing import TYPE_CHECKING, Optional +from dataclasses import dataclass + +import cyclonedds.idl as idl +import cyclonedds.idl.annotations as annotate +import cyclonedds.idl.types as types + +# root module import for resolving types +# import unitree_hg + + +@dataclass +@annotate.final +@annotate.autoid("sequential") +class PressSensorState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.PressSensorState_"): + pressure: types.array[types.float32, 12] + temperature: types.array[types.float32, 12] + lost: types.uint32 + reserve: types.uint32 + + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/__init__.py new file mode 100644 index 0000000..b4bca37 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/idl/unitree_hg/msg/dds_/__init__.py @@ -0,0 +1,20 @@ +""" + Generated by Eclipse Cyclone DDS idlc Python Backend + Cyclone DDS IDL version: v0.11.0 + Module: unitree_hg.msg.dds_ + +""" + +from ._BmsCmd_ import BmsCmd_ +from ._BmsState_ import BmsState_ +from ._HandCmd_ import HandCmd_ +from ._HandState_ import HandState_ +from ._IMUState_ import IMUState_ +from ._OdoState_ import OdoState_ +from ._LowCmd_ import LowCmd_ +from ._LowState_ import LowState_ +from ._MainBoardState_ import MainBoardState_ +from ._MotorCmd_ import MotorCmd_ +from ._MotorState_ import MotorState_ +from ._PressSensorState_ import PressSensorState_ +__all__ = ["BmsCmd_", "BmsState_", "HandCmd_", "HandState_", "IMUState_", "OdoState_", "LowCmd_", "LowState_", "MainBoardState_", "MotorCmd_", "MotorState_", "PressSensorState_", ] diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client.py new file mode 100644 index 0000000..d774e53 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client.py @@ -0,0 +1,89 @@ +from .client_base import ClientBase +from .lease_client import LeaseClient +from .internal import * + +""" +" class Client +""" +class Client(ClientBase): + def __init__(self, serviceName: str, enabaleLease: bool = False): + super().__init__(serviceName) + + self.__apiMapping = {} + self.__apiVersion = None + self.__leaseClient = None + self.__enableLease = enabaleLease + + if (self.__enableLease): + self.__leaseClient = LeaseClient(serviceName) + self.__leaseClient.Init() + + def WaitLeaseApplied(self): + if self.__enableLease: + self.__leaseClient.WaitApplied() + + def GetLeaseId(self): + if self.__enableLease: + return self.__leaseClient.GetId() + else: + return None + + def GetApiVersion(self): + return self.__apiVersion + + def GetServerApiVersion(self): + code, apiVerson = self._CallBase(RPC_API_ID_INTERNAL_API_VERSION, "{}", 0, 0) + if code != 0: + print("[Client] get server api version error:", code) + return code, None + else: + return code, apiVerson + + def _SetApiVerson(self, apiVersion: str): + self.__apiVersion = apiVersion + + def _Call(self, apiId: int, parameter: str): + ret, proirity, leaseId = self.__CheckApi(apiId) + if ret == 0: + return self._CallBase(apiId, parameter, proirity, leaseId) + else: + return RPC_ERR_CLIENT_API_NOT_REG, None + + def _CallNoReply(self, apiId: int, parameter: str): + ret, proirity, leaseId = self.__CheckApi(apiId) + if ret == 0: + return self._CallNoReplyBase(apiId, parameter, proirity, leaseId) + else: + return RPC_ERR_CLIENT_API_NOT_REG + + def _CallBinary(self, apiId: int, parameter: list): + ret, proirity, leaseId = self.__CheckApi(apiId) + if ret == 0: + return self._CallBinaryBase(apiId, parameter, proirity, leaseId) + else: + return RPC_ERR_CLIENT_API_NOT_REG, None + + def _CallBinaryNoReply(self, apiId: int, parameter: list): + ret, proirity, leaseId = self.__CheckApi(apiId) + if ret == 0: + return self._CallBinaryNoReplyBase(apiId, parameter, proirity, leaseId) + else: + return RPC_ERR_CLIENT_API_NOT_REG + + def _RegistApi(self, apiId: int, proirity: int): + self.__apiMapping[apiId] = proirity + + def __CheckApi(self, apiId: int): + proirity = 0 + leaseId = 0 + + if apiId > RPC_INTERNAL_API_ID_MAX: + proirity = self.__apiMapping.get(apiId) + + if proirity is None: + return RPC_ERR_CLIENT_API_NOT_REG, proirity, leaseId + + if self.__enableLease: + leaseId = self.__leaseClient.GetId() + + return 0, proirity, leaseId \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client_base.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client_base.py new file mode 100644 index 0000000..1bac028 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client_base.py @@ -0,0 +1,93 @@ +import time + +from ..idl.unitree_api.msg.dds_ import Request_ as Request +from ..idl.unitree_api.msg.dds_ import RequestHeader_ as RequestHeader +from ..idl.unitree_api.msg.dds_ import RequestLease_ as RequestLease +from ..idl.unitree_api.msg.dds_ import RequestIdentity_ as RequestIdentity +from ..idl.unitree_api.msg.dds_ import RequestPolicy_ as RequestPolicy + +from ..utils.future import FutureResult + +from .client_stub import ClientStub +from .internal import * + + +""" +" class ClientBase +""" +class ClientBase: + def __init__(self, serviceName: str): + self.__timeout = 1.0 + self.__stub = ClientStub(serviceName) + self.__stub.Init() + + def SetTimeout(self, timeout: float): + self.__timeout = timeout + + def _CallBase(self, apiId: int, parameter: str, proirity: int = 0, leaseId: int = 0): + # print("[CallBase] call apiId:", apiId, ", proirity:", proirity, ", leaseId:", leaseId) + header = self.__SetHeader(apiId, leaseId, proirity, False) + request = Request(header, parameter, []) + + future = self.__stub.SendRequest(request, self.__timeout) + if future is None: + return RPC_ERR_CLIENT_SEND, None + + result = future.GetResult(self.__timeout) + + if result.code != FutureResult.FUTURE_SUCC: + self.__stub.RemoveFuture(request.header.identity.id) + code = RPC_ERR_CLIENT_API_TIMEOUT if result.code == FutureResult.FUTUTE_ERR_TIMEOUT else RPC_ERR_UNKNOWN + return code, None + + response = result.value + + if response.header.identity.api_id != apiId: + return RPC_ERR_CLIENT_API_NOT_MATCH, None + else: + return response.header.status.code, response.data + + def _CallNoReplyBase(self, apiId: int, parameter: str, proirity: int, leaseId: int): + header = self.__SetHeader(apiId, leaseId, proirity, True) + request = Request(header, parameter, []) + + if self.__stub.Send(request, self.__timeout): + return 0 + else: + return RPC_ERR_CLIENT_SEND + + def _CallBinaryBase(self, apiId: int, parameter: list, proirity: int, leaseId: int): + header = self.__SetHeader(apiId, leaseId, proirity, False) + request = Request(header, "", parameter) + + future = self.__stub.SendRequest(request, self.__timeout) + if future is None: + return RPC_ERR_CLIENT_SEND, None + + result = future.GetResult(self.__timeout) + if result.code != FutureResult.FUTURE_SUCC: + self.__stub.RemoveFuture(request.header.identity.id) + code = RPC_ERR_CLIENT_API_TIMEOUT if result.code == FutureResult.FUTUTE_ERR_TIMEOUT else RPC_ERR_UNKNOWN + return code, None + + response = result.value + + if response.header.identity.api_id != apiId: + return RPC_ERR_CLIENT_API_NOT_MATCH, None + else: + return response.header.status.code, response.binary + + def _CallBinaryNoReplyBase(self, apiId: int, parameter: list, proirity: int, leaseId: int): + header = self.__SetHeader(apiId, leaseId, proirity, True) + request = Request(header, "", parameter) + + if self.__stub.Send(request, self.__timeout): + return 0 + else: + return RPC_ERR_CLIENT_SEND + + def __SetHeader(self, apiId: int, leaseId: int, priority: int, noReply: bool): + identity = RequestIdentity(time.monotonic_ns(), apiId) + lease = RequestLease(leaseId) + policy = RequestPolicy(priority, noReply) + return RequestHeader(identity, lease, policy) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client_stub.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client_stub.py new file mode 100644 index 0000000..67c2c8f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/client_stub.py @@ -0,0 +1,69 @@ +import time + +from enum import Enum +from threading import Thread, Condition + +from ..idl.unitree_api.msg.dds_ import Request_ as Request +from ..idl.unitree_api.msg.dds_ import Response_ as Response + +from ..core.channel import ChannelFactory +from ..core.channel_name import ChannelType, GetClientChannelName +from .request_future import RequestFuture, RequestFutureQueue + + +""" +" class ClientStub +""" +class ClientStub: + def __init__(self, serviceName: str): + self.__serviceName = serviceName + self.__futureQueue = None + + self.__sendChannel = None + self.__recvChannel = None + + def Init(self): + factory = ChannelFactory() + self.__futureQueue = RequestFutureQueue() + + # create channel + self.__sendChannel = factory.CreateSendChannel(GetClientChannelName(self.__serviceName, ChannelType.SEND), Request) + self.__recvChannel = factory.CreateRecvChannel(GetClientChannelName(self.__serviceName, ChannelType.RECV), Response, + self.__ResponseHandler,10) + time.sleep(0.5) + + + def Send(self, request: Request, timeout: float): + if self.__sendChannel.Write(request, timeout): + return True + else: + print("[ClientStub] send error. id:", request.header.identity.id) + return False + + def SendRequest(self, request: Request, timeout: float): + id = request.header.identity.id + + future = RequestFuture() + future.SetRequestId(id) + self.__futureQueue.Set(id, future) + + if self.__sendChannel.Write(request, timeout): + return future + else: + print("[ClientStub] send request error. id:", request.header.identity.id) + self.__futureQueue.Remove(id) + return None + + def RemoveFuture(self, requestId: int): + self.__futureQueue.Remove(requestId) + + def __ResponseHandler(self, response: Response): + id = response.header.identity.id + # apiId = response.header.identity.api_id + # print("[ClientStub] responseHandler recv response id:", id, ", apiId:", apiId) + future = self.__futureQueue.Get(id) + if future is None: + # print("[ClientStub] get future from queue error. id:", id) + pass + elif not future.Ready(response): + print("[ClientStub] set future ready error.") diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/internal.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/internal.py new file mode 100644 index 0000000..875a78b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/internal.py @@ -0,0 +1,31 @@ +# internal api id max +RPC_INTERNAL_API_ID_MAX = 100 + +# internal api id +RPC_API_ID_INTERNAL_API_VERSION = 1 + +# lease api id +RPC_API_ID_LEASE_APPLY = 101 +RPC_API_ID_LEASE_RENEWAL = 102 + +# lease term default +RPC_LEASE_TERM = 1.0 + +# internal error +RPC_OK = 0 +# client error +RPC_ERR_UNKNOWN = 3001 +RPC_ERR_CLIENT_SEND = 3102 +RPC_ERR_CLIENT_API_NOT_REG = 3103 +RPC_ERR_CLIENT_API_TIMEOUT = 3104 +RPC_ERR_CLIENT_API_NOT_MATCH = 3105 +RPC_ERR_CLIENT_API_DATA = 3106 +RPC_ERR_CLIENT_LEASE_INVALID = 3107 +# server error +RPC_ERR_SERVER_SEND = 3201 +RPC_ERR_SERVER_INTERNAL = 3202 +RPC_ERR_SERVER_API_NOT_IMPL = 3203 +RPC_ERR_SERVER_API_PARAMETER = 3204 +RPC_ERR_SERVER_LEASE_DENIED = 3205 +RPC_ERR_SERVER_LEASE_NOT_EXIST = 3206 +RPC_ERR_SERVER_LEASE_EXIST = 3207 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/lease_client.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/lease_client.py new file mode 100644 index 0000000..37f600f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/lease_client.py @@ -0,0 +1,113 @@ +import time +import socket +import os +import json + +from threading import Thread, Lock + +from .client_base import ClientBase +from .internal import * + + +""" +" class LeaseContext +""" +class LeaseContext: + def __init__(self): + self.id = 0 + self.term = RPC_LEASE_TERM + + def Update(self, id, term): + self.id = id + self.term = term + + def Reset(self): + self.id = 0 + self.term = RPC_LEASE_TERM + + def Valid(self): + return self.id != 0 + + +""" +" class LeaseClient +""" +class LeaseClient(ClientBase): + def __init__(self, name: str): + self.__name = name + "_lease" + self.__contextName = socket.gethostname() + "/" + name + "/" + str(os.getpid()) + self.__context = LeaseContext() + self.__thread = None + self.__lock = Lock() + super().__init__(self.__name) + print("[LeaseClient] lease name:", self.__name, ", context name:", self.__contextName) + + def Init(self): + self.SetTimeout(1.0) + self.__thread = Thread(target=self.__ThreadFunc, name=self.__name, daemon=True) + self.__thread.start() + + def WaitApplied(self): + while True: + with self.__lock: + if self.__context.Valid(): + break + time.sleep(0.1) + + def GetId(self): + with self.__lock: + return self.__context.id + + def Applied(self): + with self.__lock: + return self.__context.Valid() + + def __Apply(self): + parameter = {} + parameter["name"] = self.__contextName + p = json.dumps(parameter) + + c, d = self._CallBase(RPC_API_ID_LEASE_APPLY, p) + if c != 0: + print("[LeaseClient] apply lease error. code:", c) + return + + data = json.loads(d) + + id = data["id"] + term = data["term"] + + print("[LeaseClient] lease applied id:", id, ", term:", term) + + with self.__lock: + self.__context.Update(id, float(term/1000000)) + + def __Renewal(self): + parameter = {} + p = json.dumps(parameter) + + c, d = self._CallBase(RPC_API_ID_LEASE_RENEWAL, p, 0, self.__context.id) + if c != 0: + print("[LeaseClient] renewal lease error. code:", c) + if c == RPC_ERR_SERVER_LEASE_NOT_EXIST: + with self.__lock: + self.__context.Reset() + + def __GetWaitSec(self): + waitsec = 0.0 + if self.__context.Valid(): + waitsec = self.__context.term + + if waitsec <= 0: + waitsec = RPC_LEASE_TERM + + return waitsec * 0.3 + + def __ThreadFunc(self): + while True: + if self.__context.Valid(): + self.__Renewal() + else: + self.__Apply() + # sleep waitsec + time.sleep(self.__GetWaitSec()) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/lease_server.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/lease_server.py new file mode 100644 index 0000000..d5b27d1 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/lease_server.py @@ -0,0 +1,151 @@ +import time +import json + +from threading import Lock + +from ..idl.unitree_api.msg.dds_ import Request_ as Request +from ..idl.unitree_api.msg.dds_ import ResponseHeader_ as ResponseHeader +from ..idl.unitree_api.msg.dds_ import ResponseStatus_ as ResponseStatus +from ..idl.unitree_api.msg.dds_ import Response_ as Response + +from .internal import * +from .server_base import ServerBase + + +""" +" class LeaseCache +""" +class LeaseCache: + def __init__(self): + self.lastModified = 0 + self.id = 0 + self.name = None + + def Set(self, id: int, name: str, lastModified: int) : + self.id = id + self.name = name + self.lastModified = lastModified + + def Renewal(self, lastModified: int): + self.lastModified = lastModified + + def Clear(self): + self.id = 0 + self.lastModified = 0 + self.name = None + + +""" +" class LeaseServer +""" +class LeaseServer(ServerBase): + def __init__(self, name: str, term: float): + self.__term = int(term * 1000000) + self.__lock = Lock() + self.__cache = LeaseCache() + super().__init__(name + "_lease") + + def Init(self): + pass + + def Start(self, enablePrioQueue: bool = False): + super()._SetServerRequestHandler(self.__ServerRequestHandler) + super()._Start(enablePrioQueue) + + def CheckRequestLeaseDenied(self, leaseId: int): + with self.__lock: + if self.__cache.id == 0: + return self.__cache.id != leaseId + + now = self.__Now() + if now > self.__cache.lastModified + self.__term: + self.__cache.Clear() + return False + else: + return self.__cache.id != leaseId + + def __Apply(self, parameter: str): + name = "" + data = "" + + try: + p = json.loads(parameter) + name = p.get("name") + + except: + print("[LeaseServer] apply json loads error. parameter:", parameter) + return RPC_ERR_SERVER_API_PARAMETER, data + + if not name: + name = "anonymous" + + id = 0 + lastModified = 0 + setted = False + + now = self.__Now() + + with self.__lock: + id = self.__cache.id + lastModified = self.__cache.lastModified + + if id == 0 or now > lastModified + self.__term: + if id != 0: + print("[LeaseServer] id expired:", id, ", name:", self.__cache.name) + + id = self.__GenerateId() + self.__cache.Set(id, name, now) + setted = True + + print("[LeaseServer] id stored:", id, ", name:", name) + + if setted: + d = {} + d["id"] = id + d["term"] = self.__term + data = json.dumps(d) + return 0, data + else: + return RPC_ERR_SERVER_LEASE_EXIST, data + + + def __Renewal(self, id: int): + now = self.__Now() + + with self.__lock: + if self.__cache.id != id: + return RPC_ERR_SERVER_LEASE_NOT_EXIST + + if now > self.__cache.lastModified + self.__term: + self.__cache.Clear() + return RPC_ERR_SERVER_LEASE_NOT_EXIST + else: + self.__cache.Renewal(now) + return 0 + + def __ServerRequestHandler(self, request: Request): + identity = request.header.identity + parameter = request.parameter + apiId = identity.api_id + code = RPC_ERR_SERVER_API_NOT_IMPL + data = "" + + if apiId == RPC_API_ID_LEASE_APPLY: + code, data = self.__Apply(parameter) + elif apiId == RPC_API_ID_LEASE_RENEWAL: + code = self.__Renewal(request.header.lease.id) + else: + print("[LeaseServer] api is not implemented. apiId", apiId) + + if request.header.policy.noreply: + return + + status = ResponseStatus(code) + response = Response(ResponseHeader(identity, status), data, []) + self._SendResponse(response) + + def __GenerateId(self): + return self.__Now() + + def __Now(self): + return int(time.time_ns()/1000) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/request_future.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/request_future.py new file mode 100644 index 0000000..037ab10 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/request_future.py @@ -0,0 +1,46 @@ +from threading import Condition, Lock +from enum import Enum + +from ..idl.unitree_api.msg.dds_ import Response_ as Response +from ..utils.future import Future, FutureResult + + +""" +" class RequestFuture +""" +class RequestFuture(Future): + def __init__(self): + self.__requestId = None + super().__init__() + + def SetRequestId(self, requestId: int): + self.__requestId = requestId + + def GetRequestId(self): + return self.__requestId + + +class RequestFutureQueue: + def __init__(self): + self.__data = {} + self.__lock = Lock() + + def Set(self, requestId: int, future: RequestFuture): + if future is None: + return False + with self.__lock: + self.__data[requestId] = future + return True + + def Get(self, requestId: int): + future = None + with self.__lock: + future = self.__data.get(requestId) + if future is not None: + self.__data.pop(requestId) + return future + + def Remove(self, requestId: int): + with self.__lock: + if id in self.__data: + self.__data.pop(requestId) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server.py new file mode 100644 index 0000000..4e389a8 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server.py @@ -0,0 +1,122 @@ +import time + +from typing import Callable, Any + +from ..idl.unitree_api.msg.dds_ import Request_ as Request +from ..idl.unitree_api.msg.dds_ import ResponseStatus_ as ResponseStatus +from ..idl.unitree_api.msg.dds_ import ResponseHeader_ as ResponseHeader +from ..idl.unitree_api.msg.dds_ import Response_ as Response + +from .server_base import ServerBase +from .lease_server import LeaseServer +from .internal import * + +""" +" class Server +""" +class Server(ServerBase): + def __init__(self, name: str): + self.__apiVersion = "" + self.__apiHandlerMapping = {} + self.__apiBinaryHandlerMapping = {} + self.__apiBinarySet = {} + self.__enableLease = False + self.__leaseServer = None + super().__init__(name) + + def Init(self): + pass + + def StartLease(self, term: float = 1.0): + self.__enableLease = True + self.__leaseServer = LeaseServer(self.GetName(), term) + self.__leaseServer.Init() + self.__leaseServer.Start(False) + + def Start(self, enablePrioQueue: bool = False): + super()._SetServerRequestHandler(self.__ServerRequestHandler) + super()._Start(enablePrioQueue) + + def GetApiVersion(self): + return self.__apiVersion + + def _SetApiVersion(self, apiVersion: str): + self.__apiVersion = apiVersion + print("[Server] set api version:", self.__apiVersion) + + def _RegistHandler(self, apiId: int, handler: Callable, checkLease: bool): + self.__apiHandlerMapping[apiId] = (handler, checkLease) + + def _RegistBinaryHandler(self, apiId: int, handler: Callable, checkLease: bool): + self.__apiBinaryHandlerMapping[apiId] = (handler, checkLease) + self.__apiBinarySet.add(apiId) + + def __GetHandler(self, apiId: int): + if apiId in self.__apiHandlerMapping: + return self.__apiHandlerMapping.get(apiId) + else: + return None, False + + def __GetBinaryHandler(self, apiId: int): + if apiId in self.__apiBinaryHandlerMapping: + return self.__apiBinaryHandlerMapping.get(apiId) + else: + return None, False + + def __IsBinary(self, apiId): + return apiId in self.__apiBinarySet + + def __CheckLeaseDenied(self, leaseId: int): + if (self.__enableLease): + return self.__leaseServer.CheckRequestLeaseDenied(leaseId) + else: + return False + + def __ServerRequestHandler(self, request: Request): + parameter = request.parameter + parameterBinary = request.binary + + identity = request.header.identity + leaseId = request.header.lease.id + apiId = identity.api_id + + code = 0 + data = "" + dataBinary = [] + + if apiId == RPC_API_ID_INTERNAL_API_VERSION: + data = self.__apiVersion + else: + requestHandler = None + binaryRequestHandler = None + checkLease = False + + if self.__IsBinary(apiId): + binaryRequestHandler, checkLease = self.__GetBinaryHandler(apiId) + else: + requestHandler, checkLease = self.__GetHandler(apiId) + + if requestHandler is None and binaryRequestHandler is None: + code = RPC_ERR_SERVER_API_NOT_IMPL + elif checkLease and self.__CheckLeaseDenied(leaseId): + code = RPC_ERR_SERVER_LEASE_DENIED + else: + try: + if binaryRequestHandler is None: + code, data = requestHandler(parameter) + if code != 0: + data = "" + else: + code, dataBinary = binaryRequestHandler(parameterBinary) + if code != 0: + dataBinary = [] + except: + code = RPC_ERR_SERVER_INTERNAL + + if request.header.policy.noreply: + return + + status = ResponseStatus(code) + response = Response(ResponseHeader(identity, status), data, dataBinary) + + self._SendResponse(response) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server_base.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server_base.py new file mode 100644 index 0000000..f010561 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server_base.py @@ -0,0 +1,32 @@ +import time + +from typing import Callable, Any + +from ..idl.unitree_api.msg.dds_ import Request_ as Request +from ..idl.unitree_api.msg.dds_ import Response_ as Response + +from .server_stub import ServerStub + + +""" +" class ServerBase +""" +class ServerBase: + def __init__(self, name: str): + self.__name = name + self.__serverRequestHandler = None + self.__serverStub = ServerStub(self.__name) + + def GetName(self): + return self.__name + + def _Start(self, enablePrioQueue: bool = False): + self.__serverStub.Init(self.__serverRequestHandler, enablePrioQueue) + print("[ServerBase] server started. name:", self.__name, ", enable proirity queue:", enablePrioQueue) + + def _SetServerRequestHandler(self, serverRequestHandler: Callable): + self.__serverRequestHandler = serverRequestHandler + + def _SendResponse(self, response: Response): + if not self.__serverStub.Send(response, 1.0): + print("[ServerBase] send response error.") diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server_stub.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server_stub.py new file mode 100644 index 0000000..e67be1f --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/rpc/server_stub.py @@ -0,0 +1,78 @@ +import time + +from enum import Enum +from threading import Thread, Condition +from typing import Callable, Any + +from ..utils.bqueue import BQueue +from ..idl.unitree_api.msg.dds_ import Request_ as Request +from ..idl.unitree_api.msg.dds_ import Response_ as Response + +from ..core.channel import ChannelFactory +from ..core.channel_name import ChannelType, GetServerChannelName + + +""" +" class ServerStub +""" +class ServerStub: + def __init__(self, serviceName: str): + self.__serviceName = serviceName + self.__serverRquestHandler = None + self.__sendChannel = None + self.__recvChannel = None + self.__enablePriority = None + self.__queue = None + self.__prioQueue = None + self.__queueThread = None + self.__prioQueueThread = None + + def Init(self, serverRequestHander: Callable, enablePriority: bool = False): + self.__serverRquestHandler = serverRequestHander + self.__enablePriority = enablePriority + + factory = ChannelFactory() + + # create channel + self.__sendChannel = factory.CreateSendChannel(GetServerChannelName(self.__serviceName, ChannelType.SEND), Response) + self.__recvChannel = factory.CreateRecvChannel(GetServerChannelName(self.__serviceName, ChannelType.RECV), Request, self.__Enqueue, 10) + + # start priority request thread + self.__queue = BQueue(10) + self.__queueThread = Thread(target=self.__QueueThreadFunc, name="server_queue", daemon=True) + self.__queueThread.start() + + if enablePriority: + self.__prioQueue = BQueue(5) + self.__prioQueueThread = Thread(target=self.__PrioQueueThreadFunc, name="server_prio_queue", daemon=True) + self.__prioQueueThread.start() + + # wait thread started + time.sleep(0.5) + + def Send(self, response: Response, timeout: float): + if self.__sendChannel.Write(response, timeout): + return True + else: + print("[ServerStub] send error. id:", response.header.identity.id) + return False + + def __Enqueue(self, request: Request): + if self.__enablePriority and request.header.policy.priority > 0: + self.__prioQueue.Put(request, True) + else: + self.__queue.Put(request, True) + + def __QueueThreadFunc(self): + while True: + request = self.__queue.Get() + if request is None: + continue + self.__serverRquestHandler(request) + + def __PrioQueueThreadFunc(self): + while True: + request = self.__prioQueue.Get() + if request is None: + continue + self.__serverRquestHandler(request) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/obstacles_avoid_client_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/obstacles_avoid_client_example.py new file mode 100644 index 0000000..7936fe7 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/obstacles_avoid_client_example.py @@ -0,0 +1,91 @@ +import time +import os + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient + +if __name__ == "__main__": + ChannelFactoryInitialize(0, "enp3s0") + + client = ObstaclesAvoidClient() + client.SetTimeout(3.0) + client.Init() + + while True: + print("##################GetServerApiVersion###################") + code, serverAPiVersion = client.GetServerApiVersion() + if code != 0: + print("get server api error. code:", code) + else: + print("get server api version:", serverAPiVersion) + + if serverAPiVersion != client.GetApiVersion(): + print("api version not equal.") + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable) + + time.sleep(3) + + print("##################SwitchSet (on)###################") + code = client.SwitchSet(True) + if code != 0: + print("switch set error. code:", code) + else: + print("switch set success.") + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable1 = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable1) + + time.sleep(3) + + print("##################SwitchSet (off)###################") + code = client.SwitchSet(False) + if code != 0: + print("switch set error. code:", code) + else: + print("switch set success.") + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable1 = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable1) + + time.sleep(3) + + + print("##################SwitchSet (enable)###################") + + code = client.SwitchSet(enable) + if code != 0: + print("switch set error. code:", code) + else: + print("switch set success. enable:", enable) + + time.sleep(3) + + print("##################SwitchGet###################") + code, enable = client.SwitchGet() + if code != 0: + print("switch get error. code:", code) + else: + print("switch get success. enable:", enable) + + time.sleep(3) + \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/robot_service_client_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/robot_service_client_example.py new file mode 100644 index 0000000..01467c0 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/robot_service_client_example.py @@ -0,0 +1,50 @@ +import time +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.robot_state.robot_state_client import RobotStateClient + +if __name__ == "__main__": + ChannelFactoryInitialize(0, "enx000ec6768747") + rsc = RobotStateClient() + rsc.SetTimeout(3.0) + rsc.Init() + + while True: + print("##################GetServerApiVersion###################") + code, serverAPiVersion = rsc.GetServerApiVersion() + + if code != 0: + print("get server api error. code:", code) + else: + print("get server api version:", serverAPiVersion) + + time.sleep(3) + + print("##################ServiceList###################") + code, lst = rsc.ServiceList() + + if code != 0: + print("list sevrice error. code:", code) + else: + print("list service success. len:", len(lst)) + for s in lst: + print("name:", s.name, ", protect:", s.protect, ", status:", s.status) + + time.sleep(3) + + print("##################ServiceSwitch###################") + code = rsc.ServiceSwitch("sport_mode", False) + if code != 0: + print("service stop sport_mode error. code:", code) + else: + print("service stop sport_mode success. code:", code) + + time.sleep(1) + + code = rsc.ServiceSwitch("sport_mode", True) + if code != 0: + print("service start sport_mode error. code:", code) + else: + print("service start sport_mode success. code:", code) + + time.sleep(3) + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/sport_client_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/sport_client_example.py new file mode 100644 index 0000000..22a8de0 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/sport_client_example.py @@ -0,0 +1,109 @@ +import time +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.sport.sport_client import SportClient, PathPoint, SPORT_PATH_POINT_SIZE + +if __name__ == "__main__": + ChannelFactoryInitialize(0, "enp2s0") + client = SportClient() + client.SetTimeout(10.0) + client.Init() + + print("##################GetServerApiVersion###################") + code, serverAPiVersion = client.GetServerApiVersion() + if code != 0: + print("get server api error. code:", code) + else: + print("get server api version:", serverAPiVersion) + + if serverAPiVersion != client.GetApiVersion(): + print("api version not equal.") + + time.sleep(3) + + print("##################Trigger###################") + code = client.Trigger() + if code != 0: + print("sport trigger error. code:", code) + else: + print("sport trigger success.") + + time.sleep(3) + + while True: + print("##################RecoveryStand###################") + code = client.RecoveryStand() + + if code != 0: + print("sport recovery stand error. code:", code) + else: + print("sport recovery stand success.") + + time.sleep(3) + + print("##################StandDown###################") + code = client.StandDown() + if code != 0: + print("sport stand down error. code:", code) + else: + print("sport stand down success.") + + time.sleep(3) + + print("##################Damp###################") + code = client.Damp() + if code != 0: + print("sport damp error. code:", code) + else: + print("sport damp down success.") + + time.sleep(3) + + print("##################RecoveryStand###################") + code = client.RecoveryStand() + + if code != 0: + print("sport recovery stand error. code:", code) + else: + print("sport recovery stand success.") + + time.sleep(3) + + print("##################Sit###################") + code = client.Sit() + if code != 0: + print("sport stand down error. code:", code) + else: + print("sport stand down success.") + + time.sleep(3) + + print("##################RiseSit###################") + code = client.RiseSit() + + if code != 0: + print("sport rise sit error. code:", code) + else: + print("sport rise sit success.") + + time.sleep(3) + + print("##################SetBodyHight###################") + code = client.BodyHeight(0.18) + + if code != 0: + print("sport body hight error. code:", code) + else: + print("sport body hight success.") + + time.sleep(3) + + print("##################GetState#################") + keys = ["state", "bodyHeight", "footRaiseHeight", "speedLevel", "gait"] + code, data = client.GetState(keys) + + if code != 0: + print("sport get state error. code:", code) + else: + print("sport get state success. data:", data) + + time.sleep(3) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/video_client_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/video_client_example.py new file mode 100644 index 0000000..7eec949 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/video_client_example.py @@ -0,0 +1,26 @@ +import time +import os + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.video.video_client import VideoClient + +if __name__ == "__main__": + ChannelFactoryInitialize(0, "enp2s0") + + client = VideoClient() + client.SetTimeout(3.0) + client.Init() + + print("##################GetImageSample###################") + code, data = client.GetImageSample() + + if code != 0: + print("get image sample error. code:", code) + else: + imageName = os.path.dirname(__file__) + time.strftime('/%Y%m%d%H%M%S.jpg',time.localtime()) + print("ImageName:", imageName) + + with open(imageName, "+wb") as f: + f.write(bytes(data)) + + time.sleep(1) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/vui_client_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/vui_client_example.py new file mode 100644 index 0000000..6df7c09 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/client/vui_client_example.py @@ -0,0 +1,74 @@ +import time +import os + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.go2.vui.vui_client import VuiClient + +if __name__ == "__main__": + ChannelFactoryInitialize(0, "enp2s0") + + client = VuiClient() + client.SetTimeout(3.0) + client.Init() + + for i in range(1, 11): + print("#################GetBrightness####################") + code, level = client.GetBrightness() + + if code != 0: + print("get brightness error. code:", code) + else: + print("get brightness success. level:", level) + + time.sleep(1) + + print("#################SetBrightness####################") + + code = client.SetBrightness(i) + + if code != 0: + print("set brightness error. code:", code) + else: + print("set brightness success. level:", i) + + time.sleep(1) + + print("#################SetBrightness 0####################") + + code = client.SetBrightness(0) + + if code != 0: + print("set brightness error. code:", code) + else: + print("set brightness 0 success.") + + for i in range(1, 11): + print("#################GetVolume####################") + code, level = client.GetVolume() + + if code != 0: + print("get volume error. code:", code) + else: + print("get volume success. level:", level) + + time.sleep(1) + + print("#################SetVolume####################") + + code = client.SetVolume(i) + + if code != 0: + print("set volume error. code:", code) + else: + print("set volume success. level:", i) + + time.sleep(1) + + print("#################SetVolume 0####################") + + code = client.SetVolume(0) + + if code != 0: + print("set volume error. code:", code) + else: + print("set volume 0 success.") diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/crc/test_crc.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/crc/test_crc.py new file mode 100644 index 0000000..ceb1b4b --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/crc/test_crc.py @@ -0,0 +1,27 @@ +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_, unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_, unitree_hg_msg_dds__LowState_ +from unitree_sdk2py.utils.crc import CRC + +crc = CRC() + +""" +" LowCmd/LowState CRC +""" +cmd = unitree_go_msg_dds__LowCmd_() +cmd.crc = crc.Crc(cmd) + +state = unitree_go_msg_dds__LowState_() +state.crc = crc.Crc(state) + +print("CRC[LowCmd, LowState]: {}, {}".format(cmd.crc, state.crc)) + +""" +" LowCmd/LowState for HG CRC. () +""" +cmd = unitree_hg_msg_dds__LowCmd_() +cmd.crc = crc.Crc(cmd) + +state = unitree_hg_msg_dds__LowState_() +state.crc = crc.Crc(state) + +print("CRC[HGLowCmd, HGLowState]: {}, {}".format(cmd.crc, state.crc)) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/helloworld.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/helloworld.py new file mode 100644 index 0000000..7e93803 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/helloworld.py @@ -0,0 +1,6 @@ +from dataclasses import dataclass +from cyclonedds.idl import IdlStruct + +@dataclass +class HelloWorld(IdlStruct, typename="HelloWorld"): + data: str \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/publisher.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/publisher.py new file mode 100644 index 0000000..36e8fb8 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/publisher.py @@ -0,0 +1,22 @@ +import time + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from helloworld import HelloWorld + +ChannelFactoryInitialize() + +pub = ChannelPublisher("topic", HelloWorld) +pub.Init() + +for i in range(30): + msg = HelloWorld("Hello world. time:" + str(time.time())) + # msg.data = "Hello world. time:" + str(time.time()) + + if pub.Write(msg, 0.5): + print("publish success. msg:", msg) + else: + print("publish error.") + + time.sleep(1) + +pub.Close() \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/subscriber.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/subscriber.py new file mode 100644 index 0000000..38e4763 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/helloworld/subscriber.py @@ -0,0 +1,19 @@ +import time + +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from helloworld import HelloWorld + +ChannelFactoryInitialize() + +sub = ChannelSubscriber("topic", HelloWorld) +sub.Init() + +while True: + msg = sub.Read() + + if msg is None: + print("subscribe error.") + else: + print("subscribe success. msg:", msg) + +pub.Close() \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/lowlevel_control.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/lowlevel_control.py new file mode 100644 index 0000000..8e94fe1 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/lowlevel_control.py @@ -0,0 +1,51 @@ +import time + +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ +from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.utils.thread import Thread +import unitree_go2_const as go2 + +crc = CRC() +lowCmdThreadPtr=Thread() + +if __name__ == '__main__': + + ChannelFactoryInitialize(1, "enp2s0") + # Create a publisher to publish the data defined in UserData class + pub = ChannelPublisher("lowcmd", LowCmd_) + pub.Init() + + while True: + # Create a Userdata message + cmd = unitree_go_msg_dds__LowCmd_() + + # Toque controle, set RL_2 toque + cmd.motor_cmd[go2.LegID["RL_2"]].mode = 0x01 + cmd.motor_cmd[go2.LegID["RL_2"]].q = go2.PosStopF # Set to stop position(rad) + cmd.motor_cmd[go2.LegID["RL_2"]].kp = 0 + cmd.motor_cmd[go2.LegID["RL_2"]].dq = go2.VelStopF # Set to stop angular velocity(rad/s) + cmd.motor_cmd[go2.LegID["RL_2"]].kd = 0 + cmd.motor_cmd[go2.LegID["RL_2"]].tau = 1 # target toque is set to 1N.m + + # Poinstion(rad) control, set RL_0 rad + cmd.motor_cmd[go2.LegID["RL_0"]].mode = 0x01 + cmd.motor_cmd[go2.LegID["RL_0"]].q = 0 # Taregt angular(rad) + cmd.motor_cmd[go2.LegID["RL_0"]].kp = 10 # Poinstion(rad) control kp gain + cmd.motor_cmd[go2.LegID["RL_0"]].dq = 0 # Taregt angular velocity(rad/ss) + cmd.motor_cmd[go2.LegID["RL_0"]].kd = 1 # Poinstion(rad) control kd gain + cmd.motor_cmd[go2.LegID["RL_0"]].tau = 0 # Feedforward toque 1N.m + + cmd.crc = crc.Crc(cmd) + + #Publish message + if pub.Write(cmd): + print("Publish success. msg:", cmd.crc) + else: + print("Waitting for subscriber.") + + time.sleep(0.002) + + pub.Close() diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/read_lowstate.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/read_lowstate.py new file mode 100644 index 0000000..d3f20ca --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/read_lowstate.py @@ -0,0 +1,24 @@ +import time +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ + +import unitree_go2_const as go2 + + +def LowStateHandler(msg: LowState_): + + # print front right hip motor states + print("FR_0 motor state: ", msg.motor_state[go2.LegID["FR_0"]]) + print("IMU state: ", msg.imu_state) + print("Battery state: voltage: ", msg.power_v, "current: ", msg.power_a) + + +if __name__ == "__main__": + # Modify "enp2s0" to the actual network interface + ChannelFactoryInitialize(0, "enp2s0") + sub = ChannelSubscriber("rt/lowstate", LowState_) + sub.Init(LowStateHandler, 10) + + while True: + time.sleep(10.0) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/sub_lowstate.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/sub_lowstate.py new file mode 100644 index 0000000..9a94619 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/sub_lowstate.py @@ -0,0 +1,15 @@ +import time +from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ + +def LowStateHandler(msg: LowState_): + print(msg.motor_state) + + +ChannelFactoryInitialize(0, "enp2s0") +sub = ChannelSubscriber("rt/lowstate", LowState_) +sub.Init(LowStateHandler, 10) + +while True: + time.sleep(10.0) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/unitree_go2_const.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/unitree_go2_const.py new file mode 100644 index 0000000..153a051 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/lowlevel/unitree_go2_const.py @@ -0,0 +1,20 @@ +LegID = { + "FR_0": 0, # Front right hip + "FR_1": 1, # Front right thigh + "FR_2": 2, # Front right calf + "FL_0": 3, + "FL_1": 4, + "FL_2": 5, + "RR_0": 6, + "RR_1": 7, + "RR_2": 8, + "RL_0": 9, + "RL_1": 10, + "RL_2": 11, +} + +HIGHLEVEL = 0xEE +LOWLEVEL = 0xFF +TRIGERLEVEL = 0xF0 +PosStopF = 2.146e9 +VelStopF = 16000.0 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_api.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_api.py new file mode 100644 index 0000000..68778ca --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_api.py @@ -0,0 +1,9 @@ +# service name +TEST_SERVICE_NAME = "test" + +# api version +TEST_API_VERSION = "1.0.0.1" + +# api id +TEST_API_ID_MOVE = 1008 +TEST_API_ID_STOP = 1002 \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_client_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_client_example.py new file mode 100644 index 0000000..35c6ad4 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_client_example.py @@ -0,0 +1,62 @@ +import time +import json + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.rpc.client import Client + +from test_api import * + +""" +" class TestClient +""" +class TestClient(Client): + def __init__(self, enableLease: bool = False): + super().__init__("test", enableLease) + + def Init(self): + self._RegistApi(TEST_API_ID_MOVE, 0) + self._RegistApi(TEST_API_ID_STOP, 1) + self._SetApiVerson(TEST_API_VERSION) + + def Move(self, vx: float, vy: float, vyaw: float): + parameter = {} + parameter["vx"] = vx + parameter["vy"] = vy + parameter["vyaw"] = vyaw + p = json.dumps(parameter) + + c, d = self._Call(TEST_API_ID_MOVE, p) + return c + + def Stop(self): + parameter = {} + p = json.dumps(parameter) + + c, d = self._Call(TEST_API_ID_STOP, p) + return c + +if __name__ == "__main__": + # initialize channel factory. + ChannelFactoryInitialize(0) + + # create client + client = TestClient(True) + client.Init() + client.SetTimeout(5.0) + + # get server version + code, serverApiVersion = client.GetServerApiVersion() + print("server api version:", serverApiVersion) + + # wait lease applied + client.WaitLeaseApplied() + + # test api + while True: + code = client.Move(0.2, 0, 0) + print("client move ret:", code) + time.sleep(1.0) + + code = client.Stop() + print("client stop ret:", code) + time.sleep(1.0) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_server_example.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_server_example.py new file mode 100644 index 0000000..a929e01 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/test/rpc/test_server_example.py @@ -0,0 +1,45 @@ +import time +import json + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +from unitree_sdk2py.rpc.server import Server + +from test_api import * + + +""" +" class TestServer +""" +class TestServer(Server): + def __init__(self): + super().__init__("test") + + def Init(self): + self._RegistHandler(TEST_API_ID_MOVE, self.Move, 1) + self._RegistHandler(TEST_API_ID_STOP, self.Stop, 0) + self._SetApiVersion(TEST_API_VERSION) + + def Move(self, parameter: str): + p = json.loads(parameter) + x = p["vx"] + y = p["vy"] + yaw = p["vyaw"] + print("Move Called. vx:", x, ", vy:", y, ", vyaw:", yaw) + return 0, "" + + def Stop(self, parameter: str): + print("Stop Called.") + return 0, "" + +if __name__ == "__main__": + # initialize channel factory. + ChannelFactoryInitialize(0) + + # create server + server = TestServer() + server.Init() + server.StartLease(1.0) + server.Start(False) + + while True: + time.sleep(10) \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/__init__.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/bqueue.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/bqueue.py new file mode 100644 index 0000000..a612bfb --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/bqueue.py @@ -0,0 +1,58 @@ +from typing import Any +from collections import deque +from threading import Condition + +class BQueue: + def __init__(self, maxLen: int = 10): + self.__curLen = 0 + self.__maxLen = maxLen + self.__queue = deque() + self.__condition = Condition() + + def Put(self, x: Any, replace: bool = False): + noReplaced = True + with self.__condition: + if self.__curLen >= self.__maxLen: + if not replace: + return False + else: + noReplaced = False + self.__queue.popleft() + self.__curLen -= 1 + + self.__queue.append(x) + self.__curLen += 1 + self.__condition.notify() + + return noReplaced + + def Get(self, timeout: float = None): + with self.__condition: + if not self.__queue: + try: + self.__condition.wait(timeout) + except: + return None + + if not self.__queue: + return None + + self.__curLen -= 1 + return self.__queue.popleft() + + def Clear(self): + with self.__condition: + if self.__queue: + self.__queue.clear() + self.__curLen = 0 + + def Size(self): + with self.__condition: + return self.__curLen + + def Interrupt(self, notifyAll: bool = False): + with self.__condition: + if notifyAll: + self.__condition.notify() + else: + self.__condition.notify_all() diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/clib_lookup.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/clib_lookup.py new file mode 100644 index 0000000..ca7073d --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/clib_lookup.py @@ -0,0 +1,17 @@ +import os +import ctypes + +clib = ctypes.CDLL(None, use_errno=True) + +def CLIBCheckError(ret, func, args): + if ret < 0: + code = ctypes.get_errno() + raise OSError(code, os.strerror(code)) + return ret + +def CLIBLookup(name, resType, argTypes): + func = clib[name] + func.restye = resType + func.argtypes = argTypes + func.errcheck = CLIBCheckError + return func diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/crc.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/crc.py new file mode 100644 index 0000000..c250706 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/crc.py @@ -0,0 +1,228 @@ +import struct +import cyclonedds +import cyclonedds.idl as idl + +from .singleton import Singleton +from ..idl.unitree_go.msg.dds_ import LowCmd_ +from ..idl.unitree_go.msg.dds_ import LowState_ + +from ..idl.unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_ +from ..idl.unitree_hg.msg.dds_ import LowState_ as HGLowState_ +import ctypes +import os +import platform + +class CRC(Singleton): + def __init__(self): + #4 bytes aligned, little-endian format. + #size 812 + self.__packFmtLowCmd = '<4B4IH2x' + 'B3x5f3I' * 20 + '4B' + '55Bx2I' + #size 1180 + self.__packFmtLowState = '<4B4IH2x' + '13fb3x' + 'B3x7fb3x3I' * 20 + '4BiH4b15H' + '8hI41B3xf2b2x2f4h2I' + #size 1004 + self.__packFmtHGLowCmd = '<2B2x' + 'B3x5fI' * 35 + '5I' + #size 2092 + self.__packFmtHGLowState = '<2I2B2xI' + '13fh2x' + 'B3x4f2hf7I' * 35 + '40B5I' + + + script_dir = os.path.dirname(os.path.abspath(__file__)) + self.platform = platform.system() + if self.platform == "Linux": + if platform.machine()=="x86_64": + self.crc_lib = ctypes.CDLL(script_dir + '/lib/crc_amd64.so') + elif platform.machine()=="aarch64": + self.crc_lib = ctypes.CDLL(script_dir + '/lib/crc_aarch64.so') + + self.crc_lib.crc32_core.argtypes = (ctypes.POINTER(ctypes.c_uint32), ctypes.c_uint32) + self.crc_lib.crc32_core.restype = ctypes.c_uint32 + + def Crc(self, msg: idl.IdlStruct): + if msg.__idl_typename__ == 'unitree_go.msg.dds_.LowCmd_': + return self.__Crc32(self.__PackLowCmd(msg)) + elif msg.__idl_typename__ == 'unitree_go.msg.dds_.LowState_': + return self.__Crc32(self.__PackLowState(msg)) + if msg.__idl_typename__ == 'unitree_hg.msg.dds_.LowCmd_': + return self.__Crc32(self.__PackHGLowCmd(msg)) + elif msg.__idl_typename__ == 'unitree_hg.msg.dds_.LowState_': + return self.__Crc32(self.__PackHGLowState(msg)) + else: + raise TypeError('unknown IDL message type to crc') + + def __PackLowCmd(self, cmd: LowCmd_): + origData = [] + origData.extend(cmd.head) + origData.append(cmd.level_flag) + origData.append(cmd.frame_reserve) + origData.extend(cmd.sn) + origData.extend(cmd.version) + origData.append(cmd.bandwidth) + + for i in range(20): + origData.append(cmd.motor_cmd[i].mode) + origData.append(cmd.motor_cmd[i].q) + origData.append(cmd.motor_cmd[i].dq) + origData.append(cmd.motor_cmd[i].tau) + origData.append(cmd.motor_cmd[i].kp) + origData.append(cmd.motor_cmd[i].kd) + origData.extend(cmd.motor_cmd[i].reserve) + + origData.append(cmd.bms_cmd.off) + origData.extend(cmd.bms_cmd.reserve) + + origData.extend(cmd.wireless_remote) + origData.extend(cmd.led) + origData.extend(cmd.fan) + origData.append(cmd.gpio) + origData.append(cmd.reserve) + origData.append(cmd.crc) + + return self.__Trans(struct.pack(self.__packFmtLowCmd, *origData)) + + def __PackLowState(self, state: LowState_): + origData = [] + origData.extend(state.head) + origData.append(state.level_flag) + origData.append(state.frame_reserve) + origData.extend(state.sn) + origData.extend(state.version) + origData.append(state.bandwidth) + + origData.extend(state.imu_state.quaternion) + origData.extend(state.imu_state.gyroscope) + origData.extend(state.imu_state.accelerometer) + origData.extend(state.imu_state.rpy) + origData.append(state.imu_state.temperature) + + for i in range(20): + origData.append(state.motor_state[i].mode) + origData.append(state.motor_state[i].q) + origData.append(state.motor_state[i].dq) + origData.append(state.motor_state[i].ddq) + origData.append(state.motor_state[i].tau_est) + origData.append(state.motor_state[i].q_raw) + origData.append(state.motor_state[i].dq_raw) + origData.append(state.motor_state[i].ddq_raw) + origData.append(state.motor_state[i].temperature) + origData.append(state.motor_state[i].lost) + origData.extend(state.motor_state[i].reserve) + + origData.append(state.bms_state.version_high) + origData.append(state.bms_state.version_low) + origData.append(state.bms_state.status) + origData.append(state.bms_state.soc) + origData.append(state.bms_state.current) + origData.append(state.bms_state.cycle) + origData.extend(state.bms_state.bq_ntc) + origData.extend(state.bms_state.mcu_ntc) + origData.extend(state.bms_state.cell_vol) + + origData.extend(state.foot_force) + origData.extend(state.foot_force_est) + origData.append(state.tick) + origData.extend(state.wireless_remote) + origData.append(state.bit_flag) + origData.append(state.adc_reel) + origData.append(state.temperature_ntc1) + origData.append(state.temperature_ntc2) + origData.append(state.power_v) + origData.append(state.power_a) + origData.extend(state.fan_frequency) + origData.append(state.reserve) + origData.append(state.crc) + + return self.__Trans(struct.pack(self.__packFmtLowState, *origData)) + + def __PackHGLowCmd(self, cmd: HGLowCmd_): + origData = [] + origData.append(cmd.mode_pr) + origData.append(cmd.mode_machine) + + for i in range(35): + origData.append(cmd.motor_cmd[i].mode) + origData.append(cmd.motor_cmd[i].q) + origData.append(cmd.motor_cmd[i].dq) + origData.append(cmd.motor_cmd[i].tau) + origData.append(cmd.motor_cmd[i].kp) + origData.append(cmd.motor_cmd[i].kd) + origData.append(cmd.motor_cmd[i].reserve) + + origData.extend(cmd.reserve) + origData.append(cmd.crc) + + return self.__Trans(struct.pack(self.__packFmtHGLowCmd, *origData)) + + def __PackHGLowState(self, state: HGLowState_): + origData = [] + origData.extend(state.version) + origData.append(state.mode_pr) + origData.append(state.mode_machine) + origData.append(state.tick) + + origData.extend(state.imu_state.quaternion) + origData.extend(state.imu_state.gyroscope) + origData.extend(state.imu_state.accelerometer) + origData.extend(state.imu_state.rpy) + origData.append(state.imu_state.temperature) + + for i in range(35): + origData.append(state.motor_state[i].mode) + origData.append(state.motor_state[i].q) + origData.append(state.motor_state[i].dq) + origData.append(state.motor_state[i].ddq) + origData.append(state.motor_state[i].tau_est) + origData.extend(state.motor_state[i].temperature) + origData.append(state.motor_state[i].vol) + origData.extend(state.motor_state[i].sensor) + origData.append(state.motor_state[i].motorstate) + origData.extend(state.motor_state[i].reserve) + + origData.extend(state.wireless_remote) + origData.extend(state.reserve) + origData.append(state.crc) + + return self.__Trans(struct.pack(self.__packFmtHGLowState, *origData)) + + def __Trans(self, packData): + calcData = [] + calcLen = ((len(packData)>>2)-1) + + for i in range(calcLen): + d = ((packData[i*4+3] << 24) | (packData[i*4+2] << 16) | (packData[i*4+1] << 8) | (packData[i*4])) + calcData.append(d) + + return calcData + + def _crc_py(self, data): + bit = 0 + crc = 0xFFFFFFFF + polynomial = 0x04c11db7 + + for i in range(len(data)): + bit = 1 << 31 + current = data[i] + + for b in range(32): + if crc & 0x80000000: + crc = (crc << 1) & 0xFFFFFFFF + crc ^= polynomial + else: + crc = (crc << 1) & 0xFFFFFFFF + + if current & bit: + crc ^= polynomial + + bit >>= 1 + + return crc + + def _crc_ctypes(self, data): + uint32_array = (ctypes.c_uint32 * len(data))(*data) + length = len(data) + crc=self.crc_lib.crc32_core(uint32_array, length) + return crc + + def __Crc32(self, data): + if self.platform == "Linux": + return self._crc_ctypes(data) + else: + return self._crc_py(data) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/future.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/future.py new file mode 100644 index 0000000..f539087 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/future.py @@ -0,0 +1,104 @@ +from threading import Condition +from typing import Any +from enum import Enum + +""" +" Enum RequtestFutureState +""" +class FutureState(Enum): + DEFER = 0 + READY = 1 + FAILED = 2 + +""" +" class FutureException +""" +class FutureResult: + FUTURE_SUCC = 0 + FUTUTE_ERR_TIMEOUT = 1 + FUTURE_ERR_FAILED = 2 + FUTURE_ERR_UNKNOWN = 3 + + def __init__(self, code: int, msg: str, value: Any = None): + self.code = code + self.msg = msg + self.value = value + + def __str__(self): + return f"FutureResult(code={str(self.code)}, msg='{self.msg}', value={self.value})" + +class Future: + def __init__(self): + self.__state = FutureState.DEFER + self.__msg = None + self.__condition = Condition() + + def GetResult(self, timeout: float = None): + with self.__condition: + return self.__WaitResult(timeout) + + def Wait(self, timeout: float = None): + with self.__condition: + return self.__Wait(timeout) + + def Ready(self, value): + with self.__condition: + ready = self.__Ready(value) + self.__condition.notify() + return ready + + def Fail(self, reason: str): + with self.__condition: + fail = self.__Fail(reason) + self.__condition.notify() + return fail + + def __Wait(self, timeout: float = None): + if not self.__IsDeferred(): + return True + try: + if timeout is None: + return self.__condition.wait() + else: + return self.__condition.wait(timeout) + except: + print("[Future] future wait error") + return False + + def __WaitResult(self, timeout: float = None): + if not self.__Wait(timeout): + return FutureResult(FutureResult.FUTUTE_ERR_TIMEOUT, "future wait timeout") + + if self.__IsReady(): + return FutureResult(FutureResult.FUTURE_SUCC, "success", self.__value) + elif self.__IsFailed(): + return FutureResult(FutureResult.FUTURE_ERR_FAILED, self.__msg) + else: + return FutureResult(FutureResult.FUTURE_ERR_UNKNOWN, "future state error:" + str(self.__state)) + + def __Ready(self, value): + if not self.__IsDeferred(): + print("[Future] futrue state is not defer") + return False + else: + self.__value = value + self.__state = FutureState.READY + return True + + def __Fail(self, message: str): + if not self.__IsDeferred(): + print("[Future] futrue state is not DEFER") + return False + else: + self.__msg = message + self.__state = FutureState.FAILED + return True + + def __IsDeferred(self): + return self.__state == FutureState.DEFER + + def __IsReady(self): + return self.__state == FutureState.READY + + def __IsFailed(self): + return self.__state == FutureState.FAILED \ No newline at end of file diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/hz_sample.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/hz_sample.py new file mode 100644 index 0000000..962fe3c --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/hz_sample.py @@ -0,0 +1,24 @@ +import time +from threading import Lock +from .thread import RecurrentThread + +class HZSample: + def __init__(self, interval: float = 1.0): + self.__count = 0 + self.__inter = interval if interval > 0.0 else 1.0 + self.__lock = Lock() + self.__thread = RecurrentThread(self.__inter, target=self.TimerFunc) + + def Start(self): + self.__thread.Start() + + def Sample(self): + with self.__lock: + self.__count += 1 + + def TimerFunc(self): + count = 0 + with self.__lock: + count = self.__count + self.__count = 0 + print("HZ: {}".format(count/self.__inter)) diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/joystick.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/joystick.py new file mode 100644 index 0000000..aeda672 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/joystick.py @@ -0,0 +1,251 @@ +import math +import struct +import os +os.environ['PYGAME_HIDE_SUPPORT_PROMPT'] = "hide" # Disable pygame welcome message +import pygame +import time + +class Button: + def __init__(self) -> None: + self.pressed = False + self.on_pressed = False + self.on_released = False + self.data = 0 + self.click_count = 0 # 记录连续点击次数 + self.last_pressed_time = 0 # 上次按下时间 + + def __call__(self, data) -> None: + current_time = time.perf_counter() + # print('before',self.data) + + self.pressed = (data != 0) + self.on_pressed = self.pressed and self.data == 0 + self.on_released = not self.pressed and self.data != 0 + + # print('after',self.data) + # 处理连续点击 + if self.on_pressed: + # print('on_pressed') + # print('on_pressed current_time',current_time) + # print('on_pressed last_pressed_time',self.last_pressed_time) + # print('on_pressed diff',current_time-self.last_pressed_time) + + if current_time - self.last_pressed_time <= 0.3: # 0.1 秒以内的连续点击 + self.click_count += 1 + # print(self.click_count) + else: + self.click_count = 0 # 超过时间间隔，重置计数器 + self.last_pressed_time = current_time + self.data = data + + def reset_click_count(self): + """手动重置连续点击计数器""" + self.click_count = 0 + +class Axis: + def __init__(self) -> None: + self.data = 0.0 + self.pressed = False + self.on_pressed = False + self.on_released = False + + self.smooth = 0.03 + self.deadzone = 0.01 + self.threshold = 0.5 + + def __call__(self, data) -> None: + data_deadzone = 0.0 if math.fabs(data) < self.deadzone else data + new_data = self.data * (1 - self.smooth) + data_deadzone * self.smooth + self.pressed = math.fabs(new_data) > self.threshold + self.on_pressed = self.pressed and math.fabs(self.data) < self.threshold + self.on_released = not self.pressed and math.fabs(self.data) > self.threshold + self.data = new_data + + +class Joystick: + def __init__(self) -> None: + # Buttons + self.back = Button() + self.start = Button() + # self.LS = Button() + # self.RS = Button() + self.LB = Button() + self.RB = Button() + self.LT = Button() + self.RT = Button() + self.A = Button() + self.B = Button() + self.X = Button() + self.Y = Button() + self.up = Button() + self.down = Button() + self.left = Button() + self.right = Button() + self.F1 = Button() + self.F2 = Button() + + # Axes + # self.LT = Axis() + # self.RT = Axis() + self.lx = Axis() + self.ly = Axis() + self.rx = Axis() + self.ry = Axis() + + self.last_active_time = time.perf_counter() # 最后一次活动时间 + self.inactive_timeout = 0.5 # 超时时间（单位：秒） + def update(self): + """ + Update the current handle key based on the original data + Used to update flag bits such as on_pressed + + Examples: + >>> new_A_data = 1 + >>> self.A( new_A_data ) + """ + pass + + def extract(self, wireless_remote): + """ + Extract data from unitree_joystick + wireless_remote: uint8_t[40] + """ + # Buttons + button1 = [int(data) for data in f'{wireless_remote[2]:08b}'] + button2 = [int(data) for data in f'{wireless_remote[3]:08b}'] + self.LT(button1[2]) + self.RT(button1[3]) + self.back(button1[4]) + self.start(button1[5]) + self.LB(button1[6]) + self.RB(button1[7]) + self.left(button2[0]) + self.down(button2[1]) + self.right(button2[2]) + self.up(button2[3]) + self.Y(button2[4]) + self.X(button2[5]) + self.B(button2[6]) + self.A(button2[7]) + # Axes + self.lx( struct.unpack('f', bytes(wireless_remote[4:8]))[0] ) + self.rx( struct.unpack('f', bytes(wireless_remote[8:12]))[0] ) + self.ry( struct.unpack('f', bytes(wireless_remote[12:16]))[0] ) + self.ly( struct.unpack('f', bytes(wireless_remote[20:24]))[0] ) + + + # 检查是否有按键按下 + if any([ + self.LT.pressed, self.RT.pressed, self.back.pressed, self.start.pressed, + self.LB.pressed, self.RB.pressed, self.left.pressed, self.down.pressed, + self.right.pressed, self.up.pressed, self.Y.pressed, self.X.pressed, + self.B.pressed, self.A.pressed + ]): + self.last_active_time = time.perf_counter() # 更新最后一次活动时间 + elif time.perf_counter() - self.last_active_time > self.inactive_timeout: + # 超过设定的超时时间未按下任何键，重置所有按键的点击计数 + self.reset_all_click_counts() + self.last_active_time = time.perf_counter() # 重置最后活动时间 + + def reset_all_click_counts(self): + """重置所有按键的连续点击计数器""" + for button in [ + self.LT, self.RT, self.back, self.start, self.LB, self.RB, + self.left, self.down, self.right, self.up, self.Y, self.X, self.B, self.A + ]: + button.reset_click_count() + + def combine(self): + """ + Merge data from Joystick to wireless_remote + """ + # prepare an empty list + wireless_remote = [0 for _ in range(40)] + + # Buttons + wireless_remote[2] = int(''.join([f'{key}' for key in [ + 0, 0, round(self.LT.data), round(self.RT.data), + self.back.data, self.start.data, self.LB.data, self.RB.data, + ]]), 2) + wireless_remote[3] = int(''.join([f'{key}' for key in [ + self.left.data, self.down.data, self.right.data, + self.up.data, self.Y.data, self.X.data, self.B.data, self.A.data, + ]]), 2) + + # Axes + sticks = [self.lx.data, self.rx.data, self.ry.data, self.ly.data] + packs = list(map(lambda x: struct.pack('f', x), sticks)) + wireless_remote[4:8] = packs[0] + wireless_remote[8:12] = packs[1] + wireless_remote[12:16] = packs[2] + wireless_remote[20:24] = packs[3] + return wireless_remote + +class PyGameJoystick(Joystick): + def __init__(self) -> None: + super().__init__() + + pygame.init() + pygame.joystick.init() + if pygame.joystick.get_count() <= 0: + raise Exception("No joystick found!") + + self._joystick = pygame.joystick.Joystick(0) + self._joystick.init() + + def print(self): + print("\naxes: ") + for i in range(self._joystick.get_numaxes()): + print(self._joystick.get_axis(i), end=" ") + print("\nbuttons: ") + for i in range(self._joystick.get_numbuttons()): + print(self._joystick.get_button(i), end=" ") + print("\nhats: ") + for i in range(self._joystick.get_numhats()): + print(self._joystick.get_hat(i), end=" ") + print("\nballs: ") + for i in range(self._joystick.get_numballs()): + print(self._joystick.get_ball(i), end=" ") + print("\n") + +class LogicJoystick(PyGameJoystick): + """ Logic F710 """ + def __init__(self) -> None: + super().__init__() + + def update(self): + pygame.event.pump() + + self.back(self._joystick.get_button(6)) + self.start(self._joystick.get_button(7)) + self.LS(self._joystick.get_button(9)) + self.RS(self._joystick.get_button(10)) + self.LB(self._joystick.get_button(4)) + self.RB(self._joystick.get_button(5)) + self.A(self._joystick.get_button(0)) + self.B(self._joystick.get_button(1)) + self.X(self._joystick.get_button(2)) + self.Y(self._joystick.get_button(3)) + + self.LT((self._joystick.get_axis(2) + 1)/2) + self.RT((self._joystick.get_axis(5) + 1)/2) + self.rx(self._joystick.get_axis(3)) + self.ry(-self._joystick.get_axis(4)) + + + # Logitech controller has 2 modes + # mode 1: light down + self.up(1 if self._joystick.get_hat(0)[1] > 0.5 else 0) + self.down(1 if self._joystick.get_hat(0)[1] < -0.5 else 0) + self.left(1 if self._joystick.get_hat(0)[0] < -0.5 else 0) + self.right(1 if self._joystick.get_hat(0)[0] > 0.5 else 0) + self.lx(self._joystick.get_axis(0)) + self.ly(-self._joystick.get_axis(1)) + # mode 2: light up + # self.up(1 if self._joystick.get_axis(1) < -0.5 else 0) + # self.down(1 if self._joystick.get_axis(0) > 0.5 else 0) + # self.left(1 if self._joystick.get_axis(0) < -0.5 else 0) + # self.right(1 if self._joystick.get_axis(0) > 0.5 else 0) + # self.lx(self._joystick.get_hat(0)[1]) + # self.ly(self._joystick.get_hat(0)[1]) + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/lib/crc_aarch64.so b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/lib/crc_aarch64.so new file mode 100644 index 0000000..4dfb614 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/lib/crc_aarch64.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4db103653db78540d141ff4dc55216b83e5298280e639b2ad54a84ac2fae9a5 +size 7928 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/lib/crc_amd64.so b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/lib/crc_amd64.so new file mode 100644 index 0000000..8db8bf6 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/lib/crc_amd64.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b136a91a7e99c5cf914f465e131f63c897a17107939184a6f85d1a57cf315ade +size 15136 diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/singleton.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/singleton.py new file mode 100644 index 0000000..62ca3b0 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/singleton.py @@ -0,0 +1,11 @@ +class Singleton: + __instance = None + + def __new__(cls, *args, **kwargs): + if cls.__instance is None: + cls.__instance = super(Singleton, cls).__new__(cls) + return cls.__instance + + def __init__(self): + pass + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/thread.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/thread.py new file mode 100644 index 0000000..f17cf4e --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/thread.py @@ -0,0 +1,83 @@ +import sys +import os +import errno +import ctypes +import struct +import threading + +from .future import Future +from .timerfd import * + +class Thread(Future): + def __init__(self, target = None, name = None, args = (), kwargs = None): + super().__init__() + self.__target = target + self.__args = args + self.__kwargs = {} if kwargs is None else kwargs + self.__thread = threading.Thread(target=self.__ThreadFunc, name=name, daemon=True) + + def Start(self): + return self.__thread.start() + + def GetId(self): + return self.__thread.ident + + def GetNativeId(self): + return self.__thread.native_id + + def __ThreadFunc(self): + value = None + try: + value = self.__target(*self.__args, **self.__kwargs) + self.Ready(value) + except: + info = sys.exc_info() + self.Fail(f"[Thread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}") + +class RecurrentThread(Thread): + def __init__(self, interval: float = 1.0, target = None, name = None, args = (), kwargs = None): + self.__quit = False + self.__inter = interval + self.__loopTarget = target + self.__loopArgs = args + self.__loopKwargs = {} if kwargs is None else kwargs + + if interval is None or interval <= 0.0: + super().__init__(target=self.__LoopFunc_0, name=name) + else: + super().__init__(target=self.__LoopFunc, name=name) + + def Wait(self, timeout: float = None): + self.__quit = True + super().Wait(timeout) + + def __LoopFunc(self): + # clock type CLOCK_MONOTONIC = 1 + tfd = timerfd_create(1, 0) + spec = itimerspec.from_seconds(self.__inter, self.__inter) + timerfd_settime(tfd, 0, ctypes.byref(spec), None) + + while not self.__quit: + try: + self.__loopTarget(*self.__loopArgs, **self.__loopKwargs) + except: + info = sys.exc_info() + print(f"[RecurrentThread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}") + + try: + buf = os.read(tfd, 8) + # print(struct.unpack("Q", buf)[0]) + except OSError as e: + if e.errno != errno.EAGAIN: + raise e + + os.close(tfd) + + def __LoopFunc_0(self): + while not self.__quit: + try: + self.__loopTarget(*self.__args, **self.__kwargs) + except: + info = sys.exc_info() + print(f"[RecurrentThread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}") + diff --git a/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/timerfd.py b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/timerfd.py new file mode 100644 index 0000000..002ef39 --- /dev/null +++ b/external_dependencies/unitree_sdk2_python/unitree_sdk2py/utils/timerfd.py @@ -0,0 +1,45 @@ +import math +import ctypes +from .clib_lookup import CLIBLookup + +class timespec(ctypes.Structure): + _fields_ = [("sec", ctypes.c_long), ("nsec", ctypes.c_long)] + __slots__ = [name for name,type in _fields_] + + @classmethod + def from_seconds(cls, secs): + c = cls() + c.seconds = secs + return c + + @property + def seconds(self): + return self.sec + self.nsec / 1000000000 + + @seconds.setter + def seconds(self, secs): + x, y = math.modf(secs) + self.sec = int(y) + self.nsec = int(x * 1000000000) + + +class itimerspec(ctypes.Structure): + _fields_ = [("interval", timespec),("value", timespec)] + __slots__ = [name for name,type in _fields_] + + @classmethod + def from_seconds(cls, interval, value): + spec = cls() + spec.interval.seconds = interval + spec.value.seconds = value + return spec + + +# function timerfd_create +timerfd_create = CLIBLookup("timerfd_create", ctypes.c_int, (ctypes.c_long, ctypes.c_int)) + +# function timerfd_settime +timerfd_settime = CLIBLookup("timerfd_settime", ctypes.c_int, (ctypes.c_int, ctypes.c_int, ctypes.POINTER(itimerspec), ctypes.POINTER(itimerspec))) + +# function timerfd_gettime +timerfd_gettime = CLIBLookup("timerfd_gettime", ctypes.c_int, (ctypes.c_int, ctypes.POINTER(itimerspec))) diff --git a/gr00t_wbc/__init__.py b/gr00t_wbc/__init__.py new file mode 100644 index 0000000..3308a84 --- /dev/null +++ b/gr00t_wbc/__init__.py @@ -0,0 +1,3 @@ +from .version import VERSION, VERSION_SHORT # noqa + +__version__ = VERSION # noqa diff --git a/gr00t_wbc/control/__init__.py b/gr00t_wbc/control/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/base/__init__.py b/gr00t_wbc/control/base/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/base/env.py b/gr00t_wbc/control/base/env.py new file mode 100644 index 0000000..dcca21e --- /dev/null +++ b/gr00t_wbc/control/base/env.py @@ -0,0 +1,45 @@ +import gymnasium as gym + + +class Env: + """Base interface for all environments in the Gr00t framework""" + + def observe(self) -> dict[str, any]: + """Read the current state of this environment + + Returns: + dict: A dictionary of observations + """ + pass + + def queue_action(self, action: dict[str, any]): + """Queue an action to be executed + + Args: + action: A dictionary of action parameters + """ + pass + + def reset(self, **kwargs): + """Reset this environment to initial state""" + pass + + def observation_space(self) -> gym.Space: + """Get the observation space of this environment + + Returns: + gym.Space: The observation space + """ + pass + + def action_space(self) -> gym.Space: + """Get the action space of this environment + + Returns: + gym.Space: The action space + """ + pass + + def close(self): + """Close and clean up this environment""" + pass diff --git a/gr00t_wbc/control/base/humanoid_env.py b/gr00t_wbc/control/base/humanoid_env.py new file mode 100644 index 0000000..92e7dfb --- /dev/null +++ b/gr00t_wbc/control/base/humanoid_env.py @@ -0,0 +1,60 @@ +from abc import abstractmethod + +from gr00t_wbc.control.base.env import Env +from gr00t_wbc.control.base.sensor import Sensor +from gr00t_wbc.control.robot_model.robot_model import RobotModel + + +class Hands: + """Container class for left and right hand environments. + + Attributes: + left: Environment for the left hand + right: Environment for the right hand + """ + + left: Env + right: Env + + +class HumanoidEnv(Env): + """Base class for humanoid robot environments. + + This class provides the interface for accessing the robot's body, hands, and sensors. + """ + + def body(self) -> Env: + """Get the robot's body environment. + + Returns: + Env: The body environment + """ + pass + + def hands(self) -> Hands: + """Get the robot's hands. + + Returns: + Hands: Container with left and right hand environments + """ + pass + + def sensors(self) -> dict[str, Sensor]: + """Get the sensors of this environment + + Returns: + dict: A dictionary of sensors + """ + pass + + @abstractmethod + def robot_model(self) -> RobotModel: + """Get the robot model of this environment + This robot model is used to dispatch whole body actions to body + and hand actuators and to reconstruct proprioceptive + observations from body and hands. + + Returns: + RobotModel: The robot model + """ + pass diff --git a/gr00t_wbc/control/base/policy.py b/gr00t_wbc/control/base/policy.py new file mode 100755 index 0000000..a6ebb7e --- /dev/null +++ b/gr00t_wbc/control/base/policy.py @@ -0,0 +1,47 @@ +from abc import ABC, abstractmethod +from typing import Optional + + +class Policy(ABC): + """Base class for implementing control policies in the Gr00t framework. + + A Policy defines how an agent should behave in an environment by mapping observations + to actions. This abstract base class provides the interface that all concrete policy + implementations must follow. + """ + + def set_goal(self, goal: dict[str, any]): + """Set the command from the planner that the policy should follow. + + Args: + goal: Dictionary containing high-level commands or goals from the planner + """ + pass + + def set_observation(self, observation: dict[str, any]): + """Update the policy's current observation of the environment. + + Args: + observation: Dictionary containing the current state/observation of the environment + """ + self.observation = observation + + @abstractmethod + def get_action(self, time: Optional[float] = None) -> dict[str, any]: + """Compute and return the next action at the specified time, based on current observation + and planner command. + + Args: + time: Optional "monotonic time" for time-dependent policies + + Returns: + Dictionary containing the action to be executed + """ + + def close(self): + """Clean up any resources used by the policy.""" + pass + + def reset(self): + """Reset the policy to its initial state.""" + pass diff --git a/gr00t_wbc/control/base/sensor.py b/gr00t_wbc/control/base/sensor.py new file mode 100644 index 0000000..c9e5ba8 --- /dev/null +++ b/gr00t_wbc/control/base/sensor.py @@ -0,0 +1,35 @@ +import gymnasium as gym + + +class Sensor: + """Base class for implementing sensors in the Gr00t framework. + + A Sensor provides information about a specific sensor on the robot (e.g. camera, IMU, + force sensor). This abstract base class defines the interface that all concrete sensor + implementations must follow. + """ + + def read(self, **kwargs) -> any: + """Read the current sensor value. + + Args: + **kwargs: Additional parameters specific to the sensor implementation + (e.g. camera resolution, sampling rate) + + Returns: + The sensor reading value (e.g. image data, acceleration measurements) + """ + pass + + def observation_space(self) -> gym.Space: + """Get the observation space of this sensor. + + Returns: + gym.Space: The observation space defining the shape and bounds of sensor readings + (e.g. image dimensions for camera, measurement ranges for IMU) + """ + pass + + def close(self): + """Clean up any resources used by the sensor.""" + pass diff --git a/gr00t_wbc/control/envs/__init__.py b/gr00t_wbc/control/envs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/envs/g1/__init__.py b/gr00t_wbc/control/envs/g1/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/envs/g1/g1_body.py b/gr00t_wbc/control/envs/g1/g1_body.py new file mode 100644 index 0000000..8543f80 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/g1_body.py @@ -0,0 +1,67 @@ +from typing import Any, Dict + +import gymnasium as gym +import numpy as np + +from gr00t_wbc.control.base.env import Env +from gr00t_wbc.control.envs.g1.utils.command_sender import BodyCommandSender +from gr00t_wbc.control.envs.g1.utils.state_processor import BodyStateProcessor + + +class G1Body(Env): + def __init__(self, config: Dict[str, Any]): + super().__init__() + self.body_state_processor = BodyStateProcessor(config=config) + self.body_command_sender = BodyCommandSender(config=config) + + def observe(self) -> dict[str, any]: + body_state = self.body_state_processor._prepare_low_state() # (1, 148) + assert body_state.shape == (1, 148) + body_q = body_state[ + 0, 7 : 7 + 12 + 3 + 7 + 7 + ] # leg (12) + waist (3) + left arm (7) + right arm (7) + body_dq = body_state[0, 42 : 42 + 12 + 3 + 7 + 7] + body_ddq = body_state[0, 112 : 112 + 12 + 3 + 7 + 7] + body_tau_est = body_state[0, 77 : 77 + 12 + 3 + 7 + 7] + floating_base_pose = body_state[0, 0:7] + floating_base_vel = body_state[0, 36:42] + floating_base_acc = body_state[0, 106:112] + torso_quat = body_state[0, 141:145] + torso_ang_vel = body_state[0, 145:148] + + return { + "body_q": body_q, + "body_dq": body_dq, + "body_ddq": body_ddq, + "body_tau_est": body_tau_est, + "floating_base_pose": floating_base_pose, + "floating_base_vel": floating_base_vel, + "floating_base_acc": floating_base_acc, + "torso_quat": torso_quat, + "torso_ang_vel": torso_ang_vel, + } + + def queue_action(self, action: dict[str, any]): + # action should contain body_q, body_dq, body_tau + self.body_command_sender.send_command( + action["body_q"], action["body_dq"], action["body_tau"] + ) + + def observation_space(self) -> gym.Space: + return gym.spaces.Dict( + { + "body_q": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(29,)), + "body_dq": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(29,)), + "floating_base_pose": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)), + "floating_base_vel": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(6,)), + } + ) + + def action_space(self) -> gym.Space: + return gym.spaces.Dict( + { + "body_q": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(29,)), + "body_dq": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(29,)), + "body_tau": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(29,)), + } + ) diff --git a/gr00t_wbc/control/envs/g1/g1_env.py b/gr00t_wbc/control/envs/g1/g1_env.py new file mode 100644 index 0000000..f687060 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/g1_env.py @@ -0,0 +1,324 @@ +from copy import deepcopy +from typing import Dict + +import gymnasium as gym +import numpy as np +from scipy.spatial.transform import Rotation as R + +from gr00t_wbc.control.base.humanoid_env import Hands, HumanoidEnv +from gr00t_wbc.control.envs.g1.g1_body import G1Body +from gr00t_wbc.control.envs.g1.g1_hand import G1ThreeFingerHand +from gr00t_wbc.control.envs.g1.sim.simulator_factory import SimulatorFactory, init_channel +from gr00t_wbc.control.envs.g1.utils.joint_safety import JointSafetyMonitor +from gr00t_wbc.control.robot_model.instantiation.g1 import instantiate_g1_robot_model +from gr00t_wbc.control.robot_model.robot_model import RobotModel +from gr00t_wbc.control.utils.ros_utils import ROSManager + + +class G1Env(HumanoidEnv): + def __init__( + self, + env_name: str = "default", + robot_model: RobotModel = None, + wbc_version: str = "v2", + config: Dict[str, any] = None, + **kwargs, + ): + super().__init__() + self.robot_model = deepcopy(robot_model) # need to cache FK results + self.config = config + + # Initialize safety monitor (visualization disabled) + self.safety_monitor = JointSafetyMonitor( + robot_model, enable_viz=False, env_type=self.config.get("ENV_TYPE", "real") + ) + self.last_obs = None + self.last_safety_ok = True # Track last safety status from queue_action + + init_channel(config=self.config) + + # Initialize body and hands + self._body = G1Body(config=self.config) + + self.with_hands = config.get("with_hands", False) + + # Gravity compensation settings + self.enable_gravity_compensation = config.get("enable_gravity_compensation", False) + self.gravity_compensation_joints = config.get("gravity_compensation_joints", ["arms"]) + + if self.enable_gravity_compensation: + print( + f"Gravity compensation enabled for joint groups: {self.gravity_compensation_joints}" + ) + if self.with_hands: + self._hands = Hands() + self._hands.left = G1ThreeFingerHand(is_left=True) + self._hands.right = G1ThreeFingerHand(is_left=False) + + # Initialize simulator if in simulation mode + self.use_sim = self.config.get("ENV_TYPE") == "sim" + + if self.use_sim: + # Create simulator using factory + + kwargs.update( + { + "onscreen": self.config.get("ENABLE_ONSCREEN", True), + "offscreen": self.config.get("ENABLE_OFFSCREEN", False), + } + ) + self.sim = SimulatorFactory.create_simulator( + config=self.config, + env_name=env_name, + wbc_version=wbc_version, + body_ik_solver_settings_type=kwargs.get("body_ik_solver_settings_type", "default"), + **kwargs, + ) + else: + self.sim = None + + # using the real robot + self.calibrate_hands() + + # Initialize ROS 2 node + self.ros_manager = ROSManager(node_name="g1_env") + self.ros_node = self.ros_manager.node + + self.delay_list = [] + self.visualize_delay = False + self.print_delay_interval = 100 + self.cnt = 0 + + def start_simulator(self): + # imag epublish disabled since the sim is running in a sub-thread + SimulatorFactory.start_simulator(self.sim, as_thread=True, enable_image_publish=False) + + def step_simulator(self): + sim_num_steps = int(self.config["REWARD_DT"] / self.config["SIMULATE_DT"]) + for _ in range(sim_num_steps): + self.sim.sim_env.sim_step() + self.sim.sim_env.update_viewer() + + def body(self) -> G1Body: + return self._body + + def hands(self) -> Hands: + if not self.with_hands: + raise RuntimeError( + "Hands not initialized. Use --with_hands True to enable hand functionality." + ) + return self._hands + + def observe(self) -> Dict[str, any]: + # Get observations from body and hands + body_obs = self.body().observe() + + body_q = body_obs["body_q"] + body_dq = body_obs["body_dq"] + body_ddq = body_obs["body_ddq"] + body_tau_est = body_obs["body_tau_est"] + + if self.with_hands: + left_hand_obs = self.hands().left.observe() + right_hand_obs = self.hands().right.observe() + left_hand_q = left_hand_obs["hand_q"] + right_hand_q = right_hand_obs["hand_q"] + left_hand_dq = left_hand_obs["hand_dq"] + right_hand_dq = right_hand_obs["hand_dq"] + left_hand_ddq = left_hand_obs["hand_ddq"] + right_hand_ddq = right_hand_obs["hand_ddq"] + left_hand_tau_est = left_hand_obs["hand_tau_est"] + right_hand_tau_est = right_hand_obs["hand_tau_est"] + + # Body and hand joint measurements come in actuator order, so we need to convert them to joint order + whole_q = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_q, + left_hand_actuated_joint_values=left_hand_q, + right_hand_actuated_joint_values=right_hand_q, + ) + whole_dq = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_dq, + left_hand_actuated_joint_values=left_hand_dq, + right_hand_actuated_joint_values=right_hand_dq, + ) + whole_ddq = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_ddq, + left_hand_actuated_joint_values=left_hand_ddq, + right_hand_actuated_joint_values=right_hand_ddq, + ) + whole_tau_est = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_tau_est, + left_hand_actuated_joint_values=left_hand_tau_est, + right_hand_actuated_joint_values=right_hand_tau_est, + ) + else: + # Body and hand joint measurements come in actuator order, so we need to convert them to joint order + whole_q = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_q, + ) + whole_dq = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_dq, + ) + whole_ddq = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_ddq, + ) + whole_tau_est = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=body_tau_est, + ) + + eef_obs = self.get_eef_obs(whole_q) + + obs = { + "q": whole_q, + "dq": whole_dq, + "ddq": whole_ddq, + "tau_est": whole_tau_est, + "floating_base_pose": body_obs["floating_base_pose"], + "floating_base_vel": body_obs["floating_base_vel"], + "floating_base_acc": body_obs["floating_base_acc"], + "wrist_pose": np.concatenate([eef_obs["left_wrist_pose"], eef_obs["right_wrist_pose"]]), + "torso_quat": body_obs["torso_quat"], + "torso_ang_vel": body_obs["torso_ang_vel"], + } + + if self.use_sim and self.sim: + obs.update(self.sim.get_privileged_obs()) + + # Store last observation for safety checking + self.last_obs = obs + + return obs + + @property + def observation_space(self) -> gym.Space: + # @todo: check if the low and high bounds are correct for body_obs. + q_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + dq_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + ddq_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + tau_est_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + floating_base_pose_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)) + floating_base_vel_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(6,)) + floating_base_acc_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(6,)) + wrist_pose_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7 + 7,)) + return gym.spaces.Dict( + { + "floating_base_pose": floating_base_pose_space, + "floating_base_vel": floating_base_vel_space, + "floating_base_acc": floating_base_acc_space, + "q": q_space, + "dq": dq_space, + "ddq": ddq_space, + "tau_est": tau_est_space, + "wrist_pose": wrist_pose_space, + } + ) + + def queue_action(self, action: Dict[str, any]): + # Safety check + if self.last_obs is not None: + safety_result = self.safety_monitor.handle_violations(self.last_obs, action) + action = safety_result["action"] + + # Map action from joint order to actuator order + body_actuator_q = self.robot_model.get_body_actuated_joints(action["q"]) + + self.body().queue_action( + { + "body_q": body_actuator_q, + "body_dq": np.zeros_like(body_actuator_q), + "body_tau": np.zeros_like(body_actuator_q), + } + ) + + if self.with_hands: + left_hand_actuator_q = self.robot_model.get_hand_actuated_joints( + action["q"], side="left" + ) + right_hand_actuator_q = self.robot_model.get_hand_actuated_joints( + action["q"], side="right" + ) + self.hands().left.queue_action({"hand_q": left_hand_actuator_q}) + self.hands().right.queue_action({"hand_q": right_hand_actuator_q}) + + def action_space(self) -> gym.Space: + return gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + + def calibrate_hands(self): + """Calibrate the hand joint qpos if real robot""" + if self.with_hands: + print("calibrating left hand") + self.hands().left.calibrate_hand() + print("calibrating right hand") + self.hands().right.calibrate_hand() + else: + print("Skipping hand calibration - hands disabled") + + def set_ik_indicator(self, teleop_cmd): + """Set the IK indicators for the simulator""" + if self.config["SIMULATOR"] == "robocasa": + if "left_wrist" in teleop_cmd and "right_wrist" in teleop_cmd: + left_wrist_input_pose = teleop_cmd["left_wrist"] + right_wrist_input_pose = teleop_cmd["right_wrist"] + ik_wrapper = self.sim.env.env.unwrapped.env + ik_wrapper.set_target_poses_outside_env( + [left_wrist_input_pose, right_wrist_input_pose] + ) + else: + raise NotImplementedError("IK indicators are only implemented for robocasa simulator") + + def set_sync_mode(self, sync_mode: bool, steps_per_action: int = 4): + """When set to True, the simulator will wait for the action to be sent to it""" + if self.config["SIMULATOR"] == "robocasa": + self.sim.set_sync_mode(sync_mode, steps_per_action) + + def reset(self): + if self.sim: + self.sim.reset() + + def close(self): + if self.sim: + self.sim.close() + + def robot_model(self) -> RobotModel: + return self.robot_model + + def get_reward(self): + if self.sim: + return self.sim.get_reward() + + def reset_obj_pos(self): + if hasattr(self.sim, "base_env") and hasattr(self.sim.base_env, "reset_obj_pos"): + self.sim.base_env.reset_obj_pos() + + def get_eef_obs(self, q: np.ndarray) -> Dict[str, np.ndarray]: + self.robot_model.cache_forward_kinematics(q) + eef_obs = {} + for side in ["left", "right"]: + wrist_placement = self.robot_model.frame_placement( + self.robot_model.supplemental_info.hand_frame_names[side] + ) + wrist_pos, wrist_quat = wrist_placement.translation[:3], R.from_matrix( + wrist_placement.rotation + ).as_quat(scalar_first=True) + eef_obs[f"{side}_wrist_pose"] = np.concatenate([wrist_pos, wrist_quat]) + + return eef_obs + + def get_joint_safety_status(self) -> bool: + """Get current joint safety status from the last queue_action safety check. + + Returns: + bool: True if joints are safe (no shutdown required), False if unsafe + """ + return self.last_safety_ok + + def handle_keyboard_button(self, key): + # Only handles keyboard buttons for the mujoco simulator for now. + if self.use_sim and self.config.get("SIMULATOR", "mujoco") == "mujoco": + self.sim.handle_keyboard_button(key) + + +if __name__ == "__main__": + env = G1Env(robot_model=instantiate_g1_robot_model(), wbc_version="gear_wbc") + while True: + print(env.observe()) diff --git a/gr00t_wbc/control/envs/g1/g1_hand.py b/gr00t_wbc/control/envs/g1/g1_hand.py new file mode 100644 index 0000000..1473aa2 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/g1_hand.py @@ -0,0 +1,89 @@ +import time + +import gymnasium as gym +import numpy as np + +from gr00t_wbc.control.base.env import Env +from gr00t_wbc.control.envs.g1.utils.command_sender import HandCommandSender +from gr00t_wbc.control.envs.g1.utils.state_processor import HandStateProcessor + + +class G1ThreeFingerHand(Env): + def __init__(self, is_left: bool = True): + super().__init__() + self.is_left = is_left + self.hand_state_processor = HandStateProcessor(is_left=self.is_left) + self.hand_command_sender = HandCommandSender(is_left=self.is_left) + self.hand_q_offset = np.zeros(7) + + def observe(self) -> dict[str, any]: + hand_state = self.hand_state_processor._prepare_low_state() # (1, 28) + assert hand_state.shape == (1, 28) + + # Apply offset to the hand state + hand_state[0, :7] = hand_state[0, :7] + self.hand_q_offset + + hand_q = hand_state[0, :7] + hand_dq = hand_state[0, 7:14] + hand_ddq = hand_state[0, 21:28] + hand_tau_est = hand_state[0, 14:21] + + # Return the state for this specific hand (left or right) + return { + "hand_q": hand_q, + "hand_dq": hand_dq, + "hand_ddq": hand_ddq, + "hand_tau_est": hand_tau_est, + } + + def queue_action(self, action: dict[str, any]): + # Apply offset to the hand target + action["hand_q"] = action["hand_q"] - self.hand_q_offset + + # action should contain hand_q + self.hand_command_sender.send_command(action["hand_q"]) + + def observation_space(self) -> gym.Space: + return gym.spaces.Dict( + { + "hand_q": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)), + "hand_dq": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)), + "hand_ddq": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)), + "hand_tau_est": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)), + } + ) + + def action_space(self) -> gym.Space: + return gym.spaces.Dict({"hand_q": gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,))}) + + def calibrate_hand(self): + hand_obs = self.observe() + hand_q = hand_obs["hand_q"] + + hand_q_target = np.zeros_like(hand_q) + hand_q_target[0] = hand_q[0] + + # joint limit + hand_q0_upper_limit = np.deg2rad(60) # lower limit is -60 + + # move the figure counterclockwise until the limit + while True: + + if hand_q_target[0] - hand_q[0] < np.deg2rad(60): + hand_q_target[0] += np.deg2rad(10) + else: + self.hand_q_offset[0] = hand_q0_upper_limit - hand_q[0] + break + + self.queue_action({"hand_q": hand_q_target}) + + hand_obs = self.observe() + hand_q = hand_obs["hand_q"] + + time.sleep(0.1) + + print("done calibration, q0 offset (deg):", np.rad2deg(self.hand_q_offset[0])) + + # done calibrating, set target to zero + self.hand_q_target = np.zeros_like(hand_q) + self.queue_action({"hand_q": self.hand_q_target}) diff --git a/gr00t_wbc/control/envs/g1/sim/__init__.py b/gr00t_wbc/control/envs/g1/sim/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/envs/g1/sim/base_sim.py b/gr00t_wbc/control/envs/g1/sim/base_sim.py new file mode 100644 index 0000000..6848eb6 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/base_sim.py @@ -0,0 +1,772 @@ +import argparse +import pathlib +from pathlib import Path +import threading +from threading import Lock, Thread +from typing import Dict + +import mujoco +import mujoco.viewer +import numpy as np +import rclpy +from unitree_sdk2py.core.channel import ChannelFactoryInitialize +import yaml + +from gr00t_wbc.control.envs.g1.sim.image_publish_utils import ImagePublishProcess +from gr00t_wbc.control.envs.g1.sim.metric_utils import check_contact, check_height +from gr00t_wbc.control.envs.g1.sim.sim_utilts import get_subtree_body_names +from gr00t_wbc.control.envs.g1.sim.unitree_sdk2py_bridge import ElasticBand, UnitreeSdk2Bridge + +GR00T_WBC_ROOT = Path(__file__).resolve().parent.parent.parent.parent.parent.parent + + +class DefaultEnv: + """Base environment class that handles simulation environment setup and step""" + + def __init__( + self, + config: Dict[str, any], + env_name: str = "default", + camera_configs: Dict[str, any] = {}, + onscreen: bool = False, + offscreen: bool = False, + enable_image_publish: bool = False, + ): + # global_view is only set up for this specifc scene for now. + if config["ROBOT_SCENE"] == "gr00t_wbc/control/robot_model/model_data/g1/scene_29dof.xml": + camera_configs["global_view"] = { + "height": 400, + "width": 400, + } + self.config = config + self.env_name = env_name + self.num_body_dof = self.config["NUM_JOINTS"] + self.num_hand_dof = self.config["NUM_HAND_JOINTS"] + self.sim_dt = self.config["SIMULATE_DT"] + self.obs = None + self.torques = np.zeros(self.num_body_dof + self.num_hand_dof * 2) + self.torque_limit = np.array(self.config["motor_effort_limit_list"]) + self.camera_configs = camera_configs + + # Thread safety lock + self.reward_lock = Lock() + + # Unitree bridge will be initialized by the simulator + self.unitree_bridge = None + + # Store display mode + self.onscreen = onscreen + + # Initialize scene (defined in subclasses) + self.init_scene() + self.last_reward = 0 + + # Setup offscreen rendering if needed + self.offscreen = offscreen + if self.offscreen: + self.init_renderers() + self.image_dt = self.config.get("IMAGE_DT", 0.033333) + self.image_publish_process = None + + def start_image_publish_subprocess(self, start_method: str = "spawn", camera_port: int = 5555): + # Use spawn method for better GIL isolation, or configured method + if len(self.camera_configs) == 0: + print( + "Warning: No camera configs provided, image publishing subprocess will not be started" + ) + return + start_method = self.config.get("MP_START_METHOD", "spawn") + self.image_publish_process = ImagePublishProcess( + camera_configs=self.camera_configs, + image_dt=self.image_dt, + zmq_port=camera_port, + start_method=start_method, + verbose=self.config.get("verbose", False), + ) + self.image_publish_process.start_process() + + def init_scene(self): + """Initialize the default robot scene""" + self.mj_model = mujoco.MjModel.from_xml_path( + str(pathlib.Path(GR00T_WBC_ROOT) / self.config["ROBOT_SCENE"]) + ) + self.mj_data = mujoco.MjData(self.mj_model) + self.mj_model.opt.timestep = self.sim_dt + self.torso_index = mujoco.mj_name2id(self.mj_model, mujoco.mjtObj.mjOBJ_BODY, "torso_link") + self.root_body = "pelvis" + # Enable the elastic band + if self.config["ENABLE_ELASTIC_BAND"]: + self.elastic_band = ElasticBand() + if "g1" in self.config["ROBOT_TYPE"]: + if self.config["enable_waist"]: + self.band_attached_link = self.mj_model.body("pelvis").id + else: + self.band_attached_link = self.mj_model.body("torso_link").id + elif "h1" in self.config["ROBOT_TYPE"]: + self.band_attached_link = self.mj_model.body("torso_link").id + else: + self.band_attached_link = self.mj_model.body("base_link").id + + if self.onscreen: + self.viewer = mujoco.viewer.launch_passive( + self.mj_model, + self.mj_data, + key_callback=self.elastic_band.MujuocoKeyCallback, + show_left_ui=False, + show_right_ui=False, + ) + else: + mujoco.mj_forward(self.mj_model, self.mj_data) + self.viewer = None + else: + if self.onscreen: + self.viewer = mujoco.viewer.launch_passive( + self.mj_model, self.mj_data, show_left_ui=False, show_right_ui=False + ) + else: + mujoco.mj_forward(self.mj_model, self.mj_data) + self.viewer = None + + if self.viewer: + # viewer camera + self.viewer.cam.azimuth = 120 # Horizontal rotation in degrees + self.viewer.cam.elevation = -30 # Vertical tilt in degrees + self.viewer.cam.distance = 2.0 # Distance from camera to target + self.viewer.cam.lookat = np.array([0, 0, 0.5]) # Point the camera is looking at + + # Note that the actuator order is the same as the joint order in the mujoco model. + self.body_joint_index = [] + self.left_hand_index = [] + self.right_hand_index = [] + for i in range(self.mj_model.njnt): + name = self.mj_model.joint(i).name + if any( + [ + part_name in name + for part_name in ["hip", "knee", "ankle", "waist", "shoulder", "elbow", "wrist"] + ] + ): + self.body_joint_index.append(i) + elif "left_hand" in name: + self.left_hand_index.append(i) + elif "right_hand" in name: + self.right_hand_index.append(i) + + assert len(self.body_joint_index) == self.config["NUM_JOINTS"] + assert len(self.left_hand_index) == self.config["NUM_HAND_JOINTS"] + assert len(self.right_hand_index) == self.config["NUM_HAND_JOINTS"] + + self.body_joint_index = np.array(self.body_joint_index) + self.left_hand_index = np.array(self.left_hand_index) + self.right_hand_index = np.array(self.right_hand_index) + + def init_renderers(self): + # Initialize camera renderers + self.renderers = {} + for camera_name, camera_config in self.camera_configs.items(): + renderer = mujoco.Renderer( + self.mj_model, height=camera_config["height"], width=camera_config["width"] + ) + self.renderers[camera_name] = renderer + + def compute_body_torques(self) -> np.ndarray: + """Compute body torques based on the current robot state""" + body_torques = np.zeros(self.num_body_dof) + if self.unitree_bridge is not None and self.unitree_bridge.low_cmd: + for i in range(self.unitree_bridge.num_body_motor): + if self.unitree_bridge.use_sensor: + body_torques[i] = ( + self.unitree_bridge.low_cmd.motor_cmd[i].tau + + self.unitree_bridge.low_cmd.motor_cmd[i].kp + * (self.unitree_bridge.low_cmd.motor_cmd[i].q - self.mj_data.sensordata[i]) + + self.unitree_bridge.low_cmd.motor_cmd[i].kd + * ( + self.unitree_bridge.low_cmd.motor_cmd[i].dq + - self.mj_data.sensordata[i + self.unitree_bridge.num_body_motor] + ) + ) + else: + body_torques[i] = ( + self.unitree_bridge.low_cmd.motor_cmd[i].tau + + self.unitree_bridge.low_cmd.motor_cmd[i].kp + * ( + self.unitree_bridge.low_cmd.motor_cmd[i].q + - self.mj_data.qpos[self.body_joint_index[i] + 7 - 1] + ) + + self.unitree_bridge.low_cmd.motor_cmd[i].kd + * ( + self.unitree_bridge.low_cmd.motor_cmd[i].dq + - self.mj_data.qvel[self.body_joint_index[i] + 6 - 1] + ) + ) + return body_torques + + def compute_hand_torques(self) -> np.ndarray: + """Compute hand torques based on the current robot state""" + left_hand_torques = np.zeros(self.num_hand_dof) + right_hand_torques = np.zeros(self.num_hand_dof) + if self.unitree_bridge is not None and self.unitree_bridge.low_cmd: + for i in range(self.unitree_bridge.num_hand_motor): + left_hand_torques[i] = ( + self.unitree_bridge.left_hand_cmd.motor_cmd[i].tau + + self.unitree_bridge.left_hand_cmd.motor_cmd[i].kp + * ( + self.unitree_bridge.left_hand_cmd.motor_cmd[i].q + - self.mj_data.qpos[self.left_hand_index[i] + 7 - 1] + ) + + self.unitree_bridge.left_hand_cmd.motor_cmd[i].kd + * ( + self.unitree_bridge.left_hand_cmd.motor_cmd[i].dq + - self.mj_data.qvel[self.left_hand_index[i] + 6 - 1] + ) + ) + right_hand_torques[i] = ( + self.unitree_bridge.right_hand_cmd.motor_cmd[i].tau + + self.unitree_bridge.right_hand_cmd.motor_cmd[i].kp + * ( + self.unitree_bridge.right_hand_cmd.motor_cmd[i].q + - self.mj_data.qpos[self.right_hand_index[i] + 7 - 1] + ) + + self.unitree_bridge.right_hand_cmd.motor_cmd[i].kd + * ( + self.unitree_bridge.right_hand_cmd.motor_cmd[i].dq + - self.mj_data.qvel[self.right_hand_index[i] + 6 - 1] + ) + ) + return np.concatenate((left_hand_torques, right_hand_torques)) + + def compute_body_qpos(self) -> np.ndarray: + """Compute body joint positions based on the current command""" + body_qpos = np.zeros(self.num_body_dof) + if self.unitree_bridge is not None and self.unitree_bridge.low_cmd: + for i in range(self.unitree_bridge.num_body_motor): + body_qpos[i] = self.unitree_bridge.low_cmd.motor_cmd[i].q + return body_qpos + + def compute_hand_qpos(self) -> np.ndarray: + """Compute hand joint positions based on the current command""" + hand_qpos = np.zeros(self.num_hand_dof * 2) + if self.unitree_bridge is not None and self.unitree_bridge.low_cmd: + for i in range(self.unitree_bridge.num_hand_motor): + hand_qpos[i] = self.unitree_bridge.left_hand_cmd.motor_cmd[i].q + hand_qpos[i + self.num_hand_dof] = self.unitree_bridge.right_hand_cmd.motor_cmd[i].q + return hand_qpos + + def prepare_obs(self) -> Dict[str, any]: + """Prepare observation dictionary from the current robot state""" + obs = {} + obs["floating_base_pose"] = self.mj_data.qpos[:7] + obs["floating_base_vel"] = self.mj_data.qvel[:6] + obs["floating_base_acc"] = self.mj_data.qacc[:6] + obs["secondary_imu_quat"] = self.mj_data.xquat[self.torso_index] + obs["secondary_imu_vel"] = self.mj_data.cvel[self.torso_index] + obs["body_q"] = self.mj_data.qpos[self.body_joint_index + 7 - 1] + obs["body_dq"] = self.mj_data.qvel[self.body_joint_index + 6 - 1] + obs["body_ddq"] = self.mj_data.qacc[self.body_joint_index + 6 - 1] + obs["body_tau_est"] = self.mj_data.actuator_force[self.body_joint_index - 1] + if self.num_hand_dof > 0: + obs["left_hand_q"] = self.mj_data.qpos[self.left_hand_index + 7 - 1] + obs["left_hand_dq"] = self.mj_data.qvel[self.left_hand_index + 6 - 1] + obs["left_hand_ddq"] = self.mj_data.qacc[self.left_hand_index + 6 - 1] + obs["left_hand_tau_est"] = self.mj_data.actuator_force[self.left_hand_index - 1] + obs["right_hand_q"] = self.mj_data.qpos[self.right_hand_index + 7 - 1] + obs["right_hand_dq"] = self.mj_data.qvel[self.right_hand_index + 6 - 1] + obs["right_hand_ddq"] = self.mj_data.qacc[self.right_hand_index + 6 - 1] + obs["right_hand_tau_est"] = self.mj_data.actuator_force[self.right_hand_index - 1] + obs["time"] = self.mj_data.time + return obs + + def sim_step(self): + self.obs = self.prepare_obs() + self.unitree_bridge.PublishLowState(self.obs) + if self.unitree_bridge.joystick: + self.unitree_bridge.PublishWirelessController() + if self.config["ENABLE_ELASTIC_BAND"]: + if self.elastic_band.enable: + # Get Cartesian pose and velocity of the band_attached_link + pose = np.concatenate( + [ + self.mj_data.xpos[self.band_attached_link], # link position in world + self.mj_data.xquat[ + self.band_attached_link + ], # link quaternion in world [w,x,y,z] + np.zeros(6), # placeholder for velocity + ] + ) + + # Get velocity in world frame + mujoco.mj_objectVelocity( + self.mj_model, + self.mj_data, + mujoco.mjtObj.mjOBJ_BODY, + self.band_attached_link, + pose[7:13], + 0, # 0 for world frame + ) + + # Reorder velocity from [ang, lin] to [lin, ang] + pose[7:10], pose[10:13] = pose[10:13], pose[7:10].copy() + self.mj_data.xfrc_applied[self.band_attached_link] = self.elastic_band.Advance(pose) + else: + # explicitly resetting the force when the band is not enabled + self.mj_data.xfrc_applied[self.band_attached_link] = np.zeros(6) + body_torques = self.compute_body_torques() + hand_torques = self.compute_hand_torques() + self.torques[self.body_joint_index - 1] = body_torques + if self.num_hand_dof > 0: + self.torques[self.left_hand_index - 1] = hand_torques[: self.num_hand_dof] + self.torques[self.right_hand_index - 1] = hand_torques[self.num_hand_dof :] + + self.torques = np.clip(self.torques, -self.torque_limit, self.torque_limit) + + if self.config["FREE_BASE"]: + self.mj_data.ctrl = np.concatenate((np.zeros(6), self.torques)) + else: + self.mj_data.ctrl = self.torques + mujoco.mj_step(self.mj_model, self.mj_data) + # self.check_self_collision() + + def kinematics_step(self): + """ + Run kinematics only: compute the qpos of the robot and directly set the qpos. + For debugging purposes. + """ + if self.unitree_bridge is not None: + self.unitree_bridge.PublishLowState(self.prepare_obs()) + if self.unitree_bridge.joystick: + self.unitree_bridge.PublishWirelessController() + + if self.config["ENABLE_ELASTIC_BAND"]: + if self.elastic_band.enable: + # Get Cartesian pose and velocity of the band_attached_link + pose = np.concatenate( + [ + self.mj_data.xpos[self.band_attached_link], # link position in world + self.mj_data.xquat[ + self.band_attached_link + ], # link quaternion in world [w,x,y,z] + np.zeros(6), # placeholder for velocity + ] + ) + + # Get velocity in world frame + mujoco.mj_objectVelocity( + self.mj_model, + self.mj_data, + mujoco.mjtObj.mjOBJ_BODY, + self.band_attached_link, + pose[7:13], + 0, # 0 for world frame + ) + + # Reorder velocity from [ang, lin] to [lin, ang] + pose[7:10], pose[10:13] = pose[10:13], pose[7:10].copy() + + self.mj_data.xfrc_applied[self.band_attached_link] = self.elastic_band.Advance(pose) + else: + # explicitly resetting the force when the band is not enabled + self.mj_data.xfrc_applied[self.band_attached_link] = np.zeros(6) + + body_qpos = self.compute_body_qpos() # (num_body_dof,) + hand_qpos = self.compute_hand_qpos() # (num_hand_dof * 2,) + + self.mj_data.qpos[self.body_joint_index + 7 - 1] = body_qpos + self.mj_data.qpos[self.left_hand_index + 7 - 1] = hand_qpos[: self.num_hand_dof] + self.mj_data.qpos[self.right_hand_index + 7 - 1] = hand_qpos[self.num_hand_dof :] + + mujoco.mj_kinematics(self.mj_model, self.mj_data) + mujoco.mj_comPos(self.mj_model, self.mj_data) + + def apply_perturbation(self, key): + """Apply perturbation to the robot""" + # Add velocity perturbations in body frame + perturbation_x_body = 0.0 # forward/backward in body frame + perturbation_y_body = 0.0 # left/right in body frame + if key == "up": + perturbation_x_body = 1.0 # forward + elif key == "down": + perturbation_x_body = -1.0 # backward + elif key == "left": + perturbation_y_body = 1.0 # left + elif key == "right": + perturbation_y_body = -1.0 # right + + # Transform body frame velocity to world frame using MuJoCo's rotation + vel_body = np.array([perturbation_x_body, perturbation_y_body, 0.0]) + vel_world = np.zeros(3) + base_quat = self.mj_data.qpos[3:7] # [w, x, y, z] quaternion + + # Use MuJoCo's robust quaternion rotation (handles invalid quaternions automatically) + mujoco.mju_rotVecQuat(vel_world, vel_body, base_quat) + + # Apply to base linear velocity in world frame + self.mj_data.qvel[0] += vel_world[0] # world X velocity + self.mj_data.qvel[1] += vel_world[1] # world Y velocity + + # Update dynamics after velocity change + mujoco.mj_forward(self.mj_model, self.mj_data) + + def update_viewer(self): + if self.viewer is not None: + self.viewer.sync() + + def update_viewer_camera(self): + if self.viewer is not None: + if self.viewer.cam.type == mujoco.mjtCamera.mjCAMERA_TRACKING: + self.viewer.cam.type = mujoco.mjtCamera.mjCAMERA_FREE + else: + self.viewer.cam.type = mujoco.mjtCamera.mjCAMERA_TRACKING + + def update_reward(self): + """Calculate reward. Should be implemented by subclasses.""" + with self.reward_lock: + self.last_reward = 0 + + def get_reward(self): + """Thread-safe way to get the last calculated reward.""" + with self.reward_lock: + return self.last_reward + + def set_unitree_bridge(self, unitree_bridge): + """Set the unitree bridge from the simulator""" + self.unitree_bridge = unitree_bridge + + def get_privileged_obs(self): + """Get privileged observation. Should be implemented by subclasses.""" + return {} + + def update_render_caches(self): + """Update render cache and shared memory for subprocess.""" + render_caches = {} + for camera_name, camera_config in self.camera_configs.items(): + renderer = self.renderers[camera_name] + if "params" in camera_config: + renderer.update_scene(self.mj_data, camera=camera_config["params"]) + else: + renderer.update_scene(self.mj_data, camera=camera_name) + render_caches[camera_name + "_image"] = renderer.render() + + # Update shared memory if image publishing process is available + if self.image_publish_process is not None: + self.image_publish_process.update_shared_memory(render_caches) + + return render_caches + + def handle_keyboard_button(self, key): + if self.elastic_band is not None: + self.elastic_band.handle_keyboard_button(key) + + if key == "backspace": + self.reset() + if key == "v": + self.update_viewer_camera() + if key in ["up", "down", "left", "right"]: + self.apply_perturbation(key) + + def check_fall(self): + """Check if the robot has fallen""" + self.fall = False + if self.mj_data.qpos[2] < 0.2: + self.fall = True + print(f"Warning: Robot has fallen, height: {self.mj_data.qpos[2]:.3f} m") + + if self.fall: + self.reset() + + def check_self_collision(self): + """Check for self-collision of the robot""" + robot_bodies = get_subtree_body_names(self.mj_model, self.mj_model.body(self.root_body).id) + self_collision, contact_bodies = check_contact( + self.mj_model, self.mj_data, robot_bodies, robot_bodies, return_all_contact_bodies=True + ) + if self_collision: + print(f"Warning: Self-collision detected: {contact_bodies}") + return self_collision + + def reset(self): + mujoco.mj_resetData(self.mj_model, self.mj_data) + + +class CubeEnv(DefaultEnv): + """Environment with a cube object for pick and place tasks""" + + def __init__( + self, + config: Dict[str, any], + onscreen: bool = False, + offscreen: bool = False, + enable_image_publish: bool = False, + ): + # Override the robot scene + config = config.copy() # Create a copy to avoid modifying the original + config["ROBOT_SCENE"] = "gr00t_wbc/control/robot_model/model_data/g1/pnp_cube_43dof.xml" + super().__init__(config, "cube", {}, onscreen, offscreen, enable_image_publish) + + def update_reward(self): + """Calculate reward based on gripper contact with cube and cube height""" + right_hand_body = [ + "right_hand_thumb_2_link", + "right_hand_middle_1_link", + "right_hand_index_1_link", + ] + gripper_cube_contact = check_contact( + self.mj_model, self.mj_data, right_hand_body, "cube_body" + ) + cube_lifted = check_height(self.mj_model, self.mj_data, "cube", 0.85, 2.0) + + with self.reward_lock: + self.last_reward = gripper_cube_contact & cube_lifted + + +class BoxEnv(DefaultEnv): + """Environment with a box object for manipulation tasks""" + + def __init__( + self, + config: Dict[str, any], + onscreen: bool = False, + offscreen: bool = False, + enable_image_publish: bool = False, + ): + # Override the robot scene + config = config.copy() # Create a copy to avoid modifying the original + config["ROBOT_SCENE"] = "gr00t_wbc/control/robot_model/model_data/g1/lift_box_43dof.xml" + super().__init__(config, "box", {}, onscreen, offscreen, enable_image_publish) + + def reward(self): + """Calculate reward based on gripper contact with cube and cube height""" + left_hand_body = [ + "left_hand_thumb_2_link", + "left_hand_middle_1_link", + "left_hand_index_1_link", + ] + right_hand_body = [ + "right_hand_thumb_2_link", + "right_hand_middle_1_link", + "right_hand_index_1_link", + ] + gripper_box_contact = check_contact(self.mj_model, self.mj_data, left_hand_body, "box_body") + gripper_box_contact &= check_contact( + self.mj_model, self.mj_data, right_hand_body, "box_body" + ) + box_lifted = check_height(self.mj_model, self.mj_data, "box", 0.92, 2.0) + + print("gripper_box_contact: ", gripper_box_contact, "box_lifted: ", box_lifted) + + with self.reward_lock: + self.last_reward = gripper_box_contact & box_lifted + return self.last_reward + + +class BottleEnv(DefaultEnv): + """Environment with a cylinder object for manipulation tasks""" + + def __init__( + self, + config: Dict[str, any], + onscreen: bool = False, + offscreen: bool = False, + enable_image_publish: bool = False, + ): + # Override the robot scene + config = config.copy() # Create a copy to avoid modifying the original + config["ROBOT_SCENE"] = "gr00t_wbc/control/robot_model/model_data/g1/pnp_bottle_43dof.xml" + camera_configs = { + "egoview": { + "height": 400, + "width": 400, + }, + } + super().__init__( + config, "cylinder", camera_configs, onscreen, offscreen, enable_image_publish + ) + + self.bottle_body = self.mj_model.body("bottle_body") + self.bottle_geom = self.mj_model.geom("bottle") + + if self.viewer is not None: + self.viewer.cam.type = mujoco.mjtCamera.mjCAMERA_FIXED + self.viewer.cam.fixedcamid = self.mj_model.camera("egoview").id + + def update_reward(self): + """Calculate reward based on gripper contact with cylinder and cylinder height""" + pass + + def get_privileged_obs(self): + obs_pos = self.mj_data.xpos[self.bottle_body.id] + obs_quat = self.mj_data.xquat[self.bottle_body.id] + return {"bottle_pos": obs_pos, "bottle_quat": obs_quat} + + +class BaseSimulator: + """Base simulator class that handles initialization and running of simulations""" + + def __init__(self, config: Dict[str, any], env_name: str = "default", **kwargs): + self.config = config + self.env_name = env_name + + # Initialize ROS 2 node + if not rclpy.ok(): + rclpy.init() + self.node = rclpy.create_node("sim_mujoco") + self.thread = threading.Thread(target=rclpy.spin, args=(self.node,), daemon=True) + self.thread.start() + else: + self.thread = None + executor = rclpy.get_global_executor() + self.node = executor.get_nodes()[0] # will only take the first node + + # Create rate objects for different update frequencies + self.sim_dt = self.config["SIMULATE_DT"] + self.reward_dt = self.config.get("REWARD_DT", 0.02) + self.image_dt = self.config.get("IMAGE_DT", 0.033333) + self.viewer_dt = self.config.get("VIEWER_DT", 0.02) + self.rate = self.node.create_rate(1 / self.sim_dt) + + # Create the appropriate environment based on name + if env_name == "default": + self.sim_env = DefaultEnv(config, env_name, **kwargs) + elif env_name == "pnp_cube": + self.sim_env = CubeEnv(config, **kwargs) + elif env_name == "lift_box": + self.sim_env = BoxEnv(config, **kwargs) + elif env_name == "pnp_bottle": + self.sim_env = BottleEnv(config, **kwargs) + else: + raise ValueError(f"Invalid environment name: {env_name}") + + # Initialize the DDS communication layer - should be safe to call multiple times + + try: + if self.config.get("INTERFACE", None): + ChannelFactoryInitialize(self.config["DOMAIN_ID"], self.config["INTERFACE"]) + else: + ChannelFactoryInitialize(self.config["DOMAIN_ID"]) + except Exception as e: + # If it fails because it's already initialized, that's okay + print(f"Note: Channel factory initialization attempt: {e}") + + # Initialize the unitree bridge and pass it to the environment + self.init_unitree_bridge() + self.sim_env.set_unitree_bridge(self.unitree_bridge) + + # Initialize additional components + self.init_subscriber() + self.init_publisher() + + self.sim_thread = None + + def start_as_thread(self): + # Create simulation thread + self.sim_thread = Thread(target=self.start) + self.sim_thread.start() + + def start_image_publish_subprocess(self, start_method: str = "spawn", camera_port: int = 5555): + """Start the image publish subprocess""" + self.sim_env.start_image_publish_subprocess(start_method, camera_port) + + def init_subscriber(self): + """Initialize subscribers. Can be overridden by subclasses.""" + pass + + def init_publisher(self): + """Initialize publishers. Can be overridden by subclasses.""" + pass + + def init_unitree_bridge(self): + """Initialize the unitree SDK bridge""" + self.unitree_bridge = UnitreeSdk2Bridge(self.config) + if self.config["USE_JOYSTICK"]: + self.unitree_bridge.SetupJoystick( + device_id=self.config["JOYSTICK_DEVICE"], js_type=self.config["JOYSTICK_TYPE"] + ) + + def start(self): + """Main simulation loop""" + sim_cnt = 0 + + try: + while ( + self.sim_env.viewer and self.sim_env.viewer.is_running() + ) or self.sim_env.viewer is None: + # Run simulation step + self.sim_env.sim_step() + + # Update viewer at viewer rate + if sim_cnt % int(self.viewer_dt / self.sim_dt) == 0: + self.sim_env.update_viewer() + + # Calculate reward at reward rate + if sim_cnt % int(self.reward_dt / self.sim_dt) == 0: + self.sim_env.update_reward() + + # Update render caches at image rate + if sim_cnt % int(self.image_dt / self.sim_dt) == 0: + self.sim_env.update_render_caches() + + # Sleep to maintain correct rate + self.rate.sleep() + + sim_cnt += 1 + except rclpy.exceptions.ROSInterruptException: + # This is expected when ROS shuts down - exit cleanly + pass + except Exception: + self.close() + + def __del__(self): + """Clean up resources when simulator is deleted""" + self.close() + + def reset(self): + """Reset the simulation. Can be overridden by subclasses.""" + self.sim_env.reset() + + def close(self): + """Close the simulation. Can be overridden by subclasses.""" + try: + # Stop image publishing subprocess + if self.sim_env.image_publish_process is not None: + self.sim_env.image_publish_process.stop() + + # Close viewer + if hasattr(self.sim_env, "viewer") and self.sim_env.viewer is not None: + self.sim_env.viewer.close() + + # Shutdown ROS + if rclpy.ok(): + rclpy.shutdown() + except Exception as e: + print(f"Warning during close: {e}") + + def get_privileged_obs(self): + obs = self.sim_env.get_privileged_obs() + # TODO: add ros2 topic to get privileged obs + return obs + + def handle_keyboard_button(self, key): + # Only handles keyboard buttons for default env. + if self.env_name == "default": + self.sim_env.handle_keyboard_button(key) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Robot") + parser.add_argument( + "--config", + type=str, + default="./gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml", + help="config file", + ) + args = parser.parse_args() + + with open(args.config, "r") as file: + config = yaml.load(file, Loader=yaml.FullLoader) + + if config.get("INTERFACE", None): + ChannelFactoryInitialize(config["DOMAIN_ID"], config["INTERFACE"]) + else: + ChannelFactoryInitialize(config["DOMAIN_ID"]) + + simulation = BaseSimulator(config) + simulation.start_as_thread() diff --git a/gr00t_wbc/control/envs/g1/sim/image_publish_utils.py b/gr00t_wbc/control/envs/g1/sim/image_publish_utils.py new file mode 100644 index 0000000..feed08c --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/image_publish_utils.py @@ -0,0 +1,256 @@ +import multiprocessing as mp +from multiprocessing import shared_memory +import time +from typing import Any, Dict + +import numpy as np + +from gr00t_wbc.control.sensor.sensor_server import ImageMessageSchema, SensorServer + + +def get_multiprocessing_info(verbose: bool = True): + """Get information about multiprocessing start methods""" + + if verbose: + print(f"Available start methods: {mp.get_all_start_methods()}") + return mp.get_start_method() + + +class ImagePublishProcess: + """Subprocess for publishing images using shared memory and ZMQ""" + + def __init__( + self, + camera_configs: Dict[str, Any], + image_dt: float, + zmq_port: int = 5555, + start_method: str = "spawn", + verbose: bool = False, + ): + self.camera_configs = camera_configs + self.image_dt = image_dt + self.zmq_port = zmq_port + self.verbose = verbose + self.shared_memory_blocks = {} + self.shared_memory_info = {} + self.process = None + + # Use specific context to avoid global state pollution + self.mp_context = mp.get_context(start_method) + if self.verbose: + print(f"Using multiprocessing context: {start_method}") + + self.stop_event = self.mp_context.Event() + self.data_ready_event = self.mp_context.Event() + + # Ensure events start in correct state + self.stop_event.clear() + self.data_ready_event.clear() + + if self.verbose: + print(f"Initial stop_event state: {self.stop_event.is_set()}") + print(f"Initial data_ready_event state: {self.data_ready_event.is_set()}") + + # Calculate shared memory requirements for each camera + for camera_name, camera_config in camera_configs.items(): + height = camera_config["height"] + width = camera_config["width"] + # RGB image: height * width * 3 (uint8) + size = height * width * 3 + + # Create shared memory block + shm = shared_memory.SharedMemory(create=True, size=size) + self.shared_memory_blocks[camera_name] = shm + self.shared_memory_info[camera_name] = { + "name": shm.name, + "size": size, + "shape": (height, width, 3), + "dtype": np.uint8, + } + + def start_process(self): + """Start the image publishing subprocess""" + if self.verbose: + print(f"Starting subprocess with stop_event state: {self.stop_event.is_set()}") + self.process = self.mp_context.Process( + target=self._image_publish_worker, + args=( + self.shared_memory_info, + self.image_dt, + self.zmq_port, + self.stop_event, + self.data_ready_event, + self.verbose, + ), + ) + self.process.start() + if self.verbose: + print(f"Subprocess started, PID: {self.process.pid}") + + def update_shared_memory(self, render_caches: Dict[str, np.ndarray]): + """Update shared memory with new rendered images""" + images_updated = 0 + for camera_name in self.camera_configs.keys(): + image_key = f"{camera_name}_image" + if image_key in render_caches: + image = render_caches[image_key] + + # Ensure image is uint8 and has correct shape + if image.dtype != np.uint8: + image = (image * 255).astype(np.uint8) + + # Get shared memory array + shm = self.shared_memory_blocks[camera_name] + shared_array = np.ndarray( + self.shared_memory_info[camera_name]["shape"], + dtype=self.shared_memory_info[camera_name]["dtype"], + buffer=shm.buf, + ) + + # Copy image data to shared memory atomically + np.copyto(shared_array, image) + images_updated += 1 + + # Signal that new data is ready only after all images are written + if images_updated > 0: + if self.verbose: + print(f"Main process: Updated {images_updated} images, setting data_ready_event") + self.data_ready_event.set() + elif self.verbose: + print( + "Main process: No images to update. " + "please check if camera configs are provided and the renderer is properly initialized" + ) + + def stop(self): + """Stop the image publishing subprocess""" + if self.verbose: + print("Stopping image publishing subprocess...") + self.stop_event.set() + + if self.process and self.process.is_alive(): + # Give the process time to clean up gracefully + self.process.join(timeout=5) + if self.process.is_alive(): + if self.verbose: + print("Subprocess didn't stop gracefully, terminating...") + self.process.terminate() + self.process.join(timeout=2) + if self.process.is_alive(): + if self.verbose: + print("Force killing subprocess...") + self.process.kill() + self.process.join() + + # Clean up shared memory + for camera_name, shm in self.shared_memory_blocks.items(): + try: + shm.close() + shm.unlink() + if self.verbose: + print(f"Cleaned up shared memory for {camera_name}") + except Exception as e: + if self.verbose: + print(f"Warning: Failed to cleanup shared memory for {camera_name}: {e}") + + self.shared_memory_blocks.clear() + if self.verbose: + print("Image publishing subprocess stopped and cleaned up") + + @staticmethod + def _image_publish_worker( + shared_memory_info, image_dt, zmq_port, stop_event, data_ready_event, verbose + ): + """Worker function that runs in the subprocess""" + if verbose: + print(f"Worker started! PID: {__import__('os').getpid()}") + print(f"Worker stop_event state at start: {stop_event.is_set()}") + print(f"Worker data_ready_event state at start: {data_ready_event.is_set()}") + + try: + # Initialize ZMQ sensor server + sensor_server = SensorServer() + sensor_server.start_server(port=zmq_port) + + # Connect to shared memory blocks + shared_arrays = {} + shm_blocks = {} + for camera_name, info in shared_memory_info.items(): + shm = shared_memory.SharedMemory(name=info["name"]) + shm_blocks[camera_name] = shm + shared_arrays[camera_name] = np.ndarray( + info["shape"], dtype=info["dtype"], buffer=shm.buf + ) + + print( + f"Image publishing subprocess started with {len(shared_arrays)} cameras on ZMQ port {zmq_port}" + ) + + loop_count = 0 + last_data_time = time.time() + + while not stop_event.is_set(): + loop_count += 1 + + # Wait for new data with shorter timeout for better responsiveness + timeout = min(image_dt, 0.1) # Max 100ms timeout + data_available = data_ready_event.wait(timeout=timeout) + + current_time = time.time() + + if data_available: + data_ready_event.clear() + if loop_count % 50 == 0: + print("Image publish frequency: ", 1 / (current_time - last_data_time)) + last_data_time = current_time + + # Collect all camera images and serialize them + try: + from gr00t_wbc.control.sensor.sensor_server import ImageUtils + + # Copy all images atomically at once + image_copies = {name: arr.copy() for name, arr in shared_arrays.items()} + + # Create message with all camera images + message_dict = { + "images": image_copies, + "timestamps": {name: current_time for name in image_copies.keys()}, + } + + # Create ImageMessageSchema and serialize + image_msg = ImageMessageSchema( + timestamps=message_dict.get("timestamps"), + images=message_dict.get("images", None), + ) + + # Serialize and send via ZMQ + serialized_data = image_msg.serialize() + + # Add individual camera images to the message + for camera_name, image_copy in image_copies.items(): + serialized_data[f"{camera_name}"] = ImageUtils.encode_image(image_copy) + + sensor_server.send_message(serialized_data) + + except Exception as e: + print(f"Error publishing images: {e}") + + elif verbose and loop_count % 10 == 0: + print(f"Subprocess: Still waiting for data... (iteration {loop_count})") + + # Small sleep to prevent busy waiting when no data + if not data_available: + time.sleep(0.001) + + except KeyboardInterrupt: + print("Image publisher interrupted by user") + finally: + # Clean up + try: + for shm in shm_blocks.values(): + shm.close() + sensor_server.stop_server() + except Exception as e: + print(f"Error during subprocess cleanup: {e}") + if verbose: + print("Image publish subprocess stopped") diff --git a/gr00t_wbc/control/envs/g1/sim/metric_utils.py b/gr00t_wbc/control/envs/g1/sim/metric_utils.py new file mode 100644 index 0000000..454577f --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/metric_utils.py @@ -0,0 +1,71 @@ +from typing import List, Tuple + +import mujoco + +from gr00t_wbc.control.envs.g1.sim.sim_utilts import get_body_geom_ids + + +def check_contact( + mj_model: mujoco.MjModel, + mj_data: mujoco.MjData, + bodies_1: List[str] | str, + bodies_2: List[str] | str, + return_all_contact_bodies: bool = False, +) -> Tuple[bool, List[Tuple[str, str]]] | bool: + """ + Finds contact between two body groups. Any geom in the body is considered to be in contact. + Args: + mj_model (MujocoModel): Current simulation object + mj_data (MjData): Current simulation data + bodies_1 (str or list of int): an individual body name or list of body names. + bodies_2 (str or list of int): another individual body name or list of body names. + Returns: + bool: True if any body in @bodies_1 is in contact with any body in @bodies_2. + """ + if isinstance(bodies_1, str): + bodies_1 = [bodies_1] + if isinstance(bodies_2, str): + bodies_2 = [bodies_2] + + geoms_1 = [get_body_geom_ids(mj_model, mj_model.body(g).id) for g in bodies_1] + geoms_1 = [g for geom_list in geoms_1 for g in geom_list] + geoms_2 = [get_body_geom_ids(mj_model, mj_model.body(g).id) for g in bodies_2] + geoms_2 = [g for geom_list in geoms_2 for g in geom_list] + contact_bodies = [] + for i in range(mj_data.ncon): + contact = mj_data.contact[i] + # check contact geom in geoms + c1_in_g1 = contact.geom1 in geoms_1 + c2_in_g2 = contact.geom2 in geoms_2 if geoms_2 is not None else True + # check contact geom in geoms (flipped) + c2_in_g1 = contact.geom2 in geoms_1 + c1_in_g2 = contact.geom1 in geoms_2 if geoms_2 is not None else True + if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1): + contact_bodies.append( + ( + mj_model.body(mj_model.geom(contact.geom1).bodyid).name, + mj_model.body(mj_model.geom(contact.geom2).bodyid).name, + ) + ) + if not return_all_contact_bodies: + break + if return_all_contact_bodies: + return len(contact_bodies) > 0, set(contact_bodies) + else: + return len(contact_bodies) > 0 + + +def check_height( + mj_model: mujoco.MjModel, + mj_data: mujoco.MjData, + geom_name: str, + lower_bound: float = -float("inf"), + upper_bound: float = float("inf"), +): + """ + Checks if the height of a geom is greater than a given height. + """ + geom_id = mj_model.geom(geom_name).id + return ( + mj_data.geom_xpos[geom_id][2] < upper_bound and mj_data.geom_xpos[geom_id][2] > lower_bound + ) diff --git a/gr00t_wbc/control/envs/g1/sim/robocasa_sim.py b/gr00t_wbc/control/envs/g1/sim/robocasa_sim.py new file mode 100644 index 0000000..a470018 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/robocasa_sim.py @@ -0,0 +1,63 @@ +from typing import Any, Dict, Tuple + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize + +from gr00t_wbc.control.envs.g1.sim.unitree_sdk2py_bridge import UnitreeSdk2Bridge +from gr00t_wbc.control.envs.robocasa.async_env_server import RoboCasaEnvServer +from gr00t_wbc.control.robot_model.instantiation import get_robot_type_and_model + + +class RoboCasaG1EnvServer(RoboCasaEnvServer): + def __init__( + self, env_name: str, wbc_config: Dict[str, Any], env_kwargs: Dict[str, Any], **kwargs + ): + if UnitreeSdk2Bridge is None: + raise ImportError("UnitreeSdk2Bridge is required for RoboCasaG1EnvServer") + self.wbc_config = wbc_config + _, robot_model = get_robot_type_and_model( + "G1", + enable_waist_ik=wbc_config["enable_waist"], + ) + if env_kwargs.get("camera_names", None) is None: + env_kwargs["camera_names"] = [ + "robot0_oak_egoview", + "robot0_oak_left_monoview", + "robot0_oak_right_monoview", + "robot0_rs_tppview", + ] + if env_kwargs.get("render_camera", None) is None: + if env_kwargs.get("renderer", "mjviewer") == "mjviewer": + env_kwargs["render_camera"] = "robot0_oak_egoview" + else: + env_kwargs["render_camera"] = [ + "robot0_oak_egoview", + "robot0_rs_tppview", + ] + + super().__init__(env_name, "G1", robot_model, env_kwargs=env_kwargs, **kwargs) + + def init_channel(self): + + try: + if self.wbc_config.get("INTERFACE", None): + ChannelFactoryInitialize(self.wbc_config["DOMAIN_ID"], self.wbc_config["INTERFACE"]) + else: + ChannelFactoryInitialize(self.wbc_config["DOMAIN_ID"]) + except Exception: + # If it fails because it's already initialized, that's okay + pass + + self.channel_bridge = UnitreeSdk2Bridge(config=self.wbc_config) + + def publish_obs(self): + # with self.cache_lock: + obs = self.caches["obs"] + self.channel_bridge.PublishLowState(obs) + + def get_action(self) -> Tuple[Dict[str, Any], bool, bool]: + q, ready, is_new_action = self.channel_bridge.GetAction() + return {"q": q}, ready, is_new_action + + def reset(self): + super().reset() + self.channel_bridge.reset() diff --git a/gr00t_wbc/control/envs/g1/sim/sim_utilts.py b/gr00t_wbc/control/envs/g1/sim/sim_utilts.py new file mode 100644 index 0000000..e032eb6 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/sim_utilts.py @@ -0,0 +1,96 @@ +""" +Utility functions for working with Mujoco models. +copied from https://github.com/kevinzakka/mink/blob/main/mink/utils.py +""" + +from typing import List + +import mujoco + + +def get_body_body_ids(model: mujoco.MjModel, body_id: int) -> List[int]: + """Get immediate children bodies belonging to a given body. + + Args: + model: Mujoco model. + body_id: ID of body. + + Returns: + A List containing all child body ids. + """ + return [ + i + for i in range(model.nbody) + if model.body_parentid[i] == body_id and body_id != i # Exclude the body itself. + ] + + +def get_subtree_body_ids(model: mujoco.MjModel, body_id: int) -> List[int]: + """Get all bodies belonging to subtree starting at a given body. + + Args: + model: Mujoco model. + body_id: ID of body where subtree starts. + + Returns: + A List containing all subtree body ids. + """ + body_ids: List[int] = [] + stack = [body_id] + while stack: + body_id = stack.pop() + body_ids.append(body_id) + stack += get_body_body_ids(model, body_id) + return body_ids + + +def get_subtree_body_names(model: mujoco.MjModel, body_id: int) -> List[str]: + """Get all bodies belonging to subtree starting at a given body. + Args: + model: Mujoco model. + body_id: ID of body where subtree starts. + + Returns: + A List containing all subtree body names. + """ + return [model.body(i).name for i in get_subtree_body_ids(model, body_id)] + + +def get_body_geom_ids(model: mujoco.MjModel, body_id: int) -> List[int]: + """Get immediate geoms belonging to a given body. + + Here, immediate geoms are those directly attached to the body and not its + descendants. + + Args: + model: Mujoco model. + body_id: ID of body. + + Returns: + A list containing all body geom ids. + """ + geom_start = model.body_geomadr[body_id] + geom_end = geom_start + model.body_geomnum[body_id] + return list(range(geom_start, geom_end)) + + +def get_subtree_geom_ids(model: mujoco.MjModel, body_id: int) -> List[int]: + """Get all geoms belonging to subtree starting at a given body. + + Here, a subtree is defined as the kinematic tree starting at the body and including + all its descendants. + + Args: + model: Mujoco model. + body_id: ID of body where subtree starts. + + Returns: + A list containing all subtree geom ids. + """ + geom_ids: List[int] = [] + stack = [body_id] + while stack: + body_id = stack.pop() + geom_ids.extend(get_body_geom_ids(model, body_id)) + stack += get_body_body_ids(model, body_id) + return geom_ids diff --git a/gr00t_wbc/control/envs/g1/sim/simulator_factory.py b/gr00t_wbc/control/envs/g1/sim/simulator_factory.py new file mode 100644 index 0000000..690d2f9 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/simulator_factory.py @@ -0,0 +1,144 @@ +import time +from typing import Any, Dict + +from unitree_sdk2py.core.channel import ChannelFactoryInitialize + +from gr00t_wbc.control.envs.g1.sim.base_sim import BaseSimulator + + +def init_channel(config: Dict[str, Any]) -> None: + """ + Initialize the communication channel for simulator/robot communication. + + Args: + config: Configuration dictionary containing DOMAIN_ID and optionally INTERFACE + """ + if config.get("INTERFACE", None): + ChannelFactoryInitialize(config["DOMAIN_ID"], config["INTERFACE"]) + else: + ChannelFactoryInitialize(config["DOMAIN_ID"]) + + +class SimulatorFactory: + """Factory class for creating different types of simulators.""" + + @staticmethod + def create_simulator(config: Dict[str, Any], env_name: str = "default", **kwargs): + """ + Create a simulator based on the configuration. + + Args: + config: Configuration dictionary containing SIMULATOR type + env_name: Environment name + **kwargs: Additional keyword arguments for specific simulators + """ + simulator_type = config.get("SIMULATOR", "mujoco") + if simulator_type == "mujoco": + return SimulatorFactory._create_mujoco_simulator(config, env_name, **kwargs) + elif simulator_type == "robocasa": + return SimulatorFactory._create_robocasa_simulator(config, env_name, **kwargs) + else: + print( + f"Warning: Invalid simulator type: {simulator_type}. " + "If you are using run_sim_loop, please ignore this warning." + ) + return None + + @staticmethod + def _create_mujoco_simulator(config: Dict[str, Any], env_name: str = "default", **kwargs): + """Create a MuJoCo simulator instance.""" + env_kwargs = dict( + onscreen=kwargs.pop("onscreen", True), + offscreen=kwargs.pop("offscreen", False), + enable_image_publish=kwargs.get("enable_image_publish", False), + ) + return BaseSimulator(config=config, env_name=env_name, **env_kwargs) + + @staticmethod + def _create_robocasa_simulator(config: Dict[str, Any], env_name: str = "default", **kwargs): + """Create a RoboCasa simulator instance.""" + from gr00t_wbc.control.envs.g1.sim.robocasa_sim import RoboCasaG1EnvServer + from gr00t_wbc.control.envs.robocasa.utils.controller_utils import ( + update_robosuite_controller_configs, + ) + from gr00t_wbc.control.envs.robocasa.utils.sim_utils import change_simulation_timestep + + change_simulation_timestep(config["SIMULATE_DT"]) + + # Use default environment if not specified + if env_name == "default": + env_name = "GroundOnly" + + # Get or create controller configurations + controller_configs = kwargs.get("controller_configs") + if controller_configs is None: + wbc_version = kwargs.get("wbc_version", "gear_wbc") + controller_configs = update_robosuite_controller_configs("G1", wbc_version) + + # Build environment kwargs + env_kwargs = dict( + onscreen=kwargs.pop("onscreen", True), + offscreen=kwargs.pop("offscreen", False), + camera_names=kwargs.pop("camera_names", None), + camera_heights=kwargs.pop("camera_heights", None), + camera_widths=kwargs.pop("camera_widths", None), + control_freq=kwargs.pop("control_freq", 50), + controller_configs=controller_configs, + ik_indicator=kwargs.pop("ik_indicator", False), + randomize_cameras=kwargs.pop("randomize_cameras", True), + ) + + kwargs.update( + { + "verbose": config.pop("verbose", False), + "sim_freq": 1 / config.pop("SIMULATE_DT"), + } + ) + + return RoboCasaG1EnvServer( + env_name=env_name, + wbc_config=config, + env_kwargs=env_kwargs, + **kwargs, + ) + + @staticmethod + def start_simulator( + simulator, + as_thread: bool = True, + enable_image_publish: bool = False, + mp_start_method: str = "spawn", + camera_port: int = 5555, + ): + """ + Start the simulator either as a thread or as a separate process. + + Args: + simulator: The simulator instance to start + config: Configuration dictionary + as_thread: If True, start as thread; if False, start as subprocess + enable_offscreen: If True and not as_thread, start image publishing + """ + + if as_thread: + simulator.start_as_thread() + else: + # Wrap in try-except to make sure simulator is properly closed upon exit. + try: + if enable_image_publish: + simulator.start_image_publish_subprocess( + start_method=mp_start_method, + camera_port=camera_port, + ) + time.sleep(1) + simulator.start() + except KeyboardInterrupt: + print("+++++Simulator interrupted by user.") + except Exception as e: + print(f"++++error in simulator: {e} ++++") + finally: + print("++++closing simulator ++++") + simulator.close() + + # Allow simulator to initialize + time.sleep(1) diff --git a/gr00t_wbc/control/envs/g1/sim/unitree_sdk2py_bridge.py b/gr00t_wbc/control/envs/g1/sim/unitree_sdk2py_bridge.py new file mode 100644 index 0000000..ad0ed90 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/sim/unitree_sdk2py_bridge.py @@ -0,0 +1,459 @@ +import sys +import threading +from typing import Dict, Tuple + +import glfw +from loguru import logger +import mujoco +import numpy as np +import pygame +import scipy.spatial.transform +from termcolor import colored +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber +from unitree_sdk2py.idl.default import ( + unitree_go_msg_dds__WirelessController_, + unitree_hg_msg_dds__HandCmd_ as HandCmd_default, + unitree_hg_msg_dds__HandState_ as HandState_default, +) +from unitree_sdk2py.idl.unitree_go.msg.dds_ import WirelessController_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import HandCmd_, HandState_, OdoState_ + + +class UnitreeSdk2Bridge: + """ + This class is responsible for bridging the Unitree SDK2 with the Gr00t environment. + It is responsible for sending and receiving messages to and from the Unitree SDK2. + Both the body and hand are supported. + """ + + def __init__(self, config): + # Note that we do not give the mjdata and mjmodel to the UnitreeSdk2Bridge. + # It is unsafe and would be unflexible if we use a hand-plugged robot model + + robot_type = config["ROBOT_TYPE"] + if "g1" in robot_type or "h1-2" in robot_type: + from unitree_sdk2py.idl.default import ( + unitree_hg_msg_dds__IMUState_ as IMUState_default, + unitree_hg_msg_dds__LowCmd_, + unitree_hg_msg_dds__LowState_ as LowState_default, + unitree_hg_msg_dds__OdoState_ as OdoState_default, + ) + from unitree_sdk2py.idl.unitree_hg.msg.dds_ import IMUState_, LowCmd_, LowState_ + + self.low_cmd = unitree_hg_msg_dds__LowCmd_() + elif "h1" == robot_type or "go2" == robot_type: + from unitree_sdk2py.idl.default import ( + unitree_go_msg_dds__LowCmd_, + unitree_go_msg_dds__LowState_ as LowState_default, + unitree_hg_msg_dds__IMUState_ as IMUState_default, + ) + from unitree_sdk2py.idl.unitree_go.msg.dds_ import IMUState_, LowCmd_, LowState_ + + self.low_cmd = unitree_go_msg_dds__LowCmd_() + else: + raise ValueError(f"Invalid robot type '{robot_type}'. Expected 'g1', 'h1', or 'go2'.") + + self.num_body_motor = config["NUM_MOTORS"] + self.num_hand_motor = config.get("NUM_HAND_MOTORS", 0) + self.use_sensor = config["USE_SENSOR"] + + self.have_imu_ = False + self.have_frame_sensor_ = False + # if self.use_sensor: + # MOTOR_SENSOR_NUM = 3 + # self.dim_motor_sensor = MOTOR_SENSOR_NUM * self.num_motor + # # Check sensor + # for i in range(self.dim_motor_sensor, self.mj_model.nsensor): + # name = mujoco.mj_id2name(self.mj_model, mujoco._enums.mjtObj.mjOBJ_SENSOR, i) + # if name == "imu_quat": + # self.have_imu_ = True + # if name == "frame_pos": + # self.have_frame_sensor_ = True + + # Unitree sdk2 message + self.low_state = LowState_default() + self.low_state_puber = ChannelPublisher("rt/lowstate", LowState_) + self.low_state_puber.Init() + + # Only create odo_state for supported robot types + if "g1" in robot_type or "h1-2" in robot_type: + self.odo_state = OdoState_default() + self.odo_state_puber = ChannelPublisher("rt/odostate", OdoState_) + self.odo_state_puber.Init() + else: + self.odo_state = None + self.odo_state_puber = None + self.torso_imu_state = IMUState_default() + self.torso_imu_puber = ChannelPublisher("rt/secondary_imu", IMUState_) + self.torso_imu_puber.Init() + + self.left_hand_state = HandState_default() + self.left_hand_state_puber = ChannelPublisher("rt/dex3/left/state", HandState_) + self.left_hand_state_puber.Init() + self.right_hand_state = HandState_default() + self.right_hand_state_puber = ChannelPublisher("rt/dex3/right/state", HandState_) + self.right_hand_state_puber.Init() + + self.low_cmd_suber = ChannelSubscriber("rt/lowcmd", LowCmd_) + self.low_cmd_suber.Init(self.LowCmdHandler, 1) + + self.left_hand_cmd = HandCmd_default() + self.left_hand_cmd_suber = ChannelSubscriber("rt/dex3/left/cmd", HandCmd_) + self.left_hand_cmd_suber.Init(self.LeftHandCmdHandler, 1) + self.right_hand_cmd = HandCmd_default() + self.right_hand_cmd_suber = ChannelSubscriber("rt/dex3/right/cmd", HandCmd_) + self.right_hand_cmd_suber.Init(self.RightHandCmdHandler, 1) + + self.low_cmd_lock = threading.Lock() + self.left_hand_cmd_lock = threading.Lock() + self.right_hand_cmd_lock = threading.Lock() + + self.wireless_controller = unitree_go_msg_dds__WirelessController_() + self.wireless_controller_puber = ChannelPublisher( + "rt/wirelesscontroller", WirelessController_ + ) + self.wireless_controller_puber.Init() + + # joystick + self.key_map = { + "R1": 0, + "L1": 1, + "start": 2, + "select": 3, + "R2": 4, + "L2": 5, + "F1": 6, + "F2": 7, + "A": 8, + "B": 9, + "X": 10, + "Y": 11, + "up": 12, + "right": 13, + "down": 14, + "left": 15, + } + self.joystick = None + + self.reset() + + def reset(self): + with self.low_cmd_lock: + self.low_cmd_received = False + self.new_low_cmd = False + with self.left_hand_cmd_lock: + self.left_hand_cmd_received = False + self.new_left_hand_cmd = False + with self.right_hand_cmd_lock: + self.right_hand_cmd_received = False + self.new_right_hand_cmd = False + + def LowCmdHandler(self, msg): + with self.low_cmd_lock: + self.low_cmd = msg + self.low_cmd_received = True + self.new_low_cmd = True + + def LeftHandCmdHandler(self, msg): + with self.left_hand_cmd_lock: + self.left_hand_cmd = msg + self.left_hand_cmd_received = True + self.new_left_hand_cmd = True + + def RightHandCmdHandler(self, msg): + with self.right_hand_cmd_lock: + self.right_hand_cmd = msg + self.right_hand_cmd_received = True + self.new_right_hand_cmd = True + + def cmd_received(self): + with self.low_cmd_lock: + low_cmd_received = self.low_cmd_received + with self.left_hand_cmd_lock: + left_hand_cmd_received = self.left_hand_cmd_received + with self.right_hand_cmd_lock: + right_hand_cmd_received = self.right_hand_cmd_received + return low_cmd_received or left_hand_cmd_received or right_hand_cmd_received + + def PublishLowState(self, obs: Dict[str, any]): + # publish body state + if self.use_sensor: + raise NotImplementedError("Sensor data is not implemented yet.") + else: + for i in range(self.num_body_motor): + self.low_state.motor_state[i].q = obs["body_q"][i] + self.low_state.motor_state[i].dq = obs["body_dq"][i] + self.low_state.motor_state[i].ddq = obs["body_ddq"][i] + self.low_state.motor_state[i].tau_est = obs["body_tau_est"][i] + + if self.use_sensor and self.have_frame_sensor_: + raise NotImplementedError("Frame sensor data is not implemented yet.") + else: + # Get data from ground truth + self.odo_state.position[:] = obs["floating_base_pose"][:3] + self.odo_state.linear_velocity[:] = obs["floating_base_vel"][:3] + self.odo_state.orientation[:] = obs["floating_base_pose"][3:7] + self.odo_state.angular_velocity[:] = obs["floating_base_vel"][3:6] + # quaternion: w, x, y, z + self.low_state.imu_state.quaternion[:] = obs["floating_base_pose"][3:7] + # angular velocity + self.low_state.imu_state.gyroscope[:] = obs["floating_base_vel"][3:6] + # linear acceleration + self.low_state.imu_state.accelerometer[:] = obs["floating_base_acc"][:3] + + self.torso_imu_state.quaternion[:] = obs["secondary_imu_quat"] + self.torso_imu_state.gyroscope[:] = obs["secondary_imu_vel"][3:6] + + # acceleration: x, y, z (only available when frame sensor is enabled) + if self.have_frame_sensor_: + raise NotImplementedError("Frame sensor data is not implemented yet.") + self.low_state.tick = int(obs["time"] * 1e3) + self.low_state_puber.Write(self.low_state) + + self.odo_state.tick = int(obs["time"] * 1e3) + self.odo_state_puber.Write(self.odo_state) + + self.torso_imu_puber.Write(self.torso_imu_state) + + # publish hand state + for i in range(self.num_hand_motor): + self.left_hand_state.motor_state[i].q = obs["left_hand_q"][i] + self.left_hand_state.motor_state[i].dq = obs["left_hand_dq"][i] + self.left_hand_state_puber.Write(self.left_hand_state) + + for i in range(self.num_hand_motor): + self.right_hand_state.motor_state[i].q = obs["right_hand_q"][i] + self.right_hand_state.motor_state[i].dq = obs["right_hand_dq"][i] + self.right_hand_state_puber.Write(self.right_hand_state) + + def GetAction(self) -> Tuple[np.ndarray, bool, bool]: + with self.low_cmd_lock: + body_q = [self.low_cmd.motor_cmd[i].q for i in range(self.num_body_motor)] + with self.left_hand_cmd_lock: + left_hand_q = [self.left_hand_cmd.motor_cmd[i].q for i in range(self.num_hand_motor)] + with self.right_hand_cmd_lock: + right_hand_q = [self.right_hand_cmd.motor_cmd[i].q for i in range(self.num_hand_motor)] + with self.low_cmd_lock and self.left_hand_cmd_lock and self.right_hand_cmd_lock: + is_new_action = self.new_low_cmd and self.new_left_hand_cmd and self.new_right_hand_cmd + if is_new_action: + self.new_low_cmd = False + self.new_left_hand_cmd = False + self.new_right_hand_cmd = False + + return ( + np.concatenate([body_q[:-7], left_hand_q, body_q[-7:], right_hand_q]), + self.cmd_received(), + is_new_action, + ) + + def PublishWirelessController(self): + if self.joystick is not None: + pygame.event.get() + key_state = [0] * 16 + key_state[self.key_map["R1"]] = self.joystick.get_button(self.button_id["RB"]) + key_state[self.key_map["L1"]] = self.joystick.get_button(self.button_id["LB"]) + key_state[self.key_map["start"]] = self.joystick.get_button(self.button_id["START"]) + key_state[self.key_map["select"]] = self.joystick.get_button(self.button_id["SELECT"]) + key_state[self.key_map["R2"]] = self.joystick.get_axis(self.axis_id["RT"]) > 0 + key_state[self.key_map["L2"]] = self.joystick.get_axis(self.axis_id["LT"]) > 0 + key_state[self.key_map["F1"]] = 0 + key_state[self.key_map["F2"]] = 0 + key_state[self.key_map["A"]] = self.joystick.get_button(self.button_id["A"]) + key_state[self.key_map["B"]] = self.joystick.get_button(self.button_id["B"]) + key_state[self.key_map["X"]] = self.joystick.get_button(self.button_id["X"]) + key_state[self.key_map["Y"]] = self.joystick.get_button(self.button_id["Y"]) + key_state[self.key_map["up"]] = self.joystick.get_hat(0)[1] > 0 + key_state[self.key_map["right"]] = self.joystick.get_hat(0)[0] > 0 + key_state[self.key_map["down"]] = self.joystick.get_hat(0)[1] < 0 + key_state[self.key_map["left"]] = self.joystick.get_hat(0)[0] < 0 + + key_value = 0 + for i in range(16): + key_value += key_state[i] << i + + self.wireless_controller.keys = key_value + self.wireless_controller.lx = self.joystick.get_axis(self.axis_id["LX"]) + self.wireless_controller.ly = -self.joystick.get_axis(self.axis_id["LY"]) + self.wireless_controller.rx = self.joystick.get_axis(self.axis_id["RX"]) + self.wireless_controller.ry = -self.joystick.get_axis(self.axis_id["RY"]) + + self.wireless_controller_puber.Write(self.wireless_controller) + + def SetupJoystick(self, device_id=0, js_type="xbox"): + pygame.init() + pygame.joystick.init() + joystick_count = pygame.joystick.get_count() + if joystick_count > 0: + self.joystick = pygame.joystick.Joystick(device_id) + self.joystick.init() + else: + print("No gamepad detected.") + sys.exit() + + if js_type == "xbox": + if sys.platform.startswith("linux"): + self.axis_id = { + "LX": 0, # Left stick axis x + "LY": 1, # Left stick axis y + "RX": 3, # Right stick axis x + "RY": 4, # Right stick axis y + "LT": 2, # Left trigger + "RT": 5, # Right trigger + "DX": 6, # Directional pad x + "DY": 7, # Directional pad y + } + self.button_id = { + "X": 2, + "Y": 3, + "B": 1, + "A": 0, + "LB": 4, + "RB": 5, + "SELECT": 6, + "START": 7, + "XBOX": 8, + "LSB": 9, + "RSB": 10, + } + elif sys.platform == "darwin": + self.axis_id = { + "LX": 0, # Left stick axis x + "LY": 1, # Left stick axis y + "RX": 2, # Right stick axis x + "RY": 3, # Right stick axis y + "LT": 4, # Left trigger + "RT": 5, # Right trigger + } + self.button_id = { + "X": 2, + "Y": 3, + "B": 1, + "A": 0, + "LB": 9, + "RB": 10, + "SELECT": 4, + "START": 6, + "XBOX": 5, + "LSB": 7, + "RSB": 8, + "DYU": 11, + "DYD": 12, + "DXL": 13, + "DXR": 14, + } + else: + print("Unsupported OS. ") + + elif js_type == "switch": + # Yuanhang: may differ for different OS, need to be checked + self.axis_id = { + "LX": 0, # Left stick axis x + "LY": 1, # Left stick axis y + "RX": 2, # Right stick axis x + "RY": 3, # Right stick axis y + "LT": 5, # Left trigger + "RT": 4, # Right trigger + "DX": 6, # Directional pad x + "DY": 7, # Directional pad y + } + + self.button_id = { + "X": 3, + "Y": 4, + "B": 1, + "A": 0, + "LB": 6, + "RB": 7, + "SELECT": 10, + "START": 11, + } + else: + print("Unsupported gamepad. ") + + def PrintSceneInformation(self): + print(" ") + logger.info(colored("<<------------- Link ------------->>", "green")) + for i in range(self.mj_model.nbody): + name = mujoco.mj_id2name(self.mj_model, mujoco._enums.mjtObj.mjOBJ_BODY, i) + if name: + logger.info(f"link_index: {i}, name: {name}") + print(" ") + + logger.info(colored("<<------------- Joint ------------->>", "green")) + for i in range(self.mj_model.njnt): + name = mujoco.mj_id2name(self.mj_model, mujoco._enums.mjtObj.mjOBJ_JOINT, i) + if name: + logger.info(f"joint_index: {i}, name: {name}") + print(" ") + + logger.info(colored("<<------------- Actuator ------------->>", "green")) + for i in range(self.mj_model.nu): + name = mujoco.mj_id2name(self.mj_model, mujoco._enums.mjtObj.mjOBJ_ACTUATOR, i) + if name: + logger.info(f"actuator_index: {i}, name: {name}") + print(" ") + + logger.info(colored("<<------------- Sensor ------------->>", "green")) + index = 0 + for i in range(self.mj_model.nsensor): + name = mujoco.mj_id2name(self.mj_model, mujoco._enums.mjtObj.mjOBJ_SENSOR, i) + if name: + logger.info( + f"sensor_index: {index}, name: {name}, dim: {self.mj_model.sensor_dim[i]}" + ) + index = index + self.mj_model.sensor_dim[i] + print(" ") + + +class ElasticBand: + """ + ref: https://github.com/unitreerobotics/unitree_mujoco + """ + + def __init__(self): + self.kp_pos = 10000 + self.kd_pos = 1000 + self.kp_ang = 1000 + self.kd_ang = 10 + self.point = np.array([0, 0, 1]) + self.length = 0 + self.enable = True + + def Advance(self, pose): + """ + Args: + pose: 13D array containing: + - pose[0:3]: position in world frame + - pose[3:7]: quaternion [w,x,y,z] in world frame + - pose[7:10]: linear velocity in world frame + - pose[10:13]: angular velocity in world frame + Returns: + np.ndarray: 6D vector [fx, fy, fz, tx, ty, tz] + """ + pos = pose[0:3] + quat = pose[3:7] + lin_vel = pose[7:10] + ang_vel = pose[10:13] + + δx = self.point - pos + f = self.kp_pos * (δx + np.array([0, 0, self.length])) + self.kd_pos * (0 - lin_vel) + + # --- Orientation PD control for torque --- + quat = np.array([quat[1], quat[2], quat[3], quat[0]]) # reorder to [x,y,z,w] for scipy + rot = scipy.spatial.transform.Rotation.from_quat(quat) + rotvec = rot.as_rotvec() # axis-angle error + torque = -self.kp_ang * rotvec - self.kd_ang * ang_vel + + return np.concatenate([f, torque]) + + def MujuocoKeyCallback(self, key): + if key == glfw.KEY_7: + self.length -= 0.1 + if key == glfw.KEY_8: + self.length += 0.1 + if key == glfw.KEY_9: + self.enable = not self.enable + + def handle_keyboard_button(self, key): + if key == "9": + self.enable = not self.enable diff --git a/gr00t_wbc/control/envs/g1/utils/__init__.py b/gr00t_wbc/control/envs/g1/utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/envs/g1/utils/command_sender.py b/gr00t_wbc/control/envs/g1/utils/command_sender.py new file mode 100644 index 0000000..41f60b3 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/utils/command_sender.py @@ -0,0 +1,146 @@ +from typing import Dict + +import numpy as np +from unitree_sdk2py.core.channel import ChannelPublisher +from unitree_sdk2py.idl.default import unitree_hg_msg_dds__HandCmd_ +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import HandCmd_ +from unitree_sdk2py.utils.crc import CRC + + +class BodyCommandSender: + def __init__(self, config: Dict): + self.config = config + if self.config["ROBOT_TYPE"] == "h1" or self.config["ROBOT_TYPE"] == "go2": + from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ + from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ + + self.low_cmd = unitree_go_msg_dds__LowCmd_() + elif ( + self.config["ROBOT_TYPE"] == "g1_29dof" + or self.config["ROBOT_TYPE"] == "h1-2_21dof" + or self.config["ROBOT_TYPE"] == "h1-2_27dof" + ): + from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_ + from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ + + self.low_cmd = unitree_hg_msg_dds__LowCmd_() + else: + raise NotImplementedError( + f"Robot type {self.config['ROBOT_TYPE']} is not supported yet" + ) + # init kp kd + self.kp_level = 1.0 + self.waist_kp_level = 1.0 + self.robot_kp = np.zeros(self.config["NUM_MOTORS"]) + self.robot_kd = np.zeros(self.config["NUM_MOTORS"]) + # set kp level + for i in range(len(self.config["MOTOR_KP"])): + self.robot_kp[i] = self.config["MOTOR_KP"][i] * self.kp_level + for i in range(len(self.config["MOTOR_KD"])): + self.robot_kd[i] = self.config["MOTOR_KD"][i] * 1.0 + self.weak_motor_joint_index = [] + for _, value in self.config["WeakMotorJointIndex"].items(): + self.weak_motor_joint_index.append(value) + # init low cmd publisher + self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_) + self.lowcmd_publisher_.Init() + self.InitLowCmd() + self.low_state = None + self.crc = CRC() + + def InitLowCmd(self): + # h1/go2: + if self.config["ROBOT_TYPE"] == "h1" or self.config["ROBOT_TYPE"] == "go2": + self.low_cmd.head[0] = 0xFE + self.low_cmd.head[1] = 0xEF + else: + pass + + self.low_cmd.level_flag = 0xFF + self.low_cmd.gpio = 0 + for i in range(self.config["NUM_MOTORS"]): + if self.is_weak_motor(i): + self.low_cmd.motor_cmd[i].mode = 0x01 + else: + self.low_cmd.motor_cmd[i].mode = 0x0A + self.low_cmd.motor_cmd[i].q = self.config["UNITREE_LEGGED_CONST"]["PosStopF"] + self.low_cmd.motor_cmd[i].kp = 0 + self.low_cmd.motor_cmd[i].dq = self.config["UNITREE_LEGGED_CONST"]["VelStopF"] + self.low_cmd.motor_cmd[i].kd = 0 + self.low_cmd.motor_cmd[i].tau = 0 + if ( + self.config["ROBOT_TYPE"] == "g1_29dof" + or self.config["ROBOT_TYPE"] == "h1-2_21dof" + or self.config["ROBOT_TYPE"] == "h1-2_27dof" + ): + self.low_cmd.mode_machine = self.config["UNITREE_LEGGED_CONST"]["MODE_MACHINE"] + self.low_cmd.mode_pr = self.config["UNITREE_LEGGED_CONST"]["MODE_PR"] + else: + pass + + def is_weak_motor(self, motor_index: int) -> bool: + return motor_index in self.weak_motor_joint_index + + def send_command(self, cmd_q: np.ndarray, cmd_dq: np.ndarray, cmd_tau: np.ndarray): + for i in range(self.config["NUM_MOTORS"]): + motor_index = self.config["JOINT2MOTOR"][i] + joint_index = self.config["MOTOR2JOINT"][i] + # print(f"motor_index: {motor_index}, joint_index: {joint_index}") + if joint_index == -1: + # send default joint position command + self.low_cmd.motor_cmd[motor_index].q = self.config["DEFAULT_MOTOR_ANGLES"][ + motor_index + ] + self.low_cmd.motor_cmd[motor_index].dq = 0.0 + self.low_cmd.motor_cmd[motor_index].tau = 0.0 + else: + self.low_cmd.motor_cmd[motor_index].q = cmd_q[joint_index] + self.low_cmd.motor_cmd[motor_index].dq = cmd_dq[joint_index] + self.low_cmd.motor_cmd[motor_index].tau = cmd_tau[joint_index] + # kp kd + self.low_cmd.motor_cmd[motor_index].kp = self.robot_kp[motor_index] + self.low_cmd.motor_cmd[motor_index].kd = self.robot_kd[motor_index] + + self.low_cmd.crc = self.crc.Crc(self.low_cmd) + self.lowcmd_publisher_.Write(self.low_cmd) + + +def make_hand_mode(motor_index: int) -> int: + status = 0x01 + timeout = 0x01 + mode = motor_index & 0x0F + mode |= status << 4 # bits [4..6] + mode |= timeout << 7 # bit 7 + return mode + + +class HandCommandSender: + def __init__(self, is_left: bool = True): + self.is_left = is_left + if self.is_left: + self.cmd_pub = ChannelPublisher("rt/dex3/left/cmd", HandCmd_) + else: + self.cmd_pub = ChannelPublisher("rt/dex3/right/cmd", HandCmd_) + + self.cmd_pub.Init() + self.cmd = unitree_hg_msg_dds__HandCmd_() + + self.hand_dof = 7 + + self.kp = [1.0] * self.hand_dof + self.kd = [0.2] * self.hand_dof + self.kp[0] = 2.0 + self.kd[0] = 0.5 + + def send_command(self, cmd: np.ndarray): + for i in range(self.hand_dof): + # Build the bitfield mode (see your C++ example) + mode_val = make_hand_mode(i) + self.cmd.motor_cmd[i].mode = mode_val + self.cmd.motor_cmd[i].q = cmd[i] + self.cmd.motor_cmd[i].dq = 0.0 + self.cmd.motor_cmd[i].tau = 0.0 + self.cmd.motor_cmd[i].kp = self.kp[i] + self.cmd.motor_cmd[i].kd = self.kd[i] + + self.cmd_pub.Write(self.cmd) diff --git a/gr00t_wbc/control/envs/g1/utils/joint_safety.py b/gr00t_wbc/control/envs/g1/utils/joint_safety.py new file mode 100644 index 0000000..113bd8c --- /dev/null +++ b/gr00t_wbc/control/envs/g1/utils/joint_safety.py @@ -0,0 +1,534 @@ +"""Joint safety monitor for G1 robot. + +This module implements safety monitoring for arm and finger joint velocities using +joint groups defined in the robot model's supplemental info. Leg joints are not monitored. +""" + +from datetime import datetime +import sys +import time +from typing import Dict, List, Optional, Tuple + +import numpy as np + +from gr00t_wbc.data.viz.rerun_viz import RerunViz + + +class JointSafetyMonitor: + """Monitor joint velocities for G1 robot arms and hands.""" + + # Velocity limits in rad/s + ARM_VELOCITY_LIMIT = 6.0 # rad/s for arm joints + HAND_VELOCITY_LIMIT = 50.0 # rad/s for finger joints + + def __init__(self, robot_model, enable_viz: bool = False, env_type: str = "real"): + """Initialize joint safety monitor. + + Args: + robot_model: The robot model containing joint information + enable_viz: If True, enable rerun visualization (default False) + env_type: Environment type - "sim" or "real" (default "real") + """ + self.robot_model = robot_model + self.safety_margin = 1.0 # Hardcoded safety margin + self.enable_viz = enable_viz + self.env_type = env_type + + # Startup ramping parameters + self.control_frequency = 50 # Hz, hardcoded from run_g1_control_loop.py + self.ramp_duration_steps = int(2.0 * self.control_frequency) # 2 seconds * 50Hz = 100 steps + self.startup_counter = 0 + self.initial_positions = None + self.startup_complete = False + + # Initialize velocity and position limits for monitored joints + self.velocity_limits = {} + self.position_limits = {} + self._initialize_limits() + + # Track violations for reporting + self.violations = [] + + # Initialize visualization + self.right_arm_indices = None + self.right_arm_joint_names = [] + self.left_arm_indices = None + self.left_arm_joint_names = [] + self.right_hand_indices = None + self.right_hand_joint_names = [] + self.left_hand_indices = None + self.left_hand_joint_names = [] + try: + arm_indices = self.robot_model.get_joint_group_indices("arms") + all_joint_names = [self.robot_model.joint_names[i] for i in arm_indices] + # Filter for right and left arm joints + self.right_arm_joint_names = [ + name for name in all_joint_names if name.startswith("right_") + ] + self.right_arm_indices = [ + self.robot_model.joint_to_dof_index[name] for name in self.right_arm_joint_names + ] + self.left_arm_joint_names = [ + name for name in all_joint_names if name.startswith("left_") + ] + self.left_arm_indices = [ + self.robot_model.joint_to_dof_index[name] for name in self.left_arm_joint_names + ] + # Hand joints + hand_indices = self.robot_model.get_joint_group_indices("hands") + all_hand_names = [self.robot_model.joint_names[i] for i in hand_indices] + self.right_hand_joint_names = [ + name for name in all_hand_names if name.startswith("right_") + ] + self.right_hand_indices = [ + self.robot_model.joint_to_dof_index[name] for name in self.right_hand_joint_names + ] + self.left_hand_joint_names = [ + name for name in all_hand_names if name.startswith("left_") + ] + self.left_hand_indices = [ + self.robot_model.joint_to_dof_index[name] for name in self.left_hand_joint_names + ] + except ValueError as e: + print(f"[JointSafetyMonitor] Warning: Could not initialize arm/hand visualization: {e}") + except Exception: + pass + + # Use single tensor_key for each plot + self.right_arm_pos_key = "right_arm_qpos" + self.left_arm_pos_key = "left_arm_qpos" + self.right_arm_vel_key = "right_arm_dq" + self.left_arm_vel_key = "left_arm_dq" + self.right_hand_pos_key = "right_hand_qpos" + self.left_hand_pos_key = "left_hand_qpos" + self.right_hand_vel_key = "right_hand_dq" + self.left_hand_vel_key = "left_hand_dq" + + # Define a consistent color palette for up to 8 joints (tab10 + extra) + self.joint_colors = [ + [31, 119, 180], # blue + [255, 127, 14], # orange + [44, 160, 44], # green + [214, 39, 40], # red + [148, 103, 189], # purple + [140, 86, 75], # brown + [227, 119, 194], # pink + [127, 127, 127], # gray (for 8th joint if needed) + ] + + # Initialize Rerun visualization only if enabled + self.viz = None + if self.enable_viz: + try: + self.viz = RerunViz( + image_keys=[], + tensor_keys=[ + self.right_arm_pos_key, + self.left_arm_pos_key, + self.right_arm_vel_key, + self.left_arm_vel_key, + self.right_hand_pos_key, + self.left_hand_pos_key, + self.right_hand_vel_key, + self.left_hand_vel_key, + ], + window_size=10.0, + app_name="joint_safety_monitor", + ) + except Exception: + self.viz = None + + def _initialize_limits(self): + """Initialize velocity and position limits for arm and hand joints using robot model joint groups.""" + if self.robot_model.supplemental_info is None: + raise ValueError("Robot model must have supplemental_info to use joint groups") + + # Get arm joint indices from robot model joint groups + try: + arm_indices = self.robot_model.get_joint_group_indices("arms") + arm_joint_names = [self.robot_model.joint_names[i] for i in arm_indices] + + for joint_name in arm_joint_names: + # Set velocity limits + vel_limit = self.ARM_VELOCITY_LIMIT * self.safety_margin + self.velocity_limits[joint_name] = {"min": -vel_limit, "max": vel_limit} + + # Set position limits from robot model + if joint_name in self.robot_model.joint_to_dof_index: + joint_idx = self.robot_model.joint_to_dof_index[joint_name] + # Adjust index for floating base if present + limit_idx = joint_idx - (7 if self.robot_model.is_floating_base_model else 0) + + if 0 <= limit_idx < len(self.robot_model.lower_joint_limits): + pos_min = self.robot_model.lower_joint_limits[limit_idx] + pos_max = self.robot_model.upper_joint_limits[limit_idx] + + # Apply safety margin to position limits + pos_range = pos_max - pos_min + margin = pos_range * (1.0 - self.safety_margin) / 2.0 + + self.position_limits[joint_name] = { + "min": pos_min + margin, + "max": pos_max - margin, + } + except ValueError as e: + print(f"[JointSafetyMonitor] Warning: Could not find 'arms' joint group: {e}") + + # Get hand joint indices from robot model joint groups + try: + hand_indices = self.robot_model.get_joint_group_indices("hands") + hand_joint_names = [self.robot_model.joint_names[i] for i in hand_indices] + + for joint_name in hand_joint_names: + # Set velocity limits only for hands (no position limits for now) + vel_limit = self.HAND_VELOCITY_LIMIT * self.safety_margin + self.velocity_limits[joint_name] = {"min": -vel_limit, "max": vel_limit} + except ValueError as e: + print(f"[JointSafetyMonitor] Warning: Could not find 'hands' joint group: {e}") + + def check_safety(self, obs: Dict, action: Dict) -> Tuple[bool, List[Dict]]: + """Check if current velocities and positions are within safe bounds. + + Args: + obs: Observation dictionary containing joint positions and velocities + action: Action dictionary containing target positions + + Returns: + (is_safe, violations): Tuple of safety status and list of violations + Note: is_safe=False only for velocity violations (triggers shutdown) + Position violations are warnings only (don't affect is_safe) + """ + self.violations = [] + is_safe = True + joint_names = self.robot_model.joint_names + + # Check current joint velocities (critical - triggers shutdown) + if "dq" in obs: + joint_velocities = obs["dq"] + + for i, joint_name in enumerate(joint_names): + # Only check monitored joints + if joint_name not in self.velocity_limits: + continue + + if i < len(joint_velocities): + velocity = joint_velocities[i] + limits = self.velocity_limits[joint_name] + + if velocity < limits["min"] or velocity > limits["max"]: + violation = { + "joint": joint_name, + "type": "velocity", + "value": velocity, + "limit_min": limits["min"], + "limit_max": limits["max"], + "exceeded_by": self._calculate_exceeded_percentage( + velocity, limits["min"], limits["max"] + ), + "critical": True, # Velocity violations are critical + } + self.violations.append(violation) + is_safe = False + + # Check current joint positions (warning only - no shutdown) + if "q" in obs: + joint_positions = obs["q"] + + for i, joint_name in enumerate(joint_names): + # Only check joints with position limits (arms) + if joint_name not in self.position_limits: + continue + + if i < len(joint_positions): + position = joint_positions[i] + limits = self.position_limits[joint_name] + + if position < limits["min"] or position > limits["max"]: + violation = { + "joint": joint_name, + "type": "position", + "value": position, + "limit_min": limits["min"], + "limit_max": limits["max"], + "exceeded_by": self._calculate_exceeded_percentage( + position, limits["min"], limits["max"] + ), + "critical": False, # Position violations are warnings only + } + self.violations.append(violation) + # Don't set is_safe = False for position violations + + return is_safe, self.violations + + def _calculate_exceeded_percentage( + self, value: float, limit_min: float, limit_max: float + ) -> float: + """Calculate by how much percentage a value exceeds the limits.""" + if value < limit_min: + return abs((value - limit_min) / limit_min) * 100 + elif value > limit_max: + return abs((value - limit_max) / limit_max) * 100 + return 0.0 + + def get_safe_action(self, obs: Dict, original_action: Dict) -> Dict: + """Generate a safe action with startup ramping for smooth initialization. + + Args: + obs: Observation dictionary containing current joint positions + original_action: The original action that may cause violations + + Returns: + Safe action with startup ramping applied if within ramp duration + """ + safe_action = original_action.copy() + + # Handle startup ramping for arm joints + if not self.startup_complete: + if self.initial_positions is None and "q" in obs: + # Store initial positions from first observation + self.initial_positions = obs["q"].copy() + + if ( + self.startup_counter < self.ramp_duration_steps + and self.initial_positions is not None + and "q" in safe_action + ): + # Ramp factor: 0.0 at start → 1.0 at end + ramp_factor = self.startup_counter / self.ramp_duration_steps + + # Apply ramping only to monitored arm joints + for joint_name in self.velocity_limits: # Only monitored arm joints + if joint_name in self.robot_model.joint_to_dof_index: + joint_idx = self.robot_model.joint_to_dof_index[joint_name] + if joint_idx < len(safe_action["q"]) and joint_idx < len( + self.initial_positions + ): + initial_pos = self.initial_positions[joint_idx] + target_pos = original_action["q"][joint_idx] + # Linear interpolation: initial + ramp_factor * (target - initial) + safe_action["q"][joint_idx] = initial_pos + ramp_factor * ( + target_pos - initial_pos + ) + + # Increment counter for next iteration + self.startup_counter += 1 + else: + # Ramping complete - use original actions + self.startup_complete = True + + return safe_action + + def get_violation_report(self, violations: Optional[List[Dict]] = None) -> str: + """Generate a formatted error report for violations. + + Args: + violations: List of violations to report (uses self.violations if None) + + Returns: + Formatted error message string + """ + if violations is None: + violations = self.violations + + if not violations: + return "No violations detected." + + timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3] + + # Check if these are critical violations or warnings + critical_violations = [v for v in violations if v.get("critical", True)] + warning_violations = [v for v in violations if not v.get("critical", True)] + + if critical_violations and warning_violations: + report = f"Joint safety bounds exceeded!\nTimestamp: {timestamp}\nViolations:\n" + elif critical_violations: + report = f"Joint safety bounds exceeded!\nTimestamp: {timestamp}\nViolations:\n" + else: + report = f"Joint position warnings!\nTimestamp: {timestamp}\nWarnings:\n" + + for violation in violations: + joint = violation["joint"] + vtype = violation["type"] + value = violation["value"] + exceeded = violation["exceeded_by"] + limit_min = violation["limit_min"] + limit_max = violation["limit_max"] + + if vtype == "velocity": + report += f" - {joint}: {vtype}={value:.3f} rad/s " + report += f"(limit: ±{limit_max:.3f} rad/s) - " + report += f"EXCEEDED by {exceeded:.1f}%\n" + elif vtype == "position": + report += f" - {joint}: {vtype}={value:.3f} rad " + report += f"(limits: [{limit_min:.3f}, {limit_max:.3f}] rad) - " + report += f"EXCEEDED by {exceeded:.1f}%\n" + + # Add appropriate action message + if critical_violations: + report += "Action: Safe mode engaged (kp=0, tau=0). System shutdown initiated.\n" + report += "Please restart Docker container to resume operation." + else: + report += "Action: Position warning only. Robot continues operation." + + return report + + def handle_violations(self, obs: Dict, action: Dict) -> Dict: + """Check safety and handle violations appropriately. + + Args: + obs: Observation dictionary + action: Action dictionary + + Returns: + Dict with keys: + - 'safe_to_continue': bool - whether robot should continue operation + - 'action': Dict - potentially modified safe action + - 'shutdown_required': bool - whether system shutdown is needed + """ + is_safe, violations = self.check_safety(obs, action) + + # Apply startup ramping (always, regardless of violations) + safe_action = self.get_safe_action(obs, action) + + # Visualize arm and hand joint positions and velocities if enabled + if self.enable_viz: + if ( + self.right_arm_indices is not None + and self.left_arm_indices is not None + and self.right_hand_indices is not None + and self.left_hand_indices is not None + and "q" in obs + and "dq" in obs + and self.viz is not None + ): + try: + right_arm_positions = obs["q"][self.right_arm_indices] + left_arm_positions = obs["q"][self.left_arm_indices] + right_arm_velocities = obs["dq"][self.right_arm_indices] + left_arm_velocities = obs["dq"][self.left_arm_indices] + right_hand_positions = obs["q"][self.right_hand_indices] + left_hand_positions = obs["q"][self.left_hand_indices] + right_hand_velocities = obs["dq"][self.right_hand_indices] + left_hand_velocities = obs["dq"][self.left_hand_indices] + tensor_dict = { + self.right_arm_pos_key: right_arm_positions, + self.left_arm_pos_key: left_arm_positions, + self.right_arm_vel_key: right_arm_velocities, + self.left_arm_vel_key: left_arm_velocities, + self.right_hand_pos_key: right_hand_positions, + self.left_hand_pos_key: left_hand_positions, + self.right_hand_vel_key: right_hand_velocities, + self.left_hand_vel_key: left_hand_velocities, + } + self.viz.plot_tensors(tensor_dict, time.time()) + except Exception: + pass + + if not violations: + return {"safe_to_continue": True, "action": safe_action, "shutdown_required": False} + + # Separate critical (velocity) and warning (position) violations + critical_violations = [v for v in violations if v.get("critical", True)] + # warning_violations = [v for v in violations if not v.get('critical', True)] + + # Print warnings for position violations + # if warning_violations: + # warning_msg = self.get_violation_report(warning_violations) + # print(f"[SAFETY WARNING] {warning_msg}") + + # Handle critical violations (velocity) - trigger shutdown + if not is_safe and critical_violations: + error_msg = self.get_violation_report(critical_violations) + if self.env_type == "real": + print(f"[SAFETY VIOLATION] {error_msg}") + self.trigger_system_shutdown() + + return {"safe_to_continue": False, "action": safe_action, "shutdown_required": True} + + # Only position violations - continue with safe action + return {"safe_to_continue": True, "action": safe_action, "shutdown_required": False} + + def trigger_system_shutdown(self): + """Trigger system shutdown after safety violation.""" + print("\n[SAFETY] Initiating system shutdown due to safety violation...") + sys.exit(1) + + +def main(): + """Test the joint safety monitor with joint groups.""" + print("Testing joint safety monitor with joint groups...") + + try: + from gr00t_wbc.control.robot_model.instantiation.g1 import instantiate_g1_robot_model + + # Instantiate robot model + robot_model = instantiate_g1_robot_model() + print(f"Robot model created with {len(robot_model.joint_names)} joints") + + # Create safety monitor + safety_monitor = JointSafetyMonitor(robot_model) + print("Safety monitor created successfully!") + print(f"Monitoring {len(safety_monitor.velocity_limits)} joints") + + # Print monitored joints + print("\nVelocity limits:") + for joint_name, limits in safety_monitor.velocity_limits.items(): + print(f" - {joint_name}: ±{limits['max']:.2f} rad/s") + + print(f"\nPosition limits (arms only): {len(safety_monitor.position_limits)} joints") + for joint_name, limits in safety_monitor.position_limits.items(): + print(f" - {joint_name}: [{limits['min']:.3f}, {limits['max']:.3f}] rad") + + # Test safety checking with safe values + print("\n--- Testing Safety Checking ---") + + # Create mock observation with safe values + safe_obs = { + "q": np.zeros(robot_model.num_dofs), # All joints at zero position + "dq": np.zeros(robot_model.num_dofs), # All joints at zero velocity + } + safe_action = {"q": np.zeros(robot_model.num_dofs)} + + # Test handle_violations method + result = safety_monitor.handle_violations(safe_obs, safe_action) + print( + f"Safe values test: safe_to_continue={result['safe_to_continue']}, " + f"shutdown_required={result['shutdown_required']}" + ) + + # Test with unsafe velocity + unsafe_obs = safe_obs.copy() + unsafe_obs["dq"] = np.zeros(robot_model.num_dofs) + # Set left shoulder pitch velocity to exceed limit + left_shoulder_idx = robot_model.dof_index("left_shoulder_pitch_joint") + unsafe_obs["dq"][left_shoulder_idx] = 6.0 # Exceeds 5.0 rad/s limit + + print("\nUnsafe velocity test:") + result = safety_monitor.handle_violations(unsafe_obs, safe_action) + print( + f" safe_to_continue={result['safe_to_continue']}, shutdown_required={result['shutdown_required']}" + ) + + # Test with unsafe position only + unsafe_pos_obs = safe_obs.copy() + unsafe_pos_obs["q"] = np.zeros(robot_model.num_dofs) + # Set left shoulder pitch position to exceed limit + unsafe_pos_obs["q"][left_shoulder_idx] = -4.0 # Exceeds lower limit of -3.089 + + print("\nUnsafe position test:") + result = safety_monitor.handle_violations(unsafe_pos_obs, safe_action) + print( + f" safe_to_continue={result['safe_to_continue']}, shutdown_required={result['shutdown_required']}" + ) + + print("\nAll tests completed successfully!") + + except Exception as e: + print(f"Test failed with error: {e}") + import traceback + + traceback.print_exc() + + +if __name__ == "__main__": + main() diff --git a/gr00t_wbc/control/envs/g1/utils/state_processor.py b/gr00t_wbc/control/envs/g1/utils/state_processor.py new file mode 100644 index 0000000..f8c0548 --- /dev/null +++ b/gr00t_wbc/control/envs/g1/utils/state_processor.py @@ -0,0 +1,143 @@ +import time + +import numpy as np +from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import ( + MotionSwitcherClient, +) +from unitree_sdk2py.core.channel import ChannelSubscriber +from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ as LowState_go +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import ( + HandState_, + IMUState_, + LowState_ as LowState_hg, + OdoState_, +) + + +class BodyStateProcessor: + def __init__(self, config): + self.config = config + + # Enter debug mode for real robot + if self.config["ENV_TYPE"] == "real": + msc = MotionSwitcherClient() + msc.SetTimeout(5.0) + msc.Init() + + status, result = msc.CheckMode() + print(status, result) + while result["name"]: + msc.ReleaseMode() + status, result = msc.CheckMode() + print(status, result) + time.sleep(1) + + if self.config["ROBOT_TYPE"] == "h1" or self.config["ROBOT_TYPE"] == "go2": + self.robot_lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_go) + self.robot_lowstate_subscriber.Init(None, 0) + self.robot_lowstate_subscriber.Init(None, 0) + elif ( + self.config["ROBOT_TYPE"] == "g1_29dof" + or self.config["ROBOT_TYPE"] == "h1-2_27dof" + or self.config["ROBOT_TYPE"] == "h1-2_21dof" + ): + self.robot_lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_hg) + self.robot_lowstate_subscriber.Init(None, 0) + + self.secondary_imu_subscriber = ChannelSubscriber("rt/secondary_imu", IMUState_) + self.secondary_imu_subscriber.Init(None, 0) + + # Subscribe to odo state (only available in simulation) + if self.config["ENV_TYPE"] == "sim": + self.odo_state_subscriber = ChannelSubscriber("rt/odostate", OdoState_) + self.odo_state_subscriber.Init(None, 0) + else: + raise NotImplementedError(f"Robot type {self.config['ROBOT_TYPE']} is not supported") + + self.num_dof = self.config["NUM_JOINTS"] + # 3 + 4 + 19 + self._init_q = np.zeros(3 + 4 + self.num_dof) + self.q = self._init_q + self.dq = np.zeros(3 + 3 + self.num_dof) + self.ddq = np.zeros(3 + 3 + self.num_dof) + self.tau_est = np.zeros(3 + 3 + self.num_dof) + self.torso_quat = np.zeros(4) + self.torso_ang_vel = np.zeros(3) + self.temp_first = np.zeros(self.num_dof) + self.temp_second = np.zeros(self.num_dof) + self.robot_low_state = None + self.secondary_imu_state = None + self.odo_state = None + + def _prepare_low_state(self) -> np.ndarray: + self.robot_low_state = self.robot_lowstate_subscriber.Read() + self.secondary_imu_state = self.secondary_imu_subscriber.Read() + + if not self.robot_low_state: + print("No low state received") + return + imu_state = self.robot_low_state.imu_state + + # Use odo_state for position and velocity if available, otherwise set to zero + if self.config["ENV_TYPE"] == "sim": + self.odo_state = self.odo_state_subscriber.Read() + self.q[0:3] = self.odo_state.position + self.dq[0:3] = self.odo_state.linear_velocity + else: + self.q[0:3] = [0.0, 0.0, 0.0] + self.dq[0:3] = [0.0, 0.0, 0.0] + + self.q[3:7] = imu_state.quaternion # w, x, y, z + self.dq[3:6] = imu_state.gyroscope + self.ddq[0:3] = imu_state.accelerometer + unitree_joint_state = self.robot_low_state.motor_state + self.torso_quat = self.secondary_imu_state.quaternion + self.torso_ang_vel = self.secondary_imu_state.gyroscope + + for i in range(self.num_dof): + self.q[7 + i] = unitree_joint_state[self.config["JOINT2MOTOR"][i]].q + self.dq[6 + i] = unitree_joint_state[self.config["JOINT2MOTOR"][i]].dq + self.tau_est[6 + i] = unitree_joint_state[self.config["JOINT2MOTOR"][i]].tau_est + + robot_state_data = np.concatenate( + [self.q, self.dq, self.tau_est, self.ddq, self.torso_quat, self.torso_ang_vel], axis=0 + ).reshape(1, -1) + # (7 + 29) + (6 + 29) + (6 + 29) + (6 + 29) = 141 dim + + return robot_state_data + + +class HandStateProcessor: + def __init__(self, is_left: bool = True): + self.is_left = is_left + if self.is_left: + self.state_sub = ChannelSubscriber("rt/dex3/left/state", HandState_) + else: + self.state_sub = ChannelSubscriber("rt/dex3/right/state", HandState_) + + self.state_sub.Init(None, 0) + self.state_sub.Init(None, 0) + self.state = None + self.num_dof = 7 # for single hand + + def _prepare_low_state(self) -> np.ndarray: + self.state = self.state_sub.Read() + + if not self.state: + print("No state received") + return + + state_data = ( + np.concatenate( + [ + [self.state.motor_state[i].q for i in range(self.num_dof)], + [self.state.motor_state[i].dq for i in range(self.num_dof)], + [self.state.motor_state[i].tau_est for i in range(self.num_dof)], + [self.state.motor_state[i].ddq for i in range(self.num_dof)], + ], + axis=0, + ) + .astype(np.float64) + .reshape(1, -1) + ) + return state_data diff --git a/gr00t_wbc/control/envs/robocasa/__init__.py b/gr00t_wbc/control/envs/robocasa/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/envs/robocasa/async_env_server.py b/gr00t_wbc/control/envs/robocasa/async_env_server.py new file mode 100644 index 0000000..b2bd746 --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/async_env_server.py @@ -0,0 +1,303 @@ +from abc import abstractmethod +import threading +import time +from typing import Any, Dict, Tuple + +import mujoco +import numpy as np +import rclpy + +from gr00t_wbc.control.envs.g1.sim.image_publish_utils import ImagePublishProcess +from gr00t_wbc.control.envs.robocasa.utils.robocasa_env import Gr00tLocomanipRoboCasaEnv # noqa: F401 +from gr00t_wbc.control.robot_model.robot_model import RobotModel +from gr00t_wbc.control.utils.keyboard_dispatcher import KeyboardListenerSubscriber + + +class RoboCasaEnvServer: + """ + This class is responsible for running the simulation environment loop in a separate thread. + It communicates with the main thread via the `publish_obs` and `get_action` methods through `channel_bridge`. + It will also handle the viewer sync when `onscreen` is True. + """ + + def __init__( + self, + env_name: str, + robot_name: str, + robot_model: RobotModel, + env_kwargs: Dict[str, Any], + **kwargs, + ): + # initialize environment + if env_kwargs.get("onscreen", False): + env_kwargs["onscreen"] = False + self.onscreen = True # onscreen render in the main thread + self.render_camera = env_kwargs.get("render_camera", None) + else: + self.onscreen = False + self.env_name = env_name + self.env = Gr00tLocomanipRoboCasaEnv(env_name, robot_name, robot_model, **env_kwargs) + self.init_caches() + self.cache_lock = threading.Lock() + + # initialize channel + self.init_channel() + + # initialize ROS2 node + if not rclpy.ok(): + rclpy.init() + self.node = rclpy.create_node("sim_robocasa") + self.thread = threading.Thread(target=rclpy.spin, args=(self.node,), daemon=True) + self.thread.start() + else: + self.thread = None + executor = rclpy.get_global_executor() + self.node = executor.get_nodes()[0] # will only take the first node + + self.control_freq = env_kwargs.get("control_freq", 1 / 0.02) + self.sim_freq = kwargs.get("sim_freq", 1 / 0.005) + self.control_rate = self.node.create_rate(self.control_freq) + + self.running = False + self.sim_thread = None + self.sync_lock = threading.Lock() + + self.sync_mode = kwargs.get("sync_mode", False) + self.steps_per_action = kwargs.get("steps_per_action", 1) + + self.image_dt = kwargs.get("image_dt", 0.04) + self.image_publish_process = None + self.viewer_freq = kwargs.get("viewer_freq", 1 / 0.02) + self.viewer = None + + self.verbose = kwargs.get("verbose", True) + + # Initialize keyboard listener for env reset + self.keyboard_listener = KeyboardListenerSubscriber() + + self.reset() + + @property + def base_env(self): + return self.env.env + + def start_image_publish_subprocess(self, start_method: str = "spawn", camera_port: int = 5555): + """Initialize image publishing subprocess if cameras are configured""" + if len(self.env.camera_names) == 0: + print( + "Warning: No camera configs provided, image publishing subprocess will not be started" + ) + return + + # Build camera configs from env camera settings + camera_configs = {} + for env_cam_name in self.env.camera_names: + camera_config = self.env.camera_key_mapper.get_camera_config(env_cam_name) + mapped_cam_name, cam_width, cam_height = camera_config + camera_configs[mapped_cam_name] = {"height": cam_height, "width": cam_width} + + self.image_publish_process = ImagePublishProcess( + camera_configs=camera_configs, + image_dt=self.image_dt, + zmq_port=camera_port, + start_method=start_method, + verbose=self.verbose, + ) + + self.image_publish_process.start_process() + + def update_render_caches(self, obs: Dict[str, Any]): + """Update render cache and shared memory for subprocess""" + if self.image_publish_process is None: + return + + # Extract image observations from obs dict + render_caches = { + k: v for k, v in obs.items() if k.endswith("_image") and isinstance(v, np.ndarray) + } + + # Update shared memory if image publishing process is available + if render_caches: + self.image_publish_process.update_shared_memory(render_caches) + + def init_caches(self): + self.caches = { + "obs": None, + "reward": None, + "terminated": None, + "truncated": None, + "info": None, + } + + def reset(self, **kwargs): + if self.viewer is not None: + self.viewer.close() + + obs, info = self.env.reset(**kwargs) + self.caches["obs"] = obs + self.caches["reward"] = 0 + self.caches["terminated"] = False + self.caches["truncated"] = False + self.caches["info"] = info + + # initialize viewer + if self.onscreen: + self.viewer = mujoco.viewer.launch_passive( + self.base_env.sim.model._model, + self.base_env.sim.data._data, + show_left_ui=False, + show_right_ui=False, + ) + self.viewer.opt.geomgroup[0] = 0 # disable collision visualization + if self.render_camera is not None: + self.viewer.cam.type = mujoco.mjtCamera.mjCAMERA_FIXED + self.viewer.cam.fixedcamid = self.base_env.sim.model._model.cam( + self.render_camera + ).id + + # self.episode_state.reset_state() + return obs, info + + @abstractmethod + def init_channel(self): + raise NotImplementedError("init_channel must be implemented by the subclass") + + @abstractmethod + def publish_obs(self): + raise NotImplementedError("publish_obs must be implemented by the subclass") + + @abstractmethod + def get_action(self) -> Tuple[Dict[str, Any], bool, bool]: + raise NotImplementedError("get_action must be implemented by the subclass") + + def start_as_thread(self): + """Start the simulation thread""" + if self.sim_thread is not None and self.sim_thread.is_alive(): + return + + self.sim_thread = threading.Thread(target=self.start) + self.sim_thread.daemon = True + self.sim_thread.start() + + def set_sync_mode(self, sync_mode: bool, steps_per_action: int = 4): + """Set the sync mode of the environment server""" + with self.sync_lock: + self.sync_mode = sync_mode + self.steps_per_action = steps_per_action + + def _check_keyboard_input(self): + """Check for keyboard input and handle state transitions""" + key = self.keyboard_listener.read_msg() + if key == "k": + print("\033[1;32m[Sim env]\033[0m Resetting sim environment") + self.reset() + + def start(self): + """Function executed by the simulation thread""" + iter_idx = 0 + steps_per_cur_action = 0 + t_start = time.monotonic() + + self.running = True + + while self.running: + # Check keyboard input for state transitions + self._check_keyboard_input() + + # Publish observations and get new action + self.publish_obs() + action, ready, is_new_action = self.get_action() + # ready is True if the action is received from the control loop + # is_new_action is True if the action is new (not the same as the previous action) + with self.sync_lock: + sync_mode = self.sync_mode + max_steps_per_action = self.steps_per_action + + # Process action if ready and within step limits + action_should_apply = ready and ( + (not sync_mode) or steps_per_cur_action < max_steps_per_action + ) + if action_should_apply: + obs, reward, terminated, truncated, info = self.env.step(action) + with self.cache_lock: + self.caches["obs"] = obs + self.caches["reward"] = reward + self.caches["terminated"] = terminated + self.caches["truncated"] = truncated + self.caches["info"] = info + + if reward == 1.0 and iter_idx % 50 == 0: + print("\033[92mTask successful. Can save data now.\033[0m") + + iter_idx += 1 + steps_per_cur_action += 1 + if self.verbose and sync_mode: + print("steps_per_cur_action: ", steps_per_cur_action) + + # Update render caches at image publishing rate + if action_should_apply and iter_idx % int(self.image_dt * self.control_freq) == 0: + with self.cache_lock: + obs_copy = self.caches["obs"].copy() + self.update_render_caches(obs_copy) + + # Reset step counter for new actions + if is_new_action: + steps_per_cur_action = 0 + + # Update viewer at specified frequency + if self.onscreen and iter_idx % (self.control_freq / self.viewer_freq) == 0: + self.viewer.sync() + + # Check if we're meeting the desired control frequency + if iter_idx % 100 == 0: + end_time = time.monotonic() + if self.verbose: + print( + f"sim FPS: {100.0 / (end_time - t_start) * (self.sim_freq / self.control_freq)}" + ) + if (end_time - t_start) > ((110.0 / self.control_freq)): # for tolerance + print( + f"Warning: Sim runs at " + "{100.0/(end_time - t_start) * (self.sim_freq / self.control_freq):.1f}Hz, " + f"but should run at {self.sim_freq:.1f}Hz" + ) + t_start = end_time + + # reset obj pos every 200 steps + if iter_idx % 200 == 0: + if hasattr(self.base_env, "reset_obj_pos"): + self.base_env.reset_obj_pos() + + self.control_rate.sleep() + + def get_privileged_obs(self): + """Get privileged observation. Should be implemented by subclasses.""" + obs = {} + with self.cache_lock: + if hasattr(self.base_env, "get_privileged_obs_keys"): + for key in self.base_env.get_privileged_obs_keys(): + obs[key] = self.caches["obs"][key] + + for key in self.caches["obs"].keys(): + if key.endswith("_image"): + obs[key] = self.caches["obs"][key] + + return obs + + def stop(self): + """Stop the simulation thread""" + self.running = False + if self.sim_thread is not None: + self.sim_thread.join(timeout=1.0) # Wait for thread to finish with timeout + self.sim_thread = None + + def close(self): + self.stop() + if self.image_publish_process is not None: + self.image_publish_process.stop() + if self.onscreen: + self.viewer.close() + self.env.close() + + def get_reward(self): + return self.base_env.reward() diff --git a/gr00t_wbc/control/envs/robocasa/sync_env.py b/gr00t_wbc/control/envs/robocasa/sync_env.py new file mode 100644 index 0000000..bdfe7a2 --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/sync_env.py @@ -0,0 +1,584 @@ +import sys +from typing import Any, Dict, Tuple + +import gymnasium as gym +from gymnasium.envs.registration import register +import numpy as np +from robocasa.environments.locomanipulation import REGISTERED_LOCOMANIPULATION_ENVS +from robocasa.models.robots import GR00T_LOCOMANIP_ENVS_ROBOTS +from robosuite.environments.robot_env import RobotEnv +from scipy.spatial.transform import Rotation as R + +from gr00t_wbc.control.envs.g1.utils.joint_safety import JointSafetyMonitor +from gr00t_wbc.control.envs.robocasa.utils.controller_utils import update_robosuite_controller_configs +from gr00t_wbc.control.envs.robocasa.utils.robocasa_env import ( # noqa: F401 + ALLOWED_LANGUAGE_CHARSET, + Gr00tLocomanipRoboCasaEnv, +) +from gr00t_wbc.control.robot_model.instantiation import get_robot_type_and_model +from gr00t_wbc.control.utils.n1_utils import ( + prepare_gym_space_for_eval, + prepare_observation_for_eval, +) +from gr00t_wbc.data.constants import RS_VIEW_CAMERA_HEIGHT, RS_VIEW_CAMERA_WIDTH + + +class SyncEnv(gym.Env): + MAX_MUJOCO_STATE_LEN = 800 + + def __init__(self, env_name, robot_name, **kwargs): + self.env_name = env_name + self.robot_name = robot_name + self.onscreen = kwargs.get("onscreen", True) + self.enable_gravity_compensation = kwargs.pop("enable_gravity_compensation", False) + self.gravity_compensation_joints = kwargs.pop("gravity_compensation_joints", ["arms"]) + _, self.robot_model = get_robot_type_and_model( + robot_name, enable_waist_ik=kwargs.pop("enable_waist", False) + ) + + env_kwargs = { + "onscreen": kwargs.get("onscreen", True), + "offscreen": kwargs.get("offscreen", False), + "renderer": kwargs.get("renderer", "mjviewer"), + "render_camera": kwargs.get("render_camera", "frontview"), + "camera_names": kwargs.get("camera_names", ["frontview"]), + "camera_heights": kwargs.get("camera_heights", None), + "camera_widths": kwargs.get("camera_widths", None), + "controller_configs": kwargs["controller_configs"], + "control_freq": kwargs.get("control_freq", 50), + "translucent_robot": kwargs.get("translucent_robot", True), + "ik_indicator": kwargs.get("ik_indicator", False), + "randomize_cameras": kwargs.get("randomize_cameras", True), + } + self.env = Gr00tLocomanipRoboCasaEnv( + env_name, robot_name, robot_model=self.robot_model, **env_kwargs + ) + self.init_cache() + + self.reset() + + @property + def base_env(self) -> RobotEnv: + return self.env.env + + def overwrite_floating_base_action(self, navigate_cmd): + if self.base_env.robots[0].robot_model.default_base == "FloatingLeggedBase": + self.env.unwrapped.overridden_floating_base_action = navigate_cmd + + def get_mujoco_state_info(self): + mujoco_state = self.base_env.sim.get_state().flatten() + assert len(mujoco_state) < SyncEnv.MAX_MUJOCO_STATE_LEN + padding_width = SyncEnv.MAX_MUJOCO_STATE_LEN - len(mujoco_state) + padded_mujoco_state = np.pad( + mujoco_state, (0, padding_width), mode="constant", constant_values=0 + ) + max_mujoco_state_len = SyncEnv.MAX_MUJOCO_STATE_LEN + mujoco_state_len = len(mujoco_state) + mujoco_state = padded_mujoco_state.copy() + return max_mujoco_state_len, mujoco_state_len, mujoco_state + + def reset_to(self, state: Dict[str, Any]) -> Dict[str, Any] | None: + if hasattr(self.base_env, "reset_to"): + self.base_env.reset_to(state) + else: + # todo: maybe update robosuite to have reset_to() + env = self.base_env + if "model_file" in state: + xml = env.edit_model_xml(state["model_file"]) + env.reset_from_xml_string(xml) + env.sim.reset() + if "states" in state: + env.sim.set_state_from_flattened(state["states"]) + env.sim.forward() + + obs = self.env.force_update_observation(timestep=0) + self.cache["obs"] = obs + return + + def get_state(self) -> Dict[str, Any]: + return self.base_env.get_state() + + def is_success(self): + """ + Check if the task condition(s) is reached. Should return a dictionary + { str: bool } with at least a "task" key for the overall task success, + and additional optional keys corresponding to other task criteria. + """ + # First, try to use the base environment's is_success method if it exists + if hasattr(self.base_env, "is_success"): + return self.base_env.is_success() + + # Fall back to using _check_success if available + elif hasattr(self.base_env, "_check_success"): + succ = self.base_env._check_success() + if isinstance(succ, dict): + assert "task" in succ + return succ + return {"task": succ} + + # If neither method exists, return failure + else: + return {"task": False} + + def init_cache(self): + self.cache = { + "obs": None, + "reward": None, + "terminated": None, + "truncated": None, + "info": None, + } + + def reset(self, seed=None, options=None) -> Tuple[Dict[str, any], Dict[str, any]]: + self.init_cache() + obs, info = self.env.reset(seed=seed, options=options) + self.cache["obs"] = obs + self.cache["reward"] = 0 + self.cache["terminated"] = False + self.cache["truncated"] = False + self.cache["info"] = info + return self.observe(), info + + def observe(self) -> Dict[str, any]: + # Get observations from body and hands + assert ( + self.cache["obs"] is not None + ), "Observation cache is not initialized, please reset the environment first" + raw_obs = self.cache["obs"] + + # Body and hand joint measurements come in actuator order, so we need to convert them to joint order + whole_q = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=raw_obs["body_q"], + left_hand_actuated_joint_values=raw_obs["left_hand_q"], + right_hand_actuated_joint_values=raw_obs["right_hand_q"], + ) + whole_dq = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=raw_obs["body_dq"], + left_hand_actuated_joint_values=raw_obs["left_hand_dq"], + right_hand_actuated_joint_values=raw_obs["right_hand_dq"], + ) + whole_ddq = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=raw_obs["body_ddq"], + left_hand_actuated_joint_values=raw_obs["left_hand_ddq"], + right_hand_actuated_joint_values=raw_obs["right_hand_ddq"], + ) + whole_tau_est = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=raw_obs["body_tau_est"], + left_hand_actuated_joint_values=raw_obs["left_hand_tau_est"], + right_hand_actuated_joint_values=raw_obs["right_hand_tau_est"], + ) + eef_obs = self.get_eef_obs(whole_q) + + obs = { + "q": whole_q, + "dq": whole_dq, + "ddq": whole_ddq, + "tau_est": whole_tau_est, + "floating_base_pose": raw_obs["floating_base_pose"], + "floating_base_vel": raw_obs["floating_base_vel"], + "floating_base_acc": raw_obs["floating_base_acc"], + "wrist_pose": np.concatenate([eef_obs["left_wrist_pose"], eef_obs["right_wrist_pose"]]), + } + + # Add state keys for model input + obs = prepare_observation_for_eval(self.robot_model, obs) + + obs["language.language_instruction"] = raw_obs["language.language_instruction"] + + if hasattr(self.base_env, "get_privileged_obs_keys"): + for key in self.base_env.get_privileged_obs_keys(): + obs[key] = raw_obs[key] + + for key in raw_obs.keys(): + if key.endswith("_image"): + obs[key] = raw_obs[key] + # TODO: add video.key without _image suffix for evaluation, convert to uint8, remove later + obs[f"video.{key.replace('_image', '')}"] = raw_obs[key] + return obs + + def step( + self, action: Dict[str, any] + ) -> Tuple[Dict[str, any], float, bool, bool, Dict[str, any]]: + self.queue_action(action) + return self.get_step_info() + + def get_observation(self): + return self.base_env._get_observations() # assumes base env is robosuite + + def get_step_info(self) -> Dict[str, any]: + return ( + self.observe(), + self.cache["reward"], + self.cache["terminated"], + self.cache["truncated"], + self.cache["info"], + ) + + def convert_q_to_actuated_joint_order(self, q: np.ndarray) -> np.ndarray: + body_q = self.robot_model.get_body_actuated_joints(q) + left_hand_q = self.robot_model.get_hand_actuated_joints(q, side="left") + right_hand_q = self.robot_model.get_hand_actuated_joints(q, side="right") + whole_q = np.zeros_like(q) + whole_q[self.robot_model.get_joint_group_indices("body")] = body_q + whole_q[self.robot_model.get_joint_group_indices("left_hand")] = left_hand_q + whole_q[self.robot_model.get_joint_group_indices("right_hand")] = right_hand_q + + return whole_q + + def set_ik_indicator(self, teleop_cmd): + """Set the IK indicators for the simulator""" + if "left_wrist" in teleop_cmd and "right_wrist" in teleop_cmd: + left_wrist_input_pose = teleop_cmd["left_wrist"] + right_wrist_input_pose = teleop_cmd["right_wrist"] + ik_wrapper = self.base_env + ik_wrapper.set_target_poses_outside_env([left_wrist_input_pose, right_wrist_input_pose]) + + def render(self): + if self.base_env.viewer is not None: + self.base_env.viewer.update() + if self.onscreen: + self.base_env.render() + + def queue_action(self, action: Dict[str, any]): + # action is in pinocchio joint order, we need to convert it to actuator order + action_q = self.convert_q_to_actuated_joint_order(action["q"]) + + # Compute gravity compensation torques if enabled + tau_q = np.zeros_like(action_q) + if self.enable_gravity_compensation and self.robot_model is not None: + try: + # Get current robot configuration from cache (more efficient than observe()) + raw_obs = self.cache["obs"] + + # Convert from actuated joint order to joint order for Pinocchio + current_q_joint_order = self.robot_model.get_configuration_from_actuated_joints( + body_actuated_joint_values=raw_obs["body_q"], + left_hand_actuated_joint_values=raw_obs["left_hand_q"], + right_hand_actuated_joint_values=raw_obs["right_hand_q"], + ) + + # Compute gravity compensation in joint order using current robot configuration + gravity_torques_joint_order = self.robot_model.compute_gravity_compensation_torques( + current_q_joint_order, joint_groups=self.gravity_compensation_joints + ) + + # Convert gravity torques to actuated joint order + gravity_torques_actuated = self.convert_q_to_actuated_joint_order( + gravity_torques_joint_order + ) + + # Add gravity compensation to torques + tau_q += gravity_torques_actuated + + except Exception as e: + print(f"Error applying gravity compensation in sync_env: {e}") + + obs, reward, terminated, truncated, info = self.env.step({"q": action_q, "tau": tau_q}) + self.cache["obs"] = obs + self.cache["reward"] = reward + self.cache["terminated"] = terminated + self.cache["truncated"] = truncated + self.cache["info"] = info + + def queue_state(self, state: Dict[str, any]): + # This function is for debugging or cross-playback between sim and real only. + state_q = self.convert_q_to_actuated_joint_order(state["q"]) + obs, reward, terminated, truncated, info = self.env.unwrapped.step_only_kinematics( + {"q": state_q} + ) + self.cache["obs"] = obs + self.cache["reward"] = reward + self.cache["terminated"] = terminated + self.cache["truncated"] = truncated + self.cache["info"] = info + + @property + def observation_space(self) -> gym.Space: + # @todo: check if the low and high bounds are correct for body_obs. + q_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + dq_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + ddq_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + tau_est_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(self.robot_model.num_dofs,)) + floating_base_pose_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7,)) + floating_base_vel_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(6,)) + floating_base_acc_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(6,)) + wrist_pose_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(7 + 7,)) + + obs_space = gym.spaces.Dict( + { + "floating_base_pose": floating_base_pose_space, + "floating_base_vel": floating_base_vel_space, + "floating_base_acc": floating_base_acc_space, + "q": q_space, + "dq": dq_space, + "ddq": ddq_space, + "tau_est": tau_est_space, + "wrist_pose": wrist_pose_space, + } + ) + + obs_space = prepare_gym_space_for_eval(self.robot_model, obs_space) + + obs_space["language.language_instruction"] = gym.spaces.Text( + max_length=256, charset=ALLOWED_LANGUAGE_CHARSET + ) + + if hasattr(self.base_env, "get_privileged_obs_keys"): + for key, shape in self.base_env.get_privileged_obs_keys().items(): + space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=shape) + obs_space[key] = space + + robocasa_obs_space = self.env.observation_space + for key in robocasa_obs_space.keys(): + if key.endswith("_image"): + space = gym.spaces.Box( + low=-np.inf, high=np.inf, shape=robocasa_obs_space[key].shape + ) + obs_space[key] = space + # TODO: add video.key without _image suffix for evaluation, remove later + space_uint = gym.spaces.Box(low=0, high=255, shape=space.shape, dtype=np.uint8) + obs_space[f"video.{key.replace('_image', '')}"] = space_uint + + return obs_space + + def reset_obj_pos(self): + # For Tairan's goal-reaching task, a hacky way to reset the object position is needed. + if hasattr(self.base_env, "reset_obj_pos"): + self.base_env.reset_obj_pos() + + @property + def action_space(self) -> gym.Space: + return self.env.action_space + + def close(self): + self.env.close() + + def __repr__(self): + return ( + f"SyncEnv(env_name={self.env_name}, \n" + f" observation_space={self.observation_space}, \n" + f" action_space={self.action_space})" + ) + + def get_joint_gains(self): + controller = self.base_env.robots[0].composite_controller + + gains = {} + key_mapping = { + "left": "left_arm", + "right": "right_arm", + "legs": "legs", + "torso": "waist", + "head": "neck", + } + for k in controller.part_controllers.keys(): + if hasattr(controller.part_controllers[k], "kp"): + if k in key_mapping: + gains[key_mapping[k]] = controller.part_controllers[k].kp + else: + gains[k] = controller.part_controllers[k].kp + gains.update( + { + "left_hand": self.base_env.sim.model.actuator_gainprm[ + self.base_env.robots[0]._ref_actuators_indexes_dict["left_gripper"], 0 + ], + "right_hand": self.base_env.sim.model.actuator_gainprm[ + self.base_env.robots[0]._ref_actuators_indexes_dict["right_gripper"], 0 + ], + } + ) + joint_gains = np.zeros(self.robot_model.num_dofs) + for k in gains.keys(): + joint_gains[self.robot_model.get_joint_group_indices(k)] = gains[k] + return joint_gains + + def get_joint_damping(self): + controller = self.base_env.robots[0].composite_controller + damping = {} + key_mapping = { + "left": "left_arm", + "right": "right_arm", + "legs": "legs", + "torso": "waist", + "head": "neck", + } + for k in controller.part_controllers.keys(): + if hasattr(controller.part_controllers[k], "kd"): + if k in key_mapping: + damping[key_mapping[k]] = controller.part_controllers[k].kd + else: + damping[k] = controller.part_controllers[k].kd + damping.update( + { + "left_hand": -self.base_env.sim.model.actuator_biasprm[ + self.base_env.robots[0]._ref_actuators_indexes_dict["left_gripper"], 2 + ], + "right_hand": -self.base_env.sim.model.actuator_biasprm[ + self.base_env.robots[0]._ref_actuators_indexes_dict["right_gripper"], 2 + ], + } + ) + joint_damping = np.zeros(self.robot_model.num_dofs) + for k in damping.keys(): + joint_damping[self.robot_model.get_joint_group_indices(k)] = damping[k] + return joint_damping + + def get_eef_obs(self, q: np.ndarray) -> Dict[str, np.ndarray]: + self.robot_model.cache_forward_kinematics(q) + eef_obs = {} + for side in ["left", "right"]: + wrist_placement = self.robot_model.frame_placement( + self.robot_model.supplemental_info.hand_frame_names[side] + ) + wrist_pos, wrist_quat = wrist_placement.translation[:3], R.from_matrix( + wrist_placement.rotation + ).as_quat(scalar_first=True) + eef_obs[f"{side}_wrist_pose"] = np.concatenate([wrist_pos, wrist_quat]) + + return eef_obs + + +class G1SyncEnv(SyncEnv): + def __init__( + self, + env_name, + robot_name, + **kwargs, + ): + renderer = kwargs.get("renderer", "mjviewer") + if renderer == "mjviewer": + default_render_camera = ["robot0_oak_egoview"] + elif renderer in ["mujoco", "rerun"]: + default_render_camera = [ + "robot0_oak_egoview", + "robot0_oak_left_monoview", + "robot0_oak_right_monoview", + ] + else: + raise NotImplementedError + default_camera_names = [ + "robot0_oak_egoview", + "robot0_oak_left_monoview", + "robot0_oak_right_monoview", + ] + default_camera_heights = [ + RS_VIEW_CAMERA_HEIGHT, + RS_VIEW_CAMERA_HEIGHT, + RS_VIEW_CAMERA_HEIGHT, + ] + default_camera_widths = [ + RS_VIEW_CAMERA_WIDTH, + RS_VIEW_CAMERA_WIDTH, + RS_VIEW_CAMERA_WIDTH, + ] + + kwargs.update( + { + "onscreen": kwargs.get("onscreen", True), + "offscreen": kwargs.get("offscreen", False), + "render_camera": kwargs.get("render_camera", default_render_camera), + "camera_names": kwargs.get("camera_names", default_camera_names), + "camera_heights": kwargs.get("camera_heights", default_camera_heights), + "camera_widths": kwargs.get("camera_widths", default_camera_widths), + "translucent_robot": kwargs.get("translucent_robot", False), + } + ) + super().__init__(env_name=env_name, robot_name=robot_name, **kwargs) + + # Initialize safety monitor (visualization disabled) - G1 specific + self.safety_monitor = JointSafetyMonitor( + self.robot_model, + enable_viz=False, + env_type="sim", # G1SyncEnv is always simulation + ) + self.safety_monitor.ramp_duration_steps = 0 + self.safety_monitor.startup_complete = True + self.safety_monitor.LOWER_BODY_VELOCITY_LIMIT = ( + 1e10 # disable lower body velocity limits since it impacts WBC + ) + self.last_safety_ok = True # Track last safety status from queue_action + + @property + def observation_space(self): + obs_space = super().observation_space + obs_space["torso_quat"] = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(4,)) + obs_space["torso_ang_vel"] = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(3,)) + return obs_space + + def observe(self): + obs = super().observe() + obs["torso_quat"] = self.cache["obs"]["secondary_imu_quat"] + obs["torso_ang_vel"] = self.cache["obs"]["secondary_imu_vel"][3:6] + return obs + + def queue_action(self, action: Dict[str, any]): + # Safety check before queuing action + obs = self.observe() + safety_result = self.safety_monitor.handle_violations(obs, action) + action = safety_result["action"] + # Save safety status for efficient access + self.last_safety_ok = not safety_result.get("shutdown_required", False) + # Check if shutdown is required + if safety_result["shutdown_required"]: + self.safety_monitor.trigger_system_shutdown() + + # Call parent queue_action with potentially modified action + super().queue_action(action) + + def get_joint_safety_status(self) -> bool: + """Get current joint safety status from the last queue_action safety check. + + Returns: + bool: True if joints are safe (no shutdown required), False if unsafe + """ + return self.last_safety_ok + + +def create_gym_sync_env_class(env, robot, robot_alias, wbc_version): + class_name = f"{env}_{robot}_{wbc_version}" + id_name = f"gr00tlocomanip_{robot_alias}/{class_name}" + + if robot_alias.startswith("g1"): + env_class_type = G1SyncEnv + elif robot_alias.startswith("gr1"): + env_class_type = globals().get("GR1SyncEnv", SyncEnv) + else: + env_class_type = SyncEnv + + controller_configs = update_robosuite_controller_configs( + robot=robot, + wbc_version=wbc_version, + ) + + env_class_type = type( + class_name, + (env_class_type,), + { + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + env_name=env, + robot_name=robot, + controller_configs=controller_configs, + **kwargs, + ) + }, + ) + + current_module = sys.modules["gr00t_wbc.control.envs.robocasa.sync_env"] + setattr(current_module, class_name, env_class_type) + register( + id=id_name, # Unique ID for the environment + entry_point=f"gr00t_wbc.control.envs.robocasa.sync_env:{class_name}", + ) + + +WBC_VERSION = "gear_wbc" + +for ENV in REGISTERED_LOCOMANIPULATION_ENVS: + for ROBOT, ROBOT_ALIAS in GR00T_LOCOMANIP_ENVS_ROBOTS.items(): + create_gym_sync_env_class(ENV, ROBOT, ROBOT_ALIAS, WBC_VERSION) + + +if __name__ == "__main__": + + env = gym.make("gr00tlocomanip_g1_sim/PnPBottle_g1_gear_wbc") + print(env.observation_space) diff --git a/gr00t_wbc/control/envs/robocasa/utils/__init__.py b/gr00t_wbc/control/envs/robocasa/utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/envs/robocasa/utils/cam_key_converter.py b/gr00t_wbc/control/envs/robocasa/utils/cam_key_converter.py new file mode 100644 index 0000000..1c1aeaa --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/utils/cam_key_converter.py @@ -0,0 +1,73 @@ +from dataclasses import dataclass +from typing import Dict, Optional, Tuple + +from gr00t_wbc.data.constants import RS_VIEW_CAMERA_HEIGHT, RS_VIEW_CAMERA_WIDTH + + +@dataclass +class CameraConfig: + width: int + height: int + mapped_key: str + + +class CameraKeyMapper: + def __init__(self): + # Default camera dimensions + self.default_width = RS_VIEW_CAMERA_WIDTH + self.default_height = RS_VIEW_CAMERA_HEIGHT + + # Camera key mapping with custom dimensions + self.camera_configs: Dict[str, CameraConfig] = { + # GR1 + "egoview": CameraConfig(self.default_width, self.default_height, "ego_view"), + "frontview": CameraConfig(self.default_width, self.default_height, "front_view"), + # G1 + "robot0_rs_egoview": CameraConfig(self.default_width, self.default_height, "ego_view"), + "robot0_rs_tppview": CameraConfig(self.default_width, self.default_height, "tpp_view"), + "robot0_oak_egoview": CameraConfig(self.default_width, self.default_height, "ego_view"), + "robot0_oak_left_monoview": CameraConfig( + self.default_width, self.default_height, "ego_view_left_mono" + ), + "robot0_oak_right_monoview": CameraConfig( + self.default_width, self.default_height, "ego_view_right_mono" + ), + } + + def get_camera_config(self, key: str) -> Optional[Tuple[str, int, int]]: + """ + Get the mapped camera key and dimensions for a given camera key. + + Args: + key: The input camera key + + Returns: + Tuple of (mapped_key, width, height) if key exists, None otherwise + """ + config = self.camera_configs.get(key.lower()) + if config is None: + return None + return config.mapped_key, config.width, config.height + + def add_camera_config( + self, key: str, mapped_key: str, width: int = 256, height: int = 256 + ) -> None: + """ + Add a new camera configuration or update an existing one. + + Args: + key: The camera key to add/update + mapped_key: The actual camera key to map to + width: Camera width in pixels + height: Camera height in pixels + """ + self.camera_configs[key.lower()] = CameraConfig(width, height, mapped_key) + + def get_all_camera_keys(self) -> list: + """ + Get all available camera keys. + + Returns: + List of all camera keys + """ + return list(self.camera_configs.keys()) diff --git a/gr00t_wbc/control/envs/robocasa/utils/controller_utils.py b/gr00t_wbc/control/envs/robocasa/utils/controller_utils.py new file mode 100644 index 0000000..a8627b6 --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/utils/controller_utils.py @@ -0,0 +1,54 @@ +def get_body_ik_solver_settings_type(robot: str): + robot2body_ik_solver_settings_type = { + "G1FixedLowerBody": "sim_optimized", + "G1FixedBase": "sim_optimized", + "G1FloatingBody": "sim_optimized", + "G1ArmsOnly": "sim_optimized", + "G1ArmsOnlyFloating": "sim_optimized", + "G1": "default", + "GR1ArmsAndWaistFourierHands": "default", + "GR1FixedLowerBody": "default", + "GR1ArmsOnlyFourierHands": "default", + "GR1ArmsOnly": "default", + } + return robot2body_ik_solver_settings_type[robot] + + +def update_robosuite_controller_configs( + robot: str, + wbc_version: str = None, + enable_gravity_compensation: bool = False, +): + """ + Update the robosuite controller configs based on the robot type and wbc version. + """ + body_ik_solver_settings_type = get_body_ik_solver_settings_type(robot) + if robot.startswith("G1"): + if wbc_version == "gear_wbc": + if enable_gravity_compensation: + robosuite_controller_configs = ( + "robocasa/examples/third_party_controller/default_mink_ik_g1_gear_wbc_gc.json" + ) + else: + robosuite_controller_configs = ( + "robocasa/examples/third_party_controller/default_mink_ik_g1_gear_wbc.json" + ) + else: + if body_ik_solver_settings_type == "default": + robosuite_controller_configs = ( + "robocasa/examples/third_party_controller/default_mink_ik_g1_wbc.json" + ) + elif body_ik_solver_settings_type == "sim_optimized": + robosuite_controller_configs = ( + "robocasa/examples/third_party_controller/" + "default_mink_ik_g1_wbc_sim_optimized.json" + ) + else: + raise ValueError( + f"Invalid body_ik_solver_settings_type: {body_ik_solver_settings_type}" + ) + elif robot.startswith("GR1"): + return "robocasa/examples/third_party_controller/default_mink_ik_gr1_smallkd.json" + else: + raise ValueError(f"Invalid robot: {robot}") + return robosuite_controller_configs diff --git a/gr00t_wbc/control/envs/robocasa/utils/robocasa_env.py b/gr00t_wbc/control/envs/robocasa/utils/robocasa_env.py new file mode 100644 index 0000000..a3b5dfc --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/utils/robocasa_env.py @@ -0,0 +1,443 @@ +import os +from typing import Any, Dict, List, Tuple + +from gymnasium import spaces +import mujoco +import numpy as np +import robocasa +from robocasa.utils.gym_utils.gymnasium_basic import ( + RoboCasaEnv, + create_env_robosuite, +) +from robocasa.wrappers.ik_wrapper import IKWrapper +from robosuite.controllers import load_composite_controller_config +from robosuite.utils.log_utils import ROBOSUITE_DEFAULT_LOGGER + +from gr00t_wbc.control.envs.robocasa.utils.cam_key_converter import CameraKeyMapper +from gr00t_wbc.control.envs.robocasa.utils.robot_key_converter import Gr00tObsActionConverter +from gr00t_wbc.control.robot_model.robot_model import RobotModel + +ALLOWED_LANGUAGE_CHARSET = ( + "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789 ,.\n\t[]{}()!?'_:" +) + + +class Gr00tLocomanipRoboCasaEnv(RoboCasaEnv): + def __init__( + self, + env_name: str, + robots_name: str, + robot_model: RobotModel, # gr00t robot model + input_space: str = "JOINT_SPACE", # either "JOINT_SPACE" or "EEF_SPACE" + camera_names: List[str] = ["egoview"], + camera_heights: List[int] | None = None, + camera_widths: List[int] | None = None, + onscreen: bool = False, + offscreen: bool = False, + dump_rollout_dataset_dir: str | None = None, + rollout_hdf5: str | None = None, + rollout_trainset: int | None = None, + controller_configs: str | None = None, + ik_indicator: bool = False, + **kwargs, + ): + # ========= Create env ========= + if controller_configs is None: + if "G1" in robots_name: + controller_configs = ( + "robocasa/examples/third_party_controller/default_mink_ik_g1_wbc.json" + ) + elif "GR1" in robots_name: + controller_configs = ( + "robocasa/examples/third_party_controller/default_mink_ik_gr1_smallkd.json" + ) + else: + assert False, f"Unsupported robot name: {robots_name}" + controller_configs = os.path.join( + os.path.dirname(robocasa.__file__), + "../", + controller_configs, + ) + controller_configs = load_composite_controller_config( + controller=controller_configs, + robot=robots_name.split("_")[0], + ) + if input_space == "JOINT_SPACE": + controller_configs["type"] = "BASIC" + controller_configs["composite_controller_specific_configs"] = {} + controller_configs["control_delta"] = False + + self.camera_key_mapper = CameraKeyMapper() + self.camera_names = camera_names + + if camera_widths is None: + self.camera_widths = [ + self.camera_key_mapper.get_camera_config(name)[1] for name in camera_names + ] + else: + self.camera_widths = camera_widths + if camera_heights is None: + self.camera_heights = [ + self.camera_key_mapper.get_camera_config(name)[2] for name in camera_names + ] + else: + self.camera_heights = camera_heights + + self.env, self.env_kwargs = create_env_robosuite( + env_name=env_name, + robots=robots_name.split("_"), + controller_configs=controller_configs, + camera_names=camera_names, + camera_widths=self.camera_widths, + camera_heights=self.camera_heights, + enable_render=offscreen, + onscreen=onscreen, + **kwargs, # Forward kwargs to create_env_robosuite + ) + + if ik_indicator: + self.env = IKWrapper(self.env, ik_indicator=True) + + # ========= create converters first to get total DOFs ========= + # For now, assume single robot (multi-robot support can be added later) + self.obs_action_converter: List[Gr00tObsActionConverter] = [ + Gr00tObsActionConverter( + robot_model=robot_model, + robosuite_robot_model=self.env.robots[i], + ) + for i in range(len(self.env.robots)) + ] + + self.body_dofs = sum(converter.body_dof for converter in self.obs_action_converter) + self.gripper_dofs = sum(converter.gripper_dof for converter in self.obs_action_converter) + self.total_dofs = self.body_dofs + self.gripper_dofs + self.body_nu = sum(converter.body_nu for converter in self.obs_action_converter) + self.gripper_nu = sum(converter.gripper_nu for converter in self.obs_action_converter) + self.total_nu = self.body_nu + self.gripper_nu + + # ========= create spaces to match total DOFs ========= + self.get_observation_space() + self.get_action_space() + + self.enable_render = offscreen + self.render_obs_key = f"{camera_names[0]}_image" + self.render_cache = None + + self.dump_rollout_dataset_dir = dump_rollout_dataset_dir + self.gr00t_exporter = None + self.np_exporter = None + + self.rollout_hdf5 = rollout_hdf5 + self.rollout_trainset = rollout_trainset + self.rollout_initial_state = {} + + self.verbose = False + for k, v in self.observation_space.items(): + self.verbose and print("{OBS}", k, v) + for k, v in self.action_space.items(): + self.verbose and print("{ACTION}", k, v) + + self.overridden_floating_base_action = None + + def get_observation_space(self): + self.observation_space = spaces.Dict({}) + + # Add all the observation spaces + self.observation_space["time"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(1,), dtype=np.float32 + ) + self.observation_space["floating_base_pose"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(7,), dtype=np.float32 + ) + self.observation_space["floating_base_vel"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(6,), dtype=np.float32 + ) + self.observation_space["floating_base_acc"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(6,), dtype=np.float32 + ) + self.observation_space["body_q"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.body_dofs,), dtype=np.float32 + ) + self.observation_space["body_dq"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.body_dofs,), dtype=np.float32 + ) + self.observation_space["body_ddq"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.body_dofs,), dtype=np.float32 + ) + self.observation_space["body_tau_est"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.body_nu,), dtype=np.float32 + ) + self.observation_space["left_hand_q"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_dofs // 2,), dtype=np.float32 + ) + self.observation_space["left_hand_dq"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_dofs // 2,), dtype=np.float32 + ) + self.observation_space["left_hand_ddq"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_dofs // 2,), dtype=np.float32 + ) + self.observation_space["left_hand_tau_est"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_nu // 2,), dtype=np.float32 + ) + self.observation_space["right_hand_q"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_dofs // 2,), dtype=np.float32 + ) + self.observation_space["right_hand_dq"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_dofs // 2,), dtype=np.float32 + ) + self.observation_space["right_hand_ddq"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_dofs // 2,), dtype=np.float32 + ) + self.observation_space["right_hand_tau_est"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(self.gripper_nu // 2,), dtype=np.float32 + ) + + self.observation_space["language.language_instruction"] = spaces.Text( + max_length=256, charset=ALLOWED_LANGUAGE_CHARSET + ) + + # Add camera observation spaces + for camera_name, w, h in zip(self.camera_names, self.camera_widths, self.camera_heights): + k = self.camera_key_mapper.get_camera_config(camera_name)[0] + self.observation_space[f"{k}_image"] = spaces.Box( + low=0, high=255, shape=(h, w, 3), dtype=np.uint8 + ) + + # Add extra privileged observation spaces + if hasattr(self.env, "get_privileged_obs_keys"): + for key, shape in self.env.get_privileged_obs_keys().items(): + self.observation_space[key] = spaces.Box( + low=-np.inf, high=np.inf, shape=shape, dtype=np.float32 + ) + + # Add robot-specific observation spaces + if hasattr(self.env.robots[0].robot_model, "torso_body"): + self.observation_space["secondary_imu_quat"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(4,), dtype=np.float32 + ) + self.observation_space["secondary_imu_vel"] = spaces.Box( + low=-np.inf, high=np.inf, shape=(6,), dtype=np.float32 + ) + + def get_action_space(self): + self.action_space = spaces.Dict( + {"q": spaces.Box(low=-np.inf, high=np.inf, shape=(self.total_dofs,), dtype=np.float32)} + ) + + def reset(self, seed=None, options=None): + raw_obs, info = super().reset(seed=seed, options=options) + obs = self.get_gr00t_observation(raw_obs) + + lang = self.env.get_ep_meta().get("lang", "") + ROBOSUITE_DEFAULT_LOGGER.info(f"Instruction: {lang}") + + return obs, info + + def step( + self, action: Dict[str, Any] + ) -> Tuple[Dict[str, Any], float, bool, bool, Dict[str, Any]]: + # action={"q": xxx, "tau": xxx} + for k, v in action.items(): + self.verbose and print("", k, v) + + joint_actoin_vec = action["q"] + action_dict = {} + for ii, robot in enumerate(self.env.robots): + pf = robot.robot_model.naming_prefix + _action_dict = self.obs_action_converter[ii].gr00t_to_robocasa_action_dict( + joint_actoin_vec + ) + action_dict.update({f"{pf}{k}": v for k, v in _action_dict.items()}) + if action.get("tau", None) is not None: + _torque_dict = self.obs_action_converter[ii].gr00t_to_robocasa_action_dict( + action["tau"] + ) + action_dict.update({f"{pf}{k}_tau": v for k, v in _torque_dict.items()}) + if self.overridden_floating_base_action is not None: + action_dict["robot0_base"] = self.overridden_floating_base_action + raw_obs, reward, terminated, truncated, info = super().step(action_dict) + obs = self.get_gr00t_observation(raw_obs) + + for k, v in obs.items(): + self.verbose and print("", k, v.shape if k.startswith("video.") else v) + self.verbose = False + + return obs, reward, terminated, truncated, info + + def step_only_kinematics( + self, action: Dict[str, Any] + ) -> Tuple[Dict[str, Any], float, bool, bool, Dict[str, Any]]: + joint_actoin_vec = action["q"] + for ii, robot in enumerate(self.env.robots): + joint_names = np.array(self.env.sim.model.joint_names)[robot._ref_joint_indexes] + body_q = self.obs_action_converter[ii].gr00t_to_robocasa_joint_order( + joint_names, joint_actoin_vec + ) + self.env.sim.data.qpos[robot._ref_joint_pos_indexes] = body_q + + for side in ["left", "right"]: + joint_names = np.array(self.env.sim.model.joint_names)[ + robot._ref_joints_indexes_dict[side + "_gripper"] + ] + gripper_q = self.obs_action_converter[ii].gr00t_to_robocasa_joint_order( + joint_names, joint_actoin_vec + ) + self.env.sim.data.qpos[robot._ref_gripper_joint_pos_indexes[side]] = gripper_q + + mujoco.mj_forward(self.env.sim.model._model, self.env.sim.data._data) + + obs = self.force_update_observation() + return obs, 0, False, False, {"success": False} + + def force_update_observation(self, timestep=0): + raw_obs = self.env._get_observations(force_update=True, timestep=timestep) + obs = self.get_basic_observation(raw_obs) + obs = self.get_gr00t_observation(obs) + return obs + + def get_basic_observation(self, raw_obs): + # this function takes a lot of time, so we disable it for now + # raw_obs.update(gather_robot_observations(self.env, format_gripper_space=False)) + + # Image are in (H, W, C), flip it upside down + def process_img(img): + return np.copy(img[::-1, :, :]) + + for obs_name, obs_value in raw_obs.items(): + if obs_name.endswith("_image"): + # image observations + raw_obs[obs_name] = process_img(obs_value) + else: + # non-image observations + raw_obs[obs_name] = obs_value.astype(np.float32) + + # Return black image if rendering is disabled + if not self.enable_render: + for ii, name in enumerate(self.camera_names): + raw_obs[f"{name}_image"] = np.zeros( + (self.camera_heights[ii], self.camera_widths[ii], 3), dtype=np.uint8 + ) + + self.render_cache = raw_obs[self.render_obs_key] + raw_obs["language"] = self.env.get_ep_meta().get("lang", "") + + return raw_obs + + def convert_body_q(self, q: np.ndarray) -> np.ndarray: + # q is in the order of the joints + robot = self.env.robots[0] + joint_names = np.array(self.env.sim.model.joint_names)[robot._ref_joint_indexes] + # this joint names are in the order of the obs_vec + actuated_q = self.obs_action_converter[0].robocasa_to_gr00t_actuated_order( + joint_names, q, "body" + ) + return actuated_q + + def convert_gripper_q(self, q: np.ndarray, side: str = "left") -> np.ndarray: + # q is in the order of the joints + robot = self.env.robots[0] + joint_names = np.array(self.env.sim.model.joint_names)[ + robot._ref_joints_indexes_dict[side + "_gripper"] + ] + actuated_q = self.obs_action_converter[0].robocasa_to_gr00t_actuated_order( + joint_names, q, side + "_gripper" + ) + return actuated_q + + def convert_gripper_tau(self, tau: np.ndarray, side: str = "left") -> np.ndarray: + # tau is in the order of the actuators + robot = self.env.robots[0] + actuator_idx = robot._ref_actuators_indexes_dict[side + "_gripper"] + actuated_joint_names = [ + self.env.sim.model.joint_id2name(self.env.sim.model.actuator_trnid[i][0]) + for i in actuator_idx + ] + actuated_tau = self.obs_action_converter[0].robocasa_to_gr00t_actuated_order( + actuated_joint_names, tau, side + "_gripper" + ) + return actuated_tau + + def get_gr00t_observation(self, raw_obs: Dict[str, Any]) -> Dict[str, Any]: + obs = {} + + if self.env.sim.model.jnt_type[0] == mujoco.mjtJoint.mjJNT_FREE: + # If the first joint is a free joint, use this way to get the floating base data + obs["floating_base_pose"] = self.env.sim.data.qpos[:7] + obs["floating_base_vel"] = self.env.sim.data.qvel[:6] + obs["floating_base_acc"] = self.env.sim.data.qacc[:6] + else: + # Otherwise, use self.env.sim.model to fetch the floating base pose + root_body_id = self.env.sim.model.body_name2id("robot0_base") + + # Get position and orientation from body state + root_pos = self.env.sim.data.body_xpos[root_body_id] + root_quat = self.env.sim.data.body_xquat[root_body_id] # quaternion in wxyz format + + # Combine position and quaternion to form 7-DOF pose + obs["floating_base_pose"] = np.concatenate([root_pos, root_quat]) + # set vel and acc to 0 + obs["floating_base_vel"] = np.zeros(6) + obs["floating_base_acc"] = np.zeros(6) + + obs["body_q"] = self.convert_body_q(raw_obs["robot0_joint_pos"]) + obs["body_dq"] = self.convert_body_q(raw_obs["robot0_joint_vel"]) + obs["body_ddq"] = self.convert_body_q(raw_obs["robot0_joint_acc"]) + + obs["left_hand_q"] = self.convert_gripper_q(raw_obs["robot0_left_gripper_qpos"], "left") + obs["left_hand_dq"] = self.convert_gripper_q(raw_obs["robot0_left_gripper_qvel"], "left") + obs["left_hand_ddq"] = self.convert_gripper_q(raw_obs["robot0_left_gripper_qacc"], "left") + obs["right_hand_q"] = self.convert_gripper_q(raw_obs["robot0_right_gripper_qpos"], "right") + obs["right_hand_dq"] = self.convert_gripper_q(raw_obs["robot0_right_gripper_qvel"], "right") + obs["right_hand_ddq"] = self.convert_gripper_q( + raw_obs["robot0_right_gripper_qacc"], "right" + ) + + robot = self.env.robots[0] + body_tau_idx_list = [] + left_gripper_tau_idx_list = [] + right_gripper_tau_idx_list = [] + for part_name, actuator_idx in robot._ref_actuators_indexes_dict.items(): + if "left_gripper" in part_name: + left_gripper_tau_idx_list.extend(actuator_idx) + elif "right_gripper" in part_name: + right_gripper_tau_idx_list.extend(actuator_idx) + elif "base" in part_name: + assert ( + len(actuator_idx) == 0 or robot.robot_model.default_base == "FloatingLeggedBase" + ) + else: + body_tau_idx_list.extend(actuator_idx) + + body_tau_idx_list = sorted(body_tau_idx_list) + left_gripper_tau_idx_list = sorted(left_gripper_tau_idx_list) + right_gripper_tau_idx_list = sorted(right_gripper_tau_idx_list) + obs["body_tau_est"] = self.convert_body_q( + self.env.sim.data.actuator_force[body_tau_idx_list] + ) + obs["right_hand_tau_est"] = self.convert_gripper_tau( + self.env.sim.data.actuator_force[right_gripper_tau_idx_list], "right" + ) + obs["left_hand_tau_est"] = self.convert_gripper_tau( + self.env.sim.data.actuator_force[left_gripper_tau_idx_list], "left" + ) + + obs["time"] = self.env.sim.data.time + + # Add camera images + for ii, camera_name in enumerate(self.camera_names): + mapped_camera_name = self.camera_key_mapper.get_camera_config(camera_name)[0] + obs[f"{mapped_camera_name}_image"] = raw_obs[f"{camera_name}_image"] + + # Add privileged observations + if hasattr(self.env, "get_privileged_obs_keys"): + for key in self.env.get_privileged_obs_keys(): + obs[key] = raw_obs[key] + + # Add robot-specific observations + if hasattr(self.env.robots[0].robot_model, "torso_body"): + obs["secondary_imu_quat"] = raw_obs["robot0_torso_link_imu_quat"] + obs["secondary_imu_vel"] = raw_obs["robot0_torso_link_imu_vel"] + + obs["language.language_instruction"] = raw_obs["language"] + + return obs diff --git a/gr00t_wbc/control/envs/robocasa/utils/robot_key_converter.py b/gr00t_wbc/control/envs/robocasa/utils/robot_key_converter.py new file mode 100644 index 0000000..617bfb5 --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/utils/robot_key_converter.py @@ -0,0 +1,301 @@ +from dataclasses import dataclass +from typing import Any, Dict, List, Tuple + +import numpy as np +from robocasa.models.robots import remove_mimic_joints +from robosuite.models.robots import RobotModel as RobosuiteRobotModel + +from gr00t_wbc.control.robot_model import RobotModel + + +class Gr00tJointInfo: + """ + Mapping from gr00t_wbc actuated joint names to robocasa joint names. + """ + + def __init__(self, robot_model: RobosuiteRobotModel): + self.robocasa_body_prefix = "robot0_" + self.robocasa_gripper_prefix = "gripper0_" + + self.robot_model: RobotModel = robot_model + self.body_actuated_joint_names: List[str] = ( + self.robot_model.supplemental_info.body_actuated_joints + ) + self.left_hand_actuated_joint_names: List[str] = ( + self.robot_model.supplemental_info.left_hand_actuated_joints + ) + self.right_hand_actuated_joint_names: List[str] = ( + self.robot_model.supplemental_info.right_hand_actuated_joints + ) + + self.actuated_joint_names: List[str] = self._get_gr00t_actuated_joint_names() + self.body_actuated_joint_to_index: Dict[str, int] = ( + self._get_gr00t_body_actuated_joint_name_to_index() + ) + self.gripper_actuated_joint_to_index: Tuple[Dict[str, int], Dict[str, int]] = ( + self._get_gr00t_gripper_actuated_joint_name_to_index() + ) + self.actuated_joint_name_to_index: Dict[str, int] = ( + self._get_gr00t_actuated_joint_name_to_index() + ) + + def _get_gr00t_actuated_joint_names(self) -> List[str]: + """Get list of gr00t actuated joint names ordered by their indices.""" + if self.robot_model.supplemental_info is None: + raise ValueError("Robot model must have supplemental_info") + + # Get joint names and indices + body_names = self.robot_model.supplemental_info.body_actuated_joints + left_hand_names = self.robot_model.supplemental_info.left_hand_actuated_joints + right_hand_names = self.robot_model.supplemental_info.right_hand_actuated_joints + + body_indices = self.robot_model.get_joint_group_indices("body") + left_hand_indices = self.robot_model.get_joint_group_indices("left_hand") + right_hand_indices = self.robot_model.get_joint_group_indices("right_hand") + + # Create a dictionary mapping index to name + index_to_name = {} + for name, idx in zip(body_names, body_indices): + index_to_name[idx] = self.robocasa_body_prefix + name + for name, idx in zip(left_hand_names, left_hand_indices): + index_to_name[idx] = self.robocasa_gripper_prefix + "left_" + name + for name, idx in zip(right_hand_names, right_hand_indices): + index_to_name[idx] = self.robocasa_gripper_prefix + "right_" + name + sorted_indices = sorted(index_to_name.keys()) + all_actuated_joint_names = [index_to_name[idx] for idx in sorted_indices] + return all_actuated_joint_names + + def _get_gr00t_body_actuated_joint_name_to_index(self) -> Dict[str, int]: + """Get dictionary mapping gr00t actuated joint names to indices.""" + if self.robot_model.supplemental_info is None: + raise ValueError("Robot model must have supplemental_info") + body_names = self.robot_model.supplemental_info.body_actuated_joints + body_indices = self.robot_model.get_joint_group_indices("body") + sorted_indices = np.argsort(body_indices) + sorted_names = [body_names[i] for i in sorted_indices] + return {self.robocasa_body_prefix + name: ii for ii, name in enumerate(sorted_names)} + + def _get_gr00t_gripper_actuated_joint_name_to_index( + self, + ) -> Tuple[Dict[str, int], Dict[str, int]]: + """Get dictionary mapping gr00t actuated joint names to indices.""" + if self.robot_model.supplemental_info is None: + raise ValueError("Robot model must have supplemental_info") + left_hand_names = self.robot_model.supplemental_info.left_hand_actuated_joints + right_hand_names = self.robot_model.supplemental_info.right_hand_actuated_joints + left_hand_indices = self.robot_model.get_joint_group_indices("left_hand") + right_hand_indices = self.robot_model.get_joint_group_indices("right_hand") + sorted_left_hand_indices = np.argsort(left_hand_indices) + sorted_right_hand_indices = np.argsort(right_hand_indices) + sorted_left_hand_names = [left_hand_names[i] for i in sorted_left_hand_indices] + sorted_right_hand_names = [right_hand_names[i] for i in sorted_right_hand_indices] + return ( + { + self.robocasa_gripper_prefix + "left_" + name: ii + for ii, name in enumerate(sorted_left_hand_names) + }, + { + self.robocasa_gripper_prefix + "right_" + name: ii + for ii, name in enumerate(sorted_right_hand_names) + }, + ) + + def _get_gr00t_actuated_joint_name_to_index(self) -> Dict[str, int]: + """Get dictionary mapping gr00t actuated joint names to indices.""" + return {name: ii for ii, name in enumerate(self.actuated_joint_names)} + + +@dataclass +class Gr00tObsActionConverter: + """ + Converter to align simulation environment joint action space with real environment joint action space. + Handles joint order and range conversion. + """ + + robot_model: RobotModel + robosuite_robot_model: RobosuiteRobotModel + robocasa_body_prefix: str = "robot0_" + robocasa_gripper_prefix: str = "gripper0_" + + def __post_init__(self): + """Initialize converter with robot configuration.""" + + self.robot_key = self.robot_model.supplemental_info.name + self.gr00t_joint_info = Gr00tJointInfo(self.robot_model) + self.robocasa_joint_names_for_each_part: Dict[str, List[str]] = ( + self._get_robocasa_joint_names_for_each_part() + ) + self.robocasa_actuator_names_for_each_part: Dict[str, List[str]] = ( + self._get_robotcasa_actuator_names_for_each_part() + ) + + # Store mappings directly as class attributes + self.gr00t_joint_name_to_index = self.gr00t_joint_info.actuated_joint_name_to_index + self.gr00t_body_joint_name_to_index = self.gr00t_joint_info.body_actuated_joint_to_index + self.gr00t_gripper_joint_name_to_index = { + "left": self.gr00t_joint_info.gripper_actuated_joint_to_index[0], + "right": self.gr00t_joint_info.gripper_actuated_joint_to_index[1], + } + self.gr00t_to_robocasa_actuator_indices = self._get_actuator_mapping() + + if self.robot_key == "GR1_Fourier": + self.joint_multiplier = ( + lambda x: np.array([-1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1]) * x + ) + self.actuator_multiplier = ( + lambda x: np.array([-1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1]) * x + ) + else: + self.joint_multiplier = lambda x: x + self.actuator_multiplier = lambda x: x + + # Store DOF counts directly + self.body_dof = len(self.gr00t_joint_info.body_actuated_joint_names) + self.gripper_dof = len(self.gr00t_joint_info.left_hand_actuated_joint_names) + len( + self.gr00t_joint_info.right_hand_actuated_joint_names + ) + self.whole_dof = self.body_dof + self.gripper_dof + self.body_nu = len(self.gr00t_joint_info.body_actuated_joint_names) + self.gripper_nu = len(self.gr00t_joint_info.left_hand_actuated_joint_names) + len( + self.gr00t_joint_info.right_hand_actuated_joint_names + ) + self.whole_nu = self.body_nu + self.gripper_nu + + def _get_robocasa_joint_names_for_each_part(self) -> Dict[str, List[str]]: + part_names = self.robosuite_robot_model._ref_joints_indexes_dict.keys() + robocasa_joint_names_for_each_part = {} + for part_name in part_names: + joint_indices = self.robosuite_robot_model._ref_joints_indexes_dict[part_name] + joint_names = [ + self.robosuite_robot_model.sim.model.joint_id2name(j) for j in joint_indices + ] + robocasa_joint_names_for_each_part[part_name] = joint_names + return robocasa_joint_names_for_each_part + + def _get_robotcasa_actuator_names_for_each_part(self) -> Dict[str, List[str]]: + part_names = self.robosuite_robot_model._ref_actuators_indexes_dict.keys() + robocasa_actuator_names_for_each_part = {} + for part_name in part_names: + if part_name == "base": + continue + actuator_indices = self.robosuite_robot_model._ref_actuators_indexes_dict[part_name] + actuator_names = [ + self.robosuite_robot_model.sim.model.actuator_id2name(j) for j in actuator_indices + ] + robocasa_actuator_names_for_each_part[part_name] = actuator_names + return robocasa_actuator_names_for_each_part + + def _get_actuator_mapping(self) -> Dict[str, List[int]]: + """Get mapping from gr00t_wbc actuatored joint order to robocasa actuatored joint order for whole body.""" + return { + part_name: [ + self.gr00t_joint_info.actuated_joint_name_to_index[j] + for j in self.robocasa_actuator_names_for_each_part[part_name] + ] + for part_name in self.robocasa_actuator_names_for_each_part.keys() + } + + def check_action_dim_match(self, vec_dim: int) -> bool: + """ + Check if input vector dimension matches expected dimension. + + Args: + vec_dim: Dimension of input vector + + Returns: + bool: True if dimensions match + """ + return vec_dim == self.whole_dof + + def gr00t_to_robocasa_action_dict(self, action_vec: np.ndarray) -> Dict[str, Any]: + """ + Convert gr00t flat action vector to robocasa dictionary mapping part names to actions. + + Args: + robot: Robocasa robot model instance + action_vec: Full action vector array in gr00t actuated joint order + + Returns: + dict: Mapping from part names to action vectors for robocasa + """ + if not self.check_action_dim_match(len(action_vec)): + raise ValueError( + f"Action vector dimension mismatch: {len(action_vec)} != {self.whole_dof}" + ) + + action_dict = {} + cc = self.robosuite_robot_model.composite_controller + + for part_name, controller in cc.part_controllers.items(): + if "gripper" in part_name: + robocasa_action = action_vec[self.gr00t_to_robocasa_actuator_indices[part_name]] + if self.actuator_multiplier is not None: + robocasa_action = self.actuator_multiplier(robocasa_action) + action_dict[part_name] = remove_mimic_joints( + cc.grippers[part_name], robocasa_action + ) + elif "base" in part_name: + assert ( + len(self.gr00t_to_robocasa_actuator_indices.get(part_name, [])) == 0 + or self.robosuite_robot_model.default_base == "FloatingLeggedBase" + ) + else: + action_dict[part_name] = action_vec[ + self.gr00t_to_robocasa_actuator_indices[part_name] + ] + + return action_dict + + def robocasa_to_gr00t_actuated_order( + self, joint_names: List[str], q: np.ndarray, obs_type: str = "body" + ) -> np.ndarray: + """ + Convert observation from robocasa joint order to gr00t actuated joint order. + + Args: + joint_names: List of joint names in robocasa order (with prefixes) + q: Joint positions corresponding to joint_names + obs_type: Type of observation ("body", "left_gripper", "right_gripper", or "whole") + + Returns: + Joint positions in gr00t actuated joint order + """ + assert len(joint_names) == len(q), "Joint names and q must have the same length" + + if obs_type == "body": + actuated_q = np.zeros(self.body_dof) + for i, jn in enumerate(joint_names): + actuated_q[self.gr00t_body_joint_name_to_index[jn]] = q[i] + elif obs_type == "left_gripper": + actuated_q = np.zeros(self.gripper_dof // 2) + for i, jn in enumerate(joint_names): + actuated_q[self.gr00t_gripper_joint_name_to_index["left"][jn]] = q[i] + elif obs_type == "right_gripper": + actuated_q = np.zeros(self.gripper_dof // 2) + for i, jn in enumerate(joint_names): + actuated_q[self.gr00t_gripper_joint_name_to_index["right"][jn]] = q[i] + elif obs_type == "whole": + actuated_q = np.zeros(self.whole_dof) + for i, jn in enumerate(joint_names): + actuated_q[self.gr00t_joint_name_to_index[jn]] = q[i] + else: + raise ValueError(f"Unknown observation type: {obs_type}") + return actuated_q + + def gr00t_to_robocasa_joint_order( + self, joint_names: List[str], q_in_actuated_order: np.ndarray + ) -> np.ndarray: + """ + Convert gr00t actuated joint order to robocasa joint order. + + Args: + joint_names: List of joint names in robocasa order (with prefixes) + q_in_actuated_order: Joint positions corresponding to joint_names in gr00t actuated joint order + + Returns: + Joint positions in robocasa joint order + """ + q = np.zeros(len(joint_names)) + for i, jn in enumerate(joint_names): + q[i] = q_in_actuated_order[self.gr00t_joint_name_to_index[jn]] + return q diff --git a/gr00t_wbc/control/envs/robocasa/utils/sim_utils.py b/gr00t_wbc/control/envs/robocasa/utils/sim_utils.py new file mode 100644 index 0000000..5250f25 --- /dev/null +++ b/gr00t_wbc/control/envs/robocasa/utils/sim_utils.py @@ -0,0 +1,8 @@ +try: + import robosuite.macros_private as macros +except ImportError: + import robosuite.macros as macros + + +def change_simulation_timestep(timestep: float): + macros.SIMULATION_TIMESTEP = timestep diff --git a/gr00t_wbc/control/main/__init__.py b/gr00t_wbc/control/main/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/main/config_template.py b/gr00t_wbc/control/main/config_template.py new file mode 100644 index 0000000..8da84d5 --- /dev/null +++ b/gr00t_wbc/control/main/config_template.py @@ -0,0 +1,45 @@ +from dataclasses import asdict, dataclass +from typing import Any + + +@dataclass +class ArgsConfig: + """Args Config for running the data collection loop.""" + + def update( + self, + config_dict: dict, + strict: bool = False, + skip_keys: list[str] = [], + allowed_keys: list[str] | None = None, + ): + for k, v in config_dict.items(): + if k in skip_keys: + continue + if allowed_keys is not None and k not in allowed_keys: + continue + if strict and not hasattr(self, k): + raise ValueError(f"Config {k} not found in {self.__class__.__name__}") + if not strict and not hasattr(self, k): + continue + setattr(self, k, v) + + @classmethod + def from_dict( + cls, + config_dict: dict, + strict: bool = False, + skip_keys: list[str] = [], + allowed_keys: list[str] | None = None, + ): + instance = cls() + instance.update( + config_dict=config_dict, strict=strict, skip_keys=skip_keys, allowed_keys=allowed_keys + ) + return instance + + def to_dict(self): + return asdict(self) + + def get(self, key: str, default: Any = None): + return getattr(self, key) if hasattr(self, key) else default diff --git a/gr00t_wbc/control/main/constants.py b/gr00t_wbc/control/main/constants.py new file mode 100644 index 0000000..8d54f25 --- /dev/null +++ b/gr00t_wbc/control/main/constants.py @@ -0,0 +1,16 @@ +IMAGE_TOPIC_NAME = "realsense/color/image_raw" +STATE_TOPIC_NAME = "G1Env/env_state_act" +CONTROL_GOAL_TOPIC = "ControlPolicy/upper_body_pose" +ROBOT_CONFIG_TOPIC = "WBCPolicy/robot_config" +KEYBOARD_INPUT_TOPIC = "/keyboard_input" +LOCO_MANIP_TASK_STATUS_TOPIC = "LocoManipPolicy/task_status" +LOCO_NAV_TASK_STATUS_TOPIC = "NavigationPolicy/task_status" +LOWER_BODY_POLICY_STATUS_TOPIC = "ControlPolicy/lower_body_policy_status" +JOINT_SAFETY_STATUS_TOPIC = "ControlPolicy/joint_safety_status" + + +DEFAULT_NAV_CMD = [0.0, 0.0, 0.0] +DEFAULT_BASE_HEIGHT = 0.74 +DEFAULT_WRIST_POSE = [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0] * 2 # x, y, z + w, x, y, z + +DEFAULT_MODEL_SERVER_PORT = 5555 # port used to host the model server diff --git a/gr00t_wbc/control/main/teleop/__init__.py b/gr00t_wbc/control/main/teleop/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/main/teleop/configs/configs.py b/gr00t_wbc/control/main/teleop/configs/configs.py new file mode 100644 index 0000000..b1f6251 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/configs/configs.py @@ -0,0 +1,484 @@ +from dataclasses import dataclass +import os +from pathlib import Path +from typing import Literal, Optional + +import yaml + +import gr00t_wbc +from gr00t_wbc.control.main.config_template import ArgsConfig as ArgsConfigTemplate +from gr00t_wbc.control.policy.wbc_policy_factory import WBC_VERSIONS +from gr00t_wbc.control.utils.network_utils import resolve_interface + + +def override_wbc_config( + wbc_config: dict, config: "BaseConfig", missed_keys_only: bool = False +) -> dict: + """Override WBC YAML values with dataclass values. + + Args: + wbc_config: The loaded WBC YAML configuration dictionary + config: The BaseConfig dataclass instance with override values + missed_keys_only: If True, only add keys that don't exist in wbc_config. + If False, validate all keys exist and override all. + + Returns: + Updated wbc_config dictionary with overridden values + + Raises: + KeyError: If any required keys are missing from the WBC YAML configuration + (only when missed_keys_only=False) + """ + # Override yaml values with dataclass values + key_to_value = { + "INTERFACE": config.interface, + "ENV_TYPE": config.env_type, + "VERSION": config.wbc_version, + "SIMULATOR": config.simulator, + "SIMULATE_DT": 1 / float(config.sim_frequency), + "ENABLE_OFFSCREEN": config.enable_offscreen, + "ENABLE_ONSCREEN": config.enable_onscreen, + "model_path": config.wbc_model_path, + "enable_waist": config.enable_waist, + "with_hands": config.with_hands, + "verbose": config.verbose, + "verbose_timing": config.verbose_timing, + "upper_body_max_joint_speed": config.upper_body_joint_speed, + "keyboard_dispatcher_type": config.keyboard_dispatcher_type, + "enable_gravity_compensation": config.enable_gravity_compensation, + "gravity_compensation_joints": config.gravity_compensation_joints, + "high_elbow_pose": config.high_elbow_pose, + } + + if missed_keys_only: + # Only add keys that don't exist in wbc_config + for key in key_to_value: + if key not in wbc_config: + wbc_config[key] = key_to_value[key] + else: + # Set all keys (overwrite existing) + for key in key_to_value: + wbc_config[key] = key_to_value[key] + + # g1 kp, kd, sim2real gap + if config.env_type == "real": + # update waist pitch damping, index 14 + wbc_config["MOTOR_KD"][14] = wbc_config["MOTOR_KD"][14] - 10 + + return wbc_config + + +@dataclass +class BaseConfig(ArgsConfigTemplate): + """Base config inherited by all G1 control loops""" + + # WBC Configuration + wbc_version: Literal[tuple(WBC_VERSIONS)] = "gear_wbc" + """Version of the whole body controller.""" + + wbc_model_path: str = ( + "policy/GR00T-WholeBodyControl-Balance.onnx," + "policy/GR00T-WholeBodyControl-Walk.onnx" + ) + """Path to WBC model file (relative to gr00t_wbc/sim2mujoco/resources/robots/g1)""" + """gear_wbc model path: policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx""" + + wbc_policy_class: str = "G1DecoupledWholeBodyPolicy" + """Whole body policy class.""" + + # System Configuration + interface: str = "sim" + """Interface to use for the control loop. [sim, real, lo, enxe8ea6a9c4e09]""" + + simulator: str = "mujoco" + """Simulator to use.""" + + sim_sync_mode: bool = False + """Whether to run the control loop in sync mode.""" + + control_frequency: int = 50 + """Frequency of the control loop.""" + + sim_frequency: int = 200 + """Frequency of the simulation loop.""" + + # Robot Configuration + enable_waist: bool = False + """Whether to include waist joints in IK.""" + + with_hands: bool = True + """Enable hand functionality. When False, robot operates without hands.""" + + high_elbow_pose: bool = False + """Enable high elbow pose configuration for default joint positions.""" + + verbose: bool = True + """Whether to print verbose output.""" + + # Additional common fields + enable_offscreen: bool = False + """Whether to enable offscreen rendering.""" + + enable_onscreen: bool = True + """Whether to enable onscreen rendering.""" + + upper_body_joint_speed: float = 1000 + """Upper body joint speed.""" + + env_name: str = "default" + """Environment name.""" + + ik_indicator: bool = False + """Whether to draw IK indicators.""" + + verbose_timing: bool = False + """Enable verbose timing output every iteration.""" + + keyboard_dispatcher_type: str = "raw" + """Keyboard dispatcher to use. [raw, ros]""" + + # Gravity Compensation Configuration + enable_gravity_compensation: bool = False + """Enable gravity compensation using pinocchio dynamics.""" + + gravity_compensation_joints: Optional[list[str]] = None + """Joint groups to apply gravity compensation to (e.g., ['arms', 'left_arm', 'right_arm']).""" + # Teleop/Device Configuration + body_control_device: str = "dummy" + """Device to use for body control. Options: dummy, vive, iphone, leapmotion, joycon.""" + + hand_control_device: Optional[str] = "dummy" + """Device to use for hand control. Options: None, manus, joycon, iphone.""" + + body_streamer_ip: str = "10.112.210.229" + """IP address for body streamer (vive only).""" + + body_streamer_keyword: str = "knee" + """Body streamer keyword (vive only).""" + + enable_visualization: bool = False + """Whether to enable visualization.""" + + enable_real_device: bool = True + """Whether to enable real device.""" + + teleop_frequency: int = 20 + """Teleoperation frequency (Hz).""" + + teleop_replay_path: Optional[str] = None + """Path to teleop replay data.""" + + # Deployment/Camera Configuration + robot_ip: str = "192.168.123.164" + """Robot IP address""" + # Data collection settings + data_collection: bool = True + """Enable data collection""" + + data_collection_frequency: int = 20 + """Data collection frequency (Hz)""" + + root_output_dir: str = "outputs" + """Root output directory""" + + # Policy settings + enable_upper_body_operation: bool = True + """Enable upper body operation""" + + upper_body_operation_mode: Literal["teleop", "inference"] = "teleop" + """Upper body operation mode""" + + def __post_init__(self): + # Resolve interface (handles sim/real shortcuts, platform differences, and error handling) + self.interface, self.env_type = resolve_interface(self.interface) + + def load_wbc_yaml(self) -> dict: + """Load and merge wbc yaml with dataclass overrides""" + # Get the base path to gr00t_wbc and convert to Path object + package_path = Path(os.path.dirname(gr00t_wbc.__file__)) + + if self.wbc_version == "gear_wbc": + config_path = str(package_path / "control/main/teleop/configs/g1_29dof_gear_wbc.yaml") + else: + raise ValueError( + f"Invalid wbc_version: {self.wbc_version}, please use one of: " f"gear_wbc" + ) + + with open(config_path) as file: + wbc_config = yaml.load(file, Loader=yaml.FullLoader) + + # Override yaml values with dataclass values + wbc_config = override_wbc_config(wbc_config, self) + + return wbc_config + + +@dataclass +class ControlLoopConfig(BaseConfig): + """Config for running the G1 control loop.""" + + pass + + +@dataclass +class TeleopConfig(BaseConfig): + """Config for running the G1 teleop policy loop.""" + + robot: Literal["g1"] = "g1" + """Name of the robot to use, e.g., 'g1'.""" + + lerobot_replay_path: Optional[str] = None + """Path to lerobot replay data.""" + + # Override defaults for teleop-specific values + body_streamer_ip: str = "10.110.67.24" + """IP address for body streamer (vive only).""" + + body_streamer_keyword: str = "foot" + """Keyword for body streamer (vive only).""" + + teleop_frequency: float = 20 # Override to be float instead of int + """Frequency of the teleop loop.""" + + binary_hand_ik: bool = True + """Whether to use binary IK.""" + + +@dataclass +class ComposedCameraClientConfig: + """Config for running the composed camera client.""" + + camera_port: int = 5555 + """Port number""" + + camera_host: str = "localhost" + """Host IP address""" + + fps: float = 20.0 + """FPS of the camera viewer""" + + +@dataclass +class DataExporterConfig(BaseConfig, ComposedCameraClientConfig): + """Config for running the G1 data exporter.""" + + dataset_name: Optional[str] = None + """Name of the dataset to save the data to. If the dataset already exists, + the new episodes will be appended to existing dataset. If the dataset does not exist, + episodes will be saved under root_output_dir/dataset_name. + """ + + task_prompt: str = "demo" + """Language Task prompt for the dataset.""" + + state_dim: int = 43 + """Size of the state.""" + + action_dim: int = 43 + """Size of the action.""" + + teleoperator_username: Optional[str] = None + """Teleoperator username.""" + + support_operator_username: Optional[str] = None + """Support operator username.""" + + robot_id: Optional[str] = None + """Robot ID.""" + + lower_body_policy: Optional[str] = None + """Lower body policy.""" + + img_stream_viewer: bool = False + """Whether to open a matplot lib window to view the camera images.""" + + text_to_speech: bool = True + """Whether to use text-to-speech for voice feedback.""" + + add_stereo_camera: bool = True + """Whether to add stereo camera for data collection. If False, only use a signle ego view camera.""" + + +@dataclass +class SyncSimDataCollectionConfig(ControlLoopConfig, TeleopConfig): + """Args Config for running the data collection loop.""" + + robot: str = "G1" + """Name of the robot to collect data for (e.g., G1 variants).""" + + task_name: str = "GroundOnly" + """Name of the task to collect data for. [PnPBottle, GroundOnly, ...]""" + + body_control_device: str = "dummy" + """Device to use for body control. Options: dummy, vive, iphone, leapmotion, joycon.""" + + hand_control_device: Optional[str] = "dummy" + """Device to use for hand control. Options: None, manus, joycon, iphone.""" + + remove_existing_dir: bool = False + """Whether to remove existing output directory if it exists.""" + + hardcode_teleop_cmd: bool = False + """Whether to hardcode the teleop command for testing purposes.""" + + ik_indicator: bool = False + """Whether to draw IK indicators.""" + + enable_onscreen: bool = True + """Whether to show the onscreen rendering.""" + + save_img_obs: bool = False + """Whether to save image observations.""" + + success_hold_steps: int = 50 + """Number of steps to collect after task completion before saving.""" + + renderer: Literal["mjviewer", "mujoco", "rerun"] = "mjviewer" + """Renderer to use for the environment. """ + + replay_data_path: str | None = None + """Path to the data (.pkl) to replay. If None, will not replay. Used for CI/CD.""" + + replay_speed: float = 2.5 + """Speed multiplier for replay data. Higher values make replay slower (e.g., 2.5 for sync sim tests).""" + + ci_test: bool = False + """Whether to run the CI test.""" + + ci_test_mode: Literal["unit", "pre_merge"] = "pre_merge" + """'unit' for fast 50-step tests, 'pre_merge' for 500-step test with tracking checks.""" + + manual_control: bool = False + """Enable manual control of data collection start/save. When True, use toggle_data_collection + to manually control episode states (idle -> recording -> need_to_save -> idle). + When False (default), automatically starts and stops data collection based on task completion.""" + + +@dataclass +class SyncSimPlaybackConfig(SyncSimDataCollectionConfig): + """Configuration class for playback script arguments.""" + + enable_real_device: bool = False + """Whether to enable real device""" + + dataset: str | None = None + """Path to the demonstration dataset, either an HDF5 file or a LeRobot folder path.""" + + use_actions: bool = False + """Whether to use actions for playback""" + + use_wbc_goals: bool = False + """Whether to use WBC goals for control""" + + use_teleop_cmd: bool = False + """Whether to use teleop IK for action generation""" + + # Video recording arguments. + # Warning: enabling this key will leads to divergence between playback and recording. + save_video: bool = False + """Whether to save video of the playback""" + + # Saving to LeRobot dataset. + # Warning: enabling this key will leads to divergence between playback and recording. + save_lerobot: bool = False + """Whether to save the playback as a new LeRobot dataset""" + + video_path: str | None = None + """Path to save the output video. If not specified, + will use the nearest folder to dataset and save as playback_video.mp4""" + + num_episodes: int = 1 + """Number of episodes to load and playback/record (loads only the first N episodes from dataset)""" + + intervention: bool = False + """Whether to denote intervention timesteps with colored borders in video frames""" + + ci_test: bool = False + """Whether this is a CI test run, which limits the number of steps for testing purposes""" + + def validate_args(self): + # Validate argument combinations + if self.use_teleop_cmd and not self.use_actions: + raise ValueError("--use-teleop-cmd requires --use-actions to be set") + + # Note: using teleop cmd has playback divergence unlike using wbc goals, as TeleopPolicy has a warmup loop + if self.use_teleop_cmd and self.use_wbc_goals: + raise ValueError("--use-teleop-cmd and --use-wbc-goals are mutually exclusive") + + if (self.use_teleop_cmd or self.use_wbc_goals) and not self.use_actions: + raise ValueError( + "You are using --use-teleop-cmd or --use-wbc-goals but not --use-actions. " + "This will not play back actions whether via teleop or wbc goals. " + "Instead, it'll play back states only." + ) + + if self.save_img_obs and not self.save_lerobot: + raise ValueError("--save-img-obs is only supported with --save-lerobot") + + if self.intervention and not self.save_video: + raise ValueError("--intervention requires --save-video to be enabled for visualization") + + +@dataclass +class WebcamRecorderConfig(BaseConfig): + """Config for running the webcam recorder.""" + + output_dir: str = "logs_experiment" + """Output directory for webcam recordings""" + + device_id: int = 0 + """Camera device ID""" + + fps: int = 30 + """Recording frame rate""" + + duration: Optional[int] = None + """Recording duration in seconds (None for continuous)""" + + +@dataclass +class SimLoopConfig(BaseConfig): + """Config for running the simulation loop.""" + + mp_start_method: str = "spawn" + """Multiprocessing start method""" + + enable_image_publish: bool = False + """Enable image publishing in simulation""" + + camera_port: int = 5555 + """Camera port for image publishing""" + + verbose: bool = False + """Verbose output, override the base config verbose""" + + +@dataclass +class DeploymentConfig(BaseConfig, ComposedCameraClientConfig): + """G1 Robot Deployment Configuration + + Simplified deployment config that inherits all common fields from G1BaseConfig. + All deployment settings are now available in the base config. + """ + + camera_publish_rate: float = 30.0 + """Camera publish rate (Hz)""" + + view_camera: bool = True + """Enable camera viewer""" + # Webcam recording settings + enable_webcam_recording: bool = True + """Enable webcam recording for real robot deployment monitoring""" + + webcam_output_dir: str = "logs_experiment" + """Output directory for webcam recordings""" + + skip_img_transform: bool = False + """Skip image transformation in the model (for faster internet)""" + + sim_in_single_process: bool = False + """Run simulator in a separate process. When True, sets simulator to None in main control loop + and launches run_sim_loop.py separately.""" + + image_publish: bool = False + """Enable image publishing in simulation loop (passed to run_sim_loop.py)""" diff --git a/gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml b/gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml new file mode 100644 index 0000000..8583066 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml @@ -0,0 +1,421 @@ +GEAR_WBC_CONFIG: "gr00t_wbc/sim2mujoco/resources/robots/g1/g1_gear_wbc.yaml" + +# copy from g1_43dof_hist.yaml +ROBOT_TYPE: 'g1_29dof' # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1" +ROBOT_SCENE: "gr00t_wbc/control/robot_model/model_data/g1/scene_43dof.xml" # Robot scene, for Sim2Sim +# ROBOT_SCENE: "gr00t_wbc/control/robot_model/model_data/g1/scene_29dof_activated3dex.xml" + +DOMAIN_ID: 0 # Domain id +# Network Interface, "lo" for simulation and the one with "192.168.123.222" for real robot +# INTERFACE: "enxe8ea6a9c4e09" +# INTERFACE: "enxc8a3623c9cb7" +INTERFACE: "lo" +SIMULATOR: "mujoco" # "robocasa" + +USE_JOYSTICK: 0 # Simulate Unitree WirelessController using a gamepad (0: disable, 1: enable) +JOYSTICK_TYPE: "xbox" # support "xbox" and "switch" gamepad layout +JOYSTICK_DEVICE: 0 # Joystick number + +FREE_BASE: False + +PRINT_SCENE_INFORMATION: True # Print link, joint and sensors information of robot +ENABLE_ELASTIC_BAND: True # Virtual spring band, used for lifting h1 + +SIMULATE_DT: 0.005 # Need to be larger than the runtime of viewer.sync() +VIEWER_DT: 0.02 # Viewer update time +REWARD_DT: 0.02 +USE_SENSOR: False +USE_HISTORY: True +USE_HISTORY_LOCO: True +USE_HISTORY_MIMIC: True + +GAIT_PERIOD: 0.9 # 1.25 + +MOTOR2JOINT: [0, 1, 2, 3, 4, 5, + 6, 7, 8, 9, 10, 11, + 12, 13, 14, + 15, 16, 17, 18, 19, 20, 21, + 22, 23, 24, 25, 26, 27, 28] + +JOINT2MOTOR: [0, 1, 2, 3, 4, 5, + 6, 7, 8, 9, 10, 11, + 12, 13, 14, + 15, 16, 17, 18, 19, 20, 21, + 22, 23, 24, 25, 26, 27, 28] + + +UNITREE_LEGGED_CONST: + HIGHLEVEL: 0xEE + LOWLEVEL: 0xFF + TRIGERLEVEL: 0xF0 + PosStopF: 2146000000.0 + VelStopF: 16000.0 + MODE_MACHINE: 5 + MODE_PR: 0 + +JOINT_KP: [ + 100, 100, 100, 200, 20, 20, + 100, 100, 100, 200, 20, 20, + 400, 400, 400, + 90, 60, 20, 60, 4, 4, 4, + 90, 60, 20, 60, 4, 4, 4 +] + + +JOINT_KD: [ + 2.5, 2.5, 2.5, 5, 0.2, 0.1, + 2.5, 2.5, 2.5, 5, 0.2, 0.1, + 5.0, 5.0, 5.0, + 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2, + 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2 +] + +# arm kp +# soft kp, safe, test it first +# 50, 50, 20, 20, 10, 10, 10 +# hard kp, use only if policy is safe +# 200, 200, 80, 80, 50, 50, 50, + +# MOTOR_KP: [ +# 100, 100, 100, 200, 20, 20, +# 100, 100, 100, 200, 20, 20, +# 400, 400, 400, +# 50, 50, 20, 20, 10, 10, 10, +# 50, 50, 20, 20, 10, 10, 10 +# ] + +MOTOR_KP: [ + 150, 150, 150, 200, 40, 40, + 150, 150, 150, 200, 40, 40, + 250, 250, 250, + 100, 100, 40, 40, 20, 20, 20, + 100, 100, 40, 40, 20, 20, 20 +] + +MOTOR_KD: [ + 2, 2, 2, 4, 2, 2, + 2, 2, 2, 4, 2, 2, + 5, 5, 5, + 5, 5, 2, 2, 2, 2, 2, + 5, 5, 2, 2, 2, 2, 2 +] + +# MOTOR_KP: [ +# 100, 100, 100, 200, 20, 20, +# 100, 100, 100, 200, 20, 20, +# 400, 400, 400, +# 90, 60, 20, 60, 4, 4, 4, +# 90, 60, 20, 60, 4, 4, 4 +# ] + + +# MOTOR_KD: [ +# 2.5, 2.5, 2.5, 5, 0.2, 0.1, +# 2.5, 2.5, 2.5, 5, 0.2, 0.1, +# 5.0, 5.0, 5.0, +# 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2, +# 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2 +# ] + + +WeakMotorJointIndex: + left_hip_yaw_joint: 0 + left_hip_roll_joint: 1 + left_hip_pitch_joint: 2 + left_knee_joint: 3 + left_ankle_pitch_joint: 4 + left_ankle_roll_joint: 5 + right_hip_yaw_joint: 6 + right_hip_roll_joint: 7 + right_hip_pitch_joint: 8 + right_knee_joint: 9 + right_ankle_pitch_joint: 10 + right_ankle_roll_joint: 11 + waist_yaw_joint : 12 + waist_roll_joint : 13 + waist_pitch_joint : 14 + left_shoulder_pitch_joint: 15 + left_shoulder_roll_joint: 16 + left_shoulder_yaw_joint: 17 + left_elbow_joint: 18 + left_wrist_roll_joint: 19 + left_wrist_pitch_joint: 20 + left_wrist_yaw_joint: 21 + right_shoulder_pitch_joint: 22 + right_shoulder_roll_joint: 23 + right_shoulder_yaw_joint: 24 + right_elbow_joint: 25 + right_wrist_roll_joint: 26 + right_wrist_pitch_joint: 27 + right_wrist_yaw_joint: 28 + +NUM_MOTORS: 29 +NUM_JOINTS: 29 +NUM_HAND_MOTORS: 7 +NUM_HAND_JOINTS: 7 +NUM_UPPER_BODY_JOINTS: 17 + +DEFAULT_DOF_ANGLES: [ + -0.1, # left_hip_pitch_joint + 0.0, # left_hip_roll_joint + 0.0, # left_hip_yaw_joint + 0.3, # left_knee_joint + -0.2, # left_ankle_pitch_joint + 0.0, # left_ankle_roll_joint + -0.1, # right_hip_pitch_joint + 0.0, # right_hip_roll_joint + 0.0, # right_hip_yaw_joint + 0.3, # right_knee_joint + -0.2, # right_ankle_pitch_joint + 0.0, # right_ankle_roll_joint + 0.0, # waist_yaw_joint + 0.0, # waist_roll_joint + 0.0, # waist_pitch_joint + 0.0, # left_shoulder_pitch_joint + 0.0, # left_shoulder_roll_joint + 0.0, # left_shoulder_yaw_joint + 0.0, # left_elbow_joint + 0.0, # left_wrist_roll_joint + 0.0, # left_wrist_pitch_joint + 0.0, # left_wrist_yaw_joint + 0.0, # right_shoulder_pitch_joint + 0.0, # right_shoulder_roll_joint + 0.0, # right_shoulder_yaw_joint + 0.0, # right_elbow_joint + 0.0, # right_wrist_roll_joint + 0.0, # right_wrist_pitch_joint + 0.0 # right_wrist_yaw_joint +] + +DEFAULT_MOTOR_ANGLES: [ + -0.1, # left_hip_pitch_joint + 0.0, # left_hip_roll_joint + 0.0, # left_hip_yaw_joint + 0.3, # left_knee_joint + -0.2, # left_ankle_pitch_joint + 0.0, # left_ankle_roll_joint + -0.1, # right_hip_pitch_joint + 0.0, # right_hip_roll_joint + 0.0, # right_hip_yaw_joint + 0.3, # right_knee_joint + -0.2, # right_ankle_pitch_joint + 0.0, # right_ankle_roll_joint + 0.0, # waist_yaw_joint + 0.0, # waist_roll_joint + 0.0, # waist_pitch_joint + 0.0, # left_shoulder_pitch_joint + 0.0, # left_shoulder_roll_joint + 0.0, # left_shoulder_yaw_joint + 0.0, # left_elbow_joint + 0.0, # left_wrist_roll_joint + 0.0, # left_wrist_pitch_joint + 0.0, # left_wrist_yaw_joint + 0.0, # right_shoulder_pitch_joint + 0.0, # right_shoulder_roll_joint + 0.0, # right_shoulder_yaw_joint + 0.0, # right_elbow_joint + 0.0, # right_wrist_roll_joint + 0.0, # right_wrist_pitch_joint + 0.0 # right_wrist_yaw_joint +] + +motor_pos_lower_limit_list: [-2.5307, -0.5236, -2.7576, -0.087267, -0.87267, -0.2618, + -2.5307, -2.9671, -2.7576, -0.087267, -0.87267, -0.2618, + -2.618, -0.52, -0.52, + -3.0892, -1.5882, -2.618, -1.0472, + -1.972222054, -1.61443, -1.61443, + -3.0892, -2.2515, -2.618, -1.0472, + -1.972222054, -1.61443, -1.61443] +motor_pos_upper_limit_list: [2.8798, 2.9671, 2.7576, 2.8798, 0.5236, 0.2618, + 2.8798, 0.5236, 2.7576, 2.8798, 0.5236, 0.2618, + 2.618, 0.52, 0.52, + 2.6704, 2.2515, 2.618, 2.0944, + 1.972222054, 1.61443, 1.61443, + 2.6704, 1.5882, 2.618, 2.0944, + 1.972222054, 1.61443, 1.61443] +motor_vel_limit_list: [32.0, 32.0, 32.0, 20.0, 37.0, 37.0, + 32.0, 32.0, 32.0, 20.0, 37.0, 37.0, + 32.0, 37.0, 37.0, + 37.0, 37.0, 37.0, 37.0, + 37.0, 22.0, 22.0, + 37.0, 37.0, 37.0, 37.0, + 37.0, 22.0, 22.0] +motor_effort_limit_list: [88.0, 88.0, 88.0, 139.0, 50.0, 50.0, + 88.0, 88.0, 88.0, 139.0, 50.0, 50.0, + 88.0, 50.0, 50.0, + 25.0, 25.0, 25.0, 25.0, + 25.0, 5.0, 5.0, + 2.45, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, + 25.0, 25.0, 25.0, 25.0, + 25.0, 5.0, 5.0, + 2.45, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7] +history_config: { + base_ang_vel: 4, + projected_gravity: 4, + command_lin_vel: 4, + command_ang_vel: 4, + command_base_height: 4, + command_stand: 4, + ref_upper_dof_pos: 4, + dof_pos: 4, + dof_vel: 4, + actions: 4, + # phase_time: 4, + ref_motion_phase: 4, + sin_phase: 4, + cos_phase: 4 + } +history_loco_config: { + base_ang_vel: 4, + projected_gravity: 4, + command_lin_vel: 4, + command_ang_vel: 4, + # command_base_height: 4, + command_stand: 4, + ref_upper_dof_pos: 4, + dof_pos: 4, + dof_vel: 4, + actions: 4, + # phase_time: 4, + sin_phase: 4, + cos_phase: 4 + } +history_loco_height_config: { + base_ang_vel: 4, + projected_gravity: 4, + command_lin_vel: 4, + command_ang_vel: 4, + command_base_height: 4, + command_stand: 4, + ref_upper_dof_pos: 4, + dof_pos: 4, + dof_vel: 4, + actions: 4, + # phase_time: 4, + sin_phase: 4, + cos_phase: 4 + } +history_mimic_config: { + base_ang_vel: 4, + projected_gravity: 4, + dof_pos: 4, + dof_vel: 4, + actions: 4, + ref_motion_phase: 4, + } +obs_dims: { + base_lin_vel: 3, + base_ang_vel: 3, + projected_gravity: 3, + command_lin_vel: 2, + command_ang_vel: 1, + command_stand: 1, + command_base_height: 1, + ref_upper_dof_pos: 17, # upper body actions + dof_pos: 29, + dof_vel: 29, + # actions: 12, # lower body actions + actions: 29, # full body actions + phase_time: 1, + ref_motion_phase: 1, # mimic motion phase + sin_phase: 1, + cos_phase: 1, + } +obs_loco_dims: { + base_lin_vel: 3, + base_ang_vel: 3, + projected_gravity: 3, + command_lin_vel: 2, + command_ang_vel: 1, + command_stand: 1, + command_base_height: 1, + ref_upper_dof_pos: 17, # upper body actions + dof_pos: 29, + dof_vel: 29, + actions: 12, # lower body actions + phase_time: 1, + sin_phase: 1, + cos_phase: 1, + } +obs_mimic_dims: { + base_lin_vel: 3, + base_ang_vel: 3, + projected_gravity: 3, + dof_pos: 29, + dof_vel: 29, + actions: 29, # full body actions + ref_motion_phase: 1, # mimic motion phase + } +obs_scales: { + base_lin_vel: 2.0, + base_ang_vel: 0.25, + projected_gravity: 1.0, + command_lin_vel: 1, + command_ang_vel: 1, + command_stand: 1, + command_base_height: 2, # Yuanhang: it's 2, not 1! + ref_upper_dof_pos: 1.0, + dof_pos: 1.0, + dof_vel: 0.05, + history: 1.0, + history_loco: 1.0, + history_mimic: 1.0, + actions: 1.0, + phase_time: 1.0, + ref_motion_phase: 1.0, + sin_phase: 1.0, + cos_phase: 1.0 + } + +loco_upper_body_dof_pos: [ + 0.0, 0.0, 0.0, # waist + 0.0, 0.3, 0.0, 1.0, # left shoulder and elbow + 0.0, 0.0, 0.0, # left wrist + 0.0, -0.3, 0.0, 1.0, # right shoulder and elbow + 0.0, 0.0, 0.0 # right wrist +] + +robot_dofs: { + "g1_29dof": [1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, + 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1], + "g1_29dof_anneal_23dof": [1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, + 1, 1, 1, + 1, 1, 1, 1, 0, 0, 0, + 1, 1, 1, 1, 0, 0, 0], +} + +mimic_robot_types: { + + "APT_level1": "g1_29dof_anneal_23dof", +} + + + + +# 01281657 +mimic_models: { + "APT_level1": "20250116_225127-TairanTestbed_G129dofANNEAL23dof_dm_APT_video_APT_level1_MinimalFriction-0.3_RfiTrue_Far0.325_RESUME_LARGENOISE-motion_tracking-g1_29dof_anneal_23dof/exported/model_176500.onnx", + +} + + + +start_upper_body_dof_pos: { + + "APT_level1": + [0.19964170455932617, 0.07710712403059006, -0.2882401943206787, + 0.21672365069389343, 0.15629297494888306, -0.5167576670646667, 0.5782126784324646, + 0.0, 0.0, 0.0, + 0.25740593671798706, -0.2504104673862457, 0.22500675916671753, 0.5127624273300171, + 0.0, 0.0, 0.0], + +} + +motion_length_s: { + "APT_level1": 7.66, + +} diff --git a/gr00t_wbc/control/main/teleop/configs/g1_gear_wbc.yaml b/gr00t_wbc/control/main/teleop/configs/g1_gear_wbc.yaml new file mode 100644 index 0000000..4014fae --- /dev/null +++ b/gr00t_wbc/control/main/teleop/configs/g1_gear_wbc.yaml @@ -0,0 +1,45 @@ + +# Simulation parameters +simulation_duration: 60.0 +simulation_dt: 0.002 +control_decimation: 10 + +# PD gains +kps: [ + 150, 150, 150, 300, 40, 40, + 150, 150, 150, 300, 40, 40, + 250, 250, 250, + 100, 100, 40, 40, 20, 20, 20, + 100, 100, 40, 40, 20, 20, 20 +] +kds: [ + 2, 2, 2, 4, 2, 2, + 2, 2, 2, 4, 2, 2, + 5, 5, 5, + 5, 5, 2, 2, 2, 2, 2, + 5, 5, 2, 2, 2, 2, 2 +] + +# Default joint angles for legs +default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, + -0.1, 0.0, 0.0, 0.3, -0.2, 0.0, + 0.0, 0.0, 0.0] +# Scaling factors +ang_vel_scale: 0.25 +dof_pos_scale: 1.0 +dof_vel_scale: 0.05 +action_scale: 0.25 +cmd_scale: [2.0, 2.0, 0.25] + +# Number of actions and observations +num_actions: 15 +num_obs: 570 # 76 * 6 (observation dimension * history length) +obs_history_len: 6 + +# Initial commands +cmd_init: [0.0, 0.0, 0.0] +height_cmd: 0.74 +freq_cmd: 1.50 +roll_cmd: 0.0 +pitch_cmd: 0.0 +yaw_cmd: 0.0 \ No newline at end of file diff --git a/gr00t_wbc/control/main/teleop/configs/identifiers.py b/gr00t_wbc/control/main/teleop/configs/identifiers.py new file mode 100644 index 0000000..0f9b3ad --- /dev/null +++ b/gr00t_wbc/control/main/teleop/configs/identifiers.py @@ -0,0 +1,14 @@ +""" +Constants required during data collection, such as operator usernames and robot IDs. +Additional constants needed for data collection can be added to this file. +""" + +OPERATOR_USERNAMES = [ + "NEW_USER", +] + +G1_ROBOT_IDS = [ + "sim", + "0001", + "0002", +] diff --git a/gr00t_wbc/control/main/teleop/playback_sync_sim_data.py b/gr00t_wbc/control/main/teleop/playback_sync_sim_data.py new file mode 100644 index 0000000..9afbb20 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/playback_sync_sim_data.py @@ -0,0 +1,627 @@ +""" +A convenience script to playback random demonstrations using the gr00t_wbc controller from +a set of demonstrations stored in a hdf5 file. + +Arguments: + --dataset (str): Path to demonstrations + --use-actions (optional): If this flag is provided, the actions are played back + through the MuJoCo simulator, instead of loading the simulator states + one by one. + --use-wbc-goals (optional): If set, will use the stored WBC goals to control the robot, + otherwise will use the actions directly. Only relevant if --use-actions is set. + --use-teleop-cmd (optional): If set, will use teleop IK directly with WBC timing + for action generation. Only relevant if --use-actions is set. + --visualize-gripper (optional): If set, will visualize the gripper site + --save-video (optional): If set, will save video of the playback using offscreen rendering + --video-path (optional): Path to save the output video. If not specified, will use the nearest + folder to dataset and save as playback_video.mp4 + --num-episodes (optional): Number of episodes to playback/record (if None, plays random episodes) + +Example: + $ python gr00t_wbc/control/main/teleop/playback_sync_sim_data.py --dataset output/robocasa_datasets/ + --use-actions --use-wbc-goals + + $ python gr00t_wbc/control/main/teleop/playback_sync_sim_data.py --dataset output/robocasa_datasets/ + --use-actions --use-teleop-cmd + + # Record video of the first 5 episodes using WBC goals + $ python gr00t_wbc/control/main/teleop/playback_sync_sim_data.py --dataset output/robocasa_datasets/ + --use-actions --use-wbc-goals --save-video --num-episodes 5 +""" + +import json +import os +from pathlib import Path +import time +from typing import Optional + +import cv2 +import numpy as np +import rclpy +from robosuite.environments.robot_env import RobotEnv +from tqdm import tqdm +import tyro + +from gr00t_wbc.control.main.teleop.configs.configs import SyncSimPlaybackConfig +from gr00t_wbc.control.robot_model.instantiation import get_robot_type_and_model +from gr00t_wbc.control.utils.sync_sim_utils import ( + generate_frame, + get_data_exporter, + get_env, + get_policies, +) +from gr00t_wbc.data.constants import RS_VIEW_CAMERA_HEIGHT, RS_VIEW_CAMERA_WIDTH +from gr00t_wbc.data.exporter import TypedLeRobotDataset + +CONTROL_NODE_NAME = "playback_node" +GREEN_BOLD = "\033[1;32m" +RED_BOLD = "\033[1;31m" +RESET = "\033[0m" + + +def load_lerobot_dataset(root_path, max_episodes=None): + task_name = None + episodes = [] + start_index = 0 + with open(Path(root_path) / "meta/episodes.jsonl", "r") as f: + for line in f: + episode = json.loads(line) + episode["start_index"] = start_index + start_index += episode["length"] + assert ( + task_name is None or task_name == episode["tasks"][0] + ), "All episodes should have the same task name" + task_name = episode["tasks"][0] + episodes.append(episode) + + dataset = TypedLeRobotDataset( + repo_id="tmp/test", + root=root_path, + load_video=False, + ) + + script_config = dataset.meta.info["script_config"] + + assert len(dataset) == start_index, "Dataset length does not match expected length" + + # Limit episodes if specified + if max_episodes is not None: + episodes = episodes[:max_episodes] + print( + f"Loading only first {len(episodes)} episodes (limited by max_episodes={max_episodes})" + ) + + f = {} + seeds = [] + for ep in tqdm(range(len(episodes))): + seed = None + f[f"data/demo_{ep + 1}/states"] = [] + f[f"data/demo_{ep + 1}/actions"] = [] + f[f"data/demo_{ep + 1}/teleop_cmd"] = [] + f[f"data/demo_{ep + 1}/wbc_goal"] = [] + start_index = episodes[ep]["start_index"] + end_index = start_index + episodes[ep]["length"] + for i in tqdm(range(start_index, end_index)): + frame = dataset[i] + # load the seed + assert ( + seed is None or seed == np.array(frame["observation.sim.seed"]).item() + ), "All observations in an episode should have the same seed" + seed = np.array(frame["observation.sim.seed"]).item() + # load the state + mujoco_state_len = frame["observation.sim.mujoco_state_len"] + mujoco_state = frame["observation.sim.mujoco_state"] + f[f"data/demo_{ep + 1}/states"].append(np.array(mujoco_state[:mujoco_state_len])) + # load the action + action = frame["action"] + f[f"data/demo_{ep + 1}/actions"].append(np.array(action)) + + # load the teleop command + teleop_cmd = { + "left_wrist": np.array(frame["observation.sim.left_wrist"].reshape(4, 4)), + "right_wrist": np.array(frame["observation.sim.right_wrist"].reshape(4, 4)), + "left_fingers": { + "position": np.array(frame["observation.sim.left_fingers"].reshape(25, 4, 4)), + }, + "right_fingers": { + "position": np.array(frame["observation.sim.right_fingers"].reshape(25, 4, 4)), + }, + "target_upper_body_pose": np.array(frame["observation.sim.target_upper_body_pose"]), + "base_height_command": np.array(frame["teleop.base_height_command"]), + "navigate_cmd": np.array(frame["teleop.navigate_command"]), + } + f[f"data/demo_{ep + 1}/teleop_cmd"].append(teleop_cmd) + # load the WBC goal + wbc_goal = { + "wrist_pose": np.array(frame["action.eef"]), + "target_upper_body_pose": np.array(frame["observation.sim.target_upper_body_pose"]), + "navigate_cmd": np.array(frame["teleop.navigate_command"]), + "base_height_command": np.array(frame["teleop.base_height_command"]), + } + f[f"data/demo_{ep + 1}/wbc_goal"].append(wbc_goal) + + seeds.append(seed) + + return seeds, f, script_config + + +def validate_state(recorded_state, playback_state, ep, step, tolerance=1e-5): + """Validate that playback state matches recorded state within tolerance.""" + if not np.allclose(recorded_state, playback_state, atol=tolerance): + err = np.linalg.norm(recorded_state - playback_state) + print(f"[warning] state diverged by {err:.12f} for ep {ep} at step {step}") + return False + return True + + +def generate_and_save_frame( + config, sync_env, obs, wbc_action, seed, teleop_cmd, wbc_goal, gr00t_exporter +): + """Generate and save a frame to LeRobot dataset if enabled.""" + if config.save_lerobot: + max_mujoco_state_len, mujoco_state_len, mujoco_state = sync_env.get_mujoco_state_info() + frame = generate_frame( + obs, + wbc_action, + seed, + mujoco_state, + mujoco_state_len, + max_mujoco_state_len, + teleop_cmd, + wbc_goal, + config.save_img_obs, + ) + gr00t_exporter.add_frame(frame) + + +def playback_wbc_goals( + sync_env, + wbc_policy, + wbc_goals, + teleop_cmds, + states, + env, + onscreen, + config, + video_writer, + ep, + seed, + gr00t_exporter, + end_steps, +): + """Playback using WBC goals to control the robot.""" + ret = True + num_wbc_goals = len(wbc_goals) if end_steps == -1 else min(end_steps, len(wbc_goals)) + + for jj in range(num_wbc_goals): + wbc_goal = wbc_goals[jj] + obs = sync_env.observe() + wbc_policy.set_observation(obs) + wbc_policy.set_goal(wbc_goal) + wbc_action = wbc_policy.get_action() + sync_env.queue_action(wbc_action) + + # Save frame if needed + if config.save_lerobot: + teleop_cmd = teleop_cmds[jj] + generate_and_save_frame( + config, sync_env, obs, wbc_action, seed, teleop_cmd, wbc_goal, gr00t_exporter + ) + + capture_or_render_frame(env, onscreen, config, video_writer) + + if jj < len(states) - 1: + state_playback = env.sim.get_state().flatten() + if not validate_state(states[jj + 1], state_playback, ep, jj): + ret = False + + return ret + + +def playback_teleop_cmd( + sync_env, + wbc_policy, + teleop_policy, + wbc_goals, + teleop_cmds, + states, + env, + onscreen, + config, + video_writer, + ep, + seed, + gr00t_exporter, + end_steps, +): + """Playback using teleop commands to control the robot.""" + ret = True + num_steps = len(wbc_goals) if end_steps == -1 else min(end_steps, len(wbc_goals)) + + for jj in range(num_steps): + wbc_goal = wbc_goals[jj] + teleop_cmd = teleop_cmds[jj] + + # Set IK goal from teleop command + ik_data = { + "body_data": { + teleop_policy.retargeting_ik.body.supplemental_info.hand_frame_names[ + "left" + ]: teleop_cmd["left_wrist"], + teleop_policy.retargeting_ik.body.supplemental_info.hand_frame_names[ + "right" + ]: teleop_cmd["right_wrist"], + }, + "left_hand_data": teleop_cmd["left_fingers"], + "right_hand_data": teleop_cmd["right_fingers"], + } + teleop_policy.retargeting_ik.set_goal(ik_data) + + # Store original and get new upper body pose + target_upper_body_pose = wbc_goal["target_upper_body_pose"].copy() + wbc_goal["target_upper_body_pose"] = teleop_policy.retargeting_ik.get_action() + + # Execute WBC policy + obs = sync_env.observe() + wbc_policy.set_observation(obs) + wbc_policy.set_goal(wbc_goal) + wbc_action = wbc_policy.get_action() + sync_env.queue_action(wbc_action) + + # Save frame if needed + generate_and_save_frame( + config, sync_env, obs, wbc_action, seed, teleop_cmd, wbc_goal, gr00t_exporter + ) + + # Render or capture frame + capture_or_render_frame(env, onscreen, config, video_writer) + + # Validate states + if jj < len(states) - 1: + if not np.allclose( + target_upper_body_pose, wbc_goal["target_upper_body_pose"], atol=1e-5 + ): + err = np.linalg.norm(target_upper_body_pose - wbc_goal["target_upper_body_pose"]) + print( + f"[warning] target_upper_body_pose diverged by {err:.12f} for ep {ep} at step {jj}" + ) + ret = False + + state_playback = env.sim.get_state().flatten() + if not validate_state(states[jj + 1], state_playback, ep, jj): + ret = False + + return ret + + +def playback_actions( + sync_env, + actions, + teleop_cmds, + wbc_goals, + states, + env, + onscreen, + config, + video_writer, + ep, + seed, + gr00t_exporter, + end_steps, +): + """Playback using actions directly.""" + ret = True + num_actions = len(actions) if end_steps == -1 else min(end_steps, len(actions)) + + for j in range(num_actions): + sync_env.queue_action({"q": actions[j]}) + + # Save frame if needed + if config.save_lerobot: + obs = sync_env.observe() + teleop_cmd = teleop_cmds[j] + wbc_goal = wbc_goals[j] + wbc_action = {"q": actions[j]} + generate_and_save_frame( + config, sync_env, obs, wbc_action, seed, teleop_cmd, wbc_goal, gr00t_exporter + ) + + capture_or_render_frame(env, onscreen, config, video_writer) + + if j < len(states) - 1: + state_playback = env.sim.get_state().flatten() + if not validate_state(states[j + 1], state_playback, ep, j): + ret = False + + return ret + + +def playback_states( + sync_env, + states, + actions, + teleop_cmds, + wbc_goals, + env, + onscreen, + config, + video_writer, + seed, + gr00t_exporter, + end_steps, + ep, +): + """Playback by forcing mujoco states directly.""" + ret = True + num_states = len(states) if end_steps == -1 else min(end_steps, len(states)) + + for i in range(num_states): + sync_env.reset_to({"states": states[i]}) + sync_env.render() + + # Validate that the state was set correctly + if i < len(states): + state_playback = env.sim.get_state().flatten() + if not validate_state(states[i], state_playback, ep, i): + ret = False + + # Save frame if needed + if config.save_lerobot: + obs = sync_env.observe() + teleop_cmd = teleop_cmds[i] + wbc_goal = wbc_goals[i] + wbc_action = {"q": actions[i]} + generate_and_save_frame( + config, sync_env, obs, wbc_action, seed, teleop_cmd, wbc_goal, gr00t_exporter + ) + + capture_or_render_frame(env, onscreen, config, video_writer) + + return ret + + +def main(config: SyncSimPlaybackConfig): + ret = True + start_time = time.time() + + np.set_printoptions(precision=5, suppress=True, linewidth=120) + + assert config.dataset is not None, "Folder must be specified for playback" + + seeds, f, script_config = load_lerobot_dataset(config.dataset) + + config.update( + script_config, + allowed_keys=[ + "wbc_version", + "wbc_model_path", + "wbc_policy_class", + "control_frequency", + "enable_waist", + "with_hands", + "env_name", + "robot", + "task_name", + "teleop_frequency", + "data_collection_frequency", + "enable_gravity_compensation", + "gravity_compensation_joints", + ], + ) + config.validate_args() + + robot_type, robot_model = get_robot_type_and_model(config.robot, config.enable_waist) + + # Setup rendering + if config.save_video or config.save_img_obs: + onscreen = False + offscreen = True + else: + onscreen = True + offscreen = False + + # Set default video path if not specified + if config.save_video and config.video_path is None: + if os.path.isfile(config.dataset): + video_folder = Path(config.dataset).parent + else: + video_folder = Path(config.dataset) + video_folder.mkdir(parents=True, exist_ok=True) + config.video_path = str(video_folder / "playback_video.mp4") + print(f"Video recording enabled. Output: {config.video_path}") + + sync_env = get_env(config, onscreen=onscreen, offscreen=offscreen) + + gr00t_exporter = None + if config.save_lerobot: + obs = sync_env.observe() + gr00t_exporter = get_data_exporter(config, obs, robot_model) + + # Initialize policies + wbc_policy, teleop_policy = get_policies( + config, robot_type, robot_model, activate_keyboard_listener=False + ) + + # List of all demonstrations episodes + demos = [f"demo_{i + 1}" for i in range(len(seeds))] + print(f"Loaded and will playback {len(demos)} episodes") + env = sync_env.base_env + + # Setup video writer + video_writer = None + fourcc = None + if config.save_video: + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + video_writer = cv2.VideoWriter( + config.video_path, fourcc, 20, (RS_VIEW_CAMERA_WIDTH, RS_VIEW_CAMERA_HEIGHT) + ) + + print("Loaded {} episodes from {}".format(len(demos), config.dataset)) + print("seeds:", seeds) + print("demos:", demos, "\n\n") + + # Handle episode selection - either limited number or infinite random + max_episodes = len(demos) + episode_count = 0 + while True: + if episode_count >= max_episodes: + break + ep = demos[episode_count] + print(f"Playing back episode: {ep}") + episode_count += 1 + + # read the model xml, using the metadata stored in the attribute for this episode + seed = seeds[int(ep.split("_")[-1]) - 1] + sync_env.reset(seed=seed) + + # load the actions and states + states = f["data/{}/states".format(ep)] + actions = f["data/{}/actions".format(ep)] + teleop_cmds = f["data/{}/teleop_cmd".format(ep)] + wbc_goals = f["data/{}/wbc_goal".format(ep)] + + # reset the policies + wbc_policy, teleop_policy, _ = get_policies( + config, robot_type, robot_model, activate_keyboard_listener=False + ) + end_steps = 20 if config.ci_test else -1 + + if config.use_actions: + # load the initial state + sync_env.reset_to({"states": states[0]}) + # load the actions and play them back open-loop + if config.use_wbc_goals: + # use the wbc_goals to control the robot + episode_ret = playback_wbc_goals( + sync_env, + wbc_policy, + wbc_goals, + teleop_cmds, + states, + env, + onscreen, + config, + video_writer, + ep, + seed, + gr00t_exporter, + end_steps, + ) + ret = ret and episode_ret + elif config.use_teleop_cmd: + # use the teleop commands to control the robot + episode_ret = playback_teleop_cmd( + sync_env, + wbc_policy, + teleop_policy, + wbc_goals, + teleop_cmds, + states, + env, + onscreen, + config, + video_writer, + ep, + seed, + gr00t_exporter, + end_steps, + ) + ret = ret and episode_ret + else: + episode_ret = playback_actions( + sync_env, + actions, + teleop_cmds, + wbc_goals, + states, + env, + onscreen, + config, + video_writer, + ep, + seed, + gr00t_exporter, + end_steps, + ) + ret = ret and episode_ret + else: + # force the sequence of internal mujoco states one by one + episode_ret = playback_states( + sync_env, + states, + actions, + teleop_cmds, + wbc_goals, + env, + onscreen, + config, + video_writer, + seed, + gr00t_exporter, + end_steps, + ep, + ) + ret = ret and episode_ret + + if config.save_lerobot: + gr00t_exporter.save_episode() + + print(f"Episode {ep} playback finished.\n\n") + + # close the env + sync_env.close() + + # Cleanup + if video_writer is not None: + video_writer.release() + print(f"Video saved to: {config.video_path}") + + end_time = time.time() + elapsed_time = end_time - start_time + + if config.save_lerobot: + print(f"LeRobot dataset saved to: {gr00t_exporter.root}") + + print( + f"{GREEN_BOLD}Playback with WBC version: {config.wbc_version}, {config.wbc_model_path}, " + f"{config.wbc_policy_class}, use_actions: {config.use_actions}, use_wbc_goals: {config.use_wbc_goals}, " + f"use_teleop_cmd: {config.use_teleop_cmd}{RESET}" + ) + if ret: + print(f"{GREEN_BOLD}Playback completed successfully in {elapsed_time:.2f} seconds!{RESET}") + else: + print(f"{RED_BOLD}Playback encountered an error in {elapsed_time:.2f} seconds!{RESET}") + + return ret + + +def capture_or_render_frame( + env: RobotEnv, + onscreen: bool, + config: SyncSimPlaybackConfig, + video_writer: Optional[cv2.VideoWriter], +): + """Capture frame for video recording if enabled, or render the environment.""" + if config.save_video: + if hasattr(env, "sim") and hasattr(env.sim, "render"): + img = env.sim.render( + width=RS_VIEW_CAMERA_WIDTH, + height=RS_VIEW_CAMERA_HEIGHT, + camera_name=env.render_camera[0], + ) + img_bgr = cv2.cvtColor(img, cv2.COLOR_RGB2BGR) + img_bgr = np.flipud(img_bgr) + video_writer.write(img_bgr) + elif onscreen: + env.render() + + +if __name__ == "__main__": + config = tyro.cli(SyncSimPlaybackConfig) + + rclpy.init(args=None) + node = rclpy.create_node("playback_gr00t_wbc_control") + + main(config) + + rclpy.shutdown() diff --git a/gr00t_wbc/control/main/teleop/run_camera_viewer.py b/gr00t_wbc/control/main/teleop/run_camera_viewer.py new file mode 100644 index 0000000..298bebb --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_camera_viewer.py @@ -0,0 +1,249 @@ +""" +Camera viewer with manual recording support. + +This script provides a camera viewer that can display multiple camera streams +and record them to video files with manual start/stop controls. + +Features: +- Onscreen mode: Display camera feeds with optional recording +- Offscreen mode: No display, recording only when triggered +- Manual recording control with keyboard (R key to start/stop) + +Usage Examples: + +1. Basic onscreen viewing (with recording capability): + python run_camera_viewer.py --camera-host localhost --camera-port 5555 + +2. Offscreen mode (no display, recording only): + python run_camera_viewer.py --offscreen --camera-host localhost --camera-port 5555 + +3. Custom output directory: + python run_camera_viewer.py --output-path ./my_recordings --camera-host localhost + +Controls: +- R key: Start/Stop recording +- Q key: Quit application + +Output Structure: +camera_output_20241211_143052/ +├── rec_143205/ +│ ├── ego_view_color_image.mp4 +│ ├── head_left_color_image.mp4 +│ └── head_right_color_image.mp4 +└── rec_143410/ + ├── ego_view_color_image.mp4 + └── head_left_color_image.mp4 +""" + +from dataclasses import dataclass +from pathlib import Path +import threading +import time +from typing import Any, Optional + +import cv2 +import rclpy +from sshkeyboard import listen_keyboard, stop_listening +import tyro + +from gr00t_wbc.control.main.teleop.configs.configs import ComposedCameraClientConfig +from gr00t_wbc.control.sensor.composed_camera import ComposedCameraClientSensor +from gr00t_wbc.control.utils.img_viewer import ImageViewer + + +@dataclass +class CameraViewerConfig(ComposedCameraClientConfig): + """Config for running the camera viewer with recording support.""" + + offscreen: bool = False + """Run in offscreen mode (no display, manual recording with R key).""" + + output_path: Optional[str] = None + """Output path for saving videos. If None, auto-generates path.""" + + codec: str = "mp4v" + """Video codec to use for saving (e.g., 'mp4v', 'XVID').""" + + +ArgsConfig = CameraViewerConfig + + +def _get_camera_titles(image_data: dict[str, Any]) -> list[str]: + """ + Detect all the individual camera streams from the image data. + + schema format: + { + "timestamps": {"ego_view": 123.45, "ego_view_left_mono": 123.46}, + "images": {"ego_view": np.ndarray, "ego_view_left_mono": np.ndarray} + } + + Returns list of camera keys (e.g., ["ego_view", "ego_view_left_mono", "ego_view_right_mono"]) + """ + # Extract all camera keys from the images dictionary + camera_titles = list(image_data.get("images", {}).keys()) + return camera_titles + + +def main(config: ArgsConfig): + """Main function to run the camera viewer.""" + # Initialize ROS + rclpy.init(args=None) + node = rclpy.create_node("camera_viewer") + + # Start ROS spin in a separate thread + thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True) + thread.start() + + image_sub = ComposedCameraClientSensor(server_ip=config.camera_host, port=config.camera_port) + + # pre-fetch a sample image to get the number of camera angles + retry_count = 0 + while True: + _sample_image = image_sub.read() + if _sample_image: + break + retry_count += 1 + time.sleep(0.1) + if retry_count > 10: + raise Exception("Failed to get sample image") + + camera_titles = _get_camera_titles(_sample_image) + + # Setup output directory + if config.output_path is None: + output_dir = Path("camera_recordings") + else: + output_dir = Path(config.output_path) + + # Recording state + is_recording = False + video_writers = {} + frame_count = 0 + recording_start_time = None + should_quit = False + + def on_press(key): + nonlocal is_recording, video_writers, frame_count, recording_start_time, should_quit + + if key == "r": + if not is_recording: + # Start recording + recording_dir = output_dir / f"rec_{time.strftime('%Y%m%d_%H%M%S')}" + recording_dir.mkdir(parents=True, exist_ok=True) + + # Create video writers + fourcc = cv2.VideoWriter_fourcc(*config.codec) + video_writers = {} + + for title in camera_titles: + img = _sample_image["images"].get(title) + if img is not None: + height, width = img.shape[:2] + video_path = recording_dir / f"{title}.mp4" + writer = cv2.VideoWriter( + str(video_path), fourcc, config.fps, (width, height) + ) + video_writers[title] = writer + + is_recording = True + recording_start_time = time.time() + frame_count = 0 + print(f"🔴 Recording started: {recording_dir}") + else: + # Stop recording + is_recording = False + for title, writer in video_writers.items(): + writer.release() + video_writers = {} + + duration = time.time() - recording_start_time if recording_start_time else 0 + print(f"⏹️ Recording stopped - {duration:.1f}s, {frame_count} frames") + elif key == "q": + should_quit = True + stop_listening() + + # Setup keyboard listener in a separate thread + keyboard_thread = threading.Thread( + target=lambda: listen_keyboard(on_press=on_press), daemon=True + ) + keyboard_thread.start() + + # Setup viewer for onscreen mode + viewer = None + if not config.offscreen: + viewer = ImageViewer( + title="Camera Viewer", + figsize=(10, 8), + num_images=len(camera_titles), + image_titles=camera_titles, + ) + + # Print instructions + mode = "Offscreen" if config.offscreen else "Onscreen" + print(f"{mode} mode - Target FPS: {config.fps}") + print(f"Videos will be saved to: {output_dir}") + print("Controls: R key to start/stop recording, Q key to quit, Ctrl+C to exit") + + # Create ROS rate controller + rate = node.create_rate(config.fps) + + try: + while rclpy.ok() and not should_quit: + # Get images from all subscribers + images = [] + image_data = image_sub.read() + if image_data: + for title in camera_titles: + img = image_data["images"].get(title) + images.append(img) + + # Save frame if recording + if is_recording and img is not None and title in video_writers: + # Convert from RGB to BGR for OpenCV + if len(img.shape) == 3 and img.shape[2] == 3: + img_bgr = cv2.cvtColor(img, cv2.COLOR_RGB2BGR) + else: + img_bgr = img + video_writers[title].write(img_bgr) + + # Display images if not offscreen + if not config.offscreen and viewer and any(img is not None for img in images): + status = "🔴 REC" if is_recording else "⏸️ Ready" + viewer._fig.suptitle(f"Camera Viewer - {status}") + viewer.show_multiple(images) + + # Progress feedback + if is_recording: + frame_count += 1 + if frame_count % 100 == 0: + duration = time.time() - recording_start_time + print(f"Recording: {frame_count} frames ({duration:.1f}s)") + + rate.sleep() + + except KeyboardInterrupt: + print("\nExiting...") + finally: + # Cleanup + try: + stop_listening() + except Exception: + pass + + if video_writers: + for title, writer in video_writers.items(): + writer.release() + if is_recording: + duration = time.time() - recording_start_time + print(f"Final: {duration:.1f}s, {frame_count} frames") + + if viewer: + viewer.close() + + rclpy.shutdown() + + +if __name__ == "__main__": + config = tyro.cli(ArgsConfig) + main(config) diff --git a/gr00t_wbc/control/main/teleop/run_g1_control_loop.py b/gr00t_wbc/control/main/teleop/run_g1_control_loop.py new file mode 100644 index 0000000..17cf2b1 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_g1_control_loop.py @@ -0,0 +1,236 @@ +from copy import deepcopy +import time + +import tyro + +from gr00t_wbc.control.envs.g1.g1_env import G1Env +from gr00t_wbc.control.main.constants import ( + CONTROL_GOAL_TOPIC, + DEFAULT_BASE_HEIGHT, + DEFAULT_NAV_CMD, + DEFAULT_WRIST_POSE, + JOINT_SAFETY_STATUS_TOPIC, + LOWER_BODY_POLICY_STATUS_TOPIC, + ROBOT_CONFIG_TOPIC, + STATE_TOPIC_NAME, +) +from gr00t_wbc.control.main.teleop.configs.configs import ControlLoopConfig +from gr00t_wbc.control.policy.wbc_policy_factory import get_wbc_policy +from gr00t_wbc.control.robot_model.instantiation.g1 import ( + instantiate_g1_robot_model, +) +from gr00t_wbc.control.utils.keyboard_dispatcher import ( + KeyboardDispatcher, + KeyboardEStop, + KeyboardListenerPublisher, + ROSKeyboardDispatcher, +) +from gr00t_wbc.control.utils.ros_utils import ( + ROSManager, + ROSMsgPublisher, + ROSMsgSubscriber, + ROSServiceServer, +) +from gr00t_wbc.control.utils.telemetry import Telemetry + +CONTROL_NODE_NAME = "ControlPolicy" + + +def main(config: ControlLoopConfig): + ros_manager = ROSManager(node_name=CONTROL_NODE_NAME) + node = ros_manager.node + + # start the robot config server + ROSServiceServer(ROBOT_CONFIG_TOPIC, config.to_dict()) + + wbc_config = config.load_wbc_yaml() + + data_exp_pub = ROSMsgPublisher(STATE_TOPIC_NAME) + lower_body_policy_status_pub = ROSMsgPublisher(LOWER_BODY_POLICY_STATUS_TOPIC) + joint_safety_status_pub = ROSMsgPublisher(JOINT_SAFETY_STATUS_TOPIC) + + # Initialize telemetry + telemetry = Telemetry(window_size=100) + + waist_location = "lower_and_upper_body" if config.enable_waist else "lower_body" + robot_model = instantiate_g1_robot_model( + waist_location=waist_location, high_elbow_pose=config.high_elbow_pose + ) + + env = G1Env( + env_name=config.env_name, + robot_model=robot_model, + config=wbc_config, + wbc_version=config.wbc_version, + ) + if env.sim and not config.sim_sync_mode: + env.start_simulator() + + wbc_policy = get_wbc_policy("g1", robot_model, wbc_config, config.upper_body_joint_speed) + + keyboard_listener_pub = KeyboardListenerPublisher() + keyboard_estop = KeyboardEStop() + if config.keyboard_dispatcher_type == "raw": + dispatcher = KeyboardDispatcher() + elif config.keyboard_dispatcher_type == "ros": + dispatcher = ROSKeyboardDispatcher() + else: + raise ValueError( + f"Invalid keyboard dispatcher: {config.keyboard_dispatcher_type}, please use 'raw' or 'ros'" + ) + dispatcher.register(env) + dispatcher.register(wbc_policy) + dispatcher.register(keyboard_listener_pub) + dispatcher.register(keyboard_estop) + dispatcher.start() + + rate = node.create_rate(config.control_frequency) + + upper_body_policy_subscriber = ROSMsgSubscriber(CONTROL_GOAL_TOPIC) + + last_teleop_cmd = None + try: + while ros_manager.ok(): + t_start = time.monotonic() + with telemetry.timer("total_loop"): + # Step simulator if in sync mode + with telemetry.timer("step_simulator"): + if env.sim and config.sim_sync_mode: + env.step_simulator() + + # Measure observation time + with telemetry.timer("observe"): + obs = env.observe() + wbc_policy.set_observation(obs) + + # Measure policy setup time + with telemetry.timer("policy_setup"): + upper_body_cmd = upper_body_policy_subscriber.get_msg() + + t_now = time.monotonic() + + wbc_goal = {} + if upper_body_cmd: + wbc_goal = upper_body_cmd.copy() + last_teleop_cmd = upper_body_cmd.copy() + if config.ik_indicator: + env.set_ik_indicator(upper_body_cmd) + # Send goal to policy + if wbc_goal: + wbc_goal["interpolation_garbage_collection_time"] = t_now - 2 * ( + 1 / config.control_frequency + ) + wbc_policy.set_goal(wbc_goal) + + # Measure policy action calculation time + with telemetry.timer("policy_action"): + wbc_action = wbc_policy.get_action(time=t_now) + + # Measure action queue time + with telemetry.timer("queue_action"): + env.queue_action(wbc_action) + + # Publish status information for InteractiveModeController + with telemetry.timer("publish_status"): + # Get policy status - check if the lower body policy has use_policy_action enabled + policy_use_action = False + try: + # Access the lower body policy through the decoupled whole body policy + if hasattr(wbc_policy, "lower_body_policy"): + policy_use_action = getattr( + wbc_policy.lower_body_policy, "use_policy_action", False + ) + except (AttributeError, TypeError): + policy_use_action = False + + policy_status_msg = {"use_policy_action": policy_use_action, "timestamp": t_now} + lower_body_policy_status_pub.publish(policy_status_msg) + + # Get joint safety status from G1Env (which already runs the safety monitor) + joint_safety_ok = env.get_joint_safety_status() + + joint_safety_status_msg = { + "joint_safety_ok": joint_safety_ok, + "timestamp": t_now, + } + joint_safety_status_pub.publish(joint_safety_status_msg) + + # Start or Stop data collection + if wbc_goal.get("toggle_data_collection", False): + dispatcher.handle_key("c") + + # Abort the current episode + if wbc_goal.get("toggle_data_abort", False): + dispatcher.handle_key("x") + + if env.use_sim and wbc_goal.get("reset_env_and_policy", False): + print("Resetting sim environment and policy") + # Reset teleop policy & sim env + dispatcher.handle_key("k") + + # Clear upper body commands + upper_body_policy_subscriber._msg = None + upper_body_cmd = { + "target_upper_body_pose": obs["q"][ + robot_model.get_joint_group_indices("upper_body") + ], + "wrist_pose": DEFAULT_WRIST_POSE, + "base_height_command": DEFAULT_BASE_HEIGHT, + "navigate_cmd": DEFAULT_NAV_CMD, + } + last_teleop_cmd = upper_body_cmd.copy() + + time.sleep(0.5) + + msg = deepcopy(obs) + for key in obs.keys(): + if key.endswith("_image"): + del msg[key] + + # exporting data + if last_teleop_cmd: + msg.update( + { + "action": wbc_action["q"], + "action.eef": last_teleop_cmd.get("wrist_pose", DEFAULT_WRIST_POSE), + "base_height_command": last_teleop_cmd.get( + "base_height_command", DEFAULT_BASE_HEIGHT + ), + "navigate_command": last_teleop_cmd.get( + "navigate_cmd", DEFAULT_NAV_CMD + ), + "timestamps": { + "main_loop": time.time(), + "proprio": time.time(), + }, + } + ) + data_exp_pub.publish(msg) + end_time = time.monotonic() + + if env.sim and (not env.sim.sim_thread or not env.sim.sim_thread.is_alive()): + raise RuntimeError("Simulator thread is not alive") + + rate.sleep() + + # Log timing information every 100 iterations (roughly every 2 seconds at 50Hz) + if config.verbose_timing: + # When verbose timing is enabled, always show timing + telemetry.log_timing_info(context="G1 Control Loop", threshold=0.0) + elif (end_time - t_start) > (1 / config.control_frequency) and not config.sim_sync_mode: + # Only show timing when loop is slow and verbose_timing is disabled + telemetry.log_timing_info(context="G1 Control Loop Missed", threshold=0.001) + + except ros_manager.exceptions() as e: + print(f"ROSManager interrupted by user: {e}") + finally: + print("Cleaning up...") + # the order of the following is important + dispatcher.stop() + ros_manager.shutdown() + env.close() + + +if __name__ == "__main__": + config = tyro.cli(ControlLoopConfig) + main(config) diff --git a/gr00t_wbc/control/main/teleop/run_g1_data_exporter.py b/gr00t_wbc/control/main/teleop/run_g1_data_exporter.py new file mode 100644 index 0000000..5bd95d9 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_g1_data_exporter.py @@ -0,0 +1,364 @@ +from collections import deque +from datetime import datetime +import threading +import time + +import numpy as np +import rclpy +import tyro + +from gr00t_wbc.control.main.constants import ROBOT_CONFIG_TOPIC, STATE_TOPIC_NAME +from gr00t_wbc.control.main.teleop.configs.configs import DataExporterConfig +from gr00t_wbc.control.robot_model.instantiation import g1 +from gr00t_wbc.control.sensor.composed_camera import ComposedCameraClientSensor +from gr00t_wbc.control.utils.episode_state import EpisodeState +from gr00t_wbc.control.utils.keyboard_dispatcher import KeyboardListenerSubscriber +from gr00t_wbc.control.utils.ros_utils import ROSMsgSubscriber, ROSServiceClient +from gr00t_wbc.control.utils.telemetry import Telemetry +from gr00t_wbc.control.utils.text_to_speech import TextToSpeech +from gr00t_wbc.data.constants import BUCKET_BASE_PATH +from gr00t_wbc.data.exporter import DataCollectionInfo, Gr00tDataExporter +from gr00t_wbc.data.utils import get_dataset_features, get_modality_config + + +class TimeDeltaException(Exception): + def __init__(self, failure_count: int, reset_timeout_sec: float): + """ + Exception raised when the time delta between two messages exceeds + a threshold for a consecutive number of times + """ + self.failure_count = failure_count + self.reset_timeout_sec = reset_timeout_sec + self.message = f"{self.failure_count} failures in {self.reset_timeout_sec} seconds" + super().__init__(self.message) + + +class TimingThresholdMonitor: + def __init__(self, max_failures=3, reset_timeout_sec=5, time_delta=0.2, raise_exception=False): + """ + Monitor the time diff (between two messages) and optionally raise an exception + if there is a consistent violations + """ + self.max_failures = max_failures + self.reset_timeout_sec = reset_timeout_sec + self.failure_count = 0 + self.last_failure_time = 0 + self.time_delta = time_delta + self.raise_exception = raise_exception + + def reset(self): + self.failure_count = 0 + self.last_failure_time = 0 + + def log_time_delta(self, time_delta_sec: float): + time_delta = abs(time_delta_sec) + if time_delta > self.time_delta: + self.failure_count += 1 + self.last_failure_time = time.monotonic() + + if self.is_threshold_exceeded(): + print( + f"Time delta exception: {self.failure_count} failures in {self.reset_timeout_sec} seconds" + f", time delta: {time_delta}" + ) + if self.raise_exception: + raise TimeDeltaException(self.failure_count, self.reset_timeout_sec) + + def is_threshold_exceeded(self): + if self.failure_count >= self.max_failures: + return True + if time.monotonic() - self.last_failure_time > self.reset_timeout_sec: + self.reset() + return False + + +class Gr00tDataCollector: + def __init__( + self, + node, + camera_host: str, + camera_port: int, + state_topic_name: str, + data_exporter: Gr00tDataExporter, + text_to_speech=None, + frequency=20, + state_act_msg_frequency=50, + ): + + self.text_to_speech = text_to_speech + self.frequency = frequency + self.data_exporter = data_exporter + + self.node = node + + thread = threading.Thread(target=rclpy.spin, args=(self.node,), daemon=True) + thread.start() + time.sleep(0.5) + + self._episode_state = EpisodeState() + self._keyboard_listener = KeyboardListenerSubscriber() + self._state_subscriber = ROSMsgSubscriber(state_topic_name) + self._image_subscriber = ComposedCameraClientSensor(server_ip=camera_host, port=camera_port) + self.rate = self.node.create_rate(self.frequency) + + self.obs_act_buffer = deque(maxlen=100) + self.latest_image_msg = None + self.latest_proprio_msg = None + + self.state_polling_rate = 1 / state_act_msg_frequency + self.last_state_poll_time = time.monotonic() + + self.telemetry = Telemetry(window_size=100) + self.timing_threshold_monitor = TimingThresholdMonitor() + + print(f"Recording to {self.data_exporter.meta.root}") + + @property + def current_episode_index(self): + return self.data_exporter.episode_buffer["episode_index"] + + def _print_and_say(self, message: str, say: bool = True): + """Helper to use TextToSpeech print_and_say or fallback to print.""" + if self.text_to_speech is not None: + self.text_to_speech.print_and_say(message, say) + else: + print(message) + + def _check_keyboard_input(self): + key = self._keyboard_listener.read_msg() + if key == "c": + self._episode_state.change_state() + if self._episode_state.get_state() == self._episode_state.RECORDING: + self._print_and_say(f"Started recording {self.current_episode_index}") + elif self._episode_state.get_state() == self._episode_state.NEED_TO_SAVE: + self._print_and_say("Stopping recording, preparing to save") + elif self._episode_state.get_state() == self._episode_state.IDLE: + self._print_and_say("Saved episode and back to idle state") + elif key == "x": + if self._episode_state.get_state() == self._episode_state.RECORDING: + self.data_exporter.save_episode_as_discarded() + self._episode_state.reset_state() + self._print_and_say("Discarded episode") + + def _add_data_frame(self): + t_start = time.monotonic() + + if self.latest_proprio_msg is None or self.latest_image_msg is None: + self._print_and_say( + f"Waiting for message. " + f"Avail msg: proprio {self.latest_proprio_msg is not None} | " + f"image {self.latest_image_msg is not None}", + say=False, + ) + return False + + if self._episode_state.get_state() == self._episode_state.RECORDING: + + # Calculate max time delta between images and proprio + max_time_delta = 0 + for _, image_time in self.latest_image_msg["timestamps"].items(): + time_delta = abs(image_time - self.latest_proprio_msg["timestamps"]["proprio"]) + max_time_delta = max(max_time_delta, time_delta) + + self.timing_threshold_monitor.log_time_delta(max_time_delta) + if (self.timing_threshold_monitor.failure_count + 1) % 100 == 0: + self._print_and_say("Image state delta too high, please discard data") + + frame_data = { + "observation.state": self.latest_proprio_msg["q"], + "observation.eef_state": self.latest_proprio_msg["wrist_pose"], + "action": self.latest_proprio_msg["action"], + "action.eef": self.latest_proprio_msg["action.eef"], + "observation.img_state_delta": ( + np.array( + [max_time_delta], + dtype=np.float32, + ) + ), # lerobot only supports adding numpy arrays + "teleop.navigate_command": np.array( + self.latest_proprio_msg["navigate_command"], dtype=np.float64 + ), + "teleop.base_height_command": np.array( + [self.latest_proprio_msg["base_height_command"]], dtype=np.float64 + ), + } + + # Add images based on dataset features + images = self.latest_image_msg["images"] + for feature_name, feature_info in self.data_exporter.features.items(): + if feature_info.get("dtype") in ["image", "video"]: + # Extract image key from feature name (e.g., "observation.images.ego_view" -> "ego_view") + image_key = feature_name.split(".")[-1] + + if image_key not in images: + raise ValueError( + f"Required image '{image_key}' for feature '{feature_name}' " + f"not found in image message. Available images: {list(images.keys())}" + ) + frame_data[feature_name] = images[image_key] + + self.data_exporter.add_frame(frame_data) + + t_end = time.monotonic() + if t_end - t_start > (1 / self.frequency): + print(f"DataExporter Missed: {t_end - t_start} sec") + + if self._episode_state.get_state() == self._episode_state.NEED_TO_SAVE: + self.data_exporter.save_episode() + self.timing_threshold_monitor.reset() + self._print_and_say("Finished saving episode") + self._episode_state.change_state() + + return True + + def save_and_cleanup(self): + try: + self._print_and_say("saving episode done") + # save on going episode if any + buffer_size = self.data_exporter.episode_buffer.get("size", 0) + if buffer_size > 0: + self.data_exporter.save_episode() + self._print_and_say(f"Recording complete: {self.data_exporter.meta.root}", say=False) + except Exception as e: + self._print_and_say(f"Error saving episode: {e}") + + self.node.destroy_node() + rclpy.shutdown() + self._print_and_say("Shutting down data exporter...", say=False) + + def run(self): + try: + while rclpy.ok(): + t_start = time.monotonic() + with self.telemetry.timer("total_loop"): + # 1. poll proprio msg + with self.telemetry.timer("poll_state"): + msg = self._state_subscriber.get_msg() + if msg is not None: + self.latest_proprio_msg = msg + + # 2. poll image msg + with self.telemetry.timer("poll_image"): + msg = self._image_subscriber.read() + if msg is not None: + self.latest_image_msg = msg + + # 3. check keyboard input + with self.telemetry.timer("check_keyboard"): + self._check_keyboard_input() + + # 4. add frame + with self.telemetry.timer("add_frame"): + self._add_data_frame() + + end_time = time.monotonic() + + self.rate.sleep() + + # Log timing information if we missed our target frequency + if (end_time - t_start) > (1 / self.frequency): + self.telemetry.log_timing_info( + context="Data Exporter Loop Missed", threshold=0.001 + ) + + except KeyboardInterrupt: + print("Data exporter terminated by user") + # The user will trigger a keyboard interrupt if there's something wrong, + # so we flag the ongoing episode as discarded + buffer_size = self.data_exporter.episode_buffer.get("size", 0) + if buffer_size > 0: + self.data_exporter.save_episode_as_discarded() + + finally: + self.save_and_cleanup() + + +def main(config: DataExporterConfig): + + rclpy.init(args=None) + node = rclpy.create_node("data_exporter") + + waist_location = "lower_and_upper_body" if config.enable_waist else "lower_body" + g1_rm = g1.instantiate_g1_robot_model( + waist_location=waist_location, high_elbow_pose=config.high_elbow_pose + ) + + dataset_features = get_dataset_features(g1_rm, config.add_stereo_camera) + modality_config = get_modality_config(g1_rm, config.add_stereo_camera) + + text_to_speech = TextToSpeech() if config.text_to_speech else None + + # Only set DataCollectionInfo if we're creating a new dataset + # When adding to existing dataset, DataCollectionInfo will be ignored + if config.robot_id is not None: + data_collection_info = DataCollectionInfo( + teleoperator_username=config.teleoperator_username, + support_operator_username=config.support_operator_username, + robot_type="g1", + robot_id=config.robot_id, + lower_body_policy=config.lower_body_policy, + wbc_model_path=config.wbc_model_path, + ) + else: + # Use default DataCollectionInfo when adding to existing dataset + # This will be ignored if the dataset already exists + data_collection_info = DataCollectionInfo() + + robot_config_client = ROSServiceClient(ROBOT_CONFIG_TOPIC) + robot_config = robot_config_client.get_config() + + data_exporter = Gr00tDataExporter.create( + save_root=f"{config.root_output_dir}/{config.dataset_name}", + fps=config.data_collection_frequency, + features=dataset_features, + modality_config=modality_config, + task=config.task_prompt, + upload_bucket_path=BUCKET_BASE_PATH, + data_collection_info=data_collection_info, + script_config=robot_config, + ) + + data_collector = Gr00tDataCollector( + node=node, + frequency=config.data_collection_frequency, + data_exporter=data_exporter, + state_topic_name=STATE_TOPIC_NAME, + camera_host=config.camera_host, + camera_port=config.camera_port, + text_to_speech=text_to_speech, + ) + data_collector.run() + + +if __name__ == "__main__": + config = tyro.cli(DataExporterConfig) + config.task_prompt = input("Enter the task prompt: ").strip().lower() + add_to_existing_dataset = input("Add to existing dataset? (y/n): ").strip().lower() + + if add_to_existing_dataset == "y": + config.dataset_name = input("Enter the dataset name: ").strip().lower() + # When adding to existing dataset, we don't need robot_id or operator usernames + # as they should already be set in the existing dataset + elif add_to_existing_dataset == "n": + # robot_id = input("Enter the robot ID: ").strip().lower() + # if robot_id not in G1_ROBOT_IDS: + # raise ValueError(f"Invalid robot ID: {robot_id}. Available robot IDs: {G1_ROBOT_IDS}") + config.robot_id = "sim" + config.dataset_name = f"{datetime.now().strftime('%Y-%m-%d-%H-%M-%S')}-G1-{config.robot_id}" + + # Only ask for operator usernames when creating a new dataset + # print("Available teleoperator usernames:") + # for i, username in enumerate(OPERATOR_USERNAMES): + # print(f"{i}: {username}") + # teleop_idx = int(input("Select teleoperator username index: ")) + # config.teleoperator_username = OPERATOR_USERNAMES[teleop_idx] + config.teleoperator_username = "NEW_USER" + + # print("\nAvailable support operator usernames:") + # for i, username in enumerate(OPERATOR_USERNAMES): + # print(f"{i}: {username}") + # support_idx = int(input("Select support operator username index: ")) + # config.support_operator_username = OPERATOR_USERNAMES[support_idx] + config.support_operator_username = "NEW_USER" + + main(config) diff --git a/gr00t_wbc/control/main/teleop/run_navigation_policy_loop.py b/gr00t_wbc/control/main/teleop/run_navigation_policy_loop.py new file mode 100644 index 0000000..cf672a6 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_navigation_policy_loop.py @@ -0,0 +1,68 @@ +import threading +import time + +import rclpy + +from gr00t_wbc.control.main.constants import NAV_CMD_TOPIC +from gr00t_wbc.control.policy.keyboard_navigation_policy import KeyboardNavigationPolicy +from gr00t_wbc.control.utils.keyboard_dispatcher import KeyboardListenerSubscriber +from gr00t_wbc.control.utils.ros_utils import ROSMsgPublisher + +FREQUENCY = 10 +NAV_NODE_NAME = "NavigationPolicy" + + +def main(): + rclpy.init(args=None) + node = rclpy.create_node(NAV_NODE_NAME) + + # Start ROS spin in a separate thread + thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True) + thread.start() + time.sleep(0.5) + + dict_publisher = ROSMsgPublisher(NAV_CMD_TOPIC) + keyboard_listener = KeyboardListenerSubscriber() + + # Initialize navigation policy + navigation_policy = KeyboardNavigationPolicy() + + # Create rate controller + rate = node.create_rate(FREQUENCY) + + try: + while rclpy.ok(): + t_now = time.monotonic() + # get keyboard input + + navigation_policy.handle_keyboard_button(keyboard_listener.read_msg()) + # Get action from navigation policy + action = navigation_policy.get_action(time=t_now) + + # Add timestamp to the data + action["timestamp"] = t_now + + # Create and publish ByteMultiArray message + dict_publisher.publish(action) + + # Print status periodically (optional) + if int(t_now * 10) % 10 == 0: + nav_cmd = action["navigate_cmd"] + node.get_logger().info( + f"Nav cmd: linear=({nav_cmd[0]:.2f}, {nav_cmd[1]:.2f}), " + f"angular={nav_cmd[2]:.2f}" + ) + + rate.sleep() + + except KeyboardInterrupt: + print("Navigation control loop terminated by user") + + finally: + # Clean shutdown + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/gr00t_wbc/control/main/teleop/run_sim_loop.py b/gr00t_wbc/control/main/teleop/run_sim_loop.py new file mode 100644 index 0000000..c907988 --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_sim_loop.py @@ -0,0 +1,61 @@ +from typing import Dict + +import tyro + +from gr00t_wbc.control.envs.g1.sim.simulator_factory import SimulatorFactory, init_channel +from gr00t_wbc.control.main.teleop.configs.configs import SimLoopConfig +from gr00t_wbc.control.robot_model.instantiation.g1 import ( + instantiate_g1_robot_model, +) +from gr00t_wbc.control.robot_model.robot_model import RobotModel + +ArgsConfig = SimLoopConfig + + +class SimWrapper: + def __init__(self, robot_model: RobotModel, env_name: str, config: Dict[str, any], **kwargs): + self.robot_model = robot_model + self.config = config + + init_channel(config=self.config) + + # Create simulator using factory + self.sim = SimulatorFactory.create_simulator( + config=self.config, + env_name=env_name, + **kwargs, + ) + + +def main(config: ArgsConfig): + wbc_config = config.load_wbc_yaml() + # NOTE: we will override the interface to local if it is not specified + wbc_config["ENV_NAME"] = config.env_name + + if config.enable_image_publish: + assert ( + config.enable_offscreen + ), "enable_offscreen must be True when enable_image_publish is True" + + robot_model = instantiate_g1_robot_model() + + sim_wrapper = SimWrapper( + robot_model=robot_model, + env_name=config.env_name, + config=wbc_config, + onscreen=wbc_config.get("ENABLE_ONSCREEN", True), + offscreen=wbc_config.get("ENABLE_OFFSCREEN", False), + ) + # Start simulator as independent process + SimulatorFactory.start_simulator( + sim_wrapper.sim, + as_thread=False, + enable_image_publish=config.enable_image_publish, + mp_start_method=config.mp_start_method, + camera_port=config.camera_port, + ) + + +if __name__ == "__main__": + config = tyro.cli(ArgsConfig) + main(config) diff --git a/gr00t_wbc/control/main/teleop/run_sync_sim_data_collection.py b/gr00t_wbc/control/main/teleop/run_sync_sim_data_collection.py new file mode 100644 index 0000000..fc4ca5d --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_sync_sim_data_collection.py @@ -0,0 +1,213 @@ +from pathlib import Path +import time + +import tyro + +from gr00t_wbc.control.main.teleop.configs.configs import SyncSimDataCollectionConfig +from gr00t_wbc.control.robot_model.instantiation import get_robot_type_and_model +from gr00t_wbc.control.utils.keyboard_dispatcher import ( + KeyboardDispatcher, + KeyboardListener, +) +from gr00t_wbc.control.utils.ros_utils import ROSManager +from gr00t_wbc.control.utils.sync_sim_utils import ( + COLLECTION_KEY, + SKIP_KEY, + CITestManager, + EpisodeManager, + generate_frame, + get_data_exporter, + get_env, + get_policies, +) +from gr00t_wbc.control.utils.telemetry import Telemetry + +CONTROL_NODE_NAME = "ControlPolicy" + + +CONTROL_CMD_TOPIC = CONTROL_NODE_NAME + "/q_target" +ENV_NODE_NAME = "SyncEnv" +ENV_OBS_TOPIC = ENV_NODE_NAME + "/obs" + + +def display_controls(config: SyncSimDataCollectionConfig): + """ + Method to pretty print controls. + """ + + def print_command(char, info): + char += " " * (30 - len(char)) + print("{}\t{}".format(char, info)) + + print("") + print_command("Keys", "Command") + if config.manual_control: + print_command(COLLECTION_KEY, "start/stop data collection") + print_command(SKIP_KEY, "skip and collect new episodes") + print_command("w-s-a-d", "move horizontally in x-y plane (press '=' first to enable)") + print_command("q", "rotate (counter-clockwise)") + print_command("e", "rotate (clockwise)") + print_command("space", "reset all velocity to zero") + print("") + + +def main(config: SyncSimDataCollectionConfig): + ros_manager = ROSManager(node_name=CONTROL_NODE_NAME) + node = ros_manager.node + + # Initialize telemetry + telemetry = Telemetry(window_size=100) + + # Initialize robot model + robot_type, robot_model = get_robot_type_and_model( + config.robot, + enable_waist_ik=config.enable_waist, + ) + + # Initialize sim env + env = get_env(config, onscreen=config.enable_onscreen, offscreen=config.save_img_obs) + seed = int(time.time()) + env.reset(seed) + env.render() + obs = env.observe() + robot_model.set_initial_body_pose(obs["q"]) + + # Initialize data exporter + exporter = get_data_exporter( + config, + obs, + robot_model, + save_path=Path("./outputs/ci_test/") if config.ci_test else None, + ) + + # Display control signals + display_controls(config) + + # Initialize policies + wbc_policy, teleop_policy = get_policies(config, robot_type, robot_model) + + dispatcher = KeyboardDispatcher() + keyboard_listener = KeyboardListener() # for data collection keys + dispatcher.register(keyboard_listener) + dispatcher.register(wbc_policy) + dispatcher.register(teleop_policy) + + dispatcher.start() + + rate = node.create_rate(config.control_frequency) + + # Initialize episode manager to handle state transitions and data collection + episode_manager = EpisodeManager(config) + + # Initialize CI test manager + ci_test_manager = CITestManager(config) if config.ci_test else None + + try: + while ros_manager.ok(): + + need_reset = False + keyboard_input = keyboard_listener.pop_key() + + with telemetry.timer("total_loop"): + max_mujoco_state_len, mujoco_state_len, mujoco_state = env.get_mujoco_state_info() + + # Measure observation time + with telemetry.timer("observe"): + obs = env.observe() + wbc_policy.set_observation(obs) + + # Measure policy setup time + with telemetry.timer("policy_setup"): + teleop_cmd = teleop_policy.get_action() + + wbc_goal = {} + + # Note that wbc_goal["navigation_cmd'] could be overwritten by teleop_cmd + if teleop_cmd: + for key, value in teleop_cmd.items(): + wbc_goal[key] = value + # Draw IK indicators + if config.ik_indicator: + env.set_ik_indicator(teleop_cmd) + if wbc_goal: + wbc_policy.set_goal(wbc_goal) + + # Measure policy action calculation time + with telemetry.timer("policy_action"): + wbc_action = wbc_policy.get_action() + + if config.ci_test: + ci_test_manager.check_upper_body_motion(robot_model, wbc_action, config) + + # Measure action queue time + with telemetry.timer("step"): + obs, _, _, _, step_info = env.step(wbc_action) + env.render() + episode_manager.increment_step() + + if config.ci_test and config.ci_test_mode == "pre_merge": + ci_test_manager.check_end_effector_tracking( + teleop_cmd, obs, config, episode_manager.get_step_count() + ) + + # Handle data collection trigger + episode_manager.handle_collection_trigger(wbc_goal, keyboard_input, step_info) + + # Collect data frame + if episode_manager.should_collect_data(): + frame = generate_frame( + obs, + wbc_action, + seed, + mujoco_state, + mujoco_state_len, + max_mujoco_state_len, + teleop_cmd, + wbc_goal, + config.save_img_obs, + ) + # exporting data + exporter.add_frame(frame) + + # if done and task_completion_hold_count is 0, save the episode + need_reset = episode_manager.check_export_and_completion(exporter) + + # check data abort + if episode_manager.handle_skip(wbc_goal, keyboard_input, exporter): + need_reset = True + + if need_reset: + if config.ci_test: + print("CI test: Completed...") + raise KeyboardInterrupt + + seed = int(time.time()) + env.reset(seed) + env.render() + + print("Sleeping for 3 seconds before resetting teleop policy...") + for j in range(3, 0, -1): + print(f"Starting in {j}...") + time.sleep(1) + + wbc_policy, teleop_policy = get_policies(config, robot_type, robot_model) + episode_manager.reset_step_count() + + rate.sleep() + + except ros_manager.exceptions() as e: + print(f"ROSManager interrupted by user: {e}") + finally: + # Cleanup resources + teleop_policy.close() + dispatcher.stop() + ros_manager.shutdown() + env.close() + print("Sync sim data collection loop terminated.") + + return True + + +if __name__ == "__main__": + config = tyro.cli(SyncSimDataCollectionConfig) + main(config) diff --git a/gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py b/gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py new file mode 100644 index 0000000..3c6650b --- /dev/null +++ b/gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py @@ -0,0 +1,110 @@ +import time + +import rclpy +import tyro + +from gr00t_wbc.control.main.constants import CONTROL_GOAL_TOPIC +from gr00t_wbc.control.main.teleop.configs.configs import TeleopConfig +from gr00t_wbc.control.policy.lerobot_replay_policy import LerobotReplayPolicy +from gr00t_wbc.control.policy.teleop_policy import TeleopPolicy +from gr00t_wbc.control.robot_model.instantiation.g1 import instantiate_g1_robot_model +from gr00t_wbc.control.teleop.solver.hand.instantiation.g1_hand_ik_instantiation import ( + instantiate_g1_hand_ik_solver, +) +from gr00t_wbc.control.teleop.teleop_retargeting_ik import TeleopRetargetingIK +from gr00t_wbc.control.utils.ros_utils import ROSManager, ROSMsgPublisher +from gr00t_wbc.control.utils.telemetry import Telemetry + +TELEOP_NODE_NAME = "TeleopPolicy" + + +def main(config: TeleopConfig): + ros_manager = ROSManager(node_name=TELEOP_NODE_NAME) + node = ros_manager.node + + if config.robot == "g1": + waist_location = "lower_and_upper_body" if config.enable_waist else "lower_body" + robot_model = instantiate_g1_robot_model( + waist_location=waist_location, high_elbow_pose=config.high_elbow_pose + ) + left_hand_ik_solver, right_hand_ik_solver = instantiate_g1_hand_ik_solver() + else: + raise ValueError(f"Unsupported robot name: {config.robot}") + + if config.lerobot_replay_path: + teleop_policy = LerobotReplayPolicy( + robot_model=robot_model, parquet_path=config.lerobot_replay_path + ) + else: + print("running teleop policy, waiting teleop policy to be initialized...") + retargeting_ik = TeleopRetargetingIK( + robot_model=robot_model, + left_hand_ik_solver=left_hand_ik_solver, + right_hand_ik_solver=right_hand_ik_solver, + enable_visualization=config.enable_visualization, + body_active_joint_groups=["upper_body"], + ) + teleop_policy = TeleopPolicy( + robot_model=robot_model, + retargeting_ik=retargeting_ik, + body_control_device=config.body_control_device, + hand_control_device=config.hand_control_device, + body_streamer_ip=config.body_streamer_ip, # vive tracker, leap motion does not require + body_streamer_keyword=config.body_streamer_keyword, + enable_real_device=config.enable_real_device, + replay_data_path=config.teleop_replay_path, + ) + + # Create a publisher for the navigation commands + control_publisher = ROSMsgPublisher(CONTROL_GOAL_TOPIC) + + # Create rate controller + rate = node.create_rate(config.teleop_frequency) + iteration = 0 + time_to_get_to_initial_pose = 2 # seconds + + telemetry = Telemetry(window_size=100) + + try: + while rclpy.ok(): + with telemetry.timer("total_loop"): + t_start = time.monotonic() + # Get the current teleop action + with telemetry.timer("get_action"): + data = teleop_policy.get_action() + + # Add timing information to the message + t_now = time.monotonic() + data["timestamp"] = t_now + + # Set target completion time - longer for initial pose, then match control frequency + if iteration == 0: + data["target_time"] = t_now + time_to_get_to_initial_pose + else: + data["target_time"] = t_now + (1 / config.teleop_frequency) + + # Publish the teleop command + with telemetry.timer("publish_teleop_command"): + control_publisher.publish(data) + + # For the initial pose, wait the full duration before continuing + if iteration == 0: + print(f"Moving to initial pose for {time_to_get_to_initial_pose} seconds") + time.sleep(time_to_get_to_initial_pose) + iteration += 1 + end_time = time.monotonic() + if (end_time - t_start) > (1 / config.teleop_frequency): + telemetry.log_timing_info(context="Teleop Policy Loop Missed", threshold=0.001) + rate.sleep() + + except ros_manager.exceptions() as e: + print(f"ROSManager interrupted by user: {e}") + + finally: + print("Cleaning up...") + ros_manager.shutdown() + + +if __name__ == "__main__": + config = tyro.cli(TeleopConfig) + main(config) diff --git a/gr00t_wbc/control/policy/__init__.py b/gr00t_wbc/control/policy/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/policy/g1_decoupled_whole_body_policy.py b/gr00t_wbc/control/policy/g1_decoupled_whole_body_policy.py new file mode 100644 index 0000000..ddfee45 --- /dev/null +++ b/gr00t_wbc/control/policy/g1_decoupled_whole_body_policy.py @@ -0,0 +1,157 @@ +import time as time_module +from typing import Optional + +import numpy as np +from pinocchio import rpy + +from gr00t_wbc.control.base.policy import Policy +from gr00t_wbc.control.main.constants import DEFAULT_NAV_CMD + + +class G1DecoupledWholeBodyPolicy(Policy): + """ + This class implements a whole-body policy for the G1 robot by combining an upper-body + policy and a lower-body RL-based policy. + It is designed to work with the G1 robot's specific configuration and control requirements. + """ + + def __init__( + self, + robot_model, + lower_body_policy: Policy, + upper_body_policy: Policy, + ): + self.robot_model = robot_model + self.lower_body_policy = lower_body_policy + self.upper_body_policy = upper_body_policy + self.last_goal_time = time_module.monotonic() + self.is_in_teleop_mode = False # Track if lower body is in teleop mode + + def set_observation(self, observation): + # Upper body policy is open loop (just interpolation), so we don't need to set the observation + self.lower_body_policy.set_observation(observation) + + def set_goal(self, goal): + """ + Set the goal for both upper and lower body policies. + + Args: + goal: Command from the planners + goal["target_upper_body_pose"]: Target pose for the upper body policy + goal["target_time"]: Target goal time + goal["interpolation_garbage_collection_time"]: Waypoints earlier than this time are removed + goal["navigate_cmd"]: Target navigation velocities for the lower body policy + goal["base_height_command"]: Target base height for both upper and lower body policies + """ + # Update goal timestamp for timeout safety + self.last_goal_time = time_module.monotonic() + + upper_body_goal = {} + lower_body_goal = {} + + # Upper body goal keys + upper_body_keys = [ + "target_upper_body_pose", + "base_height_command", + "target_time", + "interpolation_garbage_collection_time", + "navigate_cmd", + ] + for key in upper_body_keys: + if key in goal: + upper_body_goal[key] = goal[key] + + # Always ensure navigate_cmd is present to prevent interpolation from old dangerous values + if "navigate_cmd" not in goal: + # Safety: Inject safe default navigate_cmd to ensure interpolation goes to stop + if "target_time" in goal and isinstance(goal["target_time"], list): + upper_body_goal["navigate_cmd"] = [np.array(DEFAULT_NAV_CMD)] * len( + goal["target_time"] + ) + else: + upper_body_goal["navigate_cmd"] = np.array(DEFAULT_NAV_CMD) + + # Set teleop policy command flag + has_teleop_commands = ("navigate_cmd" in goal) or ("base_height_command" in goal) + self.is_in_teleop_mode = has_teleop_commands # Track teleop state for timeout safety + self.lower_body_policy.set_use_teleop_policy_cmd(has_teleop_commands) + + # Lower body goal keys + lower_body_keys = [ + "toggle_stand_command", + "toggle_policy_action", + ] + for key in lower_body_keys: + if key in goal: + lower_body_goal[key] = goal[key] + + self.upper_body_policy.set_goal(upper_body_goal) + self.lower_body_policy.set_goal(lower_body_goal) + + def get_action(self, time: Optional[float] = None): + current_time = time if time is not None else time_module.monotonic() + + # Safety timeout: Only apply when in teleop mode (communication loss dangerous) + # When in keyboard mode, no timeout needed (user controls directly) + if self.is_in_teleop_mode: + time_since_goal = current_time - self.last_goal_time + if time_since_goal > 1.0: # 1 second timeout + print( + f"SAFETY: Teleop mode timeout after {time_since_goal:.1f}s, injecting safe goal" + ) + # Inject safe goal to trigger all safety mechanisms (gear_wbc reset + interpolation reset) + safe_goal = { + "target_time": current_time + 0.1, + "interpolation_garbage_collection_time": current_time - 1.0, + } + self.set_goal( + safe_goal + ) # This will reset is_in_teleop_mode to False and trigger all safety + + # Get indices for groups + lower_body_indices = self.robot_model.get_joint_group_indices("lower_body") + upper_body_indices = self.robot_model.get_joint_group_indices("upper_body") + + # Initialize full configuration with zeros + q = np.zeros(self.robot_model.num_dofs) + + upper_body_action = self.upper_body_policy.get_action(time) + q[upper_body_indices] = upper_body_action["target_upper_body_pose"] + q_arms = q[self.robot_model.get_joint_group_indices("arms")] + base_height_command = upper_body_action.get("base_height_command", None) + interpolated_navigate_cmd = upper_body_action.get("navigate_cmd", None) + + # Compute torso orientation relative to waist, to pass to lower body policy + self.robot_model.cache_forward_kinematics(q, auto_clip=False) + torso_orientation = self.robot_model.frame_placement("torso_link").rotation + waist_orientation = self.robot_model.frame_placement("pelvis").rotation + # Extract yaw from rotation matrix and create a rotation with only yaw + # The rotation property is a 3x3 numpy array + waist_yaw = np.arctan2(waist_orientation[1, 0], waist_orientation[0, 0]) + # Create a rotation matrix with only yaw using Pinocchio's rpy functions + waist_yaw_only_rotation = rpy.rpyToMatrix(0, 0, waist_yaw) + yaw_only_waist_from_torso = waist_yaw_only_rotation.T @ torso_orientation + torso_orientation_rpy = rpy.matrixToRpy(yaw_only_waist_from_torso) + + lower_body_action = self.lower_body_policy.get_action( + time, q_arms, base_height_command, torso_orientation_rpy, interpolated_navigate_cmd + ) + + # If pelvis is both in upper and lower body, lower body policy takes preference + q[lower_body_indices] = lower_body_action["body_action"][0][ + : len(lower_body_indices) + ] # lower body (legs + waist) + + self.last_action = {"q": q} + + return {"q": q} + + def handle_keyboard_button(self, key): + try: + self.lower_body_policy.locomotion_policy.handle_keyboard_button(key) + except AttributeError: + # Only catch AttributeError, let other exceptions propagate + self.lower_body_policy.handle_keyboard_button(key) + + def activate_policy(self): + self.handle_keyboard_button("]") diff --git a/gr00t_wbc/control/policy/g1_gear_wbc_policy.py b/gr00t_wbc/control/policy/g1_gear_wbc_policy.py new file mode 100644 index 0000000..6b4cd74 --- /dev/null +++ b/gr00t_wbc/control/policy/g1_gear_wbc_policy.py @@ -0,0 +1,295 @@ +import collections +from pathlib import Path +from typing import Any, Dict, Optional + +import numpy as np +import onnxruntime as ort +import torch + +from gr00t_wbc.control.base.policy import Policy +from gr00t_wbc.control.utils.gear_wbc_utils import get_gravity_orientation, load_config + + +class G1GearWbcPolicy(Policy): + """Simple G1 robot policy using OpenGearWbc trained neural network.""" + + def __init__(self, robot_model, config: str, model_path: str): + """Initialize G1GearWbcPolicy. + + Args: + config_path: Path to gear_wbc YAML configuration file + """ + self.config, self.LEGGED_GYM_ROOT_DIR = load_config(config) + self.robot_model = robot_model + self.use_teleop_policy_cmd = False + + package_root = Path(__file__).resolve().parents[2] + self.sim2mujoco_root_dir = str(package_root / "sim2mujoco") + model_path_1, model_path_2 = model_path.split(",") + + self.policy_1 = self.load_onnx_policy( + self.sim2mujoco_root_dir + "/resources/robots/g1/" + model_path_1 + ) + self.policy_2 = self.load_onnx_policy( + self.sim2mujoco_root_dir + "/resources/robots/g1/" + model_path_2 + ) + + # Initialize observation history buffer + self.observation = None + self.obs_history = collections.deque(maxlen=self.config["obs_history_len"]) + self.obs_buffer = np.zeros(self.config["num_obs"], dtype=np.float32) + self.counter = 0 + + # Initialize state variables + self.use_policy_action = False + self.action = np.zeros(self.config["num_actions"], dtype=np.float32) + self.target_dof_pos = self.config["default_angles"].copy() + self.cmd = self.config["cmd_init"].copy() + self.height_cmd = self.config["height_cmd"] + self.freq_cmd = self.config["freq_cmd"] + self.roll_cmd = self.config["rpy_cmd"][0] + self.pitch_cmd = self.config["rpy_cmd"][1] + self.yaw_cmd = self.config["rpy_cmd"][2] + self.gait_indices = torch.zeros((1), dtype=torch.float32) + + def load_onnx_policy(self, model_path: str): + print(f"Loading ONNX policy from {model_path}") + model = ort.InferenceSession(model_path) + + def run_inference(input_tensor): + ort_inputs = {model.get_inputs()[0].name: input_tensor.cpu().numpy()} + ort_outs = model.run(None, ort_inputs) + return torch.tensor(ort_outs[0], device="cpu") + + print(f"Successfully loaded ONNX policy from {model_path}") + + return run_inference + + def compute_observation(self, observation: Dict[str, Any]) -> tuple[np.ndarray, int]: + """Compute the observation vector from current state""" + # Get body joint indices (excluding waist roll and pitch) + self.gait_indices = torch.remainder(self.gait_indices + 0.02 * self.freq_cmd, 1.0) + durations = torch.full_like(self.gait_indices, 0.5) + phases = 0.5 + foot_indices = [ + self.gait_indices + phases, # FL + self.gait_indices, # FR + ] + self.foot_indices = torch.remainder( + torch.cat([foot_indices[i].unsqueeze(1) for i in range(2)], dim=1), 1.0 + ) + for fi in foot_indices: + stance = fi < durations + swing = fi >= durations + fi[stance] = fi[stance] * (0.5 / durations[stance]) + fi[swing] = 0.5 + (fi[swing] - durations[swing]) * (0.5 / (1 - durations[swing])) + + self.clock_inputs = torch.stack([torch.sin(2 * np.pi * fi) for fi in foot_indices], dim=1) + + body_indices = self.robot_model.get_joint_group_indices("body") + body_indices = [idx for idx in body_indices] + + n_joints = len(body_indices) + + # Extract joint data + qj = observation["q"][body_indices].copy() + dqj = observation["dq"][body_indices].copy() + + # Extract floating base data + quat = observation["floating_base_pose"][3:7].copy() # quaternion + omega = observation["floating_base_vel"][3:6].copy() # angular velocity + + # Handle default angles padding + if len(self.config["default_angles"]) < n_joints: + padded_defaults = np.zeros(n_joints, dtype=np.float32) + padded_defaults[: len(self.config["default_angles"])] = self.config["default_angles"] + else: + padded_defaults = self.config["default_angles"][:n_joints] + + # Scale the values + qj_scaled = (qj - padded_defaults) * self.config["dof_pos_scale"] + dqj_scaled = dqj * self.config["dof_vel_scale"] + gravity_orientation = get_gravity_orientation(quat) + omega_scaled = omega * self.config["ang_vel_scale"] + + # Calculate single observation dimension + single_obs_dim = 86 # 3 + 1 + 3 + 3 + 3 + n_joints + n_joints + 15, n_joints = 29 + + # Create single observation + single_obs = np.zeros(single_obs_dim, dtype=np.float32) + single_obs[0:3] = self.cmd[:3] * self.config["cmd_scale"] + single_obs[3:4] = np.array([self.height_cmd]) + single_obs[4:7] = np.array([self.roll_cmd, self.pitch_cmd, self.yaw_cmd]) + single_obs[7:10] = omega_scaled + single_obs[10:13] = gravity_orientation + # single_obs[14:17] = omega_scaled_torso + # single_obs[17:20] = gravity_torso + single_obs[13 : 13 + n_joints] = qj_scaled + single_obs[13 + n_joints : 13 + 2 * n_joints] = dqj_scaled + single_obs[13 + 2 * n_joints : 13 + 2 * n_joints + 15] = self.action + # single_obs[13 + 2 * n_joints + 15 : 13 + 2 * n_joints + 15 + 2] = ( + # processed_clock_inputs.detach().cpu().numpy() + # ) + return single_obs, single_obs_dim + + def set_observation(self, observation: Dict[str, Any]): + """Update the policy's current observation of the environment. + + Args: + observation: Dictionary containing single observation from current state + Should include 'obs' key with current single observation + """ + + # Extract the single observation + self.observation = observation + single_obs, single_obs_dim = self.compute_observation(observation) + + # Update observation history every control_decimation steps + # if self.counter % self.config['control_decimation'] == 0: + # Add current observation to history + self.obs_history.append(single_obs) + + # Fill history with zeros if not enough observations yet + while len(self.obs_history) < self.config["obs_history_len"]: + self.obs_history.appendleft(np.zeros_like(single_obs)) + + # Construct full observation with history + single_obs_dim = len(single_obs) + for i, hist_obs in enumerate(self.obs_history): + start_idx = i * single_obs_dim + end_idx = start_idx + single_obs_dim + self.obs_buffer[start_idx:end_idx] = hist_obs + + # Convert to tensor for policy + self.obs_tensor = torch.from_numpy(self.obs_buffer).unsqueeze(0) + # self.counter += 1 + + assert self.obs_tensor.shape[1] == self.config["num_obs"] + + def set_use_teleop_policy_cmd(self, use_teleop_policy_cmd: bool): + self.use_teleop_policy_cmd = use_teleop_policy_cmd + # Safety: When teleop is disabled, reset navigation to stop + if not use_teleop_policy_cmd: + self.nav_cmd = self.config["cmd_init"].copy() # Reset to safe default + + def set_goal(self, goal: Dict[str, Any]): + """Set the goal for the policy. + + Args: + goal: Dictionary containing the goal for the policy + """ + + if "toggle_policy_action" in goal: + if goal["toggle_policy_action"]: + self.use_policy_action = not self.use_policy_action + + def get_action( + self, + time: Optional[float] = None, + arms_target_pose: Optional[np.ndarray] = None, + base_height_command: Optional[np.ndarray] = None, + torso_orientation_rpy: Optional[np.ndarray] = None, + interpolated_navigate_cmd: Optional[np.ndarray] = None, + ) -> Dict[str, Any]: + """Compute and return the next action based on current observation. + + Args: + time: Optional "monotonic time" for time-dependent policies (unused) + + Returns: + Dictionary containing the action to be executed + """ + if self.obs_tensor is None: + raise ValueError("No observation set. Call set_observation() first.") + + if base_height_command is not None and self.use_teleop_policy_cmd: + self.height_cmd = ( + base_height_command[0] + if isinstance(base_height_command, list) + else base_height_command + ) + + if interpolated_navigate_cmd is not None and self.use_teleop_policy_cmd: + self.cmd = interpolated_navigate_cmd + + if torso_orientation_rpy is not None and self.use_teleop_policy_cmd: + self.roll_cmd = torso_orientation_rpy[0] + self.pitch_cmd = torso_orientation_rpy[1] + self.yaw_cmd = torso_orientation_rpy[2] + + # Run policy inference + with torch.no_grad(): + # Select appropriate policy based on command magnitude + if np.linalg.norm(self.cmd) < 0.05: + # Use standing policy for small commands + policy = self.policy_1 + else: + # Use walking policy for movement commands + policy = self.policy_2 + + self.action = policy(self.obs_tensor).detach().numpy().squeeze() + + # Transform action to target_dof_pos + if self.use_policy_action: + cmd_q = self.action * self.config["action_scale"] + self.config["default_angles"] + else: + cmd_q = self.observation["q"][self.robot_model.get_joint_group_indices("lower_body")] + + cmd_dq = np.zeros(self.config["num_actions"]) + cmd_tau = np.zeros(self.config["num_actions"]) + + return {"body_action": (cmd_q, cmd_dq, cmd_tau)} + + def handle_keyboard_button(self, key): + if key == "]": + self.use_policy_action = True + elif key == "o": + self.use_policy_action = False + elif key == "w": + self.cmd[0] += 0.2 + elif key == "s": + self.cmd[0] -= 0.2 + elif key == "a": + self.cmd[1] += 0.2 + elif key == "d": + self.cmd[1] -= 0.2 + elif key == "q": + self.cmd[2] += 0.2 + elif key == "e": + self.cmd[2] -= 0.2 + elif key == "z": + self.cmd[0] = 0.0 + self.cmd[1] = 0.0 + self.cmd[2] = 0.0 + elif key == "1": + self.height_cmd += 0.1 + elif key == "2": + self.height_cmd -= 0.1 + elif key == "n": + self.freq_cmd -= 0.1 + self.freq_cmd = max(1.0, self.freq_cmd) + elif key == "m": + self.freq_cmd += 0.1 + self.freq_cmd = min(2.0, self.freq_cmd) + elif key == "3": + self.roll_cmd -= np.deg2rad(10) + elif key == "4": + self.roll_cmd += np.deg2rad(10) + elif key == "5": + self.pitch_cmd -= np.deg2rad(10) + elif key == "6": + self.pitch_cmd += np.deg2rad(10) + elif key == "7": + self.yaw_cmd -= np.deg2rad(10) + elif key == "8": + self.yaw_cmd += np.deg2rad(10) + + if key: + print("--------------------------------") + print(f"Linear velocity command: {self.cmd}") + print(f"Base height command: {self.height_cmd}") + print(f"Use policy action: {self.use_policy_action}") + print(f"roll deg angle: {np.rad2deg(self.roll_cmd)}") + print(f"pitch deg angle: {np.rad2deg(self.pitch_cmd)}") + print(f"yaw deg angle: {np.rad2deg(self.yaw_cmd)}") + print(f"Gait frequency: {self.freq_cmd}") diff --git a/gr00t_wbc/control/policy/identity_policy.py b/gr00t_wbc/control/policy/identity_policy.py new file mode 100644 index 0000000..d4e5087 --- /dev/null +++ b/gr00t_wbc/control/policy/identity_policy.py @@ -0,0 +1,25 @@ +from copy import deepcopy +from typing import Optional + +import gymnasium as gym + +from gr00t_wbc.control.base.policy import Policy + + +class IdentityPolicy(Policy): + def __init__(self): + self.reset() + + def get_action(self, time: Optional[float] = None) -> dict[str, any]: + return self.goal + + def set_goal(self, goal: dict[str, any]) -> None: + self.goal = deepcopy(goal) + self.goal.pop("interpolation_garbage_collection_time", None) + self.goal.pop("target_time", None) + + def observation_space(self) -> gym.spaces.Dict: + return gym.spaces.Dict() + + def action_space(self) -> gym.spaces.Dict: + return gym.spaces.Dict() diff --git a/gr00t_wbc/control/policy/interpolation_policy.py b/gr00t_wbc/control/policy/interpolation_policy.py new file mode 100644 index 0000000..f190c4a --- /dev/null +++ b/gr00t_wbc/control/policy/interpolation_policy.py @@ -0,0 +1,297 @@ +import numbers +import time as time_module +from typing import Any, Dict, Optional, Union + +import gymnasium as gym +import numpy as np +import scipy.interpolate as si + +from gr00t_wbc.control.base.policy import Policy + + +class InterpolationPolicy(Policy): + def __init__( + self, + init_time: float, + init_values: dict[str, np.ndarray], + max_change_rate: float, + ): + """ + Args: + init_time: The time of recording the initial values. + init_values: The initial values of the features. + The keys are the names of the features, and the values + are the initial values of the features (1D array). + max_change_rate: The maximum change rate. + """ + super().__init__() + self.last_action = init_values # Vecs are 1D arrays + self.concat_order = sorted(init_values.keys()) + self.concat_dims = [] + for key in self.concat_order: + vec = np.array(init_values[key]) + if vec.ndim == 2 and vec.shape[0] == 1: + vec = vec[0] + init_values[key] = vec + assert vec.ndim == 1, f"The shape of {key} should be (D,). Got {vec.shape}." + self.concat_dims.append(vec.shape[0]) + + self.init_values_concat = self._concat_vecs(init_values, 1) + self.max_change_rate = max_change_rate + self.reset(init_time) + + def reset(self, init_time: float = time_module.monotonic()): + self.interp = PoseTrajectoryInterpolator(np.array([init_time]), self.init_values_concat) + self.last_waypoint_time = init_time + self.max_change_rate = self.max_change_rate + + def _concat_vecs(self, values: dict[str, np.ndarray], length: int) -> np.ndarray: + """ + Concatenate the vectors into a 2D array to be used for interpolation. + Args: + values: The values to concatenate. + length: The length of the concatenated vectors (time dimension). + Returns: + The concatenated vectors (T, D) arrays. + """ + concat_vecs = [] + for key in self.concat_order: + if key in values: + vec = np.array(values[key]) + if vec.ndim == 1: + # If the vector is 1D, tile it to the length of the time dimension + vec = np.tile(vec, (length, 1)) + assert vec.ndim == 2, f"The shape of {key} should be (T, D). Got {vec.shape}." + concat_vecs.append(vec) + else: + # If the vector is not in the values, use the last action + # Since the last action is 1D, we need to tile it to the length of the time dimension + concat_vecs.append(np.tile(self.last_action[key], (length, 1))) + return np.concatenate(concat_vecs, axis=1) # Vecs are 2D (T, D) arrays + + def _unconcat_vecs(self, concat_vec: np.ndarray) -> dict[str, np.ndarray]: + curr_idx = 0 + action = {} + assert ( + concat_vec.ndim == 1 + ), f"The shape of the concatenated vectors should be (T, D). Got {concat_vec.shape}." + for key, dim in zip(self.concat_order, self.concat_dims): + action[key] = concat_vec[curr_idx : curr_idx + dim] + curr_idx += dim + return action # Vecs are 1D arrays + + def __call__( + self, observation: Dict[str, Any], goal: Dict[str, Any], time: float + ) -> Dict[str, np.ndarray]: + raise NotImplementedError( + "`InterpolationPolicy` accepts goal and provide action in two separate methods." + ) + + def set_goal(self, goal: Dict[str, Any]) -> None: + if "target_time" not in goal: + return + assert ( + "interpolation_garbage_collection_time" in goal + ), "`interpolation_garbage_collection_time` is required." + target_time = goal.pop("target_time") + interpolation_garbage_collection_time = goal.pop("interpolation_garbage_collection_time") + + if isinstance(target_time, list): + for key, vec in goal.items(): + assert isinstance(vec, list) + assert len(vec) == len(target_time), ( + f"The length of {key} and `target_time` should be the same. " + f"Got {len(vec)} and {len(target_time)}." + ) + else: + target_time = [target_time] + for key in goal: + goal[key] = [goal[key]] + + # Concatenate all vectors in goal + concat_vecs = self._concat_vecs(goal, len(target_time)) + assert concat_vecs.shape[0] == len(target_time), ( + f"The length of the concatenated goal and `target_time` should be the same. " + f"Got {concat_vecs.shape[0]} and {len(target_time)}." + ) + + for tt, vec in zip(target_time, concat_vecs): + if tt < interpolation_garbage_collection_time: + continue + self.interp = self.interp.schedule_waypoint( + pose=vec, + time=tt, + max_change_rate=self.max_change_rate, + interpolation_garbage_collection_time=interpolation_garbage_collection_time, + last_waypoint_time=self.last_waypoint_time, + ) + self.last_waypoint_time = tt + + def get_action(self, time: Optional[float] = None) -> dict[str, Any]: + """Get the next action based on the (current) monotonic time.""" + if time is None: + time = time_module.monotonic() + concat_vec = self.interp(time) + self.last_action.update(self._unconcat_vecs(concat_vec)) + return self.last_action + + def observation_space(self) -> gym.spaces.Dict: + """Return the observation space.""" + pass + + def action_space(self) -> gym.spaces.Dict: + """Return the action space.""" + pass + + def close(self) -> None: + """Clean up resources.""" + pass + + +class PoseTrajectoryInterpolator: + def __init__(self, times: np.ndarray, poses: np.ndarray): + assert len(times) >= 1 + assert len(poses) == len(times) + + times = np.asarray(times) + poses = np.asarray(poses) + + self.num_joint = len(poses[0]) + + if len(times) == 1: + # special treatment for single step interpolation + self.single_step = True + self._times = times + self._poses = poses + else: + self.single_step = False + assert np.all(times[1:] >= times[:-1]) + self.pose_interp = si.interp1d(times, poses, axis=0, assume_sorted=True) + + @property + def times(self) -> np.ndarray: + if self.single_step: + return self._times + else: + return self.pose_interp.x + + @property + def poses(self) -> np.ndarray: + if self.single_step: + return self._poses + else: + return self.pose_interp.y + + def trim(self, start_t: float, end_t: float) -> "PoseTrajectoryInterpolator": + assert start_t <= end_t + times = self.times + should_keep = (start_t < times) & (times < end_t) + keep_times = times[should_keep] + all_times = np.concatenate([[start_t], keep_times, [end_t]]) + # remove duplicates, Slerp requires strictly increasing x + all_times = np.unique(all_times) + # interpolate + all_poses = self(all_times) + return PoseTrajectoryInterpolator(times=all_times, poses=all_poses) + + def schedule_waypoint( + self, + pose, + time, + max_change_rate=np.inf, + interpolation_garbage_collection_time=None, + last_waypoint_time=None, + ) -> "PoseTrajectoryInterpolator": + if not isinstance(max_change_rate, np.ndarray): + max_change_rate = np.array([max_change_rate] * self.num_joint) + + assert len(max_change_rate) == self.num_joint + assert np.max(max_change_rate) > 0 + + if last_waypoint_time is not None: + assert interpolation_garbage_collection_time is not None + + # trim current interpolator to between interpolation_garbage_collection_time and last_waypoint_time + start_time = self.times[0] + end_time = self.times[-1] + assert start_time <= end_time + if interpolation_garbage_collection_time is not None: + if time <= interpolation_garbage_collection_time: + # if insert time is earlier than current time + # no effect should be done to the interpolator + return self + # now, interpolation_garbage_collection_time < time + start_time = max(interpolation_garbage_collection_time, start_time) + + if last_waypoint_time is not None: + # if last_waypoint_time is earlier than start_time + # use start_time + if time <= last_waypoint_time: + end_time = interpolation_garbage_collection_time + else: + end_time = max(last_waypoint_time, interpolation_garbage_collection_time) + else: + end_time = interpolation_garbage_collection_time + + end_time = min(end_time, time) + start_time = min(start_time, end_time) + # end time should be the latest of all times except time + # after this we can assume order (proven by zhenjia, due to the 2 min operations) + + # Constraints: + # start_time <= end_time <= time (proven by zhenjia) + # interpolation_garbage_collection_time <= start_time (proven by zhenjia) + # interpolation_garbage_collection_time <= time (proven by zhenjia) + + # time can't change + # last_waypoint_time can't change + # interpolation_garbage_collection_time can't change + assert start_time <= end_time + assert end_time <= time + if last_waypoint_time is not None: + if time <= last_waypoint_time: + assert end_time == interpolation_garbage_collection_time + else: + assert end_time == max(last_waypoint_time, interpolation_garbage_collection_time) + + if interpolation_garbage_collection_time is not None: + assert interpolation_garbage_collection_time <= start_time + assert interpolation_garbage_collection_time <= time + trimmed_interp = self.trim(start_time, end_time) + # after this, all waypoints in trimmed_interp is within start_time and end_time + # and is earlier than time + + # determine speed + duration = time - end_time + end_pose = trimmed_interp(end_time) + pose_min_duration = np.max(np.abs(end_pose - pose) / max_change_rate) + duration = max(duration, pose_min_duration) + assert duration >= 0 + last_waypoint_time = end_time + duration + + # insert new pose + times = np.append(trimmed_interp.times, [last_waypoint_time], axis=0) + poses = np.append(trimmed_interp.poses, [pose], axis=0) + + # create new interpolator + final_interp = PoseTrajectoryInterpolator(times, poses) + return final_interp + + def __call__(self, t: Union[numbers.Number, np.ndarray]) -> np.ndarray: + is_single = False + if isinstance(t, numbers.Number): + is_single = True + t = np.array([t]) + + pose = np.zeros((len(t), self.num_joint)) + if self.single_step: + pose[:] = self._poses[0] + else: + start_time = self.times[0] + end_time = self.times[-1] + t = np.clip(t, start_time, end_time) + pose = self.pose_interp(t) + + if is_single: + pose = pose[0] + return pose diff --git a/gr00t_wbc/control/policy/keyboard_navigation_policy.py b/gr00t_wbc/control/policy/keyboard_navigation_policy.py new file mode 100644 index 0000000..347a7a0 --- /dev/null +++ b/gr00t_wbc/control/policy/keyboard_navigation_policy.py @@ -0,0 +1,87 @@ +from typing import Any, Dict, Optional + +import numpy as np + +from gr00t_wbc.control.base.policy import Policy + + +class KeyboardNavigationPolicy(Policy): + def __init__( + self, + max_linear_velocity: float = 0.5, + max_angular_velocity: float = 0.5, + verbose: bool = True, + **kwargs, + ): + """ + Initialize the navigation policy. + + Args: + max_linear_velocity: Maximum linear velocity in m/s (for x and y components) + max_angular_velocity: Maximum angular velocity in rad/s (for yaw component) + **kwargs: Additional arguments passed to the base Policy class + """ + super().__init__(**kwargs) + self.max_linear_velocity = max_linear_velocity + self.max_angular_velocity = max_angular_velocity + self.verbose = verbose + + # Initialize velocity commands + self.lin_vel_command = np.zeros(2, dtype=np.float32) # [vx, vy] + self.ang_vel_command = np.zeros(1, dtype=np.float32) # [wz] + + def get_action(self, time: Optional[float] = None) -> Dict[str, Any]: + """ + Get the action to execute based on current state. + + Args: + time: Current time (optional) + + Returns: + Dict containing the action to execute with: + - navigate_cmd: np.array([vx, vy, wz]) where: + - vx: linear velocity in x direction (m/s) + - vy: linear velocity in y direction (m/s) + - wz: angular velocity around z axis (rad/s) + """ + # Combine linear and angular velocities into a single command + # Ensure velocities are within limits + vx = np.clip(self.lin_vel_command[0], -self.max_linear_velocity, self.max_linear_velocity) + vy = np.clip(self.lin_vel_command[1], -self.max_linear_velocity, self.max_linear_velocity) + wz = np.clip(self.ang_vel_command[0], -self.max_angular_velocity, self.max_angular_velocity) + + navigate_cmd = np.array([vx, vy, wz], dtype=np.float32) + + action = {"navigate_cmd": navigate_cmd} + return action + + def handle_keyboard_button(self, keycode: str): + """ + Handle keyboard inputs for navigation control. + + Args: + keycode: The key that was pressed + """ + if keycode == "w": + self.lin_vel_command[0] += 0.1 # Increase forward velocity + elif keycode == "s": + self.lin_vel_command[0] -= 0.1 # Increase backward velocity + elif keycode == "a": + self.lin_vel_command[1] += 0.1 # Increase left velocity + elif keycode == "d": + self.lin_vel_command[1] -= 0.1 # Increase right velocity + elif keycode == "q": + self.ang_vel_command[0] += 0.1 # Increase counter-clockwise rotation + elif keycode == "e": + self.ang_vel_command[0] -= 0.1 # Increase clockwise rotation + elif keycode == "z": + # Reset all velocities + self.lin_vel_command[:] = 0.0 + self.ang_vel_command[:] = 0.0 + if self.verbose: + print("Navigation policy: Reset all velocity commands to zero") + + # Print current velocities after any keyboard input + if self.verbose: + print(f"Nav lin vel: ({self.lin_vel_command[0]:.2f}, {self.lin_vel_command[1]:.2f})") + print(f"Nav ang vel: {self.ang_vel_command[0]:.2f}") diff --git a/gr00t_wbc/control/policy/lerobot_replay_policy.py b/gr00t_wbc/control/policy/lerobot_replay_policy.py new file mode 100644 index 0000000..2783ca8 --- /dev/null +++ b/gr00t_wbc/control/policy/lerobot_replay_policy.py @@ -0,0 +1,107 @@ +import time + +import pandas as pd + +from gr00t_wbc.control.base.policy import Policy +from gr00t_wbc.control.main.constants import DEFAULT_BASE_HEIGHT, DEFAULT_NAV_CMD, DEFAULT_WRIST_POSE +from gr00t_wbc.control.robot_model.robot_model import RobotModel +from gr00t_wbc.data.viz.rerun_viz import RerunViz + + +class LerobotReplayPolicy(Policy): + """Replay policy for Lerobot dataset, so we can replay the dataset + and just use the action from the dataset. + + Args: + parquet_path: Path to the parquet file containing the dataset. + """ + + is_active = True # by default, the replay policy is active + + def __init__(self, robot_model: RobotModel, parquet_path: str, use_viz: bool = False): + # self.dataset = LerobotDataset(dataset_path) + self.parquet_path = parquet_path + self._ctr = 0 + # read the parquet file + self.df = pd.read_parquet(self.parquet_path) + self._max_ctr = len(self.df) + # get the action from the dataframe + self.action = self.df.iloc[self._ctr]["action"] + self.use_viz = use_viz + if self.use_viz: + self.viz = RerunViz( + image_keys=["egoview_image"], + tensor_keys=[ + "left_arm_qpos", + "left_hand_qpos", + "right_arm_qpos", + "right_hand_qpos", + ], + window_size=5.0, + ) + self.robot_model = robot_model + self.upper_body_joint_indices = self.robot_model.get_joint_group_indices("upper_body") + + def get_action(self) -> dict[str, any]: + # get the action from the dataframe + action = self.df.iloc[self._ctr]["action"] + wrist_pose = self.df.iloc[self._ctr]["action.eef"] + navigate_cmd = self.df.iloc[self._ctr].get("teleop.navigate_command", DEFAULT_NAV_CMD) + base_height_cmd = self.df.iloc[self._ctr].get( + "teleop.base_height_command", DEFAULT_BASE_HEIGHT + ) + + self._ctr += 1 + if self._ctr >= self._max_ctr: + self._ctr = 0 + # print(f"Replay {self._ctr} / {self._max_ctr}") + if self.use_viz: + self.viz.plot_tensors( + { + "left_arm_qpos": action[self.robot_model.get_joint_group_indices("left_arm")] + + 15, + "left_hand_qpos": action[self.robot_model.get_joint_group_indices("left_hand")] + + 15, + "right_arm_qpos": action[self.robot_model.get_joint_group_indices("right_arm")] + + 15, + "right_hand_qpos": action[ + self.robot_model.get_joint_group_indices("right_hand") + ] + + 15, + }, + time.monotonic(), + ) + + return { + "target_upper_body_pose": action[self.upper_body_joint_indices], + "wrist_pose": wrist_pose, + "navigate_cmd": navigate_cmd, + "base_height_cmd": base_height_cmd, + "timestamp": time.time(), + } + + def action_to_cmd(self, action: dict[str, any]) -> dict[str, any]: + action["target_upper_body_pose"] = action["q"][ + self.robot_model.get_joint_group_indices("upper_body") + ] + del action["q"] + return action + + def set_observation(self, observation: dict[str, any]): + pass + + def get_observation(self) -> dict[str, any]: + return { + "wrist_pose": self.df.iloc[self._ctr - 1].get( + "observation.eef_state", DEFAULT_WRIST_POSE + ), + "timestamp": time.time(), + } + + +if __name__ == "__main__": + policy = LerobotReplayPolicy( + parquet_path="outputs/g1-open-hands-may7/data/chunk-000/episode_000000.parquet" + ) + action = policy.get_action() + print(action) diff --git a/gr00t_wbc/control/policy/teleop_policy.py b/gr00t_wbc/control/policy/teleop_policy.py new file mode 100644 index 0000000..26d5bf6 --- /dev/null +++ b/gr00t_wbc/control/policy/teleop_policy.py @@ -0,0 +1,207 @@ +from contextlib import contextmanager +import time +from typing import Optional + +import numpy as np +from scipy.spatial.transform import Rotation as R + +from gr00t_wbc.control.base.policy import Policy +from gr00t_wbc.control.robot_model import RobotModel +from gr00t_wbc.control.teleop.teleop_retargeting_ik import TeleopRetargetingIK +from gr00t_wbc.control.teleop.teleop_streamer import TeleopStreamer + + +class TeleopPolicy(Policy): + """ + Robot-agnostic teleop policy. + Clean separation: IK processing vs command passing. + All robot-specific properties are abstracted through robot_model and hand_ik_solvers. + """ + + def __init__( + self, + body_control_device: str, + hand_control_device: str, + robot_model: RobotModel, + retargeting_ik: TeleopRetargetingIK, + body_streamer_ip: str = "192.168.?.?", + body_streamer_keyword: str = "shoulder", + enable_real_device: bool = True, + replay_data_path: Optional[str] = None, + replay_speed: float = 1.0, + wait_for_activation: int = 5, + activate_keyboard_listener: bool = True, + ): + if activate_keyboard_listener: + from gr00t_wbc.control.utils.keyboard_dispatcher import KeyboardListenerSubscriber + + self.keyboard_listener = KeyboardListenerSubscriber() + else: + self.keyboard_listener = None + + self.wait_for_activation = wait_for_activation + + self.teleop_streamer = TeleopStreamer( + robot_model=robot_model, + body_control_device=body_control_device, + hand_control_device=hand_control_device, + enable_real_device=enable_real_device, + body_streamer_ip=body_streamer_ip, + body_streamer_keyword=body_streamer_keyword, + replay_data_path=replay_data_path, + replay_speed=replay_speed, + ) + self.robot_model = robot_model + self.retargeting_ik = retargeting_ik + self.is_active = False + + self.latest_left_wrist_data = np.eye(4) + self.latest_right_wrist_data = np.eye(4) + self.latest_left_fingers_data = {"position": np.zeros((25, 4, 4))} + self.latest_right_fingers_data = {"position": np.zeros((25, 4, 4))} + + def set_goal(self, goal: dict[str, any]): + # The current teleop policy doesn't take higher level commands yet. + pass + + def get_action(self) -> dict[str, any]: + # Get structured data + streamer_output = self.teleop_streamer.get_streamer_data() + + # Handle activation using teleop_data commands + self.check_activation( + streamer_output.teleop_data, wait_for_activation=self.wait_for_activation + ) + + action = {} + + # Process streamer data if active + if self.is_active and streamer_output.ik_data: + body_data = streamer_output.ik_data["body_data"] + left_hand_data = streamer_output.ik_data["left_hand_data"] + right_hand_data = streamer_output.ik_data["right_hand_data"] + + left_wrist_name = self.robot_model.supplemental_info.hand_frame_names["left"] + right_wrist_name = self.robot_model.supplemental_info.hand_frame_names["right"] + self.latest_left_wrist_data = body_data[left_wrist_name] + self.latest_right_wrist_data = body_data[right_wrist_name] + self.latest_left_fingers_data = left_hand_data + self.latest_right_fingers_data = right_hand_data + + # TODO: This stores the same data again + ik_data = { + "body_data": body_data, + "left_hand_data": left_hand_data, + "right_hand_data": right_hand_data, + } + action["ik_data"] = ik_data + + # Wrist poses (pos and quat) + # TODO: This stores the same wrist poses in two different formats + left_wrist_matrix = self.latest_left_wrist_data + right_wrist_matrix = self.latest_right_wrist_data + left_wrist_pose = np.concatenate( + [ + left_wrist_matrix[:3, 3], + R.from_matrix(left_wrist_matrix[:3, :3]).as_quat(scalar_first=True), + ] + ) + right_wrist_pose = np.concatenate( + [ + right_wrist_matrix[:3, 3], + R.from_matrix(right_wrist_matrix[:3, :3]).as_quat(scalar_first=True), + ] + ) + + # Combine IK results with control commands (no teleop_data commands) + action.update( + { + "left_wrist": self.latest_left_wrist_data, + "right_wrist": self.latest_right_wrist_data, + "left_fingers": self.latest_left_fingers_data, + "right_fingers": self.latest_right_fingers_data, + "wrist_pose": np.concatenate([left_wrist_pose, right_wrist_pose]), + **streamer_output.control_data, # Only control & data collection commands pass through + **streamer_output.data_collection_data, + } + ) + + # Run retargeting IK + if "ik_data" in action: + self.retargeting_ik.set_goal(action["ik_data"]) + action["target_upper_body_pose"] = self.retargeting_ik.get_action() + + return action + + def close(self) -> bool: + self.teleop_streamer.stop_streaming() + return True + + def check_activation(self, teleop_data: dict, wait_for_activation: int = 5): + """Activation logic only looks at teleop data commands""" + key = self.keyboard_listener.read_msg() if self.keyboard_listener else "" + toggle_activation_by_keyboard = key == "l" + reset_teleop_policy_by_keyboard = key == "k" + toggle_activation_by_teleop = teleop_data.get("toggle_activation", False) + + if reset_teleop_policy_by_keyboard: + print("Resetting teleop policy") + self.reset() + + if toggle_activation_by_keyboard or toggle_activation_by_teleop: + self.is_active = not self.is_active + if self.is_active: + print("Starting teleop policy") + + if wait_for_activation > 0 and toggle_activation_by_keyboard: + print(f"Sleeping for {wait_for_activation} seconds before starting teleop...") + for i in range(wait_for_activation, 0, -1): + print(f"Starting in {i}...") + time.sleep(1) + + # dda: calibration logic should use current IK data + self.teleop_streamer.calibrate() + print("Teleop policy calibrated") + else: + print("Stopping teleop policy") + + @contextmanager + def activate(self): + try: + yield self + finally: + self.close() + + def handle_keyboard_button(self, keycode): + """ + Handle keyboard input with proper state toggle. + """ + if keycode == "l": + # Toggle start state + self.is_active = not self.is_active + # Reset initialization when stopping + if not self.is_active: + self._initialized = False + if keycode == "k": + print("Resetting teleop policy") + self.reset() + + def activate_policy(self, wait_for_activation: int = 5): + """activate the teleop policy""" + self.is_active = False + self.check_activation( + teleop_data={"toggle_activation": True}, wait_for_activation=wait_for_activation + ) + + def reset(self, wait_for_activation: int = 5, auto_activate: bool = False): + """Reset the teleop policy to the initial state, and re-activate it.""" + self.teleop_streamer.reset() + self.retargeting_ik.reset() + self.is_active = False + self.latest_left_wrist_data = np.eye(4) + self.latest_right_wrist_data = np.eye(4) + self.latest_left_fingers_data = {"position": np.zeros((25, 4, 4))} + self.latest_right_fingers_data = {"position": np.zeros((25, 4, 4))} + + if auto_activate: + self.activate_policy(wait_for_activation) diff --git a/gr00t_wbc/control/policy/wbc_policy_factory.py b/gr00t_wbc/control/policy/wbc_policy_factory.py new file mode 100644 index 0000000..c315e36 --- /dev/null +++ b/gr00t_wbc/control/policy/wbc_policy_factory.py @@ -0,0 +1,65 @@ +import os +from pathlib import Path +import time + +import numpy as np + +import gr00t_wbc +from gr00t_wbc.control.main.constants import DEFAULT_BASE_HEIGHT, DEFAULT_NAV_CMD +from gr00t_wbc.control.policy.g1_gear_wbc_policy import G1GearWbcPolicy +from gr00t_wbc.control.policy.identity_policy import IdentityPolicy +from gr00t_wbc.control.policy.interpolation_policy import InterpolationPolicy + +from .g1_decoupled_whole_body_policy import G1DecoupledWholeBodyPolicy + +WBC_VERSIONS = ["gear_wbc"] + + +def get_wbc_policy( + robot_type, + robot_model, + wbc_config, + init_time=time.monotonic(), +): + current_upper_body_pose = robot_model.get_initial_upper_body_pose() + + if robot_type == "g1": + upper_body_policy_type = wbc_config.get("upper_body_policy_type", "interpolation") + if upper_body_policy_type == "identity": + upper_body_policy = IdentityPolicy() + else: + upper_body_policy = InterpolationPolicy( + init_time=init_time, + init_values={ + "target_upper_body_pose": current_upper_body_pose, + "base_height_command": np.array([DEFAULT_BASE_HEIGHT]), + "navigate_cmd": np.array([DEFAULT_NAV_CMD]), + }, + max_change_rate=wbc_config["upper_body_max_joint_speed"], + ) + + lower_body_policy_type = wbc_config.get("VERSION", "gear_wbc") + if lower_body_policy_type not in ["gear_wbc"]: + raise ValueError( + f"Invalid lower body policy version: {lower_body_policy_type}. " + f"Only 'gear_wbc' is supported." + ) + + # Get the base path to gr00t_wbc and convert to Path object + package_path = Path(os.path.dirname(gr00t_wbc.__file__)) + gear_wbc_config = str(package_path / ".." / wbc_config["GEAR_WBC_CONFIG"]) + if lower_body_policy_type == "gear_wbc": + lower_body_policy = G1GearWbcPolicy( + robot_model=robot_model, + config=gear_wbc_config, + model_path=wbc_config["model_path"], + ) + + wbc_policy = G1DecoupledWholeBodyPolicy( + robot_model=robot_model, + upper_body_policy=upper_body_policy, + lower_body_policy=lower_body_policy, + ) + else: + raise ValueError(f"Invalid robot type: {robot_type}") + return wbc_policy diff --git a/gr00t_wbc/control/robot_model/__init__.py b/gr00t_wbc/control/robot_model/__init__.py new file mode 100644 index 0000000..774d303 --- /dev/null +++ b/gr00t_wbc/control/robot_model/__init__.py @@ -0,0 +1,3 @@ +from .robot_model import ReducedRobotModel, RobotModel + +__all__ = ["RobotModel", "ReducedRobotModel"] diff --git a/gr00t_wbc/control/robot_model/instantiation/__init__.py b/gr00t_wbc/control/robot_model/instantiation/__init__.py new file mode 100644 index 0000000..79b21df --- /dev/null +++ b/gr00t_wbc/control/robot_model/instantiation/__init__.py @@ -0,0 +1,15 @@ +from .g1 import instantiate_g1_robot_model + + +def get_robot_type_and_model(robot: str, enable_waist_ik: bool = False): + """Get the robot type from the robot name.""" + if robot.lower().startswith("g1"): + if "FixedLowerBody" in robot or "FloatingBody" in robot: + waist_location = "upper_body" + elif enable_waist_ik: + waist_location = "lower_and_upper_body" + else: + waist_location = "lower_body" + return "g1", instantiate_g1_robot_model(waist_location=waist_location) + else: + raise ValueError(f"Invalid robot name: {robot}") diff --git a/gr00t_wbc/control/robot_model/instantiation/g1.py b/gr00t_wbc/control/robot_model/instantiation/g1.py new file mode 100644 index 0000000..6191fbc --- /dev/null +++ b/gr00t_wbc/control/robot_model/instantiation/g1.py @@ -0,0 +1,62 @@ +import os +from pathlib import Path +from typing import Literal + +from gr00t_wbc.control.robot_model.robot_model import RobotModel +from gr00t_wbc.control.robot_model.supplemental_info.g1.g1_supplemental_info import ( + ElbowPose, + G1SupplementalInfo, + WaistLocation, +) + + +def instantiate_g1_robot_model( + waist_location: Literal["lower_body", "upper_body", "lower_and_upper_body"] = "lower_body", + high_elbow_pose: bool = False, +): + """ + Instantiate a G1 robot model with configurable waist location and pose. + + Args: + waist_location: Whether to put waist in "lower_body" (default G1 behavior), + "upper_body" (waist controlled with arms/manipulation via IK), + or "lower_and_upper_body" (waist reference from arms/manipulation + via IK then passed to lower body policy) + high_elbow_pose: Whether to use high elbow pose configuration for default joint positions + + Returns: + RobotModel: Configured G1 robot model + """ + project_root = Path(__file__).resolve().parent.parent.parent.parent.parent + robot_model_config = { + "asset_path": os.path.join(project_root, "gr00t_wbc/control/robot_model/model_data/g1"), + "urdf_path": os.path.join( + project_root, "gr00t_wbc/control/robot_model/model_data/g1/g1_29dof_with_hand.urdf" + ), + } + assert waist_location in [ + "lower_body", + "upper_body", + "lower_and_upper_body", + ], f"Invalid waist_location: {waist_location}. Must be 'lower_body' or 'upper_body' or 'lower_and_upper_body'" + + # Map string values to enums + waist_location_enum = { + "lower_body": WaistLocation.LOWER_BODY, + "upper_body": WaistLocation.UPPER_BODY, + "lower_and_upper_body": WaistLocation.LOWER_AND_UPPER_BODY, + }[waist_location] + + elbow_pose_enum = ElbowPose.HIGH if high_elbow_pose else ElbowPose.LOW + + # Create single configurable supplemental info instance + robot_model_supplemental_info = G1SupplementalInfo( + waist_location=waist_location_enum, elbow_pose=elbow_pose_enum + ) + + robot_model = RobotModel( + robot_model_config["urdf_path"], + robot_model_config["asset_path"], + supplemental_info=robot_model_supplemental_info, + ) + return robot_model diff --git a/gr00t_wbc/control/robot_model/model_data/g1/g1_29dof.urdf b/gr00t_wbc/control/robot_model/model_data/g1/g1_29dof.urdf new file mode 100644 index 0000000..5f91f34 --- /dev/null +++ b/gr00t_wbc/control/robot_model/model_data/g1/g1_29dof.urdf @@ -0,0 +1,1091 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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--git a/gr00t_wbc/control/robot_model/model_data/g1/pnp_cube_43dof.xml b/gr00t_wbc/control/robot_model/model_data/g1/pnp_cube_43dof.xml new file mode 100644 index 0000000..cb61b70 --- /dev/null +++ b/gr00t_wbc/control/robot_model/model_data/g1/pnp_cube_43dof.xml @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gr00t_wbc/control/robot_model/model_data/g1/scene_29dof.xml b/gr00t_wbc/control/robot_model/model_data/g1/scene_29dof.xml new file mode 100644 index 0000000..0b60f2f --- /dev/null +++ b/gr00t_wbc/control/robot_model/model_data/g1/scene_29dof.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gr00t_wbc/control/robot_model/model_data/g1/scene_29dof_activated3dex.xml b/gr00t_wbc/control/robot_model/model_data/g1/scene_29dof_activated3dex.xml new file mode 100644 index 0000000..2916dfb --- /dev/null +++ b/gr00t_wbc/control/robot_model/model_data/g1/scene_29dof_activated3dex.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gr00t_wbc/control/robot_model/model_data/g1/scene_43dof.xml b/gr00t_wbc/control/robot_model/model_data/g1/scene_43dof.xml new file mode 100644 index 0000000..d66b23d --- /dev/null +++ b/gr00t_wbc/control/robot_model/model_data/g1/scene_43dof.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gr00t_wbc/control/robot_model/robot_model.py b/gr00t_wbc/control/robot_model/robot_model.py new file mode 100644 index 0000000..a3d94c8 --- /dev/null +++ b/gr00t_wbc/control/robot_model/robot_model.py @@ -0,0 +1,772 @@ +from typing import List, Optional, Set, Union + +import numpy as np +import pinocchio as pin + +from gr00t_wbc.control.robot_model.supplemental_info import RobotSupplementalInfo + + +class RobotModel: + def __init__( + self, + urdf_path, + asset_path, + set_floating_base=False, + supplemental_info: Optional[RobotSupplementalInfo] = None, + ): + self.pinocchio_wrapper = pin.RobotWrapper.BuildFromURDF( + filename=urdf_path, + package_dirs=[asset_path], + root_joint=pin.JointModelFreeFlyer() if set_floating_base else None, + ) + self.is_floating_base_model = set_floating_base + + self.joint_to_dof_index = {} + # Assume we only have single-dof joints + # First two names correspond to universe and floating base joints + names = ( + self.pinocchio_wrapper.model.names[2:] + if set_floating_base + else self.pinocchio_wrapper.model.names[1:] + ) + for name in names: + j_id = self.pinocchio_wrapper.model.getJointId(name) + jmodel = self.pinocchio_wrapper.model.joints[j_id] + self.joint_to_dof_index[name] = jmodel.idx_q + + # Store joint limits only for actual joints (excluding floating base) + # if set floating base is true and the robot can move in the world + # then we don't want to impose joint limits for the 7 dofs corresponding + # to the floating base dofs. + root_nq = 7 if set_floating_base else 0 + self.upper_joint_limits = self.pinocchio_wrapper.model.upperPositionLimit[root_nq:].copy() + self.lower_joint_limits = self.pinocchio_wrapper.model.lowerPositionLimit[root_nq:].copy() + + # Set up supplemental info if provided + self.supplemental_info = supplemental_info + if self.supplemental_info is not None: + # Cache indices for body and hand actuated joints separately + self._body_actuated_joint_indices = [ + self.dof_index(name) for name in self.supplemental_info.body_actuated_joints + ] + self._left_hand_actuated_joint_indices = [ + self.dof_index(name) for name in self.supplemental_info.left_hand_actuated_joints + ] + self._right_hand_actuated_joint_indices = [ + self.dof_index(name) for name in self.supplemental_info.right_hand_actuated_joints + ] + self._hand_actuated_joint_indices = ( + self._left_hand_actuated_joint_indices + self._right_hand_actuated_joint_indices + ) + + # Cache indices for joint groups, handling nested groups + self._joint_group_indices = {} + for group_name, group_info in self.supplemental_info.joint_groups.items(): + indices = [] + # Add indices for direct joints + indices.extend([self.dof_index(name) for name in group_info["joints"]]) + # Add indices from subgroups + for subgroup_name in group_info["groups"]: + indices.extend(self.get_joint_group_indices(subgroup_name)) + self._joint_group_indices[group_name] = sorted(set(indices)) + + # Update joint limits from supplemental info if available + if ( + hasattr(self.supplemental_info, "joint_limits") + and self.supplemental_info.joint_limits + ): + for joint_name, limits in self.supplemental_info.joint_limits.items(): + if joint_name in self.joint_to_dof_index: + idx = self.joint_to_dof_index[joint_name] - root_nq + self.lower_joint_limits[idx] = limits[0] + self.upper_joint_limits[idx] = limits[1] + + # Initialize default body pose + self.default_body_pose = self.q_zero.copy() + + # Update with supplemental info if available + if self.supplemental_info is not None: + default_joint_q = self.supplemental_info.default_joint_q + for joint, joint_values in default_joint_q.items(): + # Get the joint name mapping for this type + joint_mapping = self.supplemental_info.joint_name_mapping[joint] + + # Handle both single joint names and left/right mappings + if isinstance(joint_mapping, str): + # Single joint (e.g., waist joints) + if joint_mapping in self.joint_to_dof_index: + joint_idx = self.dof_index(joint_mapping) + self.default_body_pose[joint_idx] = ( + joint_values # joint_values is the value for single joints + ) + else: + # Left/right mapping (e.g., arm joints) + for side, value in joint_values.items(): + if side in joint_mapping and joint_mapping[side] in self.joint_to_dof_index: + joint_idx = self.dof_index(joint_mapping[side]) + self.default_body_pose[joint_idx] = value + + # Initialize initial body pose + self.initial_body_pose = self.default_body_pose.copy() + + @property + def num_dofs(self) -> int: + """Get the number of degrees of freedom of the robot (floating base pose + joints).""" + return self.pinocchio_wrapper.model.nq + + @property + def q_zero(self) -> np.ndarray: + """Get the zero pose of the robot.""" + return self.pinocchio_wrapper.q0 + + @property + def joint_names(self) -> List[str]: + """Get the names of the joints of the robot.""" + return list(self.joint_to_dof_index.keys()) + + @property + def num_joints(self) -> int: + """Get the number of joints of the robot.""" + return len(self.joint_to_dof_index) + + def dof_index(self, joint_name: str) -> int: + """ + Get the index in the degrees of freedom vector corresponding + to the single-DoF joint with name `joint_name`. + """ + if joint_name not in self.joint_to_dof_index: + raise ValueError( + f"Unknown joint name: '{joint_name}'. " + f"Available joints: {list(self.joint_to_dof_index.keys())}" + ) + return self.joint_to_dof_index[joint_name] + + def get_body_actuated_joint_indices(self) -> List[int]: + """ + Get the indices of body actuated joints in the full configuration. + Ordering is that of the actuated joints as defined in the supplemental info. + Requires supplemental_info to be provided. + """ + if self.supplemental_info is None: + raise ValueError("supplemental_info must be provided to use this method") + return self._body_actuated_joint_indices + + def get_hand_actuated_joint_indices(self, side: str = "both") -> List[int]: + """ + Get the indices of hand actuated joints in the full configuration. + Ordering is that of the actuated joints as defined in the supplemental info. + Requires supplemental_info to be provided. + + Args: + side: String specifying which hand to get indices for ('left', 'right', or 'both') + """ + if self.supplemental_info is None: + raise ValueError("supplemental_info must be provided to use this method") + + if side.lower() == "both": + return self._hand_actuated_joint_indices + elif side.lower() == "left": + return self._left_hand_actuated_joint_indices + elif side.lower() == "right": + return self._right_hand_actuated_joint_indices + else: + raise ValueError("side must be 'left', 'right', or 'both'") + + def get_joint_group_indices(self, group_names: Union[str, Set[str]]) -> List[int]: + """ + Get the indices of joints in one or more groups in the full configuration. + Requires supplemental_info to be provided. + The returned indices are sorted in ascending order, so that the joint ordering + of the full model is preserved. + + Args: + group_names: Either a single group name (str) or a set of group names (Set[str]) + + Returns: + List of joint indices in sorted order with no duplicates + """ + if self.supplemental_info is None: + raise ValueError("supplemental_info must be provided to use this method") + + # Convert single string to set for uniform handling + if isinstance(group_names, str): + group_names = {group_names} + + # Collect indices from all groups + all_indices = set() + for group_name in group_names: + if group_name not in self._joint_group_indices: + raise ValueError(f"Unknown joint group: {group_name}") + all_indices.update(self._joint_group_indices[group_name]) + + return sorted(all_indices) + + def cache_forward_kinematics(self, q: np.ndarray, auto_clip=True) -> None: + """ + Perform forward kinematics to update the pose of every joint and frame + in the Pinocchio data structures for the given configuration `q`. + + :param q: A numpy array of shape (num_dofs,) representing the robot configuration. + """ + if q.shape[0] != self.num_dofs: + raise ValueError(f"Expected q of length {self.num_dofs}, got {q.shape[0]} instead.") + + # Apply auto-clip if enabled + if auto_clip: + q = self.clip_configuration(q) + + pin.framesForwardKinematics(self.pinocchio_wrapper.model, self.pinocchio_wrapper.data, q) + + def compute_gravity_compensation_torques( + self, q: np.ndarray, joint_groups: Union[str, List[str], Set[str]] = None, auto_clip=True + ) -> np.ndarray: + """ + Compute gravity compensation torques for specified joint groups using pinocchio. + + :param q: Robot configuration (joint positions) + :param joint_groups: Joint groups to compensate (e.g., "arms", ["left_arm", "waist"], + {"left_arm", "waist"}). If None, compensates all joints + :param auto_clip: Whether to automatically clip joint values to limits + :return: Array of gravity compensation torques for all DOFs (zero for non-compensated joints) + """ + if q.shape[0] != self.num_dofs: + raise ValueError(f"Expected q of length {self.num_dofs}, got {q.shape[0]} instead.") + + # Apply auto-clip if enabled + if auto_clip: + q = self.clip_configuration(q) + + try: + # Cache forward kinematics for the current configuration + self.cache_forward_kinematics(q, auto_clip=False) # Already clipped if needed + + # Compute gravity vector using RNEA with zero velocity and acceleration + v = np.zeros(self.num_dofs) + a = np.zeros(self.num_dofs) + + gravity_torques_full = pin.rnea( + self.pinocchio_wrapper.model, self.pinocchio_wrapper.data, q, v, a + ) + + # If no joint groups specified, return full gravity torques + if joint_groups is None: + return gravity_torques_full + + # Convert list to set for get_joint_group_indices compatibility + if isinstance(joint_groups, list): + joint_groups = set(joint_groups) + + # Get joint indices for specified groups - get_joint_group_indices handles str and Set[str] + try: + compensated_joint_indices = self.get_joint_group_indices(joint_groups) + except ValueError as e: + raise ValueError(f"Error resolving joint groups {joint_groups}: {e}") + + # Create mask for joints that should receive gravity compensation + compensation_mask = np.zeros(self.num_dofs, dtype=bool) + for joint_idx in compensated_joint_indices: + if 0 <= joint_idx < len(compensation_mask): + compensation_mask[joint_idx] = True + + # Apply mask to only compensate specified joints + compensated_torques = np.zeros_like(gravity_torques_full) + compensated_torques[compensation_mask] = gravity_torques_full[compensation_mask] + + return compensated_torques + + except Exception as e: + raise RuntimeError(f"Error computing gravity compensation: {e}") + + def clip_configuration(self, q: np.ndarray, margin: float = 1e-6) -> np.ndarray: + """ + Clip the configuration to stay within joint limits with a small tolerance. + + :param q: Configuration to clip + :param margin: Tolerance to keep away from joint limits + :return: Clipped configuration + """ + q_clipped = q.copy() + + # Only clip joint positions, not floating base + root_nq = 7 if self.is_floating_base_model else 0 + q_clipped[root_nq:] = np.clip( + q[root_nq:], self.lower_joint_limits + margin, self.upper_joint_limits - margin + ) + + return q_clipped + + def frame_placement(self, frame_name: str) -> pin.SE3: + """ + Returns the SE3 transform of the specified frame in the world coordinate system. + Note: make sure cache_forward_kinematics() has been previously called. + + :param frame_name: Name of the frame, e.g. "link_elbow_frame", "hand_imu_frame", etc. + :return: A pin.SE3 object representing the pose of the frame. + """ + model = self.pinocchio_wrapper.model + data = self.pinocchio_wrapper.data + + frame_id = model.getFrameId(frame_name) + if frame_id < 0 or frame_id >= len(model.frames): + valid_frames = [f.name for f in model.frames] + raise ValueError(f"Unknown frame '{frame_name}'. Valid frames: {valid_frames}") + + # Pinocchio's data.oMf[frame_id] is a pin.SE3. + return data.oMf[frame_id].copy() + + def get_body_actuated_joints(self, q: np.ndarray) -> np.ndarray: + """ + Get the configuration of body actuated joints from a full configuration. + + :param q: Configuration in full space + :return: Configuration of body actuated joints + """ + indices = self.get_body_actuated_joint_indices() + + return q[indices] + + def get_hand_actuated_joints(self, q: np.ndarray, side: str = "both") -> np.ndarray: + """ + Get the configuration of hand actuated joints from a full configuration. + + Args: + q: Configuration in full space + side: String specifying which hand to get joints for ('left', 'right', or 'both') + """ + indices = self.get_hand_actuated_joint_indices(side) + return q[indices] + + def get_configuration_from_actuated_joints( + self, + body_actuated_joint_values: np.ndarray, + hand_actuated_joint_values: Optional[np.ndarray] = None, + left_hand_actuated_joint_values: Optional[np.ndarray] = None, + right_hand_actuated_joint_values: Optional[np.ndarray] = None, + ) -> np.ndarray: + """ + Get the full configuration from the body and hand actuated joint configurations. + Can specify either both hands together or left and right hands separately. + + Args: + body_actuated_joint_values: Configuration of body actuated joints + hand_actuated_joint_values: Configuration of both hands' actuated joints (optional) + left_hand_actuated_joint_values: Configuration of left hand actuated joints (optional) + right_hand_actuated_joint_values: Configuration of right hand actuated joints (optional) + + Returns: + Full configuration including body and hand joints + """ + q = self.pinocchio_wrapper.q0.copy() + q[self.get_body_actuated_joint_indices()] = body_actuated_joint_values + + # Handle hand configurations + if hand_actuated_joint_values is not None: + # Use combined hand configuration + q[self.get_hand_actuated_joint_indices("both")] = hand_actuated_joint_values + else: + # Use separate hand configurations + if left_hand_actuated_joint_values is not None: + q[self.get_hand_actuated_joint_indices("left")] = left_hand_actuated_joint_values + if right_hand_actuated_joint_values is not None: + q[self.get_hand_actuated_joint_indices("right")] = right_hand_actuated_joint_values + + return q + + def reset_forward_kinematics(self) -> None: + """ + Reset the forward kinematics to the initial configuration. + """ + self.cache_forward_kinematics(self.q_zero) + + def get_initial_upper_body_pose(self) -> np.ndarray: + """ + Get the initial upper body pose of the robot. + """ + return self.initial_body_pose[self.get_joint_group_indices("upper_body")] + + def get_default_body_pose(self) -> np.ndarray: + """ + Get the default body pose of the robot. + """ + return self.default_body_pose + + def set_initial_body_pose(self, q: np.ndarray, q_idx=None) -> None: + """ + Set the initial body pose of the robot. + """ + if q_idx is None: + self.initial_body_pose = q + else: + self.initial_body_pose[q_idx] = q + + +class ReducedRobotModel(RobotModel): + """ + A class that creates a reduced order robot model by fixing certain joints. + This class maintains a mapping between the reduced state space and the full state space. + """ + + def __init__( + self, + full_robot_model: RobotModel, + fixed_joints: List[str], + fixed_values: Optional[List[float]] = None, + ): + """ + Create a reduced order robot model by fixing specified joints. + + :param full_robot_model: The original robot model + :param fixed_joints: List of joint names to fix + :param fixed_values: Optional list of values to fix the joints to. If None, uses the initial + joint positions (q0) from the full robot model. + """ + self.full_robot = full_robot_model + self.supplemental_info = full_robot_model.supplemental_info + + # If fixed_values is None, use q0 from the full robot model + if fixed_values is None: + fixed_values = [] + for joint_name in fixed_joints: + full_idx = full_robot_model.dof_index(joint_name) + fixed_values.append(full_robot_model.pinocchio_wrapper.q0[full_idx]) + elif len(fixed_joints) != len(fixed_values): + raise ValueError("fixed_joints and fixed_values must have the same length") + + # Store fixed joints and their values + self.fixed_joints = fixed_joints + self.fixed_values = fixed_values + + # Create mapping between reduced and full state spaces + self.reduced_to_full = [] + self.full_to_reduced = {} + + # Initialize with floating base indices if present + if full_robot_model.is_floating_base_model: + self.reduced_to_full.extend(range(7)) # Floating base indices + for i in range(7): + self.full_to_reduced[i] = i + + # Add active joint indices + for joint_name in full_robot_model.joint_names: + if joint_name not in fixed_joints: + full_idx = full_robot_model.dof_index(joint_name) + reduced_idx = len(self.reduced_to_full) + self.reduced_to_full.append(full_idx) + self.full_to_reduced[full_idx] = reduced_idx + + # Create a reduced Pinocchio model using buildReducedModel + # First, get the list of joint IDs to lock + locked_joint_ids = [] + for joint_name in fixed_joints: + joint_id = full_robot_model.pinocchio_wrapper.model.getJointId(joint_name) + if (full_robot_model.is_floating_base_model and joint_id > 1) or ( + not full_robot_model.is_floating_base_model and joint_id > 0 + ): + locked_joint_ids.append(joint_id) + + # First build the reduced kinematic model + reduced_model = pin.buildReducedModel( + full_robot_model.pinocchio_wrapper.model, + locked_joint_ids, + full_robot_model.pinocchio_wrapper.q0, + ) + + # Then build the reduced geometry models using the reduced kinematic model + self.pinocchio_wrapper = pin.RobotWrapper( + model=reduced_model, + ) + + # Create joint to dof index mapping + self.joint_to_dof_index = {} + # Assume we only have single-dof joints + # First two names correspond to universe and floating base joints + names = ( + self.pinocchio_wrapper.model.names[2:] + if self.full_robot.is_floating_base_model + else self.pinocchio_wrapper.model.names[1:] + ) + for name in names: + j_id = self.pinocchio_wrapper.model.getJointId(name) + jmodel = self.pinocchio_wrapper.model.joints[j_id] + self.joint_to_dof_index[name] = jmodel.idx_q + + # Initialize joint limits + root_nq = 7 if self.full_robot.is_floating_base_model else 0 + self.lower_joint_limits = self.pinocchio_wrapper.model.lowerPositionLimit[root_nq:].copy() + self.upper_joint_limits = self.pinocchio_wrapper.model.upperPositionLimit[root_nq:].copy() + + # Update joint limits from supplemental info if available + if self.supplemental_info is not None: + if ( + hasattr(self.supplemental_info, "joint_limits") + and self.supplemental_info.joint_limits + ): + for joint_name, limits in self.supplemental_info.joint_limits.items(): + if joint_name in self.joint_to_dof_index: + idx = self.joint_to_dof_index[joint_name] - root_nq + self.lower_joint_limits[idx] = limits[0] + self.upper_joint_limits[idx] = limits[1] + + # Get full indices for body and hand actuated joints + full_body_indices = full_robot_model.get_body_actuated_joint_indices() + full_hand_indices = full_robot_model.get_hand_actuated_joint_indices("both") + full_left_hand_indices = full_robot_model.get_hand_actuated_joint_indices("left") + full_right_hand_indices = full_robot_model.get_hand_actuated_joint_indices("right") + + # Map to reduced indices + self._body_actuated_joint_indices = [] + for idx in full_body_indices: + if idx in self.full_to_reduced: + self._body_actuated_joint_indices.append(self.full_to_reduced[idx]) + + self._hand_actuated_joint_indices = [] + for idx in full_hand_indices: + if idx in self.full_to_reduced: + self._hand_actuated_joint_indices.append(self.full_to_reduced[idx]) + + self._left_hand_actuated_joint_indices = [] + for idx in full_left_hand_indices: + if idx in self.full_to_reduced: + self._left_hand_actuated_joint_indices.append(self.full_to_reduced[idx]) + + self._right_hand_actuated_joint_indices = [] + for idx in full_right_hand_indices: + if idx in self.full_to_reduced: + self._right_hand_actuated_joint_indices.append(self.full_to_reduced[idx]) + + # Cache indices for joint groups in reduced space + self._joint_group_indices = {} + for group_name in self.supplemental_info.joint_groups: + full_indices = full_robot_model.get_joint_group_indices(group_name) + reduced_indices = [] + for idx in full_indices: + if idx in self.full_to_reduced: + reduced_indices.append(self.full_to_reduced[idx]) + self._joint_group_indices[group_name] = sorted(set(reduced_indices)) + + # Initialize default body pose in reduced space + self.default_body_pose = self.full_to_reduced_configuration( + full_robot_model.default_body_pose + ) + + # Initialize initial body pose in reduced space + self.initial_body_pose = self.full_to_reduced_configuration( + full_robot_model.initial_body_pose + ) + + @property + def num_joints(self) -> int: + """Get the number of active joints in the reduced model.""" + return len(self.joint_names) + + @property + def joint_names(self) -> List[str]: + """Get the names of the active joints in the reduced model.""" + return [name for name in self.full_robot.joint_names if name not in self.fixed_joints] + + @classmethod + def from_fixed_groups( + cls, + full_robot_model: RobotModel, + fixed_group_names: List[str], + fixed_values: Optional[List[float]] = None, + ) -> "ReducedRobotModel": + """ + Create a reduced order robot model by fixing all joints in specified groups. + + :param full_robot_model: The original robot model + :param fixed_group_names: List of joint group names to fix + :param fixed_values: Optional list of values to fix the joints to. If None, uses the initial + joint positions (q0) from the full robot model. + :return: A ReducedRobotModel instance + """ + if full_robot_model.supplemental_info is None: + raise ValueError("supplemental_info must be provided to use this method") + + # Get all joints in the groups, including those from subgroups + fixed_joints = set() # Use a set to avoid duplicates + + for group_name in fixed_group_names: + if group_name not in full_robot_model.supplemental_info.joint_groups: + raise ValueError(f"Unknown joint group: {group_name}") + + group_info = full_robot_model.supplemental_info.joint_groups[group_name] + + # Add direct joints + fixed_joints.update(group_info["joints"]) + + # Add joints from subgroups + for subgroup_name in group_info["groups"]: + subgroup_joints = full_robot_model.get_joint_group_indices(subgroup_name) + fixed_joints.update([full_robot_model.joint_names[idx] for idx in subgroup_joints]) + + # Convert set back to list for compatibility with the original constructor + return cls(full_robot_model, list(fixed_joints), fixed_values) + + @classmethod + def from_fixed_group( + cls, + full_robot_model: RobotModel, + fixed_group_name: str, + fixed_values: Optional[List[float]] = None, + ) -> "ReducedRobotModel": + """ + Create a reduced order robot model by fixing all joints in a specified group. + This is a convenience method that calls from_fixed_groups with a single group. + + :param full_robot_model: The original robot model + :param fixed_group_name: Name of the joint group to fix + :param fixed_values: Optional list of values to fix the joints to. If None, uses the initial + joint positions (q0) from the full robot model. + :return: A ReducedRobotModel instance + """ + return cls.from_fixed_groups(full_robot_model, [fixed_group_name], fixed_values) + + @classmethod + def from_active_group( + cls, + full_robot_model: RobotModel, + active_group_name: str, + fixed_values: Optional[List[float]] = None, + ) -> "ReducedRobotModel": + """ + Create a reduced order robot model by fixing all joints EXCEPT those in the specified group. + This is a convenience method that calls from_active_groups with a single group. + + :param full_robot_model: The original robot model + :param active_group_name: Name of the joint group to keep active (all other joints will be fixed) + :param fixed_values: Optional list of values to fix the joints to. If None, uses the initial + joint positions (q0) from the full robot model. + :return: A ReducedRobotModel instance + """ + return cls.from_active_groups(full_robot_model, [active_group_name], fixed_values) + + @classmethod + def from_active_groups( + cls, + full_robot_model: RobotModel, + active_group_names: List[str], + fixed_values: Optional[List[float]] = None, + ) -> "ReducedRobotModel": + """ + Create a reduced order robot model by fixing all joints EXCEPT those in the specified groups. + This is useful when you want to keep multiple groups active and fix everything else. + + :param full_robot_model: The original robot model + :param active_group_names: List of joint group names to keep active (all other joints will be fixed) + :param fixed_values: Optional list of values to fix the joints to. If None, uses the initial + joint positions (q0) from the full robot model. + :return: A ReducedRobotModel instance + """ + if full_robot_model.supplemental_info is None: + raise ValueError("supplemental_info must be provided to use this method") + + # Get all joints in the active groups, including those from subgroups + active_joints = set() + + def add_group_joints(group_name: str): + if group_name not in full_robot_model.supplemental_info.joint_groups: + raise ValueError(f"Unknown joint group: {group_name}") + + group_info = full_robot_model.supplemental_info.joint_groups[group_name] + + # Add direct joints + if "joints" in group_info: + active_joints.update(group_info["joints"]) + + # Add joints from subgroups + if "groups" in group_info: + for subgroup_name in group_info["groups"]: + add_group_joints(subgroup_name) + + for group_name in active_group_names: + add_group_joints(group_name) + + # Get all joints from the model + all_joints = set(full_robot_model.joint_names) + + # The fixed joints are all joints minus the active joints + fixed_joints = list(all_joints - active_joints) + + return cls(full_robot_model, fixed_joints, fixed_values) + + def reduced_to_full_configuration(self, q_reduced: np.ndarray) -> np.ndarray: + """ + Convert a reduced configuration to the full configuration space. + + :param q_reduced: Configuration in reduced space + :return: Configuration in full space with fixed joints set to their fixed values + """ + if q_reduced.shape[0] != self.num_dofs: + raise ValueError( + f"Expected q_reduced of length {self.num_dofs}, got {q_reduced.shape[0]} instead" + ) + + q_full = np.zeros(self.full_robot.num_dofs) + + # Set active joints + for reduced_idx, full_idx in enumerate(self.reduced_to_full): + q_full[full_idx] = q_reduced[reduced_idx] + + # Set fixed joints + for joint_name, value in zip(self.fixed_joints, self.fixed_values): + full_idx = self.full_robot.dof_index(joint_name) + q_full[full_idx] = value + + return q_full + + def full_to_reduced_configuration(self, q_full: np.ndarray) -> np.ndarray: + """ + Convert a full configuration to the reduced configuration space. + + :param q_full: Configuration in full space + :return: Configuration in reduced space + """ + if q_full.shape[0] != self.full_robot.num_dofs: + raise ValueError( + f"Expected q_full of length {self.full_robot.num_dofs}, got {q_full.shape[0]} instead" + ) + + q_reduced = np.zeros(self.num_dofs) + + # Copy active joints + for reduced_idx, full_idx in enumerate(self.reduced_to_full): + q_reduced[reduced_idx] = q_full[full_idx] + + return q_reduced + + def cache_forward_kinematics(self, q_reduced: np.ndarray, auto_clip=True) -> None: + """ + Perform forward kinematics using the reduced configuration. + + :param q_reduced: Configuration in reduced space + """ + # First update the full robot's forward kinematics + q_full = self.reduced_to_full_configuration(q_reduced) + self.full_robot.cache_forward_kinematics(q_full, auto_clip) + + # Then update the reduced model's forward kinematics + pin.framesForwardKinematics( + self.pinocchio_wrapper.model, self.pinocchio_wrapper.data, q_reduced + ) + + def clip_configuration(self, q_reduced: np.ndarray, margin: float = 1e-6) -> np.ndarray: + """ + Clip the reduced configuration to stay within joint limits with a small tolerance. + + :param q_reduced: Configuration to clip + :param margin: Tolerance to keep away from joint limits + :return: Clipped configuration + """ + q_full = self.reduced_to_full_configuration(q_reduced) + q_full_clipped = self.full_robot.clip_configuration(q_full, margin) + return self.full_to_reduced_configuration(q_full_clipped) + + def reset_forward_kinematics(self): + """ + Reset the forward kinematics to the initial configuration. + """ + # Reset full robot's forward kinematics + self.full_robot.reset_forward_kinematics() + # Reset reduced model's forward kinematics + self.cache_forward_kinematics(self.q_zero) diff --git a/gr00t_wbc/control/robot_model/supplemental_info/__init__.py b/gr00t_wbc/control/robot_model/supplemental_info/__init__.py new file mode 100644 index 0000000..b9c987d --- /dev/null +++ b/gr00t_wbc/control/robot_model/supplemental_info/__init__.py @@ -0,0 +1,5 @@ +from gr00t_wbc.control.robot_model.supplemental_info.robot_supplemental_info import ( + RobotSupplementalInfo, +) + +__all__ = ["RobotSupplementalInfo"] diff --git a/gr00t_wbc/control/robot_model/supplemental_info/g1/__init__.py b/gr00t_wbc/control/robot_model/supplemental_info/g1/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/robot_model/supplemental_info/g1/g1_supplemental_info.py b/gr00t_wbc/control/robot_model/supplemental_info/g1/g1_supplemental_info.py new file mode 100644 index 0000000..a68b4cd --- /dev/null +++ b/gr00t_wbc/control/robot_model/supplemental_info/g1/g1_supplemental_info.py @@ -0,0 +1,330 @@ +from dataclasses import dataclass +from enum import Enum + +import numpy as np + +from gr00t_wbc.control.robot_model.supplemental_info.robot_supplemental_info import ( + RobotSupplementalInfo, +) + + +class WaistLocation(Enum): + """Enum for waist location configuration.""" + + LOWER_BODY = "lower_body" + UPPER_BODY = "upper_body" + LOWER_AND_UPPER_BODY = "lower_and_upper_body" + + +class ElbowPose(Enum): + """Enum for elbow pose configuration.""" + + LOW = "low" + HIGH = "high" + + +@dataclass +class G1SupplementalInfo(RobotSupplementalInfo): + """ + Supplemental information for the G1 robot. + + Args: + waist_location: Where to place waist joints in the joint groups + elbow_pose: Which elbow pose configuration to use for default joint positions + """ + + def __init__( + self, + waist_location: WaistLocation = WaistLocation.LOWER_BODY, + elbow_pose: ElbowPose = ElbowPose.LOW, + ): + name = "G1_G1ThreeFinger" + + # Define all actuated joints + body_actuated_joints = [ + # Left leg + "left_hip_pitch_joint", + "left_hip_roll_joint", + "left_hip_yaw_joint", + "left_knee_joint", + "left_ankle_pitch_joint", + "left_ankle_roll_joint", + # Right leg + "right_hip_pitch_joint", + "right_hip_roll_joint", + "right_hip_yaw_joint", + "right_knee_joint", + "right_ankle_pitch_joint", + "right_ankle_roll_joint", + # Waist + "waist_yaw_joint", + "waist_roll_joint", + "waist_pitch_joint", + # Left arm + "left_shoulder_pitch_joint", + "left_shoulder_roll_joint", + "left_shoulder_yaw_joint", + "left_elbow_joint", + "left_wrist_roll_joint", + "left_wrist_pitch_joint", + "left_wrist_yaw_joint", + # Right arm + "right_shoulder_pitch_joint", + "right_shoulder_roll_joint", + "right_shoulder_yaw_joint", + "right_elbow_joint", + "right_wrist_roll_joint", + "right_wrist_pitch_joint", + "right_wrist_yaw_joint", + ] + + left_hand_actuated_joints = [ + # Left hand + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + ] + + right_hand_actuated_joints = [ + # Right hand + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint", + ] + + # Define joint limits from URDF + joint_limits = { + # Left leg + "left_hip_pitch_joint": [-2.5307, 2.8798], + "left_hip_roll_joint": [-0.5236, 2.9671], + "left_hip_yaw_joint": [-2.7576, 2.7576], + "left_knee_joint": [-0.087267, 2.8798], + "left_ankle_pitch_joint": [-0.87267, 0.5236], + "left_ankle_roll_joint": [-0.2618, 0.2618], + # Right leg + "right_hip_pitch_joint": [-2.5307, 2.8798], + "right_hip_roll_joint": [-2.9671, 0.5236], + "right_hip_yaw_joint": [-2.7576, 2.7576], + "right_knee_joint": [-0.087267, 2.8798], + "right_ankle_pitch_joint": [-0.87267, 0.5236], + "right_ankle_roll_joint": [-0.2618, 0.2618], + # Waist + "waist_yaw_joint": [-2.618, 2.618], + "waist_roll_joint": [-0.52, 0.52], + "waist_pitch_joint": [-0.52, 0.52], + # Left arm + "left_shoulder_pitch_joint": [-3.0892, 2.6704], + "left_shoulder_roll_joint": [0.19, 2.2515], + "left_shoulder_yaw_joint": [-2.618, 2.618], + "left_elbow_joint": [-1.0472, 2.0944], + "left_wrist_roll_joint": [-1.972222054, 1.972222054], + "left_wrist_pitch_joint": [-1.614429558, 1.614429558], + "left_wrist_yaw_joint": [-1.614429558, 1.614429558], + # Right arm + "right_shoulder_pitch_joint": [-3.0892, 2.6704], + "right_shoulder_roll_joint": [-2.2515, -0.19], + "right_shoulder_yaw_joint": [-2.618, 2.618], + "right_elbow_joint": [-1.0472, 2.0944], + "right_wrist_roll_joint": [-1.972222054, 1.972222054], + "right_wrist_pitch_joint": [-1.614429558, 1.614429558], + "right_wrist_yaw_joint": [-1.614429558, 1.614429558], + # Left hand + "left_hand_thumb_0_joint": [-1.04719755, 1.04719755], + "left_hand_thumb_1_joint": [-0.72431163, 1.04719755], + "left_hand_thumb_2_joint": [0, 1.74532925], + "left_hand_index_0_joint": [-1.57079632, 0], + "left_hand_index_1_joint": [-1.74532925, 0], + "left_hand_middle_0_joint": [-1.57079632, 0], + "left_hand_middle_1_joint": [-1.74532925, 0], + # Right hand + "right_hand_thumb_0_joint": [-1.04719755, 1.04719755], + "right_hand_thumb_1_joint": [-0.72431163, 1.04719755], + "right_hand_thumb_2_joint": [0, 1.74532925], + "right_hand_index_0_joint": [-1.57079632, 0], + "right_hand_index_1_joint": [-1.74532925, 0], + "right_hand_middle_0_joint": [-1.57079632, 0], + "right_hand_middle_1_joint": [-1.74532925, 0], + } + + # Define joint groups + joint_groups = { + # Body groups + "waist": { + "joints": ["waist_yaw_joint", "waist_roll_joint", "waist_pitch_joint"], + "groups": [], + }, + # Leg groups + "left_leg": { + "joints": [ + "left_hip_pitch_joint", + "left_hip_roll_joint", + "left_hip_yaw_joint", + "left_knee_joint", + "left_ankle_pitch_joint", + "left_ankle_roll_joint", + ], + "groups": [], + }, + "right_leg": { + "joints": [ + "right_hip_pitch_joint", + "right_hip_roll_joint", + "right_hip_yaw_joint", + "right_knee_joint", + "right_ankle_pitch_joint", + "right_ankle_roll_joint", + ], + "groups": [], + }, + "legs": {"joints": [], "groups": ["left_leg", "right_leg"]}, + # Arm groups + "left_arm": { + "joints": [ + "left_shoulder_pitch_joint", + "left_shoulder_roll_joint", + "left_shoulder_yaw_joint", + "left_elbow_joint", + "left_wrist_roll_joint", + "left_wrist_pitch_joint", + "left_wrist_yaw_joint", + ], + "groups": [], + }, + "right_arm": { + "joints": [ + "right_shoulder_pitch_joint", + "right_shoulder_roll_joint", + "right_shoulder_yaw_joint", + "right_elbow_joint", + "right_wrist_roll_joint", + "right_wrist_pitch_joint", + "right_wrist_yaw_joint", + ], + "groups": [], + }, + "arms": {"joints": [], "groups": ["left_arm", "right_arm"]}, + # Hand groups + "left_hand": { + "joints": [ + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + ], + "groups": [], + }, + "right_hand": { + "joints": [ + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + ], + "groups": [], + }, + "hands": {"joints": [], "groups": ["left_hand", "right_hand"]}, + # Full body groups + "lower_body": {"joints": [], "groups": ["waist", "legs"]}, + "upper_body_no_hands": {"joints": [], "groups": ["arms"]}, + "body": {"joints": [], "groups": ["lower_body", "upper_body_no_hands"]}, + "upper_body": {"joints": [], "groups": ["upper_body_no_hands", "hands"]}, + } + + # Define joint name mapping from generic types to robot-specific names + joint_name_mapping = { + # Waist joints + "waist_pitch": "waist_pitch_joint", + "waist_roll": "waist_roll_joint", + "waist_yaw": "waist_yaw_joint", + # Shoulder joints + "shoulder_pitch": { + "left": "left_shoulder_pitch_joint", + "right": "right_shoulder_pitch_joint", + }, + "shoulder_roll": { + "left": "left_shoulder_roll_joint", + "right": "right_shoulder_roll_joint", + }, + "shoulder_yaw": { + "left": "left_shoulder_yaw_joint", + "right": "right_shoulder_yaw_joint", + }, + # Elbow joints + "elbow_pitch": {"left": "left_elbow_joint", "right": "right_elbow_joint"}, + # Wrist joints + "wrist_pitch": {"left": "left_wrist_pitch_joint", "right": "right_wrist_pitch_joint"}, + "wrist_roll": {"left": "left_wrist_roll_joint", "right": "right_wrist_roll_joint"}, + "wrist_yaw": {"left": "left_wrist_yaw_joint", "right": "right_wrist_yaw_joint"}, + } + + root_frame_name = "pelvis" + + hand_frame_names = {"left": "left_wrist_yaw_link", "right": "right_wrist_yaw_link"} + + elbow_calibration_joint_angles = {"left": 0.0, "right": 0.0} + + hand_rotation_correction = np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]]) + + # Configure default joint positions based on elbow pose + if elbow_pose == ElbowPose.HIGH: + default_joint_q = { + "shoulder_roll": {"left": 0.5, "right": -0.5}, + "shoulder_pitch": {"left": -0.2, "right": -0.2}, + "shoulder_yaw": {"left": -0.5, "right": 0.5}, + "wrist_roll": {"left": -0.5, "right": 0.5}, + "wrist_yaw": {"left": 0.5, "right": -0.5}, + "wrist_pitch": {"left": -0.2, "right": -0.2}, + } + else: # ElbowPose.LOW + default_joint_q = { + "shoulder_roll": {"left": 0.2, "right": -0.2}, + } + + teleop_upper_body_motion_scale = 1.0 + + # Configure joint groups based on waist location + modified_joint_groups = joint_groups.copy() + if waist_location == WaistLocation.UPPER_BODY: + # Move waist from lower_body to upper_body_no_hands + modified_joint_groups["lower_body"] = {"joints": [], "groups": ["legs"]} + modified_joint_groups["upper_body_no_hands"] = { + "joints": [], + "groups": ["arms", "waist"], + } + elif waist_location == WaistLocation.LOWER_AND_UPPER_BODY: + # Add waist to upper_body_no_hands while keeping it in lower_body + modified_joint_groups["upper_body_no_hands"] = { + "joints": [], + "groups": ["arms", "waist"], + } + # For LOWER_BODY, keep default joint_groups as is + + super().__init__( + name=name, + body_actuated_joints=body_actuated_joints, + left_hand_actuated_joints=left_hand_actuated_joints, + right_hand_actuated_joints=right_hand_actuated_joints, + joint_limits=joint_limits, + joint_groups=modified_joint_groups, + root_frame_name=root_frame_name, + hand_frame_names=hand_frame_names, + elbow_calibration_joint_angles=elbow_calibration_joint_angles, + joint_name_mapping=joint_name_mapping, + hand_rotation_correction=hand_rotation_correction, + default_joint_q=default_joint_q, + teleop_upper_body_motion_scale=teleop_upper_body_motion_scale, + ) diff --git a/gr00t_wbc/control/robot_model/supplemental_info/robot_supplemental_info.py b/gr00t_wbc/control/robot_model/supplemental_info/robot_supplemental_info.py new file mode 100644 index 0000000..d4d66cf --- /dev/null +++ b/gr00t_wbc/control/robot_model/supplemental_info/robot_supplemental_info.py @@ -0,0 +1,91 @@ +from dataclasses import dataclass +from typing import Dict, List, Union + +import numpy as np + + +@dataclass +class RobotSupplementalInfo: + """ + Base class for robot-specific information that is not easily extractable from URDF. + This includes information about actuated joints, joint hierarchies, etc. + """ + + name: str + + # List of body actuated joint names (excluding hands) + body_actuated_joints: List[str] + + # List of left hand actuated joint names + left_hand_actuated_joints: List[str] + + # List of right hand actuated joint names + right_hand_actuated_joints: List[str] + + # Dictionary of joint groups, where each group is a dictionary with: + # - "joints": list of joint names + # - "groups": list of subgroup names (optional) + # Example: { + # "right_arm": { + # "joints": ["right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_elbow_joint"], + # "groups": [] + # }, + # "left_arm": { + # "joints": ["left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_elbow_joint"], + # "groups": [] + # }, + # "upper_body": { + # "joints": ["torso_pitch_joint", "torso_yaw_joint", "torso_roll_joint"], + # "groups": ["right_arm", "left_arm"] + # } + # } + joint_groups: Dict[str, Dict[str, List[str]]] + + # Name of the root frame + root_frame_name: str + + # Dictionary of hand frame names + # Example: { + # "left": "left_hand_frame", + # "right": "right_hand_frame" + # } + hand_frame_names: Dict[str, str] + + # Dictionary of joint limits + # Example: { + # "left_shoulder_pitch_joint": [-np.pi / 2, np.pi / 2], + # "right_shoulder_pitch_joint": [-np.pi / 2, np.pi / 2] + # } + joint_limits: Dict[str, List[float]] + + # Dictionary of elbow calibration joint angles + # Example: { + # "left": -90.0, + # "right": -90.0 + # } + elbow_calibration_joint_angles: Dict[str, float] + + # Dictionary of joint name mapping from generic types to robot-specific names + # Example: { + # "waist_pitch": "waist_pitch_joint", + # "shoulder_pitch": { + # "left": "left_shoulder_pitch_joint", + # "right": "right_shoulder_pitch_joint" + # }, + # "elbow_pitch": { + # "left": "left_elbow_pitch_joint", + # "right": "right_elbow_pitch_joint" + # } + # } + joint_name_mapping: Dict[str, Union[str, Dict[str, str]]] + + # Maps from generic joint names to robot-specific joint values + # Example: { + # "waist_roll": 0.2, + # "elbow_pitch": {"left": 1.0, "right": 1.0} + # } + default_joint_q: Dict[str, Union[float, Dict[str, float]]] + + hand_rotation_correction: np.ndarray + + teleop_upper_body_motion_scale: float diff --git a/gr00t_wbc/control/sensor/__init__.py b/gr00t_wbc/control/sensor/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gr00t_wbc/control/sensor/composed_camera.py b/gr00t_wbc/control/sensor/composed_camera.py new file mode 100644 index 0000000..042a9f5 --- /dev/null +++ b/gr00t_wbc/control/sensor/composed_camera.py @@ -0,0 +1,440 @@ +from collections import deque +from dataclasses import dataclass +import queue +import threading +import time +from typing import Any, Dict, Optional + +# we need to import these first in this order to avoid TSL segmentation fault +# caused by zed and oak libraries +try: + import cv2 # noqa + import depthai as dai # noqa + import pyzed.sl as sl # noqa +except ImportError: + print( + """ + Some of the camera specific dependencies are not installed. If you are + not running this on the robot, having these libraries is optional. + """ + ) + +import numpy as np # noqa + +from gr00t_wbc.control.base.sensor import Sensor +from gr00t_wbc.control.sensor.sensor_server import ( + ImageMessageSchema, + SensorClient, + SensorServer, + CameraMountPosition, +) + + +def read_qr_code(data): + current_time = time.monotonic() + detector = cv2.QRCodeDetector() + for key, img in data["images"].items(): + decoded_time, bbox, _ = detector.detectAndDecode(img) + if bbox is not None and decoded_time: + print(f"{key} latency: {(current_time - float(decoded_time)) * 1e3:.1f} ms") + else: + print(f"{key} QR code not detected.") + + +@dataclass +class ComposedCameraConfig: + """Camera configuration for composed camera""" + + ego_view_camera: Optional[str] = "oak" + """Camera type for ego view: oak, realsense, zed, or None""" + + ego_view_device_id: Optional[str] = None + """Device ID for ego view camera (optional, used for OAK cameras)""" + + head_camera: Optional[str] = None + """Camera type for head view: oak, oak_mono, realsense, zed or None""" + + head_device_id: Optional[str] = None + """Device ID for head camera (optional, used for OAK cameras)""" + + left_wrist_camera: Optional[str] = None + """Camera type for left wrist view: oak, realsense, zed or None""" + + left_wrist_device_id: Optional[str] = None + """Device ID for left wrist camera (optional, used for OAK cameras)""" + + right_wrist_camera: Optional[str] = None + """Camera type for right wrist view: oak, realsense, zed or None""" + + right_wrist_device_id: Optional[str] = None + """Device ID for right wrist camera (optional, used for OAK cameras)""" + + fps: int = 30 + """Rate at which the composed camera will publish the images. Since composed camera + can read from multiple cameras, it will publish all the images. + Note that OAK can only run at 30 FPS. 20 FPS will cause large latency. + """ + + # Server configuration + run_as_server: bool = True + """Whether to run as server or client""" + + server: bool = True + """Whether to run the camera as a server""" + + port: int = 5555 + """Port number for server/client communication""" + + test_latency: bool = False + """Whether to test latency""" + + # Queue configuration + queue_size: int = 3 + """Size of each camera's image queue""" + + def __post_init__(self): + # runyu: Note that this is a hack to make the config work with G1 camera server in orin + # we should not use this hack in the future + self.run_as_server: bool = self.server + + +class ComposedCameraSensor(Sensor, SensorServer): + + def __init__(self, config: ComposedCameraConfig): + self.config = config + self.camera_queues: Dict[str, queue.Queue] = {} + self.camera_threads: Dict[str, threading.Thread] = {} + self.shutdown_events: Dict[str, threading.Event] = {} + self.error_events: Dict[str, threading.Event] = {} + self.error_messages: Dict[str, str] = {} + self._observation_spaces: Dict[str, Any] = {} + + camera_configs = self._get_camera_configs() + + # Then create worker threads + for mount_position, camera_config in camera_configs.items(): + # Create queue and shutdown event for this camera + camera_queue = queue.Queue(maxsize=config.queue_size) + shutdown_event = threading.Event() + error_event = threading.Event() + + self.camera_queues[mount_position] = camera_queue + self.shutdown_events[mount_position] = shutdown_event + self.error_events[mount_position] = error_event + + # Start camera thread + thread = threading.Thread( + target=self._camera_worker_wrapper, + args=( + mount_position, + camera_config["camera_type"], + camera_config["device_id"], + camera_queue, + shutdown_event, + error_event, + ), + ) + thread.start() + self.camera_threads[mount_position] = thread + + if config.run_as_server: + self.start_server(config.port) + + def _get_camera_configs(self) -> Dict[str, str]: + """Get camera configurations as mount_position -> camera_type mapping""" + camera_configs = {} + + if self.config.ego_view_camera is not None: + camera_configs[CameraMountPosition.EGO_VIEW.value] = { + "camera_type": self.config.ego_view_camera, + "device_id": self.config.ego_view_device_id, + } + + if self.config.head_camera is not None: + camera_configs[CameraMountPosition.HEAD.value] = { + "camera_type": self.config.head_camera, + "device_id": self.config.head_device_id, + } + + if self.config.left_wrist_camera is not None: + camera_configs[CameraMountPosition.LEFT_WRIST.value] = { + "camera_type": self.config.left_wrist_camera, + "device_id": self.config.left_wrist_device_id, + } + + if self.config.right_wrist_camera is not None: + camera_configs[CameraMountPosition.RIGHT_WRIST.value] = { + "camera_type": self.config.right_wrist_camera, + "device_id": self.config.right_wrist_device_id, + } + + return camera_configs + + def _camera_worker_wrapper( + self, + mount_position: str, + camera_type: str, + device_id: Optional[str], + image_queue: queue.Queue, + shutdown_event: threading.Event, + error_event: threading.Event, + ): + """Worker thread that continuously captures from a single camera""" + try: + camera = self._instantiate_camera(mount_position, camera_type, device_id) + self._observation_spaces[mount_position] = camera.observation_space() + + consecutive_failures = 0 + max_consecutive_failures = 5 + + while not shutdown_event.is_set(): + frame = camera.read() + if frame: + consecutive_failures = 0 # Reset on successful read + # Non-blocking queue put with frame dropping + try: + image_queue.put_nowait(frame) + except queue.Full: + # Remove oldest frame and add new one + try: + image_queue.get_nowait() + image_queue.put_nowait(frame) + except queue.Empty: + pass + else: + consecutive_failures += 1 + if consecutive_failures >= max_consecutive_failures: + error_msg = ( + f"Camera {mount_position} ({camera_type}) dropped: " + f"failed to read {consecutive_failures} consecutive frames" + ) + print(f"[ERROR] {error_msg}") + self.error_messages[mount_position] = error_msg + error_event.set() + break + + camera.close() + + except Exception as e: + error_msg = f"Camera {mount_position} ({camera_type}) error: {str(e)}" + print(f"[ERROR] {error_msg}") + self.error_messages[mount_position] = error_msg + error_event.set() + + def _instantiate_camera( + self, mount_position: str, camera_type: str, device_id: Optional[str] = None + ) -> Sensor: + """ + Instantiate a camera sensor based on the camera type. + + Args: + camera_type: Type of camera ("oak", "oak_mono", "realsense", "zed") + device_id: Optional device ID for the camera (used for OAK cameras) + + Returns: + Sensor instance for the specified camera type + """ + if camera_type in ("oak", "oak_mono"): + from gr00t_wbc.control.sensor.oak import OAKConfig, OAKSensor + + oak_config = OAKConfig() + if camera_type == "oak_mono": + oak_config.enable_mono_cameras = True + print("Initializing OAK sensor for camera type: ", camera_type) + return OAKSensor(config=oak_config, mount_position=mount_position, device_id=device_id) + elif camera_type == "realsense": + from gr00t_wbc.control.sensor.realsense import RealSenseSensor + + print("Initializing RealSense sensor for camera type: ", camera_type) + return RealSenseSensor(mount_position=mount_position) + elif camera_type == "zed": + from gr00t_wbc.control.sensor.zed import ZEDSensor + + print("Initializing ZED sensor for camera type: ", camera_type) + return ZEDSensor(mount_position=mount_position) + elif camera_type.endswith(".mp4"): + from gr00t_wbc.control.sensor.dummy import ReplayDummySensor + + print("Initializing Replay Dummy Sensor for camera type: ", camera_type) + return ReplayDummySensor(video_path=camera_type) + else: + raise ValueError(f"Unsupported camera type: {camera_type}") + + def _check_for_errors(self): + """Check if any camera thread has encountered an error and raise exception if so.""" + for mount_position, error_event in self.error_events.items(): + if error_event.is_set(): + error_msg = self.error_messages.get( + mount_position, f"Camera {mount_position} encountered an unknown error" + ) + raise RuntimeError(error_msg) + + def read(self): + """Read frames from all cameras.""" + # Check for errors from camera threads + self._check_for_errors() + + message = {} + for mount_position, camera_queue in self.camera_queues.items(): + frame = self._get_latest_from_queue(camera_queue) + if frame is not None: + message[mount_position] = frame + return message + + def _get_latest_from_queue(self, camera_queue: queue.Queue) -> Optional[Dict[str, Any]]: + """Get most recent frame, discard older ones""" + latest = None + try: + while True: + latest = camera_queue.get_nowait() + except queue.Empty: + pass + return latest + + def close(self): + """Close all cameras.""" + # Signal all worker threads to shutdown + for shutdown_event in self.shutdown_events.values(): + shutdown_event.set() + + # Wait for all threads to finish + for thread in self.camera_threads.values(): + thread.join(timeout=5.0) + + # Clear queues + for camera_queue in self.camera_queues.values(): + try: + while True: + camera_queue.get_nowait() + except queue.Empty: + pass + + # Stop server if running + if self.config.run_as_server: + self.stop_server() + + def serialize_message(self, message: Dict[str, Any]) -> Dict[str, Any]: + """Merge all camera data into a single ImageMessageSchema.""" + all_timestamps = {} + all_images = {} + + for _, camera_data in message.items(): + all_timestamps.update(camera_data.get("timestamps", {})) + all_images.update(camera_data.get("images", {})) + + # Create a single ImageMessageSchema with all data + img_schema = ImageMessageSchema(timestamps=all_timestamps, images=all_images) + return img_schema.serialize() + + def run_server(self): + """Run the server.""" + idx = 0 + server_start_time = time.monotonic() + fps_print_time = time.monotonic() + frame_interval = 1.0 / self.config.fps + + while True: + # Calculate when this frame should ideally complete + target_time = server_start_time + (idx + 1) * frame_interval + + message = self.read() + if message: + if self.config.test_latency: + read_qr_code(message) + + serialized_message = self.serialize_message(message) + self.send_message(serialized_message) + idx += 1 + + if idx % 10 == 0: + print(f"Image sending FPS: {10 / (time.monotonic() - fps_print_time):.2f}") + fps_print_time = time.monotonic() + + # Sleep to maintain precise timing + current_time = time.monotonic() + sleep_time = target_time - current_time + if sleep_time > 0: + time.sleep(sleep_time) + else: + # If we're behind, increment idx to stay on schedule + if not message: + idx += 1 + + def observation_space(self): + """Return the observation space.""" + import gymnasium as gym + + return gym.spaces.Dict(self._observation_spaces) + + +class ComposedCameraClientSensor(Sensor, SensorClient): + """Class that serves as client for multiple different cameras.""" + + def __init__(self, server_ip: str = "localhost", port: int = 5555): + self.start_client(server_ip, port) + + # Initialize tracking variables + self._latest_message = {} + self._avg_time_per_frame = deque(maxlen=20) + self._msg_received_time = 0 + self._start_time = 0.0 # Initialize _start_time + self.idx = 0 + + print("Initialized composed camera client sensor") + + def read(self, **kwargs) -> Optional[Dict[str, Any]]: + self._start_time = time.time() + message = self.receive_message() + if not message: + return None + self.idx += 1 + + self._latest_message = ImageMessageSchema.deserialize(message).asdict() + + # if self.idx % 10 == 0: + # for image_key, image_time in self._latest_message["timestamps"].items(): + # image_latency = (time.time() - image_time) * 1000 + # print(f"Image latency for {image_key}: {image_latency:.2f} ms") + + self._msg_received_time = time.time() + self._avg_time_per_frame.append(self._msg_received_time - self._start_time) + + return self._latest_message + + def close(self): + """Close the client connection.""" + self.stop_client() + + def fps(self) -> float: + """Get the current FPS of the client.""" + if len(self._avg_time_per_frame) == 0: + return 0.0 + return float(1 / np.mean(self._avg_time_per_frame)) + + +if __name__ == "__main__": + """Test function for ComposedCamera.""" + import tyro + + config = tyro.cli(ComposedCameraConfig) + + if config.run_as_server: + composed_camera = ComposedCameraSensor(config) + print("Running composed camera server...") + composed_camera.run_server() + + else: + # Client mode + composed_client = ComposedCameraClientSensor(server_ip="localhost", port=config.port) + + try: + while True: + data = composed_client.read() + if data is not None: + print(f"FPS: {composed_client.fps():.2f}") + if "timestamp" in data: + print(f"Timestamp: {data['timestamp']}") + time.sleep(0.1) + except KeyboardInterrupt: + print("Stopping client...") + composed_client.close() diff --git a/gr00t_wbc/control/sensor/oak.py b/gr00t_wbc/control/sensor/oak.py new file mode 100644 index 0000000..f1913df --- /dev/null +++ b/gr00t_wbc/control/sensor/oak.py @@ -0,0 +1,324 @@ +import time +from typing import Any, Dict, Optional, Tuple + +import cv2 +import depthai as dai +import gymnasium as gym +import numpy as np + +from gr00t_wbc.control.base.sensor import Sensor +from gr00t_wbc.control.sensor.sensor_server import ( + CameraMountPosition, + ImageMessageSchema, + SensorServer, +) + + +class OAKConfig: + """Configuration for the OAK camera.""" + + color_image_dim: Tuple[int, int] = (640, 480) # RGB camera resolution + monochrome_image_dim: Tuple[int, int] = (640, 480) # Monochrome camera resolution + fps: int = 30 + enable_color: bool = True # Enable CAM_A (RGB) + enable_mono_cameras: bool = False # Enable CAM_B & CAM_C (Monochrome stereo pair) + mount_position: str = CameraMountPosition.EGO_VIEW.value + + +class OAKSensor(Sensor, SensorServer): + """Sensor for the OAK camera family.""" + + def __init__( + self, + run_as_server: bool = False, + port: int = 5555, + config: OAKConfig = OAKConfig(), + device_id: Optional[str] = None, + mount_position: str = CameraMountPosition.EGO_VIEW.value, + ): + """Initialize the OAK camera.""" + self.config = config + self.mount_position = mount_position + self._run_as_server = run_as_server + + device_infos = dai.Device.getAllAvailableDevices() + assert len(device_infos) > 0, f"No OAK devices found for {mount_position}" + print(f"Device infos: {device_infos}") + if device_id is not None: + device_found = False + for device_info in device_infos: + if device_info.getDeviceId() == device_id: + self.device = dai.Device(device_info) + device_found = True + break + if not device_found: + raise ValueError(f"Device with ID {device_id} not found") + else: + self.device = dai.Device() + + print(f"Connected to OAK device: {self.device.getDeviceName(), self.device.getDeviceId()}") + print(f"Device ID: {self.device.getDeviceId()}") + + sockets: list[dai.CameraBoardSocket] = self.device.getConnectedCameras() + print(f"Available cameras: {[str(s) for s in sockets]}") + + # Create pipeline (without context manager to persist across method calls) + self.pipeline = dai.Pipeline(self.device) + self.output_queues = {} + + # Configure RGB camera (CAM_A) + if config.enable_color and dai.CameraBoardSocket.CAM_A in sockets: + self.cam_rgb = self.pipeline.create(dai.node.Camera) + cam_socket = dai.CameraBoardSocket.CAM_A + self.cam_rgb = self.cam_rgb.build(cam_socket) + # Create RGB output queue + self.output_queues["color"] = self.cam_rgb.requestOutput( + config.color_image_dim, + fps=config.fps, + ).createOutputQueue() + print("Enabled CAM_A (RGB)") + + # Configure Monochrome cameras (CAM_B & CAM_C) + if config.enable_mono_cameras: + if dai.CameraBoardSocket.CAM_B in sockets: + self.cam_mono_left = self.pipeline.create(dai.node.Camera) + cam_socket = dai.CameraBoardSocket.CAM_B + self.cam_mono_left = self.cam_mono_left.build(cam_socket) + # Create mono left output queue + self.output_queues["mono_left"] = self.cam_mono_left.requestOutput( + config.monochrome_image_dim, + fps=config.fps, + ).createOutputQueue() + print("Enabled CAM_B (Monochrome Left)") + + if dai.CameraBoardSocket.CAM_C in sockets: + self.cam_mono_right = self.pipeline.create(dai.node.Camera) + cam_socket = dai.CameraBoardSocket.CAM_C + self.cam_mono_right = self.cam_mono_right.build(cam_socket) + # Create mono right output queue + self.output_queues["mono_right"] = self.cam_mono_right.requestOutput( + config.monochrome_image_dim, + fps=config.fps, + ).createOutputQueue() + print("Enabled CAM_C (Monochrome Right)") + + assert len(self.output_queues) > 0, "No output queues enabled" + # auto exposure compensation, for CoRL demo + # cam_q_in = self.cam_rgb.inputControl.createInputQueue() + # ctrl = dai.CameraControl() + # ctrl.setAutoExposureEnable() + # ctrl.setAutoExposureCompensation(-2) + # cam_q_in.send(ctrl) + + # Start pipeline on device + self.pipeline.start() + + if run_as_server: + self.start_server(port) + + def read(self) -> Optional[Dict[str, Any]]: + """Read images from the camera.""" + if not self.pipeline.isRunning(): + print(f"[ERROR] OAK pipeline stopped for {self.mount_position}") + return None + + # Check if device is still connected + if not self.device.isPipelineRunning(): + print(f"[ERROR] OAK device disconnected for {self.mount_position}") + return None + + timestamps = {} + images = {} + rgb_frame_time = None + + # Get color frame if enabled + if "color" in self.output_queues: + try: + rgb_frame = self.output_queues["color"].get() + rgb_frame_time = rgb_frame.getTimestamp() + if rgb_frame is not None: + images[self.mount_position] = rgb_frame.getCvFrame()[..., ::-1] # BGR to RGB + timestamps[self.mount_position] = ( + rgb_frame_time - dai.Clock.now() + ).total_seconds() + time.time() + except Exception as e: + print(f"[ERROR] Failed to read color frame from {self.mount_position}: {e}") + return None + + # Get mono frames if enabled + if "mono_left" in self.output_queues: + try: + mono_left_frame = self.output_queues["mono_left"].get() + mono_left_frame_time = mono_left_frame.getTimestamp() + if mono_left_frame is not None: + key = f"{self.mount_position}_left_mono" + images[key] = mono_left_frame.getCvFrame() + timestamps[key] = ( + mono_left_frame_time - dai.Clock.now() + ).total_seconds() + time.time() + except Exception as e: + print(f"[ERROR] Failed to read mono_left frame from {self.mount_position}: {e}") + return None + + if "mono_right" in self.output_queues: + try: + mono_right_frame = self.output_queues["mono_right"].get() + mono_right_frame_time = mono_right_frame.getTimestamp() + if mono_right_frame is not None: + key = f"{self.mount_position}_right_mono" + images[key] = mono_right_frame.getCvFrame() + timestamps[key] = ( + mono_right_frame_time - dai.Clock.now() + ).total_seconds() + time.time() + except Exception as e: + print(f"[ERROR] Failed to read mono_right frame from {self.mount_position}: {e}") + return None + + if ( + rgb_frame_time is not None + and (rgb_frame_time - dai.Clock.now()).total_seconds() <= -0.2 + ): + print( + f"[{self.mount_position}] OAK latency too large: " + f"{(dai.Clock.now() - rgb_frame_time).total_seconds() * 1000}ms" + ) + + return { + "timestamps": timestamps, + "images": images, + } + + def serialize(self, data: Dict[str, Any]) -> Dict[str, Any]: + """Serialize data using ImageMessageSchema.""" + serialized_msg = ImageMessageSchema(timestamps=data["timestamps"], images=data["images"]) + return serialized_msg.serialize() + + def observation_space(self) -> gym.Space: + spaces = {} + + if self.config.enable_color: + spaces["color_image"] = gym.spaces.Box( + low=0, + high=255, + shape=(self.config.color_image_dim[1], self.config.color_image_dim[0], 3), + dtype=np.uint8, + ) + + if self.config.enable_mono_cameras: + spaces["mono_left_image"] = gym.spaces.Box( + low=0, + high=255, + shape=(self.config.monochrome_image_dim[1], self.config.monochrome_image_dim[0]), + dtype=np.uint8, + ) + spaces["mono_right_image"] = gym.spaces.Box( + low=0, + high=255, + shape=(self.config.monochrome_image_dim[1], self.config.monochrome_image_dim[0]), + dtype=np.uint8, + ) + + return gym.spaces.Dict(spaces) + + def close(self): + """Close the camera connection.""" + if self._run_as_server: + self.stop_server() + if hasattr(self, "pipeline") and self.pipeline.isRunning(): + self.pipeline.stop() + self.device.close() + + def run_server(self): + """Run the server.""" + if not self._run_as_server: + raise ValueError("This function is only available when run_as_server is True") + + while True: + frame = self.read() + if frame is None: + continue + + msg = self.serialize(frame) + self.send_message({self.mount_position: msg}) + + def __del__(self): + self.close() + + +if __name__ == "__main__": + """Test function for OAK camera.""" + + import argparse + + parser = argparse.ArgumentParser() + parser.add_argument("--server", action="store_true", help="Run as server") + parser.add_argument("--client", action="store_true", help="Run as client") + parser.add_argument("--host", type=str, default="localhost", help="Server IP address") + parser.add_argument("--port", type=int, default=5555, help="Port number") + parser.add_argument("--device-id", type=str, default=None, help="Specific device ID") + parser.add_argument( + "--enable-mono", action="store_true", help="Enable monochrome cameras (CAM_B & CAM_C)" + ) + parser.add_argument("--mount-position", type=str, default="ego_view", help="Mount position") + parser.add_argument("--show-image", action="store_true", help="Display images") + args = parser.parse_args() + + oak_config = OAKConfig() + if args.enable_mono: + oak_config.enable_mono_cameras = True + + if args.server: + # Run as server + oak = OAKSensor( + run_as_server=True, + port=args.port, + config=oak_config, + device_id=args.device_id, + mount_position=args.mount_position, + ) + print(f"Starting OAK server on port {args.port}") + oak.run_server() + + else: + # Run standalone + oak = OAKSensor(run_as_server=False, config=oak_config, device_id=args.device_id) + print("Running OAK camera in standalone mode") + + while True: + frame = oak.read() + if frame is None: + print("Waiting for frame...") + time.sleep(0.5) + continue + + if "color_image" in frame: + print(f"Color image shape: {frame['color_image'].shape}") + if "mono_left_image" in frame: + print(f"Mono left image shape: {frame['mono_left_image'].shape}") + if "mono_right_image" in frame: + print(f"Mono right image shape: {frame['mono_right_image'].shape}") + if "depth_image" in frame: + print(f"Depth image shape: {frame['depth_image'].shape}") + + if args.show_image: + if "color_image" in frame: + cv2.imshow("Color Image", frame["color_image"]) + + if "mono_left_image" in frame: + cv2.imshow("Mono Left", frame["mono_left_image"]) + if "mono_right_image" in frame: + cv2.imshow("Mono Right", frame["mono_right_image"]) + + if "depth_image" in frame: + depth_colormap = cv2.applyColorMap( + cv2.convertScaleAbs(frame["depth_image"], alpha=0.03), cv2.COLORMAP_JET + ) + cv2.imshow("Depth Image", depth_colormap) + + if cv2.waitKey(1) == ord("q"): + break + + time.sleep(0.01) + + cv2.destroyAllWindows() + oak.close() diff --git a/gr00t_wbc/control/sensor/sensor_server.py b/gr00t_wbc/control/sensor/sensor_server.py new file mode 100644 index 0000000..2845337 --- /dev/null +++ b/gr00t_wbc/control/sensor/sensor_server.py @@ -0,0 +1,128 @@ +import base64 +from dataclasses import dataclass +from enum import Enum +from typing import Any, Dict + +import cv2 +import msgpack +import msgpack_numpy as m +import numpy as np +import zmq + + +@dataclass +class ImageMessageSchema: + """ + This is a standardized message schema for image data. + Any camera should use this schema to serialize (send to queue) and + deserialize (receive from queue) the image data. + + """ + + timestamps: Dict[str, float] + """Dictionary of timestamps, keyed by image identifier (e.g., {"ego_view": 123.45})""" + images: Dict[str, np.ndarray] + """Dictionary of images, keyed by image identifier (e.g., {"ego_view": array, "ego_view_left_mono": array})""" + + def serialize(self) -> Dict[str, Any]: + """Serialize the message for transmission.""" + serialized_msg = {"timestamps": self.timestamps, "images": {}} + for key, image in self.images.items(): + serialized_msg["images"][key] = ImageUtils.encode_image(image) + return serialized_msg + + @staticmethod + def deserialize(data: Dict[str, Any]) -> "ImageMessageSchema": + """Deserialize received message data.""" + timestamps = data.get("timestamps", {}) + images = {} + for key, value in data.get("images", {}).items(): + if isinstance(value, str): + images[key] = ImageUtils.decode_image(value) + else: + images[key] = value + return ImageMessageSchema(timestamps=timestamps, images=images) + + def asdict(self) -> Dict[str, Any]: + """Convert to dictionary format.""" + return {"timestamps": self.timestamps, "images": self.images} + + +class SensorServer: + def start_server(self, port: int): + self.context = zmq.Context() + self.socket = self.context.socket(zmq.PUB) + self.socket.setsockopt(zmq.SNDHWM, 20) # high water mark + self.socket.setsockopt(zmq.LINGER, 0) + self.socket.bind(f"tcp://*:{port}") + print(f"Sensor server running at tcp://*:{port}") + + self.message_sent = 0 + self.message_dropped = 0 + + def stop_server(self): + self.socket.close() + self.context.term() + + def send_message(self, data: Dict[str, Any]): + try: + packed = msgpack.packb(data, use_bin_type=True) + self.socket.send(packed, flags=zmq.NOBLOCK) + except zmq.Again: + self.message_dropped += 1 + print(f"[Warning] message dropped: {self.message_dropped}") + self.message_sent += 1 + + if self.message_sent % 100 == 0: + print( + f"[Sensor server] Message sent: {self.message_sent}, message dropped: {self.message_dropped}" + ) + + +class SensorClient: + def start_client(self, server_ip: str, port: int): + self.context = zmq.Context() + self.socket = self.context.socket(zmq.SUB) + self.socket.setsockopt_string(zmq.SUBSCRIBE, "") + self.socket.setsockopt(zmq.CONFLATE, True) # last msg only. + self.socket.setsockopt(zmq.RCVHWM, 3) # queue size 3 for receive buffer + self.socket.connect(f"tcp://{server_ip}:{port}") + + def stop_client(self): + self.socket.close() + self.context.term() + + def receive_message(self): + packed = self.socket.recv() + return msgpack.unpackb(packed, object_hook=m.decode) + + +class CameraMountPosition(Enum): + EGO_VIEW = "ego_view" + HEAD = "head" + LEFT_WRIST = "left_wrist" + RIGHT_WRIST = "right_wrist" + + +class ImageUtils: + @staticmethod + def encode_image(image: np.ndarray) -> str: + _, color_buffer = cv2.imencode(".jpg", image, [int(cv2.IMWRITE_JPEG_QUALITY), 80]) + return base64.b64encode(color_buffer).decode("utf-8") + + @staticmethod + def encode_depth_image(image: np.ndarray) -> str: + depth_compressed = cv2.imencode(".png", image)[1].tobytes() + return base64.b64encode(depth_compressed).decode("utf-8") + + @staticmethod + def decode_image(image: str) -> np.ndarray: + color_data = base64.b64decode(image) + color_array = np.frombuffer(color_data, dtype=np.uint8) + return cv2.imdecode(color_array, cv2.IMREAD_COLOR) + + @staticmethod + def decode_depth_image(image: str) -> np.ndarray: + depth_data = base64.b64decode(image) + depth_array = np.frombuffer(depth_data, dtype=np.uint8) + return cv2.imdecode(depth_array, cv2.IMREAD_UNCHANGED) diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientLogging.hpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientLogging.hpp new file mode 100644 index 0000000..a7469d7 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientLogging.hpp @@ -0,0 +1,158 @@ +#ifndef __CLIENT_LOGGING_HPP__ +#define __CLIENT_LOGGING_HPP__ +#include +#include +#include +#include + +namespace ManusSDK +{ + class ClientLog + { + public: + //Simple + static void debug(const char* p_String) + { + std::cout << "DEBUG: " << p_String << std::endl; + } + + static void info(const char* p_String) + { + std::cout << "INFO: " << p_String << std::endl; + } + + static void warn(const char* p_String) + { + std::cout << "WARN: " << p_String << std::endl; + } + + static void error(const char* p_String) + { + std::cout << "ERROR: " << p_String << std::endl; + } + + static void print(const char* p_String) + { + std::cout << p_String << std::endl; + } + + //Templated + template + static void debug(const char* p_Format, Args &&...p_Args) + { + std::string formatted_string = p_Format; + replacePlaceholders(formatted_string, std::forward(p_Args)...); + std::cout << "DEBUG: " << formatted_string << std::endl; + } + + template + static void info(const char* p_Format, Args &&...p_Args) + { + std::string formatted_string = p_Format; + replacePlaceholders(formatted_string, std::forward(p_Args)...); + std::cout << "INFO: " << formatted_string << std::endl; + } + + template + static void warn(const char* p_Format, Args &&...p_Args) + { + std::string formatted_string = p_Format; + replacePlaceholders(formatted_string, std::forward(p_Args)...); + std::cout << "WARN: " << formatted_string << std::endl; + } + + template + static void error(const char* p_Format, Args &&...p_Args) + { + std::string formatted_string = p_Format; + replacePlaceholders(formatted_string, std::forward(p_Args)...); + std::cout << "ERROR: " << formatted_string << std::endl; + } + + template + static void print(const char* p_Format, Args &&...p_Args) + { + std::string formatted_string = p_Format; + replacePlaceholders(formatted_string, std::forward(p_Args)...); + std::cout << formatted_string << std::endl; + } + + template + static void printWithPadding(const char* p_Format, int p_Padding, Args &&...p_Args) + { + std::string formatted_string = p_Format; + replacePlaceholdersWithPadding(formatted_string, p_Padding, std::forward(p_Args)...); + std::cout << formatted_string << std::endl; + } + + private: + // Base case for recursion: no arguments left + static void replacePlaceholders(std::string&) { + // No more arguments, so nothing to replace + } + + // Replace placeholders {} with actual values (only supports empty curly brackets, no formatting) + template + static void replacePlaceholders(std::string& p_Format, T&& p_Value, Args&&... p_Args) { + size_t pos = p_Format.find("{}"); + if (pos != std::string::npos) { + p_Format.replace(pos, 2, to_string(std::forward(p_Value))); + replacePlaceholders(p_Format, std::forward(p_Args)...); + } + } + + // Base case for recursion: no arguments left + static void replacePlaceholdersWithPadding(std::string&, int p_Padding) { + // No more arguments, so nothing to replace + } + // Replace placeholders {} with actual values (only supports empty curly brackets, no formatting) + template + static void replacePlaceholdersWithPadding(std::string& p_Format, int p_Padding, T&& p_Value, Args&&... p_Args) { + size_t pos = p_Format.find("{}"); + if (pos != std::string::npos) { + std::ostringstream oss; + oss << std::setw(p_Padding) << to_string(std::forward(p_Value)); + p_Format.replace(pos, 2, oss.str()); + replacePlaceholdersWithPadding(p_Format, p_Padding, std::forward(p_Args)...); + } + } + + // Utility to convert various types to string + template + static std::string to_string(const T& p_Value) { + std::ostringstream oss; + oss << p_Value; + return oss.str(); + } + + // Specialization for uint8_t + static std::string to_string(const uint8_t& p_Value) { + std::ostringstream oss; + oss << static_cast(p_Value); + return oss.str(); + } + + // Specialization for uint16_t + static std::string to_string(const uint16_t& p_Value) { + std::ostringstream oss; + oss << static_cast(p_Value); + return oss.str(); + } + + // Specialization for uint32_t + static std::string to_string(const uint32_t& p_Value) { + std::ostringstream oss; + oss << std::hex << p_Value; + return oss.str(); + } + + // Specialization for bool + static std::string to_string(const bool& p_Value) { + std::ostringstream oss; + oss << std::setw(5) << (p_Value ? "true" : "false"); + return oss.str(); + } + }; +} + +#endif diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecific.cpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecific.cpp new file mode 100644 index 0000000..3c70281 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecific.cpp @@ -0,0 +1,559 @@ +#include "ClientPlatformSpecific.hpp" + +// signal types +#include +// std::filesystem +#include +// std::*fstream +#include +// CoreSdk_ShutDown +#include "ManusSDK.h" +// std::map +#include +// Ncurses terminal functions. +#include +// Termios terminal functions. +#include +#include +#include +// spdlog replacement +#include "ClientLogging.hpp" + +using namespace ManusSDK; + +/// @brief Reset a signal handler to its default, and then call it. +/// For signal types and explanation, see: +/// https://www.gnu.org/software/libc/manual/html_node/Standard-Signals.html +#define CALL_DEFAULT_SIGNAL_HANDLER(p_SignalType) \ + /* Reset the handler for this signal to the default. */ \ + signal(p_SignalType, SIG_DFL); \ + /* Re-raise this signal, causing the normal handler to run. */ \ + raise(p_SignalType); + +const std::string SDKClientPlatformSpecific::s_SlashForFilesystemPath = "/"; + +/// @brief Handle a signal telling the SDK client to quit. +/// A generic signal used to "politely ask a program to terminate". +/// On Linux, this can be sent by using the Gnome System Monitor and telling +/// the SDK client process to end. +static void HandleTerminationSignal(int p_Parameter) +{ + ClientLog::error( + "Termination signal sent with parameter {}.", + p_Parameter); + + CoreSdk_ShutDown(); + + CALL_DEFAULT_SIGNAL_HANDLER(SIGTERM); +} + +/// @brief Handle an interrupt signal. +/// Called when the INTR character is typed - usually ctrl + c. +static void HandleInterruptSignal(int p_Parameter) +{ + ClientLog::error( + "Interrupt signal sent with parameter {}.", + p_Parameter); + + CoreSdk_ShutDown(); + + CALL_DEFAULT_SIGNAL_HANDLER(SIGINT); +} + +/// @brief Handle a quit signal. +/// Called when the QUIT character is typed - usually ctrl + \. +static void HandleQuitSignal(int p_Parameter) +{ + ClientLog::error( + "Quit signal sent with parameter {}.", + p_Parameter); + + CoreSdk_ShutDown(); + + CALL_DEFAULT_SIGNAL_HANDLER(SIGQUIT); +} + +/// @brief Handle a hangup signal. +/// Called to report that the user's terminal has disconnected. +/// This can happen when connecting over the network, for example. +/// It also happens if the terminal window is closed while debugging. +static void HandleHangupSignal(int p_Parameter) +{ + ClientLog::error( + "Hang-up signal sent with parameter {}.", + p_Parameter); + + CoreSdk_ShutDown(); + + CALL_DEFAULT_SIGNAL_HANDLER(SIGHUP); +} + +/// @brief Initialise Ncurses so that we can check for input. +static bool InitializeNcurses(void) +{ + const WINDOW* const t_Window = initscr(); + if (!t_Window) + { + ClientLog::error("Failed to initialise the screen."); + + return false; + } + + // Don't buffer input until a newline or carriage return is typed. + if (cbreak() != OK) + { + ClientLog::error("Failed to make input unbuffered."); + + return false; + } + + // Don't echo input. + if (noecho() != OK) + { + ClientLog::error("Failed to disable input echoing."); + + return false; + } + + // Don't make newlines when the return key is pressed. + if (nonl() != OK) + { + ClientLog::error("Failed to disable newlines."); + + return false; + } + + // Do not flush the screen when interrupt/break/quit is pressed. + if (intrflush(stdscr, FALSE) != OK) + { + ClientLog::error("Failed to disable screen flushing."); + + return false; + } + + // Make getch non-blocking. + if (nodelay(stdscr, TRUE) != OK) + { + ClientLog::error("Failed to make nodelay non-blocking."); + + return false; + } + + // Enable handling the keypad ("function keys" like the arrow keys). + if (keypad(stdscr, TRUE) != OK) + { + ClientLog::error("Failed to enable keypad input."); + + return false; + } + + return true; +} + +/// @brief Initialise Termios so that terminal output is correct. +static bool InitializeTermios(void) +{ + // For some reason, printf and spdlog strings require a carriage return + // in addition to a newline after running initscr(). + // This code sets the "output modes" flag to treat newline characters + // as newline+carriage-return characters. + // https://arstechnica.com/civis/viewtopic.php?t=70699 + termios t_Settings; + if (tcgetattr(STDIN_FILENO, &t_Settings) != 0) + { + ClientLog::error("Failed to get Termios settings."); + + return false; + } + + t_Settings.c_oflag |= ONLCR; + if (tcsetattr(0, TCSANOW, &t_Settings) != 0) + { + ClientLog::error("Failed to set Termios settings."); + + return false; + } + + return true; +} + +/// @brief Register our signal handling functions. +static bool SetUpSignalHandlers(void) +{ + { + const __sighandler_t t_OldTerminationHandler = signal( + SIGTERM, + HandleTerminationSignal); + if (t_OldTerminationHandler == SIG_ERR) + { + ClientLog::error("Failed to set termination signal handler."); + return false; + } + } + + { + const __sighandler_t t_OldInterruptHandler = signal( + SIGINT, + HandleInterruptSignal); + if (t_OldInterruptHandler == SIG_ERR) + { + ClientLog::error("Failed to set interrupt signal handler."); + return false; + } + } + + { + const __sighandler_t t_OldQuitHandler = signal( + SIGQUIT, + HandleQuitSignal); + if (t_OldQuitHandler == SIG_ERR) + { + ClientLog::error("Failed to set quit signal handler."); + return false; + } + } + + { + const __sighandler_t t_OldHangupHandler = signal( + SIGHUP, + HandleHangupSignal); + if (t_OldHangupHandler == SIG_ERR) + { + ClientLog::error("Failed to set hang-up signal handler."); + return false; + } + } + + return true; +} + +/// @brief Handles keyboard input. +/// Requires things to be set up with Ncurses and Termios. +class ClientInput +{ +public: + /// @brief Update the state of the keyboard. + void Update(void) + { + // Reset the state of the last update. + for ( + InputMap_t::iterator t_Key = m_PressedLastUpdate.begin(); + t_Key != m_PressedLastUpdate.end(); + t_Key++) + { + t_Key->second = false; + } + + // Copy the current state to the last update's state, and clear the + // current state. + for ( + InputMap_t::iterator t_Key = m_CurrentlyPressed.begin(); + t_Key != m_CurrentlyPressed.end(); + t_Key++) + { + m_PressedLastUpdate[t_Key->first] = + t_Key->second; + t_Key->second = false; + } + + // Get the new state. + int t_Ch = getch(); + while (t_Ch != ERR) + { + if (t_Ch >= 'a' && t_Ch <= 'z') + { + // Unlike with Windows' GetAsyncKeyState(), upper case and + // lower case characters have different key numbers with + // getch(). + // Since all WasKeyPressed calls (as of writing this) use + // upper case, lower case keys need to be converted to work + // on Linux. + // Note that this does break the ability to check for lower + // case key presses. + t_Ch = toupper(t_Ch); + } + + m_CurrentlyPressed[t_Ch] = true; + + t_Ch = getch(); + } + } + + /// @brief Get the key's current state. + /// Note that unlike IsPressed(), this also stores the result for use in + /// the next key state check. + bool GetKey(const int p_Key) + { + bool t_IsPressed = IsPressed(p_Key); + m_PreviousKeyState[p_Key] = t_IsPressed; + + return t_IsPressed; + } + + /// @brief Was this key pressed since the last check? + /// Note that unlike WasJustPressed(), this checks if the key was pressed + /// since the last time a GetKey* function was called. + bool GetKeyDown(const int p_Key) + { + const bool t_IsPressed = IsPressed(p_Key); + + const auto t_PreviousState = m_PreviousKeyState.find(p_Key); + const bool t_PreviousValue = + t_PreviousState == m_PreviousKeyState.end() + ? false + : t_PreviousState->second; + + const bool t_Down = t_IsPressed && !t_PreviousValue; + m_PreviousKeyState[p_Key] = t_Down; + + return t_Down; + } + + /// @brief Was this key released since the last check? + /// Note that unlike WasJustReleased(), this checks if the key was released + /// since the last time a GetKey* function was called. + bool GetKeyUp(const int p_Key) + { + const bool t_IsPressed = IsPressed(p_Key); + + const auto t_PreviousState = m_PreviousKeyState.find(p_Key); + const bool t_PreviousValue = + t_PreviousState == m_PreviousKeyState.end() + ? false + : t_PreviousState->second; + + const bool t_Up = !t_IsPressed && t_PreviousValue; + m_PreviousKeyState[p_Key] = t_Up; + + return t_Up; + } + +private: + /// @brief Get the key's current state. + /// Note that unlike GetKey(), this does not store the result for use in + /// the next key state check. + bool IsPressed(const int p_Key) const + { + auto t_CurrentlyPressed = m_CurrentlyPressed.find(p_Key); + if (t_CurrentlyPressed == m_CurrentlyPressed.end()) + { + return false; + } + + return t_CurrentlyPressed->second; + } + + /// @brief Was this key pressed since the last input update? + /// Note that unlike GetKeyDown(), this function will return the same value + /// until the next keyboard state update. + bool WasJustPressed(const int p_Key) const + { + return !WasPressedLastUpdate(p_Key) && IsPressed(p_Key); + } + + /// @brief Was this key released since the last input update? + /// Note that unlike GetKeyUp(), this function will return the same value + /// until the next keyboard state update. + bool WasJustReleased(const int p_Key) const + { + return WasPressedLastUpdate(p_Key) && !IsPressed(p_Key); + } + + /// @brief Was this key pressed the previous input update? + bool WasPressedLastUpdate(const int p_Key) const + { + auto t_StateLastUpdate = m_PressedLastUpdate.find(p_Key); + if (t_StateLastUpdate == m_PressedLastUpdate.end()) + { + return false; + } + + return t_StateLastUpdate->second; + } + + typedef std::map InputMap_t; + InputMap_t m_CurrentlyPressed; + InputMap_t m_PressedLastUpdate; + // The Windows GetKey* functions only update the key state when a GetKey* + // function gets called. To make the Linux input work the same way, this + // map is used. + InputMap_t m_PreviousKeyState; +}; + +static ClientInput g_Input; + +bool SDKClientPlatformSpecific::PlatformSpecificInitialization(void) +{ + const bool t_NcursesResult = InitializeNcurses(); + const bool t_TermiosResult = InitializeTermios(); + const bool t_SignalResult = SetUpSignalHandlers(); + + return t_NcursesResult && t_TermiosResult && t_SignalResult; +} + +bool SDKClientPlatformSpecific::PlatformSpecificShutdown(void) +{ + // Ncurses. + endwin(); + + return true; +} + +void SDKClientPlatformSpecific::UpdateInput(void) +{ + g_Input.Update(); +} + +/*static*/ bool SDKClientPlatformSpecific::CopyString( + char* const p_Target, + const size_t p_MaxLengthThatWillFitInTarget, + const std::string& p_Source) +{ + if (!p_Target) + { + ClientLog::error( + "Tried to copy a string, but the target was null. The string was \"{}\".", + p_Source.c_str()); + + return false; + } + + if (p_MaxLengthThatWillFitInTarget == 0) + { + ClientLog::error( + "Tried to copy a string, but the target's size is zero. The string was \"{}\".", + p_Source.c_str()); + + return false; + } + + if (p_MaxLengthThatWillFitInTarget <= p_Source.length()) + { + ClientLog::error( + "Tried to copy a string that was longer than {} characters, which makes it too big for its target buffer. The string was \"{}\".", + p_MaxLengthThatWillFitInTarget, + p_Source.c_str()); + + return false; + } + + strcpy(p_Target, p_Source.c_str()); + + return true; +} + +bool SDKClientPlatformSpecific::ResizeWindow( + const short int p_ConsoleWidth, + const short int p_ConsoleHeight, + const short int p_ConsoleScrollback) +{ + // https://apple.stackexchange.com/questions/33736/can-a-terminal-window-be-resized-with-a-terminal-command/47841#47841 + // Use a control sequence to resize the window. + // Seems to be supported by the default terminal used in Gnome, as well + // as Mac OS. + // \\e[ -> ASCII ESC character (number 27, or 0x1B) + // -> control sequence introducer + // 8; -> resize the window + // y;xt -> The first number is the height, the second the width. + // Scrollback can't and doesn't need to be set here for Linux. + printf("\e[8;%d;%dt", p_ConsoleHeight, p_ConsoleWidth); + + ClearConsole(); + + // None of the ncurses functions for resizing the terminal actually + // seem to do anything. + /*if (resizeterm(180, 180) != OK) + { + return false; + }*/ + + return true; +} + +void SDKClientPlatformSpecific::ApplyConsolePosition( + const int p_ConsoleCurrentOffset) +{ + printf("\e[%d;1H", p_ConsoleCurrentOffset); +} + +/*static*/ void SDKClientPlatformSpecific::ClearConsole(void) +{ + // https://stackoverflow.com/questions/4062045/clearing-terminal-in-linux-with-c-code + // Use a control sequence to clear the terminal and move the cursor. + // Seems to be supported by the default terminal used in Gnome, + // as well as Mac OS. + // \\e[ -> ASCII ESC character (number 27, or 0x1B) -> control sequence introducer + // 2 -> the entire screen + // J -> clear the screen + //printf("\e[2J\n"); + + // Move the cursor to row 1 column 1. + //printf("\e[1;1H\n"); + + if (clear() != OK) + { + ClientLog::error("Failed to clear the screen."); + } + + refresh(); +} + +bool SDKClientPlatformSpecific::GetKey(const int p_Key) +{ + return g_Input.GetKey(p_Key); +} + +bool SDKClientPlatformSpecific::GetKeyDown(const int p_Key) +{ + return g_Input.GetKeyDown(p_Key); +} + +bool SDKClientPlatformSpecific::GetKeyUp(const int p_Key) +{ + return g_Input.GetKeyUp(p_Key); +} + +std::string SDKClientPlatformSpecific::GetDocumentsDirectoryPath_UTF8(void) +{ + const char* const t_Xdg = getenv("XDG_DOCUMENTS_DIR"); + + // Backup - the documents folder is usually going to be in $HOME/Documents. + const char* const t_Home = getenv("HOME"); + if (!t_Xdg && !t_Home) + { + return std::string(""); + } + + const std::string t_DocumentsDir = + (!t_Xdg || strlen(t_Xdg) == 0) + ? std::string(t_Home) + std::string("/Documents") + : std::string(t_Xdg); + + return t_DocumentsDir; +} + +std::ifstream SDKClientPlatformSpecific::GetInputFileStream( + std::string p_Path_UTF8) +{ + return std::ifstream(p_Path_UTF8, std::ifstream::binary); +} + +std::ofstream SDKClientPlatformSpecific::GetOutputFileStream( + std::string p_Path_UTF8) +{ + return std::ofstream(p_Path_UTF8, std::ofstream::binary); +} + +bool SDKClientPlatformSpecific::DoesFolderOrFileExist(std::string p_Path_UTF8) +{ + return std::filesystem::exists(p_Path_UTF8); +} + +void SDKClientPlatformSpecific::CreateFolderIfItDoesNotExist( + std::string p_Path_UTF8) +{ + if (!DoesFolderOrFileExist(p_Path_UTF8)) + { + std::filesystem::create_directory(p_Path_UTF8); + } +} diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecific.hpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecific.hpp new file mode 100644 index 0000000..4cbbe10 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecific.hpp @@ -0,0 +1,90 @@ +#ifndef _CLIENT_PLATFORM_SPECIFIC_HPP_ +#define _CLIENT_PLATFORM_SPECIFIC_HPP_ + +#include "ClientPlatformSpecificTypes.hpp" + +// size_t +#include +// std::string +#include + +// Set up a Doxygen group. +/** @addtogroup SDKClient + * @{ + */ + +class SDKClientPlatformSpecific +{ +protected: + /// @brief Initialise things only needed for this platform. + bool PlatformSpecificInitialization(void); + + /// @brief Shut down things only needed for this platform. + bool PlatformSpecificShutdown(void); + + /// @brief Update the current keyboard state. + void UpdateInput(void); + + /// @brief Copy the given string into the given target. + static bool CopyString( + char* const p_Target, + const size_t p_MaxLengthThatWillFitInTarget, + const std::string& p_Source); + + /// @brief Resize the window, so the log messages will fit. + /// Make sure not to enter illegal sizes in here or SetConsoleWindowInfo + /// and SetConsoleScreenBufferSize can generate an error. + /// This is not code directly needed for the SDK to function, but its handy + /// for a quick and simple output for this client. + bool ResizeWindow( + const short int p_ConsoleWidth, + const short int p_ConsoleHeight, + const short int p_ConsoleScrollback); + + /// @brief Set the current console position. + /// This handles the platform-specific part of advancing the console + /// position. + void ApplyConsolePosition( + const int p_ConsoleCurrentOffset); + + /// @brief Clear the console window. + static void ClearConsole(void); + + /// @brief Gets key's current state. + /// True is pressed false is not pressed. + bool GetKey(const int p_Key); + + /// @brief Returns true first time it is called when key is pressed. + bool GetKeyDown(const int p_Key); + + /// @brief Returns true first time it is called when key is released. + bool GetKeyUp(const int p_Key); + + /// @brief Get the path to the user's Documents folder. + /// The string should be in UTF-8 format. + std::string GetDocumentsDirectoryPath_UTF8(void); + + /// @brief Get an input stream for the given file. + /// The file's path should be in UTF-8 format. + std::ifstream GetInputFileStream(std::string p_Path_UTF8); + + /// @brief Get an output stream for the given file. + /// The file's path should be in UTF-8 format. + std::ofstream GetOutputFileStream(std::string p_Path_UTF8); + + /// @brief Check if the given folder or file exists. + /// The folder path given should be in UTF-8 format. + bool DoesFolderOrFileExist(std::string p_Path_UTF8); + + /// @brief Create the given folder if it does not exist. + /// The folder path given should be in UTF-8 format. + void CreateFolderIfItDoesNotExist(std::string p_Path_UTF8); + + /// @brief The slash character that is used in the filesystem. + static const std::string s_SlashForFilesystemPath; +}; + +// Close the Doxygen group. +/** @} */ + +#endif diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecificTypes.hpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecificTypes.hpp new file mode 100644 index 0000000..2c994b3 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ClientPlatformSpecificTypes.hpp @@ -0,0 +1,48 @@ +#ifndef _CLIENT_PLATFORM_SPECIFIC_TYPES_HPP_ +#define _CLIENT_PLATFORM_SPECIFIC_TYPES_HPP_ + +#include + +// Set up a Doxygen group. +/** @addtogroup SDKClient + * @{ + */ + +// Virtual key code characters for WasKeyPressed(). +// Based on key codes used with GetAsyncKeyState(). +// Manually checked what values getch() returns for these keys. +// https://docs.microsoft.com/en-us/windows/win32/inputdev/virtual-key-codes +enum MicrosoftVirtualKeyCodes +{ + VK_TAB = 9, // ASCII tab character value + VK_RETURN = 13, // ASCII carriage return character value + VK_ESCAPE = 27, // ASCII ESC character value + VK_DOWN = 258, + VK_UP = 259, + VK_LEFT = 260, + VK_RIGHT = 261, + VK_HOME = 262, + VK_BACK = 263, + VK_F1 = 265, + VK_F2 = 266, + VK_F3 = 267, + VK_F4 = 268, + VK_F5 = 269, + VK_F6 = 270, + VK_F7 = 271, + VK_F8 = 272, + VK_F9 = 273, + VK_F10 = 274, + VK_F11 = 275, + VK_F12 = 276, + VK_DELETE = 330, + VK_INSERT = 331, + VK_NEXT = 338, + VK_PRIOR = 339, + VK_END = 360 +}; + +// Close the Doxygen group. +/** @} */ + +#endif diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/Dockerfile b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Dockerfile new file mode 100644 index 0000000..7e127a7 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Dockerfile @@ -0,0 +1,88 @@ +# Copyright 2018 gRPC authors. +# +# 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.# +# +# Based on https://hub.docker.com/r/grpc/cxx. + +# To build +# docker build -f ./Dockerfile -t manus-linux . + +# To Run (Linux) +# docker run --net==host --privileged -v /dev:/dev -v /run/udev:/run/udev -i -t manus-linux /bin/bash + +# To Run (Windows) +# docker run -p 5000:5000 -i -t manus-linux /bin/bash + +# FROM ubuntu:jammy as build +FROM ubuntu:focal as build +LABEL description="Visual Studio Manus SDK Build container" + +ENV TZ=Europe/Amsterdam +RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone + +RUN apt-get update && apt-get install -y \ + build-essential \ + # Required to install GRPC + git \ + libtool \ + libzmq3-dev \ + # Required for core integrated + libusb-1.0-0-dev \ + libudev-dev \ + # Only required for building the minimal client + libncurses5-dev \ + # Only required for visual studio debugging + gdb \ + && apt-get clean + +ENV GRPC_RELEASE_TAG="v1.28.1" + +RUN git clone -b ${GRPC_RELEASE_TAG} https://github.com/grpc/grpc /var/local/git/grpc && \ + cd /var/local/git/grpc && \ + git submodule update --init --recursive + +RUN echo "-- installing protobuf" && \ + cd /var/local/git/grpc/third_party/protobuf && \ + ./autogen.sh && ./configure --enable-shared && \ + make -j$(nproc) && make -j$(nproc) check && make install && make clean && ldconfig + +RUN echo "-- installing grpc" && \ + cd /var/local/git/grpc && \ + make -j$(nproc) && make install && make clean && ldconfig + +# configure SSH for communication with Visual Studio +RUN apt-get update && apt-get install -y openssh-server +RUN mkdir -p /var/run/sshd +RUN echo 'PasswordAuthentication yes' >> /etc/ssh/sshd_config && \ + ssh-keygen -A + +# please make sure to change the password +RUN id -u manus >/dev/null 2>&1 || useradd -m -d /home/manus -s /bin/bash -G sudo manus && \ +echo "manus:password" | chpasswd + +# copy dependencies to ~/ManusSDK/ directory +COPY ManusSDK /home/manus/ManusSDK + +# Add read/write permissions for manus devices +RUN apt-get update && apt-get install -y udev +RUN echo "# HIDAPI/libusb" > /etc/udev/rules.d/99-manus.rules && \ + echo "SUBSYSTEMS==\"usb\", ATTRS{idVendor}==\"3325\", MODE:=\"0666\"" >> /etc/udev/rules.d/99-manus.rules && \ + echo "# HIDAPI/hidraw" >> /etc/udev/rules.d/99-manus.rules && \ + echo "KERNEL==\"hidraw*\", ATTRS{idVendor}==\"3325\", MODE:=\"0666\"" >> /etc/udev/rules.d/99-manus.rules + +# change default SSH port to 5000 to not conflict with system ssh in host mode +RUN echo "Port 5000" >> /etc/ssh/sshd_config + +ENTRYPOINT service ssh start && service udev start && bin/bash + +EXPOSE 5000 diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/Dockerfile.Integrated b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Dockerfile.Integrated new file mode 100644 index 0000000..0a810e8 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Dockerfile.Integrated @@ -0,0 +1,69 @@ +# Copyright 2018 gRPC authors. +# +# 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.# +# +# Based on https://hub.docker.com/r/grpc/cxx. + +# To build +# docker build -f ./Dockerfile.Integrated -t manus-linux-integrated . + +# To Run (Linux) +# docker run -p 5000:5000 --privileged -v /dev:/dev -v /run/udev:/run/udev -i -t manus-linux-integrated /bin/bash + +# To Run (Windows) +# docker run -p 5000:5000 -i -t manus-linux-integrated /bin/bash + +# FROM ubuntu:jammy as build +FROM ubuntu:focal as build +LABEL description="Visual Studio Manus SDK Build container" + +ENV TZ=Europe/Amsterdam +RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone + +RUN apt-get update && apt-get install -y \ + build-essential \ + # Required for core integrated + libusb-1.0-0-dev \ + libudev-dev \ + # Only required for building the minimal client + libncurses5-dev \ + # Only required for visual studio debugging + gdb \ + && apt-get clean + +# configure SSH for communication with Visual Studio +RUN apt-get update && apt-get install -y openssh-server +RUN mkdir -p /var/run/sshd +RUN echo 'PasswordAuthentication yes' >> /etc/ssh/sshd_config && \ + ssh-keygen -A + +# please make sure to change the password +RUN id -u manus >/dev/null 2>&1 || useradd -m -d /home/manus -s /bin/bash -G sudo manus && \ +echo "manus:password" | chpasswd + +# copy dependencies to ~/ManusSDK/ directory +COPY ManusSDK /home/manus/ManusSDK + +# Add read/write permissions for manus devices +RUN apt-get update && apt-get install -y udev +RUN echo "# HIDAPI/libusb" > /etc/udev/rules.d/99-manus.rules && \ + echo "SUBSYSTEMS==\"usb\", ATTRS{idVendor}==\"3325\", MODE:=\"0666\"" >> /etc/udev/rules.d/99-manus.rules && \ + echo "# HIDAPI/hidraw" >> /etc/udev/rules.d/99-manus.rules && \ + echo "KERNEL==\"hidraw*\", ATTRS{idVendor}==\"3325\", MODE:=\"0666\"" >> /etc/udev/rules.d/99-manus.rules + +# change default SSH port to 5000 to not conflict with system ssh in host mode +RUN echo "Port 5000" >> /etc/ssh/sshd_config + +ENTRYPOINT service ssh start && service udev start && bin/bash + +EXPOSE 5000 \ No newline at end of file diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/Main.cpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Main.cpp new file mode 100644 index 0000000..3749ad2 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Main.cpp @@ -0,0 +1,52 @@ +// Set up a Doxygen group. +/** @addtogroup Main + * @{ + */ + +#include "ClientLogging.hpp" +#include "SDKClient.hpp" +#include +#include +#include +#include +#include +#include + +namespace py = pybind11; + + +ClientReturnCode t_Result; +SDKClient t_SDKClient; + +int init() { + t_SDKClient.Initialize(); + t_SDKClient.Run(); + while (output_map.size() == 0){ + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + return 0; +} + +py::dict get_latest_state() { + py::dict py_dict; + for (const auto& pair : output_map) { + py::list py_list; // Initialize a py::list for each vector + for (double value : pair.second) { + py_list.append(value); // Append each value from the vector to the py::list + } + py_dict[py::str(pair.first)] = py_list; // Assign the list to the dict with the string key + } + return py_dict; +} + +int shutdown() { + t_SDKClient.ShutDown(); + std::cout<<"Manus shutdown\n"; + return 0; +} + +PYBIND11_MODULE(ManusServer, m) { + m.def("init", &init); + m.def("get_latest_state", &get_latest_state); + m.def("shutdown", &shutdown); +} \ No newline at end of file diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/Makefile b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Makefile new file mode 100644 index 0000000..a5acc7c --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Makefile @@ -0,0 +1,59 @@ +CXX := g++ + +#CXXFLAGS := -pedantic-errors -Wall -Wextra -Werror -g --std=c++17 +# CXXFLAGS := -g --std=c++17 + +PYBIND11_INCLUDES := $(shell python3 -m pybind11 --includes) +PYBIND11_SUFFIX := $(shell python3-config --extension-suffix) +CXXFLAGS := -shared -g --std=c++17 -fPIC ${PYBIND11_INCLUDES} + +LDFLAGS := -L./ManusSDK/lib -lManusSDK -lncurses -lpthread -Wl,-rpath=./ManusSDK/lib +BUILD := ./ +OBJ_DIR := $(BUILD)/objects +APP_DIR := $(BUILD) + +# TARGET := SDKClient_Linux.out +TARGET := ManusServer$(PYBIND11_SUFFIX) + +INCLUDE := -I./ManusSDK/include +SRC := \ + $(wildcard *.cpp) + +OBJECTS := $(SRC:%.cpp=$(OBJ_DIR)/%.o) +DEPENDENCIES \ + := $(OBJECTS:.o=.d) + +all: build $(APP_DIR)/$(TARGET) + +$(OBJ_DIR)/%.o: %.cpp + @mkdir -p $(@D) + $(CXX) $(CXXFLAGS) $(INCLUDE) -c $< -MMD -o $@ + +$(APP_DIR)/$(TARGET): $(OBJECTS) + @mkdir -p $(@D) + $(CXX) $(CXXFLAGS) -o $(APP_DIR)/$(TARGET) $^ $(LDFLAGS) + +-include $(DEPENDENCIES) + +.PHONY: all build clean debug release info + +build: + @mkdir -p $(APP_DIR) + @mkdir -p $(OBJ_DIR) + +debug: CXXFLAGS += -DDEBUG -g +debug: all + +release: CXXFLAGS += -g +release: all + +clean: + -@rm $(TARGET) + -@rm -rvf $(OBJ_DIR)/* + +info: + @echo "[*] Application dir: ${APP_DIR} " + @echo "[*] Object dir: ${OBJ_DIR} " + @echo "[*] Sources: ${SRC} " + @echo "[*] Objects: ${OBJECTS} " + @echo "[*] Dependencies: ${DEPENDENCIES}" diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDK.h b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDK.h new file mode 100644 index 0000000..173a8e3 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDK.h @@ -0,0 +1,1058 @@ +#ifndef __MANUS_SDK_H__ +#define __MANUS_SDK_H__ + +// Set up a Doxygen group. +/** @addtogroup ManusSDK + * @{ + */ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "ManusSDKTypes.h" +#include "ManusSDKTypeInitializers.h" + +#include + +#ifdef MANUS_SDK_STATIC +#define CORESDK_API +#else +#ifdef _WIN32 + // MANUS_SDK_EXPORTS defines if the functions are exported to or + // imported from a DLL. +#ifdef MANUS_SDK_EXPORTS +#define CORESDK_API __declspec(dllexport) +#else +#define CORESDK_API __declspec(dllimport) +#endif +#elif defined(__linux__) +#define CORESDK_API +#else +#error Unrecognized platform. +#endif +#endif + + /****************************************************************************** + * Wrapper startup and shutdown. + *****************************************************************************/ + + /// @brief Initialize the wrapper. + /// Call this before using the wrapper. + /// @param p_TypeOfSession + /// @param p_Remote If set to true, this is essentially the same as calling the old CoreSdk_Initialize + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_FunctionCalledAtWrongTime if the function was not intended to be called at this time. + CORESDK_API SDKReturnCode CoreSdk_Initialize(SessionType p_TypeOfSession, bool p_Remote); + + /// @brief Shut down the wrapper. + /// This needs to be called last. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_ShutDown(); + + /****************************************************************************** + * Utility functions. + *****************************************************************************/ + + /// @brief Check if the wrapper DLL was built in the debug configuration. + /// @param p_WasBuiltInDebugConfiguration + /// @return SDKReturnCode_Success if successful. + CORESDK_API SDKReturnCode CoreSdk_WasDllBuiltInDebugConfiguration(bool* p_WasBuiltInDebugConfiguration); + + /// @brief Gets the timestamp info (more readable form of timestamp). + /// @param p_Timestamp Timestamp to get info from + /// @param p_Info Info of the timestamp + /// @return SDKReturnCode_Success if successful. + CORESDK_API SDKReturnCode CoreSdk_GetTimestampInfo(ManusTimestamp p_Timestamp, ManusTimestampInfo* p_Info); + + /// @brief Sets the timestamp according to the info (more readable form of timestamp). + /// @param p_Timestamp the Timestamp to set info of + /// @param p_Info Info to get info from + /// @return SDKReturnCode_Success if successful. + CORESDK_API SDKReturnCode CoreSdk_SetTimestampInfo(ManusTimestamp* p_Timestamp, ManusTimestampInfo p_Info); + + + /****************************************************************************** + * Connection handling. + *****************************************************************************/ + + /// @brief Start a background task that looks for hosts running Manus Core. + /// Call this first when looking for hosts to connect to. + /// Underlying function will sleep for p_WaitSeconds to allow servers to reply. + /// @param p_WaitSeconds defines the time the function will sleep for to allow servers to reply, + /// @param p_LoopbackOnly if true it looks for hosts only locally, if false it looks for hosts anywhere in the network, + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_FunctionCalledAtWrongTime if the function was not intended to be called at this time. + CORESDK_API SDKReturnCode CoreSdk_LookForHosts(uint32_t p_WaitSeconds = 1, bool p_LoopbackOnly = false); + + /// @brief Get the number of hosts running Manus Core that were found. + /// This is the second function to call when looking for hosts to connect to. + /// @param p_NumberOfAvailableHostsFound + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_FunctionCalledAtWrongTime if the function was not intended to be called at this time. + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfAvailableHostsFound(uint32_t* p_NumberOfAvailableHostsFound); + + /// @brief Fill the given array with information on the hosts that were found. + /// This is the third and final function to call when looking for hosts to + /// connect to. + /// @param p_AvailableHostsFound + /// @param p_NumberOfHostsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_FunctionCalledAtWrongTime if the function was not intended to be called at this time + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfHostsThatFitInArray does not match the number of available hosts found in the network, + /// SDKReturnCode_InvalidArgument if the provided p_AvailableHostsFound is a null pointer, + /// SDKReturnCode_InternalError if the number of available hosts found is higher than the defined MAX_NUMBER_OF_HOSTS, + /// SDKReturnCode_UnsupportedStringSizeEncountered if the name of a host is higher than the defined MAX_NUM_CHARS_IN_HOST_NAME, + /// SDKReturnCode_Error if copying the string representing the host name was not successful, + /// SDKReturnCode_NullPointer if invalid host data was found. + CORESDK_API SDKReturnCode CoreSdk_GetAvailableHostsFound(ManusHost* p_AvailableHostsFound, const uint32_t p_NumberOfHostsThatFitInArray); + + + /// @brief Check if the wrapper is connected to ManusCore. + /// @param p_ConnectedToCore + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_GetIsConnectedToCore(bool* p_ConnectedToCore); + + /// @brief Connect to the preset GRPC address. + /// @return SDKReturnCode_Success + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_ConnectGRPC(); + + /// @brief Disconnects from the current host + /// @return SDKReturnCode_Success + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_Disconnect(); + + /// @brief Connect to a host using the given host information. + /// @param p_Host + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_SdkIsTerminating if the sdk is being terminated, + /// SDKReturnCode_FunctionCalledAtWrongTime if the function was not intended to be called at this time, + /// SDKReturnCode_NoCoordinateSystemSet if the user tried to connect without first setting up the coordinate system settings. + CORESDK_API SDKReturnCode CoreSdk_ConnectToHost(ManusHost p_Host); + + /// @brief Initialize a coordinate system of type CoordinateSystemVUH. (View Up Handedness) + /// This has to be called before a connection is made. + /// @param p_CoordinateSystem + /// @param p_UseWorldCoordinates if true all data will be defined with respect to a world coordinate system, + /// if false all data will be defined with respect to a local one, + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_InitializeCoordinateSystemWithVUH(CoordinateSystemVUH p_CoordinateSystem, bool p_UseWorldCoordinates); + + /// @brief Initialize a coordinate system of type CoordinateSystemDirection. + /// This has to be called before a connection is made. + /// @param p_CoordinateSystem + /// @param p_UseWorldCoordinates if true all data will be defined with respect to a world coordinate system, + /// if false all data will be defined with respect to a local one, + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_InitializeCoordinateSystemWithDirection(CoordinateSystemDirection p_CoordinateSystem, bool p_UseWorldCoordinates); + + /// @brief Get the SDK and Core version used and check if they are compatible with each other. + /// @param p_SdkVersion + /// @param p_CoreVersion + /// @param p_AreVersionsCompatible + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_GetVersionsAndCheckCompatibility(ManusVersion* p_SdkVersion, ManusVersion* p_CoreVersion, bool* p_AreVersionsCompatible); + + /// @brief Get the current session Id. + /// @param p_SessionId + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_InvalidID if the session id is zero, which means it was not correctly assigned. + CORESDK_API SDKReturnCode CoreSdk_GetSessionId(uint32_t* p_SessionId); + + /// @brief Register the callback function that is called when manus core gets connected to the sdk. + /// @param p_ConnectedCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForOnConnect(ConnectedToCoreCallback_t p_ConnectedCallback); + + /// @brief Register the callback function that is called when manus core gets disconnected from the sdk. + /// @param p_DisconnectedCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForOnDisconnect(DisconnectedFromCoreCallback_t p_DisconnectedCallback); + + /// @brief Register the callback function that is called when something is logged in the SDK. + /// @param p_LoggingCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForOnLog(LoggingCallback_t p_LoggingCallback); + + /// @brief Register the callback function that is called when skeleton data comes in. + /// @param p_SkeletonStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForSkeletonStream(SkeletonStreamCallback_t p_SkeletonStreamCallback); + + /// @brief Register the callback function that is called when tracker data comes in. + /// @param p_TrackerStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForTrackerStream(TrackerStreamCallback_t p_TrackerStreamCallback); + + /// @brief Register the callback function that is called when the landscape data comes in. + /// @param p_LandscapeStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForLandscapeStream(LandscapeStreamCallback_t p_LandscapeStreamCallback); + + /// @brief Register the callback function that is called when core system related data comes in. + /// @param p_SystemStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForSystemStream(SystemStreamCallback_t p_SystemStreamCallback); + + /// @brief Register the callback function that is called when ergonomics data comes in. + /// @param p_ErgonomicsStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForErgonomicsStream(ErgonomicsStreamCallback_t p_ErgonomicsStreamCallback); + + /// @brief Register the callback function that is called when skeleton data comes in. + /// @param p_SkeletonStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForRawSkeletonStream(RawSkeletonStreamCallback_t p_RawSkeletonStreamCallback); + + /// @brief Register the callback function that is called when gesture data comes in. + /// @param p_GestureStreamCallback + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_RegisterCallbackForGestureStream(GestureStreamCallback_t p_GestureStreamCallback); + + /****************************************************************************** + * Basic glove interaction. + *****************************************************************************/ + + /// @brief Try to pair a glove to a dongle + /// @param p_GloveID + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_PairGlove(uint32_t p_GloveID, bool* p_Result); + + /// @brief Try to unpair a glove to a dongle + /// @param p_GloveID + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available. + CORESDK_API SDKReturnCode CoreSdk_UnpairGlove(uint32_t p_GloveID, bool* p_Result); + + /// @brief Vibrate the motor on the given fingers of a haptic glove. + /// The order of the fingers is Thumb, Index, Middle, Ring, Pinky. + /// @param p_DongleId + /// @param p_HandType + /// @param p_Powers strength of the vibration, should be an array of 5 values + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core. + /// @deprecated Use CoreSdk_VibrateFingersForGlove or CoreSdk_VibrateFingersForSkeleton instead + [[deprecated("Use CoreSdk_VibrateFingersForGlove or CoreSdk_VibrateFingersForSkeleton instead")]] + CORESDK_API SDKReturnCode CoreSdk_VibrateFingers(uint32_t p_DongleId, Side p_HandType, const float* p_Powers); + + /// @brief Vibrate the motor on the given fingers of a haptic glove. + /// The order of the fingers is Thumb, Index, Middle, Ring, Pinky. + /// @param p_GloveId + /// @param p_Powers strength of the vibration, should be an array of 5 values + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_VibrateFingersForGlove(uint32_t p_GloveId, const float* p_Powers); + + /// @brief Vibrate the motor on the fingers of a haptic glove associated to skeleton with given id. + /// The order of the fingers is Thumb, Index, Middle, Ring, Pinky. + /// @param p_SkeletonId + /// @param p_HandType + /// @param p_Powers strength of the vibration, should be an array of 5 values + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_VibrateFingersForSkeleton(uint32_t p_SkeletonId, Side p_HandType, const float* p_Powers); + + /// @brief Get a glove ID for the given hand of the given user identified by its Id. + /// @param p_UserId + /// @param p_HandType + /// @param p_GloveId + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidArgument if the provided p_HandType was neither left nor right, + /// SDKReturnCode_InvalidID if no user with the provided p_UserId was found in the landscape. + CORESDK_API SDKReturnCode CoreSdk_GetGloveIdOfUser_UsingUserId(uint32_t p_UserId, Side p_HandType, uint32_t* p_GloveId); + + /// @brief Get the number of gloves that are available. + /// @param p_NumberOfAvailableGloves + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of available gloves found is higher than the defined MAX_NUMBER_OF_GLOVES. + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfAvailableGloves(uint32_t* p_NumberOfAvailableGloves); + + /// @brief Fill the given array with the IDs of all available gloves. + /// The size of the given array must match the number of available gloves. + /// Note that the number of available gloves can change at any time. + /// @param p_IdsOfAvailableGloves + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with the number of available gloves found, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is zero or is higher than the defined MAX_NUMBER_OF_GLOVES. + CORESDK_API SDKReturnCode CoreSdk_GetIdsOfAvailableGloves(uint32_t* p_IdsOfAvailableGloves, uint32_t p_NumberOfIdsThatFitInArray); + + /// @brief Get glove id's for given dongle id. + /// @param p_DongleId + /// @param p_LeftGloveId + /// @param p_RightGloveId + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core. + /// @deprecated Get this through the Landscape instead + [[deprecated("Get this through the Landscape instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetGlovesForDongle(uint32_t p_DongleId, uint32_t* p_LeftGloveId, uint32_t* p_RightGloveId); + + /// @brief Get data for the glove with the given glove ID. + /// @param p_GloveId + /// @param p_GloveData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_DataNotAvailable if no glove with the provided p_GloveId was found in the landscape. + /// @deprecated Get this through the Landscape instead + [[deprecated("Get this through the Landscape instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetDataForGlove_UsingGloveId(uint32_t p_GloveId, GloveLandscapeData* p_GloveData); + + /// @brief Gets the data for a dongle with the given id. + /// @param p_DongleId + /// @param p_DongleData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_DataNotAvailable if no dongle with the provided p_DongleId was found in the landscape. + CORESDK_API SDKReturnCode CoreSdk_GetDataForDongle(uint32_t p_DongleId, DongleLandscapeData* p_DongleData); + + /// @brief Get the number of available dongles. + /// @param p_NumberOfDongles + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of dongles found is higher than the defined MAX_NUMBER_OF_DONGLES. + /// @deprecated Get this through the Landscape instead + [[deprecated("Get this through the Landscape instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfDongles(uint32_t* p_NumberOfDongles); + + /// @brief Fill the given array with the IDs of all available dongles. + /// The size of the given array must match the number of available dongles. + /// Note that the number of available dongles can change at any time. + /// @param p_DongleIds + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with the number of dongles found, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is zero or higher than the defined MAX_NUMBER_OF_HAPTICS_DONGLES. + /// @deprecated Get this through the Landscape instead + [[deprecated("Get this through the Landscape instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetDongleIds(uint32_t* p_DongleIds, uint32_t p_NumberOfIdsThatFitInArray); + + /****************************************************************************** + * Haptics module. + *****************************************************************************/ + + /// @brief Get the number of available haptics dongles. + /// @param p_NumberOfHapticsDongles + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of haptic dongles found is higher than the defined MAX_NUMBER_OF_HAPTICS_DONGLES. + /// @deprecated Get this through the Landscape instead + [[deprecated("Get this through the Landscape instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfHapticsDongles(uint32_t* p_NumberOfHapticsDongles); + + /// @brief Fill the given array with the IDs of all available haptics dongles. + /// The size of the given array must match the number of available haptics dongles. + /// Note that the number of available haptics dongles can change at any time. + /// @param p_HapticsDongleIds + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with the number of haptic dongles found, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is zero or higher than the defined MAX_NUMBER_OF_HAPTICS_DONGLES. + /// @deprecated Get this through the Landscape instead + [[deprecated("Get this through the Landscape instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetHapticsDongleIds(uint32_t* p_HapticsDongleIds, uint32_t p_NumberOfIdsThatFitInArray); + + /****************************************************************************** + * Users. + *****************************************************************************/ + + /// @brief Get the number of available users. + /// Note that this is reliant on the landscape, and the first second after connecting the client to the core it will not yet have landscape + /// data, so the number of users wil be 0. Since there will always be a default users, just wait until the count is above 0 and then proceed. + /// @param p_NumberOfAvailableUsers + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of available users found is higher than the defined MAX_NUMBER_OF_USERS. + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfAvailableUsers(uint32_t* p_NumberOfAvailableUsers); + + /// @brief Fill the given array with the IDs of all available users. + /// The size of the given array must match the number of available users. + /// Note that the number of available users can change at any time depending on the landscape. + /// @param p_IdsOfAvailableUsers, The array of ids that will get filled + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is null or higher than the defined MAX_NUMBER_OF_USERS, or + /// if p_IdsOfAvailableUsers is a null array. + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with number of available users found. + CORESDK_API SDKReturnCode CoreSdk_GetIdsOfAvailableUsers(uint32_t* p_IdsOfAvailableUsers, uint32_t p_NumberOfIdsThatFitInArray); + + /****************************************************************************** + * Tracking. + *****************************************************************************/ + + /// @brief Get data for a tracker at a given index in the TrackerStream callback. + /// @param p_TrackerIndex + /// @param p_TrackerData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_TrackerIndex is higher than the total number of trackers received from the tracker stream. + CORESDK_API SDKReturnCode CoreSdk_GetTrackerData(uint32_t p_TrackerIndex, TrackerData* p_TrackerData); + + /// @brief Get the number of available trackers. + /// @param p_NumberOfAvailableTrackers + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of trackers found is higher than the defined MAX_NUMBER_OF_TRACKERS. + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfAvailableTrackers(uint32_t* p_NumberOfAvailableTrackers); + + /// @brief Fill the given array with the IDs of available trackers. + /// The size of the given array must match the number of available trackers. + /// Note that the number of available trackers can change at any time. + /// @param p_IdsOfAvailableTrackers + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is zero or higher than the defined MAX_NUMBER_OF_TRACKERS, or + /// if p_IdsOfAvailableTrackers is a null array. + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with the number of available trackers found. + CORESDK_API SDKReturnCode CoreSdk_GetIdsOfAvailableTrackers(TrackerId* p_IdsOfAvailableTrackers, uint32_t p_NumberOfIdsThatFitInArray); + + /// @brief Get the number of available trackers for a user with given Id. + /// @param p_NumberOfAvailableTrackers + /// @param p_UserId + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of trackers found is higher than the defined MAX_NUMBER_OF_TRACKERS. + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfAvailableTrackersForUserId(uint32_t* p_NumberOfAvailableTrackers, uint32_t p_UserId); + + /// @brief Fill the given array with the IDs of available trackers for a user with given Id. + /// The size of the given array must match the number of available trackers. + /// Note that the number of available trackers can change at any time. + /// @param p_IdsOfAvailableTrackers + /// @param p_UserId + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is zero or higher than the defined MAX_NUMBER_OF_TRACKERS, or + /// if p_IdsOfAvailableTrackers is a null array. + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with the number of available trackers found. + CORESDK_API SDKReturnCode CoreSdk_GetIdsOfAvailableTrackersForUserId(TrackerId* p_IdsOfAvailableTrackers, uint32_t p_UserId, uint32_t p_NumberOfIdsThatFitInArray); + + /// @brief Get the number of available trackers for a user with given Id. + /// @param p_NumberOfAvailableTrackers + /// @param p_UserIndex + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InternalError if the number of trackers found is higher than the defined MAX_NUMBER_OF_TRACKERS. + CORESDK_API SDKReturnCode CoreSdk_GetNumberOfAvailableTrackersForUserIndex(uint32_t* p_NumberOfAvailableTrackers, uint32_t p_UserIndex); + + /// @brief Fill the given array with the IDs of available trackers for a user with given Id. + /// The size of the given array must match the number of available trackers. + /// Note that the number of available trackers can change at any time. + /// @param p_IdsOfAvailableTrackers + /// @param p_UserIndex + /// @param p_NumberOfIdsThatFitInArray + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidArgument if p_NumberOfIdsThatFitInArray is zero or higher than the defined MAX_NUMBER_OF_TRACKERS, or + /// if p_IdsOfAvailableTrackers is a null array. + /// SDKReturnCode_ArgumentSizeMismatch if p_NumberOfIdsThatFitInArray does not match with the number of available trackers found. + CORESDK_API SDKReturnCode CoreSdk_GetIdsOfAvailableTrackersForUserIndex(TrackerId* p_IdsOfAvailableTrackers, uint32_t p_UserIndex, uint32_t p_NumberOfIdsThatFitInArray); + + + + /// @brief Get data for the tracker with the given tracker Id. + /// @param p_TrackerId + /// @param p_TrackerData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_DataNotAvailable if no tracker with the given p_TrackerId was found in the landscape. + CORESDK_API SDKReturnCode CoreSdk_GetDataForTracker_UsingTrackerId(TrackerId p_TrackerId, TrackerData* p_TrackerData); + + /// @brief Get data for the tracker with the given user id and type. + /// @param p_UserId + /// @param p_TrackerType + /// @param p_TrackerData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_DataNotAvailable if no tracker with the given p_TrackerId and the given p_TrackerType was found in the landscape. + CORESDK_API SDKReturnCode CoreSdk_GetDataForTracker_UsingIdAndType(uint32_t p_UserId, uint32_t p_TrackerType, TrackerData* p_TrackerData); + + /// @brief Send data to Core for a tracker. + /// @param p_TrackerData + /// @param p_NumberOfTrackers amount of trackers for which we send the information + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_NullPointer if the provided p_TrackerData is a null pointer, + /// SDKReturnCode_InvalidArgument if p_NumberOfTrackers is null or higher than the defined MAX_NUMBER_OF_TRACKERS. + CORESDK_API SDKReturnCode CoreSdk_SendDataForTrackers(const TrackerData* p_TrackerData, uint32_t p_NumberOfTrackers); + + /// @brief Sets the offset of a tracker for a specified user + /// @param p_UserId + /// @param p_TrackerOffset + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_SetTrackerOffset(uint32_t p_UserId, const TrackerOffset* p_TrackerOffset); + + /****************************************************************************** + * Gestures. + *****************************************************************************/ + + /// @brief Get the landscape data for all the gestures in the latest landscape. + /// @param p_LandscapeDataArray + /// @param p_ArraySize + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_ArraySize is higher than the total number of gestures in the landscape stream. + CORESDK_API SDKReturnCode CoreSdk_GetGestureLandscapeData(GestureLandscapeData* p_LandscapeDataArray, uint32_t p_ArraySize); + + /// @brief The start data index allows you to get more data if there are more than MAX_GESTURE_DATA_CHUNK_SIZE gestures. + /// @param p_GestureStreamDataIndex + /// @param p_StartDataIndex + /// @param p_GestureProbabilitiesCollection + /// @return SDKReturnCode_Success if successful, or if there is no more data to get + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_ArraySize is higher than the total number of gestures in the landscape stream. + CORESDK_API SDKReturnCode CoreSdk_GetGestureStreamData(uint32_t p_GestureStreamDataIndex, uint32_t p_StartDataIndex, GestureProbabilities* p_GestureProbabilitiesCollection); + + /****************************************************************************** + * Glove Calibration. + *****************************************************************************/ + + /// @brief Start the calibration for a glove with the id that is specified in the arguments. + /// @param p_CalibrationArgs + /// @param p_Result + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core + CORESDK_API SDKReturnCode CoreSdk_GloveCalibrationStart(GloveCalibrationArgs p_CalibrationArgs, bool* p_Result); + + /// @brief Stop the calibration for a glove with the id that is specified in the arguments. + /// @param p_CalibrationArgs + /// @param p_Result + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core + CORESDK_API SDKReturnCode CoreSdk_GloveCalibrationStop(GloveCalibrationArgs p_CalibrationArgs, bool* p_Result); + + /// @brief Finish the calibration for a glove with the id that is specified in the arguments. + /// @param p_CalibrationArgs + /// @param p_Result + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core + CORESDK_API SDKReturnCode CoreSdk_GloveCalibrationFinish(GloveCalibrationArgs p_CalibrationArgs, bool* p_Result); + + + /// @brief Get the number of steps in a glove calibration sequence. + /// @param p_CalibrationArgs + /// @param p_NumberOfSteps + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core + CORESDK_API SDKReturnCode CoreSdk_GloveCalibrationGetNumberOfSteps(GloveCalibrationArgs p_CalibrationArgs, uint32_t* p_NumberOfSteps); + + /// @brief Get information data about a specific calibration step for a glove. + /// @param p_CalibrationStepArgs + /// @param p_Data + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core + CORESDK_API SDKReturnCode CoreSdk_GloveCalibrationGetStepData(GloveCalibrationStepArgs p_CalibrationStepArgs, GloveCalibrationStepData* p_Data); + + /// @brief Start a specific calibration step for a glove. + /// @param p_CalibrationStepArgs + /// @param p_Result + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core + CORESDK_API SDKReturnCode CoreSdk_GloveCalibrationStartStep(GloveCalibrationStepArgs p_CalibrationStepArgs, bool* p_Result); + + + CORESDK_API SDKReturnCode CoreSdk_GetGloveCalibrationSize(uint32_t p_GloveId, uint32_t* p_Size); + + CORESDK_API SDKReturnCode CoreSdk_GetGloveCalibration(unsigned char* p_CalibrationBytes, uint32_t p_BytesLength); + + CORESDK_API SDKReturnCode CoreSdk_SetGloveCalibration(uint32_t p_GloveId, unsigned char* p_CalibrationBytes, SetGloveCalibrationReturnCode* p_Result); + + /****************************************************************************** + * Skeletal System. + *****************************************************************************/ + + /// @brief Get information about the final animated skeleton with given index. + /// @param p_SkeletonIndex + /// @param p_Info + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_SkeletonIndex is higher than the total number of skeletons received from the skeleton stream. + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonInfo(uint32_t p_SkeletonIndex, SkeletonInfo* p_Info); + + /// @brief Get data for the final animated skeleton with given index. + /// The size of the given array must match the nodes count. + /// Note that the nodes count can change at any time. + /// @param p_SkeletonIndex + /// @param p_Nodes + /// @param p_NodeCount + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_SkeletonIndex is higher than the total number of skeletons received from the skeleton stream or + /// if the provided p_NodeCount is different from the node count of that skeleton. + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonData(uint32_t p_SkeletonIndex, SkeletonNode* p_Nodes, uint32_t p_NodeCount); + + /// @brief Determine how the raw data should be moving + /// @param p_HandMotion + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + CORESDK_API SDKReturnCode CoreSdk_SetRawSkeletonHandMotion(HandMotion p_HandMotion); + + /// @brief Get the raw skeleton hand motion type + /// @param p_HandMotion + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + CORESDK_API SDKReturnCode CoreSdk_GetRawSkeletonHandMotion(HandMotion* p_HandMotion); + + /// @brief Get information about the raw skeleton data with given index. + /// @param p_SkeletonIndex + /// @param p_Info + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_SkeletonIndex is higher than the total number of skeletons received from the skeleton stream. + CORESDK_API SDKReturnCode CoreSdk_GetRawSkeletonInfo(uint32_t p_SkeletonIndex, RawSkeletonInfo* p_Info); + + /// @brief Get data for the raw skeleton with given index. + /// The size of the given array must match the nodes count. + /// Note that the nodes count can change at any time. + /// @param p_SkeletonIndex + /// @param p_Nodes + /// @param p_NodeCount + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if p_SkeletonIndex is higher than the total number of skeletons received from the skeleton stream or + /// if the provided p_NodeCount is different from the node count of that skeleton. + CORESDK_API SDKReturnCode CoreSdk_GetRawSkeletonData(uint32_t p_SkeletonIndex, SkeletonNode* p_Nodes, uint32_t p_NodeCount); + + /// @brief Identifies if the glove associated to the skeleton with given id and side is a haptic one. + /// @param p_SkeletonId + /// @param p_HandType + /// @param p_IsHaptics + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_DataNotAvailable if the requested glove is not found or if the skeleton does not have any user associated to it, + /// SDKReturnCode_InvalidArgument if the provided p_HandType is neither Left nor Right. + CORESDK_API SDKReturnCode CoreSdk_DoesSkeletonGloveSupportHaptics(uint32_t p_SkeletonId, Side p_HandType, bool* p_IsHaptics); + /****************************************************************************** + * Skeletal System Setup. + *****************************************************************************/ + + /// @brief Create a new SkeletonSetup with the given information and returns the index on which it is saved. + /// @param p_Skeleton The SkeletonSetup information used by this skeleton. + /// @param p_SkeletonSetupIndex The index which is used by this SkeletonSetup. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_ArgumentSizeMismatch if the maximum number of temporary skeletons per session has been reached, + /// when this happens the user can either load or clear a temporary skeleton in order to create a new skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_CreateSkeletonSetup(SkeletonSetupInfo p_Skeleton, uint32_t* p_SkeletonSetupIndex); + + /// @brief Add a node to a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_Node + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AddNodeToSkeletonSetup(uint32_t p_SkeletonSetupIndex, NodeSetup p_Node); + + /// @brief Add a chain to a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_Chain + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AddChainToSkeletonSetup(uint32_t p_SkeletonSetupIndex, ChainSetup p_Chain); + + /// @brief Add a collider to a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_Collider + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AddColliderToSkeletonSetup(uint32_t p_SkeletonSetupIndex, ColliderSetup p_Collider); + + /// @brief Add a mesh setup to a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_NodeID + /// @param p_MeshSetupIndex + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AddMeshSetupToSkeletonSetup(uint32_t p_SkeletonSetupIndex, uint32_t p_NodeID, uint32_t* p_MeshSetupIndex); + + /// @brief Add a Vertex to a mesh setup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_MeshSetupIndex + /// @param p_Vertex + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AddVertexToMeshSetup(uint32_t p_SkeletonSetupIndex, uint32_t p_MeshSetupIndex, Vertex p_Vertex); + + + /// @brief Add a Triangle to a mesh setup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_MeshSetupIndex + /// @param p_Triangle + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AddTriangleToMeshSetup(uint32_t p_SkeletonSetupIndex, uint32_t p_MeshSetupIndex, Triangle p_Triangle); + + /// @brief Overwrite an existing SkeletonSetup at a given index. + /// This will remove all chains and nodes from the current skeleton at this index. + /// @param p_SkeletonSetupIndex + /// @param p_SkeletonSetup + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup, + /// SDKReturnCode_NullPointer if the skeleton setup was not correctly saved, thus the new skeleton setup is a null pointer. + CORESDK_API SDKReturnCode CoreSdk_OverwriteSkeletonSetup(uint32_t p_SkeletonSetupIndex, SkeletonSetupInfo p_SkeletonSetup); + + /// @brief Overwrite a chain in a SkeletonSetup, the chain to be overwritten is idenfified by p_Chain.id. + /// @param p_SkeletonSetupIndex The SkeletonSetup's index, not to be confused by the Chain's ID. + /// @param p_Chain The chain to replace the matching (via id) chain with. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_OverwriteChainToSkeletonSetup(uint32_t p_SkeletonSetupIndex, ChainSetup p_Chain); + + /// @brief Overwrite a node in a SkeletonSetup, the node to be overwritten is identified by p_Node.id. + /// @param p_SkeletonSetupIndex The SkeletonSetup's index, not to be confused by the Chain's ID. + /// @param p_Node The node to replace the matching (via id) node with. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_OverwriteNodeToSkeletonSetup(uint32_t p_SkeletonSetupIndex, NodeSetup p_Node); + + /// @brief Get the skeleton info (number of nodes and chains) for a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_SkeletonInfo + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupArraySizes(uint32_t p_SkeletonSetupIndex, SkeletonSetupArraySizes* p_SkeletonInfo); + + /// @brief Allocate chains for a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_AllocateChainsForSkeletonSetup(uint32_t p_SkeletonSetupIndex); + CORESDK_API SDKReturnCode CoreSdk_PrepareSkeletonSetup(uint32_t p_SkeletonSetupIndex); + + /// @brief Get setup info for a SkeletonSetup at a given index. + /// @param p_SkeletonSetupIndex + /// @param p_SDK + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupInfo(uint32_t p_SkeletonSetupIndex, SkeletonSetupInfo* p_SDK); + + /// @brief Get setup chains for a SkeletonSetup at a given index. + /// The size of the given array must match the chains count. + /// Note that the chains count can change at any time. + /// @param p_SkeletonSetupIndex + /// @param p_SDK + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_NullPointer if the provided p_SDK (used to store the setup chains) is a null pointer, it should be initialized to + /// an array with size equal to the chains count, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + /// @deprecated Use GetSkeletonSetupChainsArray() instead + [[deprecated ("Use GetSkeletonSetupChainsArray() instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupChains(uint32_t p_SkeletonSetupIndex, ChainSetup* p_SDK); + + /// @brief Get setup chains for a SkeletonSetup at a given index. + /// The size of the given array must match the chains count. + /// Note that the chains count can change at any time. + /// @param p_SkeletonSetupIndex + /// @param p_ChainSetupArray + /// @param p_ArraySize + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_NullPointer if the provided p_ChainSetupArray (used to store the setup chains) is a null pointer, it should be initialized to + /// an array with size equal to the chains count, + /// SDKReturnCode_ArgumentSizeMismatch if the provided p_ArraySize is not equal to the chains count, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupChainsArray(uint32_t p_SkeletonSetupIndex, ChainSetup* p_ChainSetupArray, uint32_t p_ArraySize); + + /// @brief Get setup nodes for a SkeletonSetup at a given index. + /// The size of the given array must match the nodes count. + /// Note that the nodes count can change at any time. + /// @param p_SkeletonSetupIndex + /// @param p_SDK + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_NullPointer if the provided p_SDK (used to store the setup nodes) is a null pointer, it should be initialized to + /// an array with size equal to the nodes count, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + /// @deprecated Use GetSkeletonSetupNodesArray() instead + [[deprecated ("Use GetSkeletonSetupNodesArray() instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupNodes(uint32_t p_SkeletonSetupIndex, NodeSetup* p_SDK); + + /// @brief Get setup nodes for a SkeletonSetup at a given index. + /// The size of the given array must match the nodes count. + /// Note that the nodes count can change at any time. + /// @param p_SkeletonSetupIndex + /// @param p_NodeSetupArray + /// @param p_ArraySize + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_NullPointer if the provided p_SDK (used to store the setup nodes) is a null pointer, it should be initialized to + /// an array with size equal to the nodes count, + /// SDKReturnCode_ArgumentSizeMismatch if the provided p_ArraySize is not equal to the nodes count, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupNodesArray(uint32_t p_SkeletonSetupIndex, NodeSetup* p_NodeSetupArray, uint32_t p_ArraySize); + + /// @brief Get setup colliders for a SkeletonSetup at a given index. + /// The size of the given array must match the colliders count. + /// Note that the colliders count can change at any time. + /// @param p_SkeletonSetupIndex + /// @param p_SDK + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_NullPointer if the provided p_SDK (used to store the setup colliders) is a null pointer, it should be initialized to + /// an array with size equal to the colliders count, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + /// @deprecated + [[deprecated]] + CORESDK_API SDKReturnCode CoreSdk_GetSkeletonSetupColliders(uint32_t p_SkeletonSetupIndex, ColliderSetup* p_SDK); + + /// @brief Get the amount of nodes for the raw skeleton with given id + /// @param p_GloveId + /// @param p_NodeCount + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided glove id does not match any skeleton in core + CORESDK_API SDKReturnCode CoreSdk_GetRawSkeletonNodeCount(uint32_t p_GloveId, uint32_t& p_NodeCount); + + /// @brief Get the information for nodes of the raw skeleton with given id + /// The size of the given array p_NodeInfo must match the node count retrieved from CoreSdk_GetRawSkeletonNodeCount. + /// @param p_GloveId + /// @param p_NodeInfo + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided glove id does not match any skeleton in core + /// @deprecated Use CoreSdk_GetRawSkeletonNodeInfoArray instead + [[deprecated("Use CoreSdk_GetRawSkeletonNodeInfoArray instead")]] + CORESDK_API SDKReturnCode CoreSdk_GetRawSkeletonNodeInfo(uint32_t p_GloveId, NodeInfo* p_NodeInfo); + + + /// @brief Get the information for nodes of the raw skeleton with given id + /// The size of the given array p_NodeInfo and p_NodeCount must match the node count retrieved from CoreSdk_GetRawSkeletonNodeCount. + /// @param p_GloveId + /// @param p_NodeInfoArray + /// @param p_ArraySize + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_InvalidID if the provided glove id does not match any skeleton in core, + /// SDKReturnCode_ArgumentSizeMismatch if p_ArraySize does not match node count retrieved from CoreSdk_GetRawSkeletonNodeCount. + CORESDK_API SDKReturnCode CoreSdk_GetRawSkeletonNodeInfoArray(uint32_t p_GloveId, NodeInfo* p_NodeInfoArray, uint32_t p_ArraySize); + + /// @brief Sends a skeleton setup to core to become a skeleton upon which data is applied. + /// Returns the skeleton ID of the loaded skeleton, this ID is used to identify the skeleton in the SkeletonStreamCallback. + /// Loading a skeleton into core for retargetting removes it from the temporary skeletons array, thus causing + /// the p_SkeletonSetupIndex to no longer be valid after this call. + /// @param p_SkeletonSetupIndex The SkeletonSetup's index, will become invalid after this function. + /// @param p_SkeletonId This is the ID of the loaded skeleton. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_LoadSkeleton(uint32_t p_SkeletonSetupIndex, uint32_t* p_SkeletonId); + + /// @brief Unload a skeleton with a certain ID from Manus Core, so data will no longer be generated for it. + /// @param p_SkeletonId The Skeleton's ID which is assigned by Manus Core. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_UnloadSkeleton(uint32_t p_SkeletonId); + + /// @brief Save a SkeletonSetup at a given index and sessionId into Manus Core for use in the Dev Tools. + /// p_IsSkeletonModified is intended to be used mainly by the Dev Tools, it is set to true after saving any modification to the skeleton, + /// this triggers the OnSyStemCallback which is used in the SDK to be notified about a change to its temporary skeletons. + /// @param p_SkeletonSetupIndex + /// @param p_SessionId + /// @param p_IsSkeletonModified + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_SaveTemporarySkeleton(uint32_t p_SkeletonSetupIndex, uint32_t p_SessionId, bool p_IsSkeletonModified); + + /// @brief Send a temporary skeleton to Core to compress it (convert it into an array of bytes) and then get the compressed data back in the SDK, + /// the skeleton compressed data are stored internally. It returns the length of the bytes array for correct memory allocation. + /// This function must be called before CoreSdk_GetCompressedTemporarySkeletonData. + /// @param p_SkeletonSetupIndex + /// @param p_SessionId + /// @param p_TemporarySkeletonLengthInBytes + /// @return + CORESDK_API SDKReturnCode CoreSdk_CompressTemporarySkeletonAndGetSize(uint32_t p_SkeletonSetupIndex, uint32_t p_SessionId, uint32_t* p_TemporarySkeletonLengthInBytes); + + /// @brief Get the compressed temporary skeleton data which are stored internally when calling function CoreSdk_CompressTemporarySkeletonAndGetSize. + /// The size of p_TemporarySkeletonData must match with p_TemporarySkeletonLengthInBytes. + /// @param p_TemporarySkeletonData + /// @param p_TemporarySkeletonLengthInBytes + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_GetCompressedTemporarySkeletonData(unsigned char* p_TemporarySkeletonData, uint32_t p_TemporarySkeletonLengthInBytes); + + /// @brief Get a SkeletonSetup at a given index and sessionId from Manus Core. + /// This function does NOT return a loaded skeleton! + /// @param p_SkeletonSetupIndex + /// @param p_SessionId + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + CORESDK_API SDKReturnCode CoreSdk_GetTemporarySkeleton(uint32_t p_SkeletonSetupIndex, uint32_t p_SessionId); + + /// @brief Send the compressed data (an array of bytes) retrieved from a file to Core to be decompressed and converted back into a temporary skeleton. + /// The received temporary skeleton is saved internally with the given index and to the given session id. + /// The size of p_TemporarySkeletonData must match with p_TemporarySkeletonLengthInBytes. + /// @param p_SkeletonSetupIndex + /// @param p_SessionId + /// @param p_TemporarySkeletonData + /// @param p_TemporarySkeletonLengthInBytes + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + CORESDK_API SDKReturnCode CoreSdk_GetTemporarySkeletonFromCompressedData(uint32_t p_SkeletonSetupIndex, uint32_t p_SessionId, unsigned char* p_TemporarySkeletonData, uint32_t p_TemporarySkeletonLengthInBytes); + + /// @brief Clear a SkeletonSetup at a given index and sessionId in Manus Core and the SDK. + /// The given setup index will no longer be valid after this call. + /// @param p_SkeletonSetupIndex + /// @param p_SessionId + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_InvalidID if the provided p_SkeletonSetupIndex does not correspond to any skeleton setup. + CORESDK_API SDKReturnCode CoreSdk_ClearTemporarySkeleton(uint32_t p_SkeletonSetupIndex, uint32_t p_SessionId); + + /// @brief Clear all temporary skeletons associated to the current session both in the sdk and core. + /// All skeleton setups will no longer be valid after this call. + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_NotConnected if there is no connection to core, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + CORESDK_API SDKReturnCode CoreSdk_ClearAllTemporarySkeletons(); + + /// @brief Get temporary skeleton counts for all sessions connected to Core. + /// @param p_temporarySkeletonSessionsData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_GetTemporarySkeletonCountForAllSessions(TemporarySkeletonCountForAllSessions* p_TemporarySkeletonCountForAllSessions); + + /// @brief Get information (name and index) for the SkeletonSetups of the specified session. + /// @param p_SessionId + /// @param p_temporarySkeletonSessionsData + /// @return SDKReturnCode_Success if successful, + /// SDKReturnCode_SdkNotAvailable if the Core SDK is not available, + /// SDKReturnCode_StubNullPointer if the stub has been reset but someone is trying to use it anyway. This usually happens after a shutdown of the SDK, + /// SDKReturnCode_NotConnected if there is no connection to core. + CORESDK_API SDKReturnCode CoreSdk_GetTemporarySkeletonsInfoForSession(uint32_t p_SessionId, TemporarySkeletonsInfoForSession* p_TemporarySkeletonsInfoForSession); + +#ifdef __cplusplus +} // extern "C" +#endif + +// Close the Doxygen group. +/** @} */ + +#endif // #ifndef H_MANUS_SDK diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDKTypeInitializers.h b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDKTypeInitializers.h new file mode 100644 index 0000000..939bfd5 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDKTypeInitializers.h @@ -0,0 +1,397 @@ +#ifndef __MANUS_SDK_TYPE_INITIALIZERS_H__ +#define __MANUS_SDK_TYPE_INITIALIZERS_H__ + +// Set up a Doxygen group. +/** @addtogroup ManusSDKTypeInitializers + * @{ + */ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "ManusSDKTypes.h" + +#include + +#ifdef MANUS_SDK_STATIC + #define CORESDK_API +#else + #ifdef _WIN32 + // MANUS_SDK_EXPORTS defines if the functions are exported to or + // imported from a DLL. + #ifdef MANUS_SDK_EXPORTS + #define CORESDK_API __declspec(dllexport) + #else + #define CORESDK_API __declspec(dllimport) + #endif + #elif defined(__linux__) + #define CORESDK_API + #else + #error Unrecognized platform. + #endif +#endif + + ///@brief All these initializers take a preallocated instance of their related structure and set default values. + + /// @brief Initializer for a ManusVec3 struct + /// @param p_Val + CORESDK_API void ManusVec3_Init(ManusVec3* p_Val); + + /// @brief Initializer for a ManusVec2 struct + /// @param p_Val + CORESDK_API void ManusVec2_Init(ManusVec2* p_Val); + + /// @brief Initializer for a ManusQuaternion struct + /// @param p_Val + CORESDK_API void ManusQuaternion_Init(ManusQuaternion* p_Val); + + /// @brief Initializer for a ManusTransform struct + /// @param p_Val + CORESDK_API void ManusTransform_Init(ManusTransform* p_Val); + + /// @brief Initializer for a Color struct + /// @param p_Val + CORESDK_API void Color_Init(Color* p_Val); + + /// @brief Initializer for a ManusTimestampInfo struct + /// @param p_Val + CORESDK_API void ManusTimestampInfo_Init(ManusTimestampInfo* p_Val); + + /// @brief Initializer for a ManusTimestamp struct + /// @param p_Val + CORESDK_API void ManusTimestamp_Init(ManusTimestamp* p_Val); + + /// @brief Initializer for a IMUCalibrationInfo struct + /// @param p_Val + CORESDK_API void IMUCalibrationInfo_Init(IMUCalibrationInfo* p_Val); + + /// @brief Initializer for a Version struct + /// @param p_Val + CORESDK_API void Version_Init(Version* p_Val); + + /// @brief Initializer for a FirmwareVersion struct + /// @param p_Val + CORESDK_API void FirmwareVersion_Init(FirmwareVersion* p_Val); + + /// @brief Initializer for a ManusVersion struct + /// @param p_Val + CORESDK_API void ManusVersion_Init(ManusVersion* p_Val); + + /// @brief Initializer for a TrackerId struct + /// @param p_Val + CORESDK_API void TrackerId_Init(TrackerId* p_Val); + + /// @brief Initializer for a TrackerData struct + /// @param p_Val + CORESDK_API void TrackerData_Init(TrackerData* p_Val); + + /// @brief Initializer for a ManusHost struct + /// @param p_Val + CORESDK_API void ManusHost_Init(ManusHost* p_Val); + + /// @brief Initializer for a SkeletonNode struct + /// @param p_Val + CORESDK_API void SkeletonNode_Init(SkeletonNode* p_Val); + + /// @brief Initializer for a SkeletonInfo struct + /// @param p_Val + CORESDK_API void SkeletonInfo_Init(SkeletonInfo* p_Val); + + /// @brief Initializer for a RawSkeletonInfo struct + /// @param p_Val + CORESDK_API void RawSkeletonInfo_Init(RawSkeletonInfo* p_Val); + + /// @brief Initializer for a SkeletonStreamInfo struct + /// @param p_Val + CORESDK_API void SkeletonStreamInfo_Init(SkeletonStreamInfo* p_Val); + + /// @brief Initializer for a ErgonomicsData struct + /// @param p_Val + CORESDK_API void ErgonomicsData_Init(ErgonomicsData* p_Val); + + /// @brief Initializer for a ErgonomicsStream struct + /// @param p_Val + CORESDK_API void ErgonomicsStream_Init(ErgonomicsStream* p_Val); + + /// @brief Initializer for a DongleLandscapeData struct + /// @param p_Val + CORESDK_API void DongleLandscapeData_Init(DongleLandscapeData* p_Val); + + /// @brief Initializer for a GloveLandscapeData struct + /// @param p_Val + CORESDK_API void GloveLandscapeData_Init(GloveLandscapeData* p_Val); + + /// @brief Initializer for a Measurement struct + /// @param p_Val + CORESDK_API void Measurement_Init(Measurement* p_Val); + + /// @brief Initializer for a TrackerOffset struct + /// @param p_Val + CORESDK_API void TrackerOffset_Init(TrackerOffset* p_Val); + + /// @brief Initializer for a ExtraTrackerOffset struct + /// @param p_Val + CORESDK_API void ExtraTrackerOffset_Init(ExtraTrackerOffset* p_Val); + + /// @brief Initializer for a TrackerLandscapeData struct + /// @param p_Val + CORESDK_API void TrackerLandscapeData_Init(TrackerLandscapeData* p_Val); + + /// @brief Initializer for a UserProfileLandscapeData struct + /// @param p_Val + CORESDK_API void UserProfileLandscapeData_Init(UserProfileLandscapeData* p_Val); + + /// @brief Initializer for a UserLandscapeData struct + /// @param p_Val + CORESDK_API void UserLandscapeData_Init(UserLandscapeData* p_Val); + + /// @brief Initializer for a SkeletonLandscapeData struct + /// @param p_Val + CORESDK_API void SkeletonLandscapeData_Init(SkeletonLandscapeData* p_Val); + + /// @brief Initializer for a DeviceLandscape struct + /// @param p_Val + CORESDK_API void DeviceLandscape_Init(DeviceLandscape* p_Val); + + /// @brief Initializer for a UserLandscape struct + /// @param p_Val + CORESDK_API void UserLandscape_Init(UserLandscape* p_Val); + + /// @brief Initializer for a SkeletonLandscape struct + /// @param p_Val + CORESDK_API void SkeletonLandscape_Init(SkeletonLandscape* p_Val); + + /// @brief Initializer for a TrackerLandscape struct + /// @param p_Val + CORESDK_API void TrackerLandscape_Init(TrackerLandscape* p_Val); + + /// @brief Initializer for a LicenseInfo struct + /// @param p_Val + CORESDK_API void LicenseInfo_Init(LicenseInfo* p_Val); + + /// @brief Initializer for a SettingsLandscape struct + /// @param p_Val + CORESDK_API void SettingsLandscape_Init(SettingsLandscape* p_Val); + + /// @brief Initializer for a TimecodeInterface struct + /// @param p_Val + CORESDK_API void TimecodeInterface_Init(TimecodeInterface* p_Val); + + /// @brief Initializer for a TimeLandscape struct + /// @param p_Val + CORESDK_API void TimeLandscape_Init(TimeLandscape* p_Val); + + /// @brief Initializer for a GestureLandscapeData struct + /// @param p_Val + CORESDK_API void GestureLandscapeData_Init(GestureLandscapeData* p_Val); + + /// @brief Initializer for a NetDeviceLandscapeData struct + /// @param p_Val + CORESDK_API void NetDeviceLandscapeData_Init(NetDeviceLandscapeData* p_Val); + + /// @brief Initializer for a NetDevicesLandscape struct + /// @param p_Val + CORESDK_API void NetDevicesLandscape_Init(NetDevicesLandscape* p_Val); + + /// @brief Initializer for a Landscape struct + /// @param p_Val + CORESDK_API void Landscape_Init(Landscape* p_Val); + + /// @brief Initializer for a SkeletonSetupArraySizes struct + /// @param p_Val + CORESDK_API void SkeletonSetupArraySizes_Init(SkeletonSetupArraySizes* p_Val); + + /// @brief Initializer for a NodeSettingsIK struct + /// @param p_Val + CORESDK_API void NodeSettingsIK_Init(NodeSettingsIK* p_Val); + + /// @brief Initializer for a NodeSettingsFoot struct + /// @param p_Val + CORESDK_API void NodeSettingsFoot_Init(NodeSettingsFoot* p_Val); + + /// @brief Initializer for a NodeSettingsRotationOffset struct + /// @param p_Val + CORESDK_API void NodeSettingsRotationOffset_Init(NodeSettingsRotationOffset* p_Val); + + /// @brief Initializer for a NodeSettingsLeaf struct + /// @param p_Val + CORESDK_API void NodeSettingsLeaf_Init(NodeSettingsLeaf* p_Val); + + /// @brief Initializer for a NodeSettings struct + /// @param p_Val + CORESDK_API void NodeSettings_Init(NodeSettings* p_Val); + + /// @brief Initializer for a NodeSetup struct + /// @param p_Val + CORESDK_API void NodeSetup_Init(NodeSetup* p_Val); + + /// @brief Initializer for a ChainSettingsPelvis struct + /// @param p_Val + CORESDK_API void ChainSettingsPelvis_Init(ChainSettingsPelvis* p_Val); + + /// @brief Initializer for a ChainSettingsLeg struct + /// @param p_Val + CORESDK_API void ChainSettingsLeg_Init(ChainSettingsLeg* p_Val); + + /// @brief Initializer for a ChainSettingsSpine struct + /// @param p_Val + CORESDK_API void ChainSettingsSpine_Init(ChainSettingsSpine* p_Val); + + /// @brief Initializer for a ChainSettingsNeck struct + /// @param p_Val + CORESDK_API void ChainSettingsNeck_Init(ChainSettingsNeck* p_Val); + + /// @brief Initializer for a ChainSettingsHead struct + /// @param p_Val + CORESDK_API void ChainSettingsHead_Init(ChainSettingsHead* p_Val); + + /// @brief Initializer for a ChainSettingsArm struct + /// @param p_Val + CORESDK_API void ChainSettingsArm_Init(ChainSettingsArm* p_Val); + + /// @brief Initializer for a ChainSettingsShoulder struct + /// @param p_Val + CORESDK_API void ChainSettingsShoulder_Init(ChainSettingsShoulder* p_Val); + + /// @brief Initializer for a ChainSettingsFinger struct + /// @param p_Val + CORESDK_API void ChainSettingsFinger_Init(ChainSettingsFinger* p_Val); + + /// @brief Initializer for a ChainSettingsHand struct + /// @param p_Val + CORESDK_API void ChainSettingsHand_Init(ChainSettingsHand* p_Val); + + /// @brief Initializer for a ChainSettingsFoot struct + /// @param p_Val + CORESDK_API void ChainSettingsFoot_Init(ChainSettingsFoot* p_Val); + + /// @brief Initializer for a ChainSettingsToe struct + /// @param p_Val + CORESDK_API void ChainSettingsToe_Init(ChainSettingsToe* p_Val); + + /// @brief Initializer for a ChainSettings struct + /// @param p_Val + CORESDK_API void ChainSettings_Init(ChainSettings* p_Val); + + /// @brief Initializer for a ChainSetup struct + /// @param p_Val + CORESDK_API void ChainSetup_Init(ChainSetup* p_Val); + + /// @brief Initializer for a SphereColliderSetup struct + /// @param p_Val + CORESDK_API void SphereColliderSetup_Init(SphereColliderSetup* p_Val); + + /// @brief Initializer for a CapsuleColliderSetup struct + /// @param p_Val + CORESDK_API void CapsuleColliderSetup_Init(CapsuleColliderSetup* p_Val); + + /// @brief Initializer for a BoxColliderSetup struct + /// @param p_Val + CORESDK_API void BoxColliderSetup_Init(BoxColliderSetup* p_Val); + + /// @brief Initializer for a ColliderSetup struct + /// @param p_Val + CORESDK_API void ColliderSetup_Init(ColliderSetup* p_Val); + + /// @brief Initializer for a Vertex Weight struct + /// @param p_Val + CORESDK_API void Weight_Init(Weight* p_Val); + + /// @brief Initializer for a Vertex struct + /// @param p_Val + CORESDK_API void Vertex_Init(Vertex* p_Val); + + /// @brief Initializer for a Triangle struct + /// @param p_Val + CORESDK_API void Triangle_Init(Triangle* p_Val); + + /// @brief Initializer for a SkeletonTargetUserData struct + /// @param p_Val + CORESDK_API void SkeletonTargetUserData_Init(SkeletonTargetUserData* p_Val); + + /// @brief Initializer for a SkeletonTargetAnimationData struct + /// @param p_Val + CORESDK_API void SkeletonTargetAnimationData_Init(SkeletonTargetAnimationData* p_Val); + + /// @brief Initializer for a SkeletonTargetGloveData struct + /// @param p_Val + CORESDK_API void SkeletonTargetGloveData_Init(SkeletonTargetGloveData* p_Val); + + /// @brief Initializer for a SkeletonSettings struct + /// @param p_Val + CORESDK_API void SkeletonSettings_Init(SkeletonSettings* p_Val); + + /// @brief Initializer for a SkeletonSetupInfo struct + /// @param p_Val + CORESDK_API void SkeletonSetupInfo_Init(SkeletonSetupInfo* p_Val); + + /// @brief Initializer for a TemporarySkeletonInfo struct + /// @param p_Val + CORESDK_API void TemporarySkeletonInfo_Init(TemporarySkeletonInfo* p_Val); + + /// @brief Initializer for a TemporarySkeletonsForSession struct + /// @param p_Val + CORESDK_API void TemporarySkeletonsInfoForSession_Init(TemporarySkeletonsInfoForSession* p_Val); + + /// @brief Initializer for a TemporarySkeletonCountForSession struct + /// @param p_Val + CORESDK_API void TemporarySkeletonCountForSession_Init(TemporarySkeletonCountForSession* p_Val); + + /// @brief Initializer for a TemporarySkeletonCountForAllSessions struct + /// @param p_Val + CORESDK_API void TemporarySkeletonCountForAllSessions_Init(TemporarySkeletonCountForAllSessions* p_Val); + + /// @brief Initializer for a TemporarySkeletonSessionsData struct + /// @param p_Val + CORESDK_API void TemporarySkeletonSessionsData_Init(TemporarySkeletonSessionsData* p_Val); + + /// @brief Initializer for a SystemMessage struct + /// @param p_Val + CORESDK_API void SystemMessage_Init(SystemMessage* p_Val); + + /// @brief Initializer for a CoordinateSystemVUH struct + /// @param p_Val + CORESDK_API void CoordinateSystemVUH_Init(CoordinateSystemVUH* p_Val); + + /// @brief Initializer for a CoordinateSystemDirection struct + /// @param p_Val + CORESDK_API void CoordinateSystemDirection_Init(CoordinateSystemDirection* p_Val); + + /// @brief Initializer for a NodeInfo struct + /// @param p_Val + CORESDK_API void NodeInfo_Init(NodeInfo* p_Val); + + /// @brief Initializer for a GestureStreamInfo struct + /// @param p_Val + CORESDK_API void GestureStreamInfo_Init(GestureStreamInfo* p_Val); + + /// @brief Initializer for a GestureProbabilities struct + /// @param p_Val + CORESDK_API void GestureProbabilities_Init(GestureProbabilities* p_Val); + + /// @brief Initializer for a GestureProbability struct + /// @param p_Val + CORESDK_API void GestureProbability_Init(GestureProbability* p_Val); + + /// @brief Initializer for a GloveCalibrationArgs struct + /// @param p_Val + CORESDK_API void GloveCalibrationArgs_Init(GloveCalibrationArgs* p_Val); + + /// @brief Initializer for a GloveCalibrationStepArgs struct + /// @param p_Val + CORESDK_API void GloveCalibrationStepArgs_Init(GloveCalibrationStepArgs* p_Val); + + /// @brief Initializer for a GloveCalibrationStepData struct + /// @param p_Val + CORESDK_API void GloveCalibrationStepData_Init(GloveCalibrationStepData* p_Val); + +#ifdef __cplusplus +} // extern "C" +#endif + +// Close the Doxygen group. +/** @} */ + +#endif // #ifndef MANUS_SDK_TYPE_INITIALIZERS_H diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDKTypes.h b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDKTypes.h new file mode 100644 index 0000000..7c45344 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/include/ManusSDKTypes.h @@ -0,0 +1,1717 @@ +#ifndef __MANUS_SDK_TYPES_H__ +#define __MANUS_SDK_TYPES_H__ + +// Set up a Doxygen group. +/** @addtogroup ManusSdkTypes + * @{ + */ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +/****************************************************************************** + * Preprocessor defines. + *****************************************************************************/ + +/// @brief Used to descriptively refer to the number of fingers on a hand. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define NUM_FINGERS_ON_HAND 5 + +/// @brief Used to descriptively refer to the number of flex sensor segments. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define NUM_FLEX_SEGMENTS_PER_FINGER 2 + +/// @brief Used to descriptively refer to the maximum IMUs count on a glove. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUM_IMUS_ON_GLOVE (NUM_FINGERS_ON_HAND + 1) + +/// @brief Used to descriptively refer to the maximum number of Polygon users. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_USERS 16 // we should never reach that + +/// @brief Used to descriptively refer to the maximum user name length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_USERNAME 64 + +/// @brief Used to descriptively refer to the maximum body measurement name length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_MEASUREMENT 64 + +/// Host name length is based on a post made here: +/// https://community.cisco.com/t5/other-network-architecture/maximum-length-hostname/td-p/529327 +/// Which in turn was based on: https://www.ietf.org/rfc/rfc1035.txt +/// @brief Used to descriptively refer to the maximum host name length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_HOST_NAME 256 + +/// @brief Used to descriptively refer to the maximum IP address length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +/// It is based on the length of an IPv6 address. Example: +/// "2001:0db8:0000:0000:0000:8a2e:0370:7334". +#define MAX_NUM_CHARS_IN_IP_ADDRESS 40 + +/// @brief Used to descriptively refer to the maximum tracker name length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_TRACKER_ID 32 + +/// @brief Used to descriptively refer to the maximum tracker manufacturer length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_TRACKER_MANUFACTURER 32 + +/// @brief Used to descriptively refer to the maximum tracker manufacturer length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_TRACKER_PRODUCTNAME 32 + +/// @brief Used to descriptively refer to the maximum target name length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_TARGET_ID 32 + +/// @brief Used to descriptively refer to the maximum version string length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_VERSION 16 + +/// @brief Used to descriptively refer to the value given to glove and dongle IDs when they are uninitialized. +#define UNINITIALIZED_ID 0 + +/// @brief Used to descriptively refer to the maximum number of hosts that we support when finding manus core. +#define MAX_NUMBER_OF_HOSTS 100 + +/// @brief Used to descriptively refer to the max number of supported dongles. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_DONGLES 16 // we only have 35 radio channels available. if we got 16 dongles, expect wireless issues! and no 16 usb ports is also not likely. + +/// @brief Used to descriptively refer to the maximum license type string length. +#define MAX_NUM_CHARS_IN_LICENSE_TYPE 64 + +/// @brief Used to descriptively refer to the maximum calibration step title length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_CALIBRATION_TITLE 64 + +/// @brief Used to descriptively refer to the maximum calibration step description length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_CALIBRATION_DESCRIPTION 256 + +#define MAX_NUM_CHARS_IN_CALIBRATION_FILE 65536 + +/// @brief Constants for the maximum number of devices considered plausible. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_GLOVES (MAX_NUMBER_OF_DONGLES* 2) +#define MAX_NUMBER_OF_HAPTICS_DONGLES MAX_NUMBER_OF_DONGLES + +/// @brief Constants for the maximum number of skeletons. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_SKELETONS 32 + +/// @brief Constants for the maximum number of users. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_USERS MAX_USERS + +/// @brief Constants for the maximum number of trackers for each polygon skeleton. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define NUMBER_OF_TRACKERS_PER_POLYGON_SKELETON 8 + +/// @brief Constants for the maximum number of trackers. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_TRACKERS (MAX_NUMBER_OF_USERS * NUMBER_OF_TRACKERS_PER_POLYGON_SKELETON) + +/// @brief Used to descriptively refer to the maximum node name length. +/// Used with arrays to make them more descriptive than simply using the +/// number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_NODE_NAME 256 // this is for a UTF8 string , NOT an ASCII CHAR array (same base type though) + + +/// @brief Used to descriptively refer to the max number of chain nodes. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_CHAIN_LENGTH 32 + +/// @brief Used to descriptively refer to the max number of fingers we support per hand in chains (not the same as a glove, as we can retarget alien hands with more or less fingers). +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUM_FINGER_IDS 10 + +/// @brief Used to descriptively refer to the max number of toes we support per foot in chains ( we can retarget alien feet with more or less toes). +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUM_TOE_IDS 10 + +/// @brief Used to descriptively refer to the max length of a system error message string. +/// Used with arrays to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_SYSTEM_ERROR_MESSAGE 256 + +/// @brief Used to descriptively refer to the max length of a debugging id string. +/// Used with arrays to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUM_CHAR_DEBUGGING_ID 64 + +/// @brief Used to descriptively refer to the max number of ergonomics data. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_ERGONOMICS_DATA MAX_NUMBER_OF_GLOVES + +/// @brief Used to descriptively refer to the max number of sessions connected to Core. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_SESSIONS 8 // this is not the real limit for Core but just for the SDKClient to handle + +/// @brief Used to descriptively refer to the max number of skeletons for each session. +/// Used with arrays and loops to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUMBER_OF_SKELETONS_PER_SESSION 32 + +/// @brief Used to descriptively refer to the max length of a skeleton name string. +/// Used with arrays to make them more descriptive than simply using +/// the number, and to make changing the number easier and safer. +#define MAX_NUM_CHARS_IN_SKELETON_NAME 256 // we already encountered 34 char names in unreal, but its utf8 so enbiggen even more! + +/// @brief Used to descriptively refer to the max length of a timecode interface string. +#define MAX_NUM_CHARS_IN_TIMECODE_INTERFACE_STRINGS 64 + +/// @brief Used to descriptively refer to the max amount of timecode interfaces. +#define MAX_NUMBER_OF_AUDIO_INTERFACES 32 + +/// @brief Used to descriptively refer to the maximum number of bone weights per vertex. +#define MAX_BONE_WEIGHTS_PER_VERTEX 4 + +/// @brief Used to descriptively refer to the maximum number of nodes per each estimation skeleton +#define MAX_NUMBER_OF_NODES_PER_ESTIMATION_SKELETON 40 + +/// @brief Used to define the max amount of gestures in one chunk +#define MAX_GESTURE_DATA_CHUNK_SIZE 64 + +#define MAX_NUM_CHARS_IN_OPENXR_FEATURE_STRING 64 + +/// @brief Used to define the max amount of net devices +#define MAX_NUMBER_OF_NETDEVICES MAX_NUMBER_OF_DONGLES + +/// @brief Matchmaker requirements. +#define BROADCAST_ADDRESS "255.255.255.255" +#define BROADCAST_PORT "62687" +#define SECONDS_TO_FIND_HOSTS 2 +#define SECONDS_TO_FIND_LOCAL_HOSTS 2 +#define DEFAULT_BUFFER_SIZE 512 + +/****************************************************************************** + * Enums. + *****************************************************************************/ + +/// @brief The return values that can be given by SDK wrapper functions. +typedef enum SDKReturnCode +{ + /// No issues occurred. + SDKReturnCode_Success, + + /// Something went wrong, but no specific reason can be given. + SDKReturnCode_Error, + + /// One of the arguments given had an invalid value. + SDKReturnCode_InvalidArgument, + + /// The size of an argument given (e.g. an array) does not match the size + /// of the data that it is intended to hold. + SDKReturnCode_ArgumentSizeMismatch, + + /// A string of an unsupported size was encountered. + SDKReturnCode_UnsupportedStringSizeEncountered, + + /// The Core SDK is not available. + SDKReturnCode_SdkNotAvailable, + + /// The network host finder is not available. + SDKReturnCode_HostFinderNotAvailable, + + /// The data requested is not available. + SDKReturnCode_DataNotAvailable, + + /// Failed to allocate memory for something. + SDKReturnCode_MemoryError, + + /// Something went wrong in the SDK internally. + SDKReturnCode_InternalError, + + /// The function was not intended to be called at this time. + SDKReturnCode_FunctionCalledAtWrongTime, + + /// No connection to Core was made. + SDKReturnCode_NotConnected, + + /// The connection with Core timed out. + SDKReturnCode_ConnectionTimeout, + + /// using an uninitialized ID is bad. + SDKReturnCode_InvalidID, + + /// memory unallocated or just a null pointer passed where it wasn't supposed to be! + SDKReturnCode_NullPointer, + + /// null sequence type for polygon calibration + SDKReturnCode_InvalidSequence, + + /// don't forget to set the coordinate system type or there will be trouble + SDKReturnCode_NoCoordinateSystemSet, + + /// if everything is being terminated. don't restart + SDKReturnCode_SdkIsTerminating, + + /// the stub has been reset but someone is tryign to use it anyway. usually after a shutdown of the SDK. + SDKReturnCode_StubNullPointer, + + /// Skeleton could not be loaded. usually when using more then the max skeletons per session (32). + SDKReturnCode_SkeletonNotLoaded, + + /// Function not available for this version of the SDK + SDKReturnCode_FunctionNotAvailable, + + SDKReturnCode_MAX_SIZE +} SDKReturnCode; + +/// @brief Used to tell what severity the log is +typedef enum LogSeverity +{ + LogSeverity_Debug, + LogSeverity_Info, + LogSeverity_Warn, + LogSeverity_Error +} LogSeverity; + + +/// @brief Used to tell what client is using the wrapper. +/// This makes the session easier to identify in the landscape. +typedef enum SessionType +{ + SessionType_Unknown, + SessionType_UnityPlugin, + SessionType_UnrealPlugin, + SessionType_CoreSDK, + SessionType_Xsens, + SessionType_Optitrack, + SessionType_MotionBuilder, + SessionType_VRED, + SessionType_OpenXR, + SessionType_Qualisys, + SessionType_Vicon, + SessionType_Nokov, + SessionType_IcIdo, + SessionType_Siemens +} SessionType; + +/// @brief Describes the different types of trackers that can be used. +typedef enum TrackerType +{ + TrackerType_Unknown, + TrackerType_Head, + TrackerType_Waist, + TrackerType_LeftHand, + TrackerType_RightHand, + TrackerType_LeftFoot, + TrackerType_RightFoot, + TrackerType_LeftUpperArm, + TrackerType_RightUpperArm, + TrackerType_LeftUpperLeg, + TrackerType_RightUpperLeg, + TrackerType_Controller, + TrackerType_Camera, + + TrackerType_MAX_SIZE +} TrackerType; + +/// @brief Describes the tracking quality. +typedef enum TrackingQuality +{ + TrackingQuality_Untrackable, + TrackingQuality_BadTracking, + TrackingQuality_Trackable, +} TrackerQuality; + +/// @brief Describes the different types of tracker systems. +typedef enum TrackerSystemType +{ + TrackerSystemType_Unknown, + TrackerSystemType_Antilatency, + TrackerSystemType_ART, + TrackerSystemType_OpenVR, + TrackerSystemType_Optitrack, + TrackerSystemType_Vicon, + TrackerSystemType_OpenXR, +} TrackerSystemType; + +/// @brief Describes the paired state of the device. +typedef enum DevicePairedState +{ + DevicePairedState_Unknown, + DevicePairedState_Paired, + DevicePairedState_Unpaired, + DevicePairedState_Pairing, +} DevicePairedState; + +/// @brief Describes the different types of device classes. +typedef enum DeviceClassType +{ + DeviceClassType_Unknown, + DeviceClassType_Dongle, + DeviceClassType_Glove, + DeviceClassType_Glongle +} DeviceClassType; + +/// @brief Describes the different types of Manus devices. +typedef enum DeviceFamilyType +{ + DeviceFamilyType_Unknown, + DeviceFamilyType_Prime1, + DeviceFamilyType_Prime2, + DeviceFamilyType_PrimeX, // TODO obsolete? + DeviceFamilyType_Metaglove, + DeviceFamilyType_Prime3, + DeviceFamilyType_Virtual, + DeviceFamilyType_MetaglovePro, +} DeviceFamilyType; + +/// @brief Describes the different types of profile used during the calibration. +typedef enum ProfileType +{ + ProfileType_Hands, + ProfileType_FullBody, + + ProfileType_MAX_SIZE +} ProfileType; + +/// @brief The different types of body measurements used for the polygon calibration. +typedef enum MeasurementType +{ + MeasurementType_Unknown, + MeasurementType_PlayerHeight, + MeasurementType_SpineLength, + MeasurementType_NeckLength, + MeasurementType_UpperArmLength, + MeasurementType_LowerArmLength, + MeasurementType_ArmLength, + MeasurementType_ArmSpan, + MeasurementType_UpperLegLength, + MeasurementType_LowerLegLength, + MeasurementType_LegLength, + MeasurementType_HandLength, + MeasurementType_FootLength, + MeasurementType_HipWidth, + MeasurementType_ShoulderWidth, + MeasurementType_ShoulderHeight, + MeasurementType_HeadLength, + MeasurementType_Thickness, + MeasurementType_ArmRatio, + MeasurementType_LegRatio, + + MeasurementType_MAX_SIZE // Warning, this value is used to define the UserProfile.Measurement[SIZE] +} MeasurementType; + +/// @brief Describes the different types of tracker offsets. +typedef enum TrackerOffsetType +{ + TrackerOffsetType_Unknown, + TrackerOffsetType_HeadTrackerToHead, + TrackerOffsetType_HeadTrackerToTopOfHead, + + TrackerOffsetType_LeftHandTrackerToWrist, + TrackerOffsetType_RightHandTrackerToWrist, + TrackerOffsetType_LeftFootTrackerToAnkle, + TrackerOffsetType_RightFootTrackerToAnkle, + + TrackerOffsetType_HipTrackerToHip, + TrackerOffsetType_HipTrackerToLeftLeg, + TrackerOffsetType_HipTrackerToRightLeg, + + TrackerOffsetType_LeftUpperArmTrackerToElbow, + TrackerOffsetType_RightUpperArmTrackerToElbow, + TrackerOffsetType_LeftUpperArmTrackerToShoulder, + TrackerOffsetType_RightUpperArmTrackerToShoulder, + + TrackerOffsetType_MAX_SIZE // Warning, this value is used to define the UserProfile.TrackerOffset[SIZE] +} TrackerOffsetType; + +/// @brief Describes the different types of extra tracker offsets. +typedef enum ExtraTrackerOffsetType +{ + ExtraTrackerOffsetType_Unknown, + ExtraTrackerOffsetType_HeadForward, + ExtraTrackerOffsetType_HipForward, + ExtraTrackerOffsetType_HipHeight, + ExtraTrackerOffsetType_MAX_SIZE // Warning, this value is used to define the UserProfile.TrackerOffset[SIZE] +} ExtraTrackerOffsetType; + +/// @brief Describes the different types of body measurement units. +typedef enum MeasurementUnit +{ + MeasurementUnit_Meters, + MeasurementUnit_Percentage, +} MeasurementUnit; + +/// @brief Describes the different types of body measurement categories used for the polygon calibration. +typedef enum MeasurementCategory +{ + MeasurementCategory_Misc, + MeasurementCategory_Generic, + MeasurementCategory_Arms, + MeasurementCategory_Legs, + MeasurementCategory_Body, +} MeasurementCategory; + +/// @brief Describes the different possibilities for the update status. +typedef enum UpdateStatusEnum +{ + UpdateStatusEnum_Unknown, + UpdateStatusEnum_NoUpdateAvailable, + UpdateStatusEnum_UpdateAvailable, + UpdateStatusEnum_MandatoryUpdateAvailable, + UpdateStatusEnum_Updating, +} UpdateStatusEnum; + +/// @brief Describes the different skeleton types. +typedef enum SkeletonType +{ + SkeletonType_Invalid, + SkeletonType_Hand, + SkeletonType_Body, + SkeletonType_Both +} SkeletonType; + +/// @brief Describes the possible data that can be used for the skeleton animation. +typedef enum SkeletonTargetType +{ + SkeletonTargetType_Invalid, + SkeletonTargetType_UserData, + SkeletonTargetType_UserIndexData, + SkeletonTargetType_AnimationData, + SkeletonTargetType_GloveData +} SkeletonTargetType; + +/// @brief Describes the possible nodes types used when setting up the skeleton. +typedef enum NodeType +{ + NodeType_Invalid, + NodeType_Joint, + NodeType_Mesh, + NodeType_Leaf, + NodeType_Collider +} NodeType; + +/// @brief Describes the settings that can be applied to a node, it is defined as a flag so that more than one setting can be set. +typedef enum NodeSettingsFlag +{ + NodeSettingsFlag_None = 0, + NodeSettingsFlag_IK = 1 << 0, + NodeSettingsFlag_Foot = 1 << 1, + NodeSettingsFlag_RotationOffset = 1 << 2, + NodeSettingsFlag_Leaf = 1 << 3, +} NodeSettingsFlag; + +/// @brief Describes the possible chain types used when setting up the skeleton. +typedef enum ChainType +{ + ChainType_Invalid, + ChainType_Arm, + ChainType_Leg, + ChainType_Neck, + ChainType_Spine, + ChainType_FingerThumb, + ChainType_FingerIndex, + ChainType_FingerMiddle, + ChainType_FingerRing, + ChainType_FingerPinky, + ChainType_Pelvis, + ChainType_Head, + ChainType_Shoulder, + ChainType_Hand, + ChainType_Foot, + ChainType_Toe +} ChainType; + +/// @brief Describes the possible collider types. +typedef enum CollisionType +{ + CollisionType_None, + CollisionType_Discrete, + CollisionType_Continuous, +} CollisionType; + +/// @brief Describes the possible collider types. +typedef enum ColliderType +{ + ColliderType_Invalid, + ColliderType_Sphere, + ColliderType_Capsule, + ColliderType_Box, +} ColliderType; + +/// @brief Describes the possible chain side. +typedef enum Side +{ + Side_Invalid, + Side_Left, + Side_Right, + Side_Center +} Side; + +/// @brief Describes which sensor data the hand motion is based on. +typedef enum HandMotion +{ + HandMotion_None, + HandMotion_IMU, + HandMotion_Tracker, + HandMotion_Tracker_RotationOnly, + HandMotion_Auto +} HandMotion; + +/// @brief Describes the direction of the coordinate system axis in 3d space. +typedef enum AxisDirection +{ + AxisDirection_Invalid, + AxisDirection_Backward, + AxisDirection_Left, + AxisDirection_Down, + AxisDirection_Up, + AxisDirection_Right, + AxisDirection_Forward +} AxisDirection; + +/// @brief Describes the view of the coordinate system axis. +/// Consider yourself sitting in front of your computer screen. +/// From Viewer means it goes into the screen, so away from you. +/// To Viewer means the axis goes from the screen towards you. +typedef enum AxisView +{ + AxisView_Invalid, + + AxisView_ZFromViewer, + AxisView_YFromViewer, + AxisView_XFromViewer, + + AxisView_XToViewer, + AxisView_YToViewer, + AxisView_ZToViewer +} AxisView; + +/// @brief Describes the polarity of the coordinate system axis. +typedef enum AxisPolarity +{ + AxisPolarity_Invalid, + + AxisPolarity_NegativeZ, + AxisPolarity_NegativeY, + AxisPolarity_NegativeX, + + AxisPolarity_PositiveX, + AxisPolarity_PositiveY, + AxisPolarity_PositiveZ +} AxisPolarity; + +/// @brief Describes the possible types for system messages received from core. +typedef enum SystemMessageType +{ + SystemMessageType_Unknown, + SystemMessageType_LibDebugReplugDongle, + SystemMessageType_LibDebugRxStall, + SystemMessageType_LibDebugTxStall, + + SystemMessageType_TrackerError, + SystemMessageType_TrackerOk, + SystemMessageType_TrackerSystemOutOfDate, + + SystemMessageType_GloveSanityErrorPSOCInit, + SystemMessageType_GloveSanityErrorQCBatV, + SystemMessageType_GloveSanityErrorQCLRACalib, + SystemMessageType_GloveSanityErrorQCFlexInit, + SystemMessageType_GloveSanityErrorQCIMUInit, + SystemMessageType_GloveSanityErrorQCIMUCalib, + SystemMessageType_GloveSanityErrorQCID, + SystemMessageType_GloveSanityErrorQCInterCPU, + + SystemMessageType_SessionConnectionVersionMismatch, + + SystemMessageType_TemporarySkeletonModified, + + SystemMessageType_SessionRefusedDueToLicenseIssue, + + SystemMessageType_LaunchDevTools +} SystemMessageType; + +/// @brief Describes the possible types for the ergonomics data. +typedef enum ErgonomicsDataType +{ +// ErgonomicsDataType_Invalid, + + ErgonomicsDataType_LeftFingerThumbMCPSpread, + ErgonomicsDataType_LeftFingerThumbMCPStretch, + ErgonomicsDataType_LeftFingerThumbPIPStretch, + ErgonomicsDataType_LeftFingerThumbDIPStretch, + + ErgonomicsDataType_LeftFingerIndexMCPSpread, + ErgonomicsDataType_LeftFingerIndexMCPStretch, + ErgonomicsDataType_LeftFingerIndexPIPStretch, + ErgonomicsDataType_LeftFingerIndexDIPStretch, + + ErgonomicsDataType_LeftFingerMiddleMCPSpread, + ErgonomicsDataType_LeftFingerMiddleMCPStretch, + ErgonomicsDataType_LeftFingerMiddlePIPStretch, + ErgonomicsDataType_LeftFingerMiddleDIPStretch, + + ErgonomicsDataType_LeftFingerRingMCPSpread, + ErgonomicsDataType_LeftFingerRingMCPStretch, + ErgonomicsDataType_LeftFingerRingPIPStretch, + ErgonomicsDataType_LeftFingerRingDIPStretch, + + ErgonomicsDataType_LeftFingerPinkyMCPSpread, + ErgonomicsDataType_LeftFingerPinkyMCPStretch, + ErgonomicsDataType_LeftFingerPinkyPIPStretch, + ErgonomicsDataType_LeftFingerPinkyDIPStretch, + + + ErgonomicsDataType_RightFingerThumbMCPSpread, + ErgonomicsDataType_RightFingerThumbMCPStretch, + ErgonomicsDataType_RightFingerThumbPIPStretch, + ErgonomicsDataType_RightFingerThumbDIPStretch, + + ErgonomicsDataType_RightFingerIndexMCPSpread, + ErgonomicsDataType_RightFingerIndexMCPStretch, + ErgonomicsDataType_RightFingerIndexPIPStretch, + ErgonomicsDataType_RightFingerIndexDIPStretch, + + ErgonomicsDataType_RightFingerMiddleMCPSpread, + ErgonomicsDataType_RightFingerMiddleMCPStretch, + ErgonomicsDataType_RightFingerMiddlePIPStretch, + ErgonomicsDataType_RightFingerMiddleDIPStretch, + + ErgonomicsDataType_RightFingerRingMCPSpread, + ErgonomicsDataType_RightFingerRingMCPStretch, + ErgonomicsDataType_RightFingerRingPIPStretch, + ErgonomicsDataType_RightFingerRingDIPStretch, + + ErgonomicsDataType_RightFingerPinkyMCPSpread, + ErgonomicsDataType_RightFingerPinkyMCPStretch, + ErgonomicsDataType_RightFingerPinkyPIPStretch, + ErgonomicsDataType_RightFingerPinkyDIPStretch, + + ErgonomicsDataType_MAX_SIZE +} ErgonomicsDataType; + +/// @brief Describes the possible Manus license types. +typedef enum LicenseType +{ + LicenseType_Undefined, + LicenseType_Polygon, + LicenseType_CoreXO, + LicenseType_CorePro, + LicenseType_CoreXOPro, + + LicenseType_CoreX, + LicenseType_CoreO, + LicenseType_CoreQ, + LicenseType_CoreXPro, + LicenseType_CoreOPro, + LicenseType_CoreQPro, + LicenseType_CoreXOQPro, + LicenseType_CoreXR, + LicenseType_CorePrimeThree, + LicenseType_Feature, + +} LicenseType; + +/// @brief The possible FPS rates +typedef enum TimecodeFPS +{ + TimecodeFPS_Undefined, + TimecodeFPS_23_976, + TimecodeFPS_24, + TimecodeFPS_25, + TimecodeFPS_29_97, + TimecodeFPS_30, + TimecodeFPS_48, + TimecodeFPS_50, + TimecodeFPS_59_94, + TimecodeFPS_60, + TimecodeFPS_29_97DF, + TimecodeFPS_59_94DF, +} TimecodeFPS; + +typedef enum FingerJointType +{ + FingerJointType_Invalid, + FingerJointType_Metacarpal, + FingerJointType_Proximal, + FingerJointType_Intermediate, + FingerJointType_Distal, //thumb doesn't have it + FingerJointType_Tip +}FingerJointType; + +typedef enum SetGloveCalibrationReturnCode +{ + SetGloveCalibrationReturnCode_Error, + SetGloveCalibrationReturnCode_Success, + SetGloveCalibrationReturnCode_VersionError, + SetGloveCalibrationReturnCode_WrongSideError, + SetGloveCalibrationReturnCode_GloveNotFoundError, + SetGloveCalibrationReturnCode_UserServiceError, + SetGloveCalibrationReturnCode_DeserializationError, + + SetGloveCalibrationReturnCode_MAX_SIZE +} SetGloveCalibrationReturnCode; + +/****************************************************************************** + * Structs. + *****************************************************************************/ + +/// @brief A 3D vector, used for translations. +typedef struct ManusVec3 +{ + float x; //default = 0.0f; + float y; //default = 0.0f; + float z; //default = 0.0f; +} ManusVec3; + +/// @brief A 2D vector, used for translations. +typedef struct ManusVec2 +{ + float x; //default = 0.0f; + float y; //default = 0.0f; +} ManusVec2; + +/// @brief A quaternion, used for rotations. +typedef struct ManusQuaternion +{ + float w; //default = 1.0f; + float x; //default = 0.0f; + float y; //default = 0.0f; + float z; //default = 0.0f; +} ManusQuaternion; + +/// @brief Transform containing position, rotation and scaling. +typedef struct ManusTransform +{ + ManusVec3 position; + ManusQuaternion rotation; + ManusVec3 scale; +} ManusTransform; + +/// @brief Color containing red, green, blue and alpha. +typedef struct Color +{ + float r; //default = 0.0f; + float g; //default = 0.0f; + float b; //default = 0.0f; + float a; //default = 0.0f; +}Color; + +/// @brief A Timestamp +typedef struct ManusTimestampInfo +{ + uint16_t fraction; //is either frame in timecode or miliseconds in non timecode + uint8_t second; + uint8_t minute; + uint8_t hour; + uint8_t day; //is 0 in timecode + uint8_t month; //is 0 in timecode + uint32_t year; //is 0 in timecode + bool timecode; +} ManusTimestampInfo; + +/// @brief A compressed timestamp +typedef struct ManusTimestamp +{ + uint64_t time; +} ManusTimestamp; + +/// @brief Information regarding IMU sensors used for calibration +typedef struct IMUCalibrationInfo +{ + uint32_t mag; // Magnometer calibration level 0-3 + uint32_t acc; // Accelerometer caibraton level 0-3 + uint32_t gyr; // Gyroscope calibration level 0-3 + uint32_t sys; // System accuracy +} IMUCalibrationInfo; + +/// @brief Used to describe hardware, firmware or ManusCore version. +typedef struct Version +{ + uint32_t major; + uint32_t minor; + uint32_t patch; + char label[MAX_NUM_CHARS_IN_VERSION]; + char sha[MAX_NUM_CHARS_IN_VERSION]; + char tag[MAX_NUM_CHARS_IN_VERSION]; +} Version; + +typedef struct FirmwareVersion +{ + int32_t version; + ManusTimestamp timestamp; +} FirmwareVersion; + +/// @brief Stores a single version string. +typedef struct ManusVersion +{ + char versionInfo[MAX_NUM_CHARS_IN_VERSION]; +} ManusVersion; + +/// @brief Contains information for connecting to a host running Manus Core. +/// Note that if one of these values is blank, the other will be used when +/// connecting. +typedef struct ManusHost +{ + char hostName[MAX_NUM_CHARS_IN_HOST_NAME]; // TODO utf8 compliant? + char ipAddress[MAX_NUM_CHARS_IN_IP_ADDRESS]; + Version manusCoreVersion; +} ManusHost; + +/****************************************************************************** + * Tracking + *****************************************************************************/ + + + +/// @brief Stores the name of a tracker. +typedef struct TrackerId +{ + char id[MAX_NUM_CHARS_IN_TRACKER_ID]; // todo. make this UTF8 compliant ? +} TrackerId; + +/// @brief Stores all the tracker data that can be sent or received. +typedef struct TrackerData +{ + ManusTimestamp lastUpdateTime; //default = 0; + + TrackerId trackerId; + + uint32_t userId; //default = 0; + + bool isHmd; //default = false; + TrackerType trackerType; //default = TrackerType::TrackerType_Unknown; + + ManusQuaternion rotation; + ManusVec3 position; + + TrackingQuality quality; //default = TrackingQuality::TrackingQuality_Untrackable; +} TrackerData; + + +/// @brief Stores the information sent by the tracker stream. +typedef struct TrackerStreamInfo +{ + ManusTimestamp publishTime; //default = 0; // DateTime.UtcNow. + uint32_t trackerCount; //default = 0; +} TrackerStreamInfo; + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Tracking +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Gesture Stream +// ------------------------------------------------------------------------------------------------------------------------------ + +typedef struct GestureProbability +{ + uint32_t id; + float percent; +} GestureProbability; + +typedef struct GestureProbabilities +{ + uint32_t id; //default = 0; + bool isUserID; //default = false; + uint32_t totalGestureCount; //default = 0; + GestureProbability gestureData[MAX_GESTURE_DATA_CHUNK_SIZE]; //default = { 0 }; + uint32_t gestureCount; //default = 0; +} GestureProbabilities; + +typedef struct GestureStreamInfo +{ + ManusTimestamp publishTime; //default = 0; // DateTime.UtcNow. + uint32_t gestureProbabilitiesCount; //default = 0; +} GestureStreamInfo; + + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Gesture Stream +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Skeleton Stream +// ------------------------------------------------------------------------------------------------------------------------------ + +/// @brief Stores the information regarding each skeleton node. +/// The transform is defined as a local or global transform depending on the coordinate system set when initializing the SDK. +/// See functions CoreSdk_InitializeCoordinateSystemWithVUH and CoreSdk_InitializeCoordinateSystemWithDirection. +typedef struct SkeletonNode +{ + uint32_t id; + ManusTransform transform; +} SkeletonNode; + +/// @brief Stores the information regarding the skeletons that have been added to Manus Core. +typedef struct SkeletonInfo +{ + uint32_t id; //default = 0; + uint32_t nodesCount; //default = 0; + ManusTimestamp publishTime; //default = 0; // DateTime.UtcNow. +} SkeletonInfo; + +/// @brief Stores the information regarding the skeletons coming from the estimation system in core +typedef struct RawSkeletonInfo +{ + uint32_t gloveId; //default = 0; + uint32_t nodesCount; //default = 0; + ManusTimestamp publishTime; //default = 0; // DateTime.UtcNow. +} RawSkeletonInfo; + +/// @brief Stores the information sent by the skeleton stream. +typedef struct SkeletonStreamInfo +{ + ManusTimestamp publishTime; //default = 0; // DateTime.UtcNow. + uint32_t skeletonsCount; //default = 0; +} SkeletonStreamInfo; + + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Skeleton Stream +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Ergonomics +// ------------------------------------------------------------------------------------------------------------------------------ + +/// @brief Stores the received ergonomics data. +typedef struct ErgonomicsData +{ + uint32_t id; //default = 0; + bool isUserID; //default = false; + float data[ErgonomicsDataType_MAX_SIZE]; //default = { 0 }; +} ErgonomicsData; + +/// @brief Stores the information sent by the ergonomics stream. +typedef struct ErgonomicsStream +{ + ManusTimestamp publishTime; //default = 0; + ErgonomicsData data[MAX_NUMBER_OF_ERGONOMICS_DATA]; + uint32_t dataCount; //default = 0; +} ErgonomicsStream; + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Ergonomics +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Landscape +// ------------------------------------------------------------------------------------------------------------------------------ + +/// @brief Stores all the received dongle data. +typedef struct DongleLandscapeData +{ + uint32_t id; + DeviceClassType classType; + DeviceFamilyType familyType; + bool isHaptics; + + Version hardwareVersion; + Version firmwareVersion; + ManusTimestamp firmwareTimestamp; + + uint32_t chargingState; + + int32_t channel; + + UpdateStatusEnum updateStatus; + + char licenseType[MAX_NUM_CHARS_IN_LICENSE_TYPE]; + + ManusTimestamp lastSeen; // this may be used in playback/recording TBD + + uint32_t leftGloveID; + uint32_t rightGloveID; + + LicenseType licenseLevel; //default = LicenseType::LicenseType_Undefined; + ManusTimestamp licenseExpiration; + + uint32_t netDeviceID; +} DongleLandscapeData; + +/// @brief Stores all the received glove data. +typedef struct GloveLandscapeData +{ + uint32_t id; + DeviceClassType classType; + DeviceFamilyType familyType; + Side side; + bool isHaptics; + + DevicePairedState pairedState; + uint32_t dongleID; + + Version hardwareVersion; + Version firmwareVersion; + ManusTimestamp firmwareTimestamp; + + UpdateStatusEnum updateStatus; + + uint32_t batteryPercentage; + int32_t transmissionStrength; + + IMUCalibrationInfo iMUCalibrationInfo[MAX_NUM_IMUS_ON_GLOVE]; + + ManusTimestamp lastSeen; // this may be used in playback/recording TBD + bool excluded; + + uint32_t netDeviceID; +} GloveLandscapeData; + +/// @brief Stores informations regarding the lengths of different parts of the body. +typedef struct Measurement +{ + MeasurementType entryType; //default = MeasurementType::MeasurementType_Unknown; + float value; //default = 0.0f; + + MeasurementUnit unit; //default = MeasurementUnit_Meters; + MeasurementCategory category; //default = MeasurementCategory_Misc; + char displayName[MAX_NUM_CHARS_IN_MEASUREMENT]; +} Measurement; + +/// @brief Stores the local offsets to the trackers. +typedef struct TrackerOffset +{ + TrackerOffsetType entryType; + ManusVec3 translation; + ManusQuaternion rotation; +} TrackerOffset; + +/// @brief Stores possible extra offsets to the trackers. +typedef struct ExtraTrackerOffset +{ + ExtraTrackerOffsetType entryType; //default = ExtraTrackerOffsetType::ExtraTrackerOffsetType_Unknown; + float value; //default = 0.0f; +} ExtraTrackerOffset; + +/// @brief Stores all the received tracker data. +typedef struct TrackerLandscapeData +{ + char id[MAX_NUM_CHARS_IN_TRACKER_ID]; + TrackerType type; //default = TrackerType::TrackerType_Unknown; + TrackerSystemType systemType; //default = TrackerSystemType::TrackerSystemType_Unknown; + uint32_t user; //default = 0; + bool isHMD; //default = false; + char manufacturer[MAX_NUM_CHARS_IN_TRACKER_MANUFACTURER]; // default = "Unknown" + char productName[MAX_NUM_CHARS_IN_TRACKER_PRODUCTNAME]; // default = "Unknown" +} TrackerLandscapeData; + +/// @brief Stores all the received user profile data. +typedef struct UserProfileLandscapeData +{ + ProfileType profileType; //default = ProfileType::ProfileType_Hands; + Measurement measurements[MeasurementType_MAX_SIZE]; + TrackerOffset trackerOffsets[TrackerOffsetType_MAX_SIZE]; + ExtraTrackerOffset extraTrackerOffsets[ExtraTrackerOffsetType_MAX_SIZE]; +} UserProfileLandscapeData; + +/// @brief Stores all the received user data. +typedef struct UserLandscapeData +{ + uint32_t id; //default = 0; + char name[MAX_NUM_CHARS_IN_USERNAME]; + Color color; + uint32_t dongleID; //default = 0; + uint32_t leftGloveID; //default = 0; + uint32_t rightGloveID; //default = 0; + UserProfileLandscapeData profile; + uint32_t userIndex; //default = 0; +} UserLandscapeData; + +/// @brief Stores all the received skeleton data. +typedef struct SkeletonLandscapeData +{ + uint32_t id; //default = 0; + char session[MAX_NUM_CHARS_IN_HOST_NAME]; + uint32_t userId; //default = 0; + SkeletonType type; //default = SkeletonType::SkeletonType_Invalid; + char rootBoneName[MAX_NUM_CHARS_IN_NODE_NAME]; + bool scaled; //default = false; +} SkeletonLandscapeData; + +/// @brief Stores all the information related to the devices present in the landscape. +typedef struct DeviceLandscape +{ + DongleLandscapeData dongles[MAX_NUMBER_OF_DONGLES]; + uint32_t dongleCount; //default = 0; + GloveLandscapeData gloves[MAX_NUMBER_OF_GLOVES]; + uint32_t gloveCount; //default = 0; +} DeviceLandscape; + +/// @brief Stores all the information related to the users present in the landscape. +typedef struct UserLandscape +{ + UserLandscapeData users[MAX_USERS]; + uint32_t userCount; //default = 0; +} UserLandscape; + +/// @brief Stores all the information related to the skeletons present in the landscape. +typedef struct SkeletonLandscape +{ + SkeletonLandscapeData skeletons[MAX_NUMBER_OF_SKELETONS]; + uint32_t skeletonCount; //default = 0; +} SkeletonLandscape; + +/// @brief Stores all the information related to the trackers present in the landscape. +typedef struct TrackerLandscape +{ + TrackerLandscapeData trackers[MAX_NUMBER_OF_TRACKERS]; + uint32_t trackerCount; //default = 0; +} TrackerLandscape; + +/// @brief Stores the license information. +typedef struct LicenseInfo +{ + bool recording; //default = false; + bool exporting; //default = false; + bool advancedExporting; //default = false; + bool unitySession; //default = false; + bool unrealSession; //default = false; + bool openXRSession; //default = false; + bool sdk; //default = false; + bool raw; //default = false; + bool mobuSession; //default = false; + bool xsensSession; //default = false; + bool optitrackSession; //default = false; + bool qualisysSession; //default = false; + bool viconSession; //default = false; + bool nokovSession; //default = false; + bool icidoSession; //default = false; + bool siemensSession; //default = false; + bool vredSession; //default = false; + +} LicenseInfo; + +/// @brief Stores the landscape settings. +typedef struct SettingsLandscape +{ + Version manusCoreVersion; + LicenseInfo license; + bool playbackMode; //default = false; + bool ignoreSessionTimeOuts; //default = false; + FirmwareVersion firmwareOne; + FirmwareVersion firmwareTwo; + bool recordingMode; //default = false; + bool isNetDevice; // default = false; + bool isConnectedAsNetDevice; // default = false; +}SettingsLandscape; + +typedef struct TimecodeInterface +{ + char name[MAX_NUM_CHARS_IN_TIMECODE_INTERFACE_STRINGS]; + char api[MAX_NUM_CHARS_IN_TIMECODE_INTERFACE_STRINGS]; + int index; //default = -1; +} TimecodeInterface; + +typedef struct TimeLandscape +{ + TimecodeInterface interfaces[MAX_NUMBER_OF_AUDIO_INTERFACES]; + uint32_t interfaceCount; //default = 0; + TimecodeInterface currentInterface; + TimecodeFPS fps; //default = Undefined; + bool fakeTimecode; //default = false; + bool useSyncPulse; //default = false; + bool deviceKeepAlive; //default = false; + bool syncStatus; //default = false; + bool timecodeStatus; //default = false; + int32_t ltcChannel; //default = -1; +} TimeLandscape; + +/// @brief Contains information about a gesture +typedef struct GestureLandscapeData +{ + uint32_t id; //default = 0; + char name[MAX_NUM_CHARS_IN_USERNAME]; +} GestureLandscapeData; + +/// @brief Contains information about a net devices +typedef struct NetDeviceLandscapeData +{ + uint32_t netDeviceID; + char hostname[MAX_NUM_CHARS_IN_HOST_NAME]; + char ip[MAX_NUM_CHARS_IN_IP_ADDRESS]; +} NetDeviceLandscapeData; + +/// @brief Contains information about a single net device +typedef struct NetDevicesLandscape +{ + uint32_t numberOfNetDevices; // default = 0; + NetDeviceLandscapeData netDevices[MAX_NUMBER_OF_NETDEVICES]; +} NetDeviceLandscape; + +/// @brief Stores the landscape data. +typedef struct Landscape +{ + DeviceLandscape gloveDevices; + UserLandscape users; + SkeletonLandscape skeletons; + TrackerLandscape trackers; + SettingsLandscape settings; + NetDevicesLandscape netDevices; + TimeLandscape time; + uint32_t gestureCount; //default = 0; +} Landscape; + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Landscape +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Skeleton +// ------------------------------------------------------------------------------------------------------------------------------ +/// @brief Stores the inverse kinematics settings of a node, the ikAim is used to control the IK solve, 1 is default, -1 is inversed. +typedef struct NodeSettingsIK +{ + float ikAim; +} NodeSettingsIK; + +/// @brief Stores the settings for a node of type foot, heightFromGround is used to set the height of the 3d model ankle from ground. +typedef struct NodeSettingsFoot +{ + float heightFromGround; +} NodeSettingsFoot; + +/// @brief Stores the rotation offset of a node, this is used internally for building the skeleton. +typedef struct NodeSettingsRotationOffset +{ + ManusQuaternion value; +} NodeSettingsRotationOffset; + +/// @brief Stores the settings of a node of type leaf, the direction vector is defined with respect to the previous node in the chain. +typedef struct NodeSettingsLeaf +{ + ManusVec3 direction; + float length; +} NodeSettingsLeaf; + +/// @brief Stores all the node settings. +typedef struct NodeSettings +{ + NodeSettingsFlag usedSettings; + NodeSettingsIK ik; + NodeSettingsFoot foot; + NodeSettingsRotationOffset rotationOffset; + NodeSettingsLeaf leaf; +} NodeSettings; + +/// @brief Stores the node setup information. Each node represents a segment of the skeleton that can be animated, nodes combine together to form chains. +/// the parentID is used to identify the node with respect to which the current one will move. +typedef struct NodeSetup +{ + uint32_t id; //default = 0; + char name[MAX_NUM_CHARS_IN_NODE_NAME]; // this is a UTF8 string , NOT an ASCII CHAR array (same base type though) + NodeType type; //default = NodeType::NodeType_Invalid; + ManusTransform transform; + uint32_t parentID; //default = 0; + NodeSettings settings; +} NodeSetup; + +/// @brief Stores all the settings of a chain of type pelvis. +typedef struct ChainSettingsPelvis +{ + float hipHeight; //default = 0.0f; + float hipBendOffset; //default = 0.0f; + float thicknessMultiplier; //default = 1.0f; +} ChainSettingsPelvis; + +/// @brief Stores all the settings of a chain of type leg. +typedef struct ChainSettingsLeg +{ + bool reverseKneeDirection; //default = false; + float kneeRotationOffset; //default = 0.0f; + float footForwardOffset; //default = 0.0f; + float footSideOffset; //default = 0.0f; +} ChainSettingsLeg; + +/// @brief Stores all the settings of a chain of type spine. +typedef struct ChainSettingsSpine +{ + float spineBendOffset; //default = 0.0f; +} ChainSettingsSpine; + +/// @brief Stores all the settings of a chain of type neck. +typedef struct ChainSettingsNeck +{ + float neckBendOffset; //default = 0.0f; +} ChainSettingsNeck; + +/// @brief Stores all the settings of a chain of type head. +typedef struct ChainSettingsHead +{ + float headPitchOffset; //default = 0.0f; + float headYawOffset; //default = 0.0f; + float headTiltOffset; //default = 0.0f; + bool useLeafAtEnd; //default = false; +} ChainSettingsHead; + +/// @brief Stores all the settings of a chain of type arm. +typedef struct ChainSettingsArm +{ + float armLengthMultiplier; //default = 0.0f; + float elbowRotationOffset; //default = 0.0f; + + ManusVec3 armRotationOffset; + + ManusVec3 positionMultiplier; + ManusVec3 positionOffset; +} ChainSettingsArm; + +/// @brief Stores all the settings of a chain of type shoulder. +typedef struct ChainSettingsShoulder +{ + float forwardOffset; //default = 0.0f; + float shrugOffset; //default = 0.0f; + + float forwardMultiplier; //default = 0.0f; + float shrugMultiplier; //default = 0.0f; +} ChainSettingsShoulder; + +/// @brief Stores all the settings of a chain of type finger. +typedef struct ChainSettingsFinger +{ + bool useLeafAtEnd; //default = false; + int32_t metacarpalBoneId; //default = 0; + int32_t handChainId; //default = 0; + float fingerWidth; //default = 0; +} ChainSettingsFinger; + +/// @brief Stores all the settings of a chain of type hand. +typedef struct ChainSettingsHand +{ + int32_t fingerChainIds[MAX_NUM_FINGER_IDS]; + int32_t fingerChainIdsUsed; //default = 0; + HandMotion handMotion; //default = HandMotion::HandMotion_None; +} ChainSettingsHand; + +/// @brief Stores all the settings of a chain of type foot. +typedef struct ChainSettingsFoot +{ + int32_t toeChainIds[MAX_NUM_TOE_IDS]; + int32_t toeChainIdsUsed; //default = 0; +} ChainSettingsFoot; + +/// @brief Stores all the settings of a chain of type toe. +typedef struct ChainSettingsToe +{ + int32_t footChainId; //default = 0; + bool useLeafAtEnd; //default = false; +} ChainSettingsToe; + +/// @brief Stores all chain settings. +typedef struct ChainSettings +{ + ChainType usedSettings; + ChainSettingsPelvis pelvis; + ChainSettingsLeg leg; + ChainSettingsSpine spine; + ChainSettingsNeck neck; + ChainSettingsHead head; + ChainSettingsArm arm; + ChainSettingsShoulder shoulder; + ChainSettingsFinger finger; + ChainSettingsHand hand; + ChainSettingsFoot foot; + ChainSettingsToe toe; +} ChainSettings; + +/// @brief Stores the chain setup information. +typedef struct ChainSetup +{ + uint32_t id; //default = 0; + ChainType type; //default = ChainType::ChainType_Invalid; + ChainType dataType; //default = ChainType::ChainType_Invalid; + uint32_t dataIndex; //default = 0; + uint32_t nodeIdCount; //default = 0; + uint32_t nodeIds[MAX_CHAIN_LENGTH]; + ChainSettings settings; + Side side; //default = Side::Side_Invalid; +} ChainSetup; + +/// @brief Stores all the settings of a collider of type sphere. +typedef struct SphereColliderSetup +{ + float radius; //default = 0; +} SphereColliderSetup; + +/// @brief Stores all the settings of a collider of type capsule. +typedef struct CapsuleColliderSetup +{ + float radius; //default = 0; + float length; //default = 0; +} CapsuleColliderSetup; + +/// @brief Stores all the settings of a collider of type box. +typedef struct BoxColliderSetup +{ + ManusVec3 size; //default = 0,0,0; +} BoxColliderSetup; + +/// @brief Stores the collider setup information. +typedef struct ColliderSetup +{ + uint32_t nodeID; //default = 0; + ManusVec3 localPosition; // default 0,0,0 + ManusVec3 localRotation; // default 0,0,0 + + ColliderType type;//default = ColliderType::ColliderType_Invalid + SphereColliderSetup sphere; + CapsuleColliderSetup capsule; + BoxColliderSetup box; +} ColliderSetup; + +/// @brief Stores the vertex weight information. +typedef struct Weight +{ + uint32_t nodeID; + float weightValue; +} Weight; + +/// @brief Stores the vertex information. +typedef struct Vertex +{ + ManusVec3 position; // default 0,0,0 + uint32_t weightsCount; //default = 0; + Weight weights[MAX_BONE_WEIGHTS_PER_VERTEX]; +} Vertex; + +/// @brief Stores the triangle information. +typedef struct Triangle +{ + int32_t vertexIndex1; + int32_t vertexIndex2; + int32_t vertexIndex3; +} Triangle; + +/// @brief Stores the information regarding the user data used to animate the skeleton. +typedef struct SkeletonTargetUserData +{ + uint32_t userID; //default = 0; +} SkeletonTargetUserData; + +/// @brief Stores the information regarding the user index data used to animate the skeleton. +typedef struct SkeletonTargetUserIndexData +{ + uint32_t userIndex; //default = 0; +} SkeletonTargetUserIndexData; + +/// @brief Stores the information regarding the animation data used to animate the skeleton. +typedef struct SkeletonTargetAnimationData +{ + char id[MAX_NUM_CHARS_IN_TARGET_ID]; +} SkeletonTargetAnimationData; + +/// @brief Stores the information regarding the glove data used to animate the skeleton. +typedef struct SkeletonTargetGloveData +{ + uint32_t gloveID; //default = 0; +} SkeletonTargetGloveData; + +/// @brief Stores all the possible skeleton settings. +typedef struct SkeletonSettings +{ + bool scaleToTarget; //default = false; + bool useEndPointApproximations; //default = false; + CollisionType collisionType; //default = CollisionType::CollisionType_None + + SkeletonTargetType targetType; + SkeletonTargetUserData skeletonTargetUserData; + SkeletonTargetUserIndexData skeletonTargetUserIndexData; + SkeletonTargetAnimationData skeletonTargetAnimationData; + SkeletonTargetGloveData skeletonGloveData; +} SkeletonSettings; + +/// @brief Stores the skeleton setup information. +typedef struct SkeletonSetupInfo +{ + uint32_t id; //default = 0; + SkeletonType type; //default = SkeletonType::SkeletonType_Invalid; + SkeletonSettings settings; + char name[MAX_NUM_CHARS_IN_SKELETON_NAME]; // this is a UTF8 string , NOT an ASCII CHAR array (same base type though) +} SkeletonSetupInfo; + + +/// @brief Stores the amount of nodes and chains in the skeleton setup. +typedef struct SkeletonSetupArraySizes +{ + uint32_t nodesCount; //default = 0; + uint32_t chainsCount; //default = 0; + uint32_t collidersCount; //default = 0; + uint32_t meshCount; //default = 0; +} SkeletonSetupArraySizes; + +/// @brief Stores the temporary skeleton information. +typedef struct TemporarySkeletonInfo +{ + char name[MAX_NUM_CHARS_IN_SKELETON_NAME]; // this is a UTF8 string , NOT an ASCII CHAR array (same base type though) + uint32_t index; //default = UINT32_MAX; +} TemporarySkeletonInfo; + +/// @brief Stores the temporary skeletons available for a specific session. +typedef struct TemporarySkeletonsInfoForSession +{ + uint32_t sessionId; //default = 0; + char sessionName[MAX_NUM_CHARS_IN_HOST_NAME]; + uint32_t skeletonCount; //default = 0; + TemporarySkeletonInfo skeletonInfo[MAX_NUMBER_OF_SKELETONS_PER_SESSION]; +} TemporarySkeletonsInfoForSession; + +/// @brief Stores the temporary skeletons available for a specific session. +typedef struct TemporarySkeletonCountForSession +{ + uint32_t sessionId; //default = 0; + char sessionName[MAX_NUM_CHARS_IN_HOST_NAME]; + uint32_t skeletonCount; //default = 0; +} TemporarySkeletonCountForSession; + +/// @brief Stores the temporary skeleton available for all sessions connected to Core. +typedef struct TemporarySkeletonCountForAllSessions +{ + uint32_t sessionsCount; //default = 0; + TemporarySkeletonCountForSession temporarySkeletonCountForSessions[MAX_NUMBER_OF_SESSIONS]; +} TemporarySkeletonCountForAllSessions; + +/// @brief ONLY USED INTERNALLY +/// @brief Stores the temporary skeleton available for all sessions connected to Core. +typedef struct TemporarySkeletonSessionsData +{ + uint32_t sessionsCount; //default = 0; + TemporarySkeletonsInfoForSession temporarySkeletonsSessions[MAX_NUMBER_OF_SESSIONS]; +} TemporarySkeletonSessionsData; + +/// @brief Stores the data associated to System messages received from Core. +typedef struct SystemMessage +{ + SystemMessageType type; + char infoString[MAX_NUM_CHARS_IN_SYSTEM_ERROR_MESSAGE]; + uint32_t infoUInt; +} SystemMessage; + +typedef struct NodeInfo +{ + uint32_t nodeId; //default = 0; + uint32_t parentId; //default = 0; + ChainType chainType; + Side side; + FingerJointType fingerJointType; +}NodeInfo; + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Skeleton +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Glove calibration +// ------------------------------------------------------------------------------------------------------------------------------ + +typedef struct GloveCalibrationArgs { + uint32_t gloveId; //default = 0; +} GloveCalibrationArgs; + +typedef struct GloveCalibrationStepArgs { + uint32_t gloveId; //default = 0; + uint32_t stepIndex; //default = 0; +} GloveCalibrationStepArgs; + +/// @brief Stores the data associated to a single calibration step for a specific glove. +/// if the time value is negative, it means that its a continuous step and the value is estimated +typedef struct GloveCalibrationStepData { + uint32_t index; //default = 0; + char title[MAX_NUM_CHARS_IN_CALIBRATION_TITLE]; + char description[MAX_NUM_CHARS_IN_CALIBRATION_DESCRIPTION]; + float time; //default = 0 +} GloveCalibrationStepData; + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Glove calibration +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Coordinate system settings +// ------------------------------------------------------------------------------------------------------------------------------ + +/// @brief Stores the information regarding the coordinate system used by the client, defined as VUH (view, up, handedness). +typedef struct CoordinateSystemVUH +{ + AxisView view; + AxisPolarity up; + Side handedness; + float unitScale; // in meters +} CoordinateSystemVUH; + +/// @brief Stores the information regarding the coordinate system used by the client, defined by each axis direction. +typedef struct CoordinateSystemDirection +{ + AxisDirection x; + AxisDirection y; + AxisDirection z; + float unitScale; // in meters +} CoordinateSystemDirection; + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Coordinate system settings +// ------------------------------------------------------------------------------------------------------------------------------ + +// ------------------------------------------------------------------------------------------------------------------------------ +// Callbacks +// ------------------------------------------------------------------------------------------------------------------------------ + +/// @brief Describes the ConnectedToCoreCallback function type +typedef void(*ConnectedToCoreCallback_t)(const ManusHost* const p_Host); +/// @brief Describes the DisconnectedToCoreCallback function type +typedef void(*DisconnectedFromCoreCallback_t)(const ManusHost* const p_Host); +/// @brief Describes the LoggingCallback function type +typedef void(*LoggingCallback_t)(LogSeverity p_Severity, const char* const p_Log, uint32_t p_Length); +/// @brief Describes the SkeletonStreamCallback function type +typedef void(*SkeletonStreamCallback_t)(const SkeletonStreamInfo* const p_SkeletonInfo); +/// @brief Describes the LandscapeStreamCallback function type +typedef void(*LandscapeStreamCallback_t)(const Landscape* const p_Landscape); +/// @brief Describes the TrackerStreamCallback function type +typedef void(*TrackerStreamCallback_t)(const TrackerStreamInfo* const p_TrackerStreamInfo); +/// @brief Describes the ErgonomicsStreamCallback type +typedef void(*ErgonomicsStreamCallback_t)(const ErgonomicsStream* const p_Ergonomics); +/// @brief Describes the SystemStreamCallback function type +typedef void(*SystemStreamCallback_t)(const SystemMessage* const p_SystemMessage); +/// @brief Describes the RawSkeletonStreamCallback function type +typedef void(*RawSkeletonStreamCallback_t)(const SkeletonStreamInfo* const p_SkeletonInfo); +/// @brief Describes the GestureStreamCallback function type +typedef void(*GestureStreamCallback_t)(const GestureStreamInfo* const p_GestureStream); + +// ------------------------------------------------------------------------------------------------------------------------------ +// end of Callbacks +// ------------------------------------------------------------------------------------------------------------------------------ +#ifdef __cplusplus +} // extern "C" +#endif + +// Close the Doxygen group. +/** @} */ + +#endif // #ifndef H_CORESDKWRAPPERTYPES diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib/libManusSDK.so b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib/libManusSDK.so new file mode 100644 index 0000000..0a4797d --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib/libManusSDK.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b1676a140e00368def349ce55f3990fe0fc4be3fd0a3284ad95885733b7229f +size 80253728 diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib/libManusSDK_Integrated.so b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib/libManusSDK_Integrated.so new file mode 100644 index 0000000..0a4797d --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusSDK/lib/libManusSDK_Integrated.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b1676a140e00368def349ce55f3990fe0fc4be3fd0a3284ad95885733b7229f +size 80253728 diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusServer.cpython-310-x86_64-linux-gnu.so b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusServer.cpython-310-x86_64-linux-gnu.so new file mode 100755 index 0000000..1f84aec --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/ManusServer.cpython-310-x86_64-linux-gnu.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e24785ebe724751e28605df17755b8f730357ee14f09d89be3e21c3d3d95310b +size 3820896 diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/Readme.md b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Readme.md new file mode 100644 index 0000000..4da2914 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/Readme.md @@ -0,0 +1,4 @@ +# MANUS SDK Client - Linux +The MANUS SDK Client is an example client that demonstrates the most functionality of the MANUS SDK. It handles setting up a connection to the gloves (be it directly or via a MANUS Core instance). And implements all major features available in the MANUS SDK. + +For a full guide on how to get started please refer to the guide on our knowledge center: https://docs.manus-meta.com/latest/Plugins/SDK/Windows/SDK%20Client/ \ No newline at end of file diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient.cpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient.cpp new file mode 100644 index 0000000..1cb5aad --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient.cpp @@ -0,0 +1,3118 @@ +#include "SDKClient.hpp" +#include "ManusSDKTypes.h" +#include "ClientLogging.hpp" +#include +#include +#include +#include +#include +#include + +#include "ClientPlatformSpecific.hpp" + +#define GO_TO_DISPLAY(p_Key,p_Function) if (GetKeyDown(p_Key)) { ClearConsole();\ + m_CurrentInteraction = std::bind(&SDKClient::p_Function, this); return ClientReturnCode::ClientReturnCode_Success;} + +#define GO_TO_MENU_IF_REQUESTED() if (GetKeyDown('Q')) { ClearConsole();\ + m_CurrentInteraction = nullptr; return ClientReturnCode::ClientReturnCode_Success;} + +using ManusSDK::ClientLog; + +std::map> output_map; + +SDKClient* SDKClient::s_Instance = nullptr; + +std::vector idleft={3822396207, 3998055887}; +std::vector idright={3762867141, 831307785}; + +SDKClient::SDKClient() +{ + s_Instance = this; + + // using initializers like these ensure that the data is set to its default values. + ErgonomicsData_Init(&m_LeftGloveErgoData); + ErgonomicsData_Init(&m_RightGloveErgoData); + + TestTimestamp(); +} + +SDKClient::~SDKClient() +{ + s_Instance = nullptr; +} + +/// @brief Initialize the sample console and the SDK. +/// This function attempts to resize the console window and then proceeds to initialize the SDK's interface. +ClientReturnCode SDKClient::Initialize() +{ + // if (!PlatformSpecificInitialization()) + // { + // return ClientReturnCode::ClientReturnCode_FailedPlatformSpecificInitialization; + // } + + const ClientReturnCode t_IntializeResult = InitializeSDK(); + if (t_IntializeResult != ClientReturnCode::ClientReturnCode_Success) + { + ClientLog::error("Failed to initialize the SDK. Are you sure the correct ManusSDKLibary is used?"); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief The main SDKClient loop. +/// This is a simple state machine which switches between different substates. +ClientReturnCode SDKClient::Run() +{ + ConnectingToCore(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief When you are done with the SDK, don't forget to nicely shut it down +/// this will close all connections to the host, close any threads and clean up after itself +/// after this is called it is expected to exit the client program. If not it needs to call initialize again. +ClientReturnCode SDKClient::ShutDown() +{ + const SDKReturnCode t_Result = CoreSdk_ShutDown(); + if (t_Result != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to shut down the SDK wrapper. The value returned was {}.", (int32_t)t_Result); + return ClientReturnCode::ClientReturnCode_FailedToShutDownSDK; + } + + if (!PlatformSpecificShutdown()) + { + return ClientReturnCode::ClientReturnCode_FailedPlatformSpecificShutdown; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief Gets called when the client is connects to manus core +/// Using this callback is optional. +/// In this sample we use this callback to change the client's state and switch to another screen +void SDKClient::OnConnectedCallback(const ManusHost* const p_Host) +{ + ClientLog::print("Connected to manus core."); + + //No need to initialize these as they get filled in the CoreSdk_GetVersionsAndCheckCompatibility + ManusVersion t_SdkVersion; + ManusVersion t_CoreVersion; + bool t_IsCompatible; + + const SDKReturnCode t_Result = CoreSdk_GetVersionsAndCheckCompatibility(&t_SdkVersion, &t_CoreVersion, &t_IsCompatible); + + if (t_Result == SDKReturnCode::SDKReturnCode_Success) + { + const std::string t_Versions = "Sdk version : " + std::string(t_SdkVersion.versionInfo) + ", Core version : " + std::string(t_CoreVersion.versionInfo) + "."; + + if (t_IsCompatible) + { + ClientLog::print("Versions are compatible.{}", t_Versions); + } + else + { + ClientLog::warn("Versions are not compatible with each other.{}", t_Versions); + } + } + else + { + ClientLog::error("Failed to get the versions from the SDK. The value returned was {}.", (int32_t)t_Result); + } + + uint32_t t_SessionId; + const SDKReturnCode t_SessionIdResult = CoreSdk_GetSessionId(&t_SessionId); + if (t_SessionIdResult == SDKReturnCode::SDKReturnCode_Success && t_SessionId != 0) + { + ClientLog::print("Session Id: {}", t_SessionId); + s_Instance->m_SessionId = t_SessionId; + } + else + { + ClientLog::print("Failed to get the Session ID from Core. The value returned was{}.", (int32_t)t_SessionIdResult); + } + + ManusHost t_Host(*p_Host); + s_Instance->m_Host = std::make_unique(t_Host); + + // Set the hand motion mode of the RawSkeletonStream. This is optional and can be set to any of the HandMotion enum values. Default = None + const SDKReturnCode t_HandMotionResult = CoreSdk_SetRawSkeletonHandMotion(HandMotion_Auto); + if (t_HandMotionResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::print("Failed to set the hand motion mode. The value returned was {}.", (int32_t)t_HandMotionResult); + } + + // Only setting state to displaying data on automatic reconnect + if (s_Instance->m_State == ClientState::ClientState_Disconnected) + { + s_Instance->m_State = ClientState::ClientState_DisplayingData; + } +} + +/// @brief Gets called when the client disconnects from manus core. +/// This callback is optional and in the sample changes the client's state. +void SDKClient::OnDisconnectedCallback(const ManusHost* const p_Host) +{ + ClientLog::print("Disconnected from manus core."); + s_Instance->m_TimeSinceLastDisconnect = std::chrono::high_resolution_clock::now(); + ManusHost t_Host(*p_Host); + s_Instance->m_Host = std::make_unique(t_Host); + s_Instance->m_State = ClientState::ClientState_Disconnected; +} + +void SDKClient::OnLogCallback(LogSeverity p_Severity, const char* const p_Log, uint32_t p_Length) +{ + if (!s_Instance)return; + + auto t_Log = new SDKLog(); + t_Log->severity = p_Severity; + t_Log->string = std::string(p_Log); + s_Instance->m_LogMutex.lock(); + s_Instance->m_Logs.push_back(t_Log); + s_Instance->m_LogMutex.unlock(); +} + +/// @brief This gets called when the client is connected to manus core +/// @param p_SkeletonStreamInfo contains the meta data on how much data regarding the skeleton we need to get from the SDK. +void SDKClient::OnSkeletonStreamCallback(const SkeletonStreamInfo* const p_SkeletonStreamInfo) +{ + if (s_Instance) + { + ClientSkeletonCollection* t_NxtClientSkeleton = new ClientSkeletonCollection(); + t_NxtClientSkeleton->skeletons.resize(p_SkeletonStreamInfo->skeletonsCount); + + for (uint32_t i = 0; i < p_SkeletonStreamInfo->skeletonsCount; i++) + { + CoreSdk_GetSkeletonInfo(i, &t_NxtClientSkeleton->skeletons[i].info); + t_NxtClientSkeleton->skeletons[i].nodes.resize(t_NxtClientSkeleton->skeletons[i].info.nodesCount); + t_NxtClientSkeleton->skeletons[i].info.publishTime = p_SkeletonStreamInfo->publishTime; + CoreSdk_GetSkeletonData(i, t_NxtClientSkeleton->skeletons[i].nodes.data(), t_NxtClientSkeleton->skeletons[i].info.nodesCount); + } + s_Instance->m_SkeletonMutex.lock(); + if (s_Instance->m_NextSkeleton != nullptr) delete s_Instance->m_NextSkeleton; + s_Instance->m_NextSkeleton = t_NxtClientSkeleton; + s_Instance->m_SkeletonMutex.unlock(); + } +} + +/// @brief This gets called when the client is connected to manus core. It sends the skeleton data coming from the estimation system, before the retargeting to the client skeleton model. +/// @param p_RawSkeletonStreamInfo contains the meta data on how much data regarding the raw skeleton we need to get from the SDK. +void SDKClient::OnRawSkeletonStreamCallback(const SkeletonStreamInfo* const p_RawSkeletonStreamInfo) +{ + // std::cout<<"OnRawSkeletonStreamCallback"<skeletons.resize(p_RawSkeletonStreamInfo->skeletonsCount); + + for (uint32_t i = 0; i < p_RawSkeletonStreamInfo->skeletonsCount; i++) + { + CoreSdk_GetRawSkeletonInfo(i, &t_NxtClientRawSkeleton->skeletons[i].info); + t_NxtClientRawSkeleton->skeletons[i].nodes.resize(t_NxtClientRawSkeleton->skeletons[i].info.nodesCount); + t_NxtClientRawSkeleton->skeletons[i].info.publishTime = p_RawSkeletonStreamInfo->publishTime; + CoreSdk_GetRawSkeletonData(i, t_NxtClientRawSkeleton->skeletons[i].nodes.data(), t_NxtClientRawSkeleton->skeletons[i].info.nodesCount); + + std::string glove_id = std::to_string(t_NxtClientRawSkeleton->skeletons[i].info.gloveId); + std::vector positions; + std::vector orientations; + for (uint32_t j = 0; j < t_NxtClientRawSkeleton->skeletons[i].info.nodesCount; j++){ + positions.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.position.x); + positions.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.position.y); + positions.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.position.z); + orientations.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.rotation.w); + orientations.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.rotation.x); + orientations.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.rotation.y); + orientations.push_back(t_NxtClientRawSkeleton->skeletons[i].nodes[j].transform.rotation.z); + } + output_map[glove_id +"_position"] = positions; + output_map[glove_id +"_orientation"] = orientations; + } + s_Instance->m_RawSkeletonMutex.lock(); + if (s_Instance->m_NextRawSkeleton != nullptr) delete s_Instance->m_NextRawSkeleton; + s_Instance->m_NextRawSkeleton = t_NxtClientRawSkeleton; + s_Instance->m_RawSkeletonMutex.unlock(); + } +} + +/// @brief This gets called when receiving tracker information from core +/// @param p_TrackerStreamInfo contains the meta data on how much data regarding the trackers we need to get from the SDK. +void SDKClient::OnTrackerStreamCallback(const TrackerStreamInfo* const p_TrackerStreamInfo) +{ + if (s_Instance) + { + TrackerDataCollection* t_TrackerData = new TrackerDataCollection(); + + t_TrackerData->trackerData.resize(p_TrackerStreamInfo->trackerCount); + + for (uint32_t i = 0; i < p_TrackerStreamInfo->trackerCount; i++) + { + CoreSdk_GetTrackerData(i, &t_TrackerData->trackerData[i]); + } + s_Instance->m_TrackerMutex.lock(); + if (s_Instance->m_NextTrackerData != nullptr) delete s_Instance->m_NextTrackerData; + s_Instance->m_NextTrackerData = t_TrackerData; + s_Instance->m_TrackerMutex.unlock(); + } +} + +/// @brief This gets called when receiving gesture data from Manus Core +/// In our sample we only save the first glove's gesture data. +/// Gesture data gets generated and sent when glove data changes, this means that the stream +/// does not always contain ALL of the devices, because some may not have had new data since +/// the last time the gesture data was sent. +/// @param p_GestureStream contains the basic info to retrieve gesture data. +void SDKClient::OnGestureStreamCallback(const GestureStreamInfo* const p_GestureStream) +{ + if (s_Instance) + { + for (uint32_t i = 0; i < p_GestureStream->gestureProbabilitiesCount; i++) + { + GestureProbabilities t_Probs; + CoreSdk_GetGestureStreamData(i, 0, &t_Probs); + if (t_Probs.isUserID)continue; + if (t_Probs.id != s_Instance->m_FirstLeftGloveID && t_Probs.id != s_Instance->m_FirstRightGloveID)continue; + ClientGestures* t_Gest = new ClientGestures(); + t_Gest->info = t_Probs; + t_Gest->probabilities.reserve(t_Gest->info.totalGestureCount); + uint32_t t_BatchCount = (t_Gest->info.totalGestureCount / MAX_GESTURE_DATA_CHUNK_SIZE) + 1; + uint32_t t_ProbabilityIdx = 0; + for (uint32_t b = 0; b < t_BatchCount; b++) + { + for (uint32_t j = 0; j < t_Probs.gestureCount; j++) + { + t_Gest->probabilities.push_back(t_Probs.gestureData[j]); + } + t_ProbabilityIdx += t_Probs.gestureCount; + CoreSdk_GetGestureStreamData(i, t_ProbabilityIdx, &t_Probs); //this will get more data, if needed for the next iteration. + } + + s_Instance->m_GestureMutex.lock(); + if (t_Probs.id == s_Instance->m_FirstLeftGloveID) + { + if (s_Instance->m_NewFirstLeftGloveGestures != nullptr) delete s_Instance->m_NewFirstLeftGloveGestures; + s_Instance->m_NewFirstLeftGloveGestures = t_Gest; + } + else + { + if (s_Instance->m_NewFirstRightGloveGestures != nullptr) delete s_Instance->m_NewFirstRightGloveGestures; + s_Instance->m_NewFirstRightGloveGestures = t_Gest; + } + s_Instance->m_GestureMutex.unlock(); + } + } +} + +/// @brief This gets called when receiving landscape information from core +/// @param p_Landscape contains the new landscape from core. +void SDKClient::OnLandscapeCallback(const Landscape* const p_Landscape) +{ + if (s_Instance == nullptr)return; + + Landscape* t_Landscape = new Landscape(*p_Landscape); + s_Instance->m_LandscapeMutex.lock(); + if (s_Instance->m_NewLandscape != nullptr) delete s_Instance->m_NewLandscape; + s_Instance->m_NewLandscape = t_Landscape; + s_Instance->m_NewGestureLandscapeData.resize(t_Landscape->gestureCount); + CoreSdk_GetGestureLandscapeData(s_Instance->m_NewGestureLandscapeData.data(), (uint32_t)s_Instance->m_NewGestureLandscapeData.size()); + s_Instance->m_LandscapeMutex.unlock(); +} + + +/// @brief This gets called when receiving a system message from Core. +/// @param p_SystemMessage contains the system message received from core. +void SDKClient::OnSystemCallback(const SystemMessage* const p_SystemMessage) +{ + if (s_Instance) + { + s_Instance->m_SystemMessageMutex.lock(); + + switch (p_SystemMessage->type) + { + case SystemMessageType::SystemMessageType_TemporarySkeletonModified: + // if the message was triggered by a temporary skeleton being modified then save the skeleton index, + // this information will be used to get and load the skeleton into core + s_Instance->m_ModifiedSkeletonIndex = p_SystemMessage->infoUInt; + break; + default: + s_Instance->m_SystemMessageCode = p_SystemMessage->type; + s_Instance->m_SystemMessage = p_SystemMessage->infoString; + break; + } + s_Instance->m_SystemMessageMutex.unlock(); + } +} + +/// @brief This gets called when receiving ergonomics data from Manus Core +/// In our sample we only save the first left and first right glove's latests ergonomics data. +/// Ergonomics data gets generated and sent when glove data changes, this means that the stream +/// does not always contain ALL of the devices, because some may not have had new data since +/// the last time the ergonomics data was sent. +/// @param p_Ergo contains the ergonomics data for each glove connected to Core. +void SDKClient::OnErgonomicsCallback(const ErgonomicsStream* const p_Ergo) +{ + if (s_Instance) + { + long int left_glove_id = 0; + long int right_glove_id = 0; + for (uint32_t i = 0; i < p_Ergo->dataCount; i++) + { + if (p_Ergo->data[i].isUserID)continue; + + ErgonomicsData* t_Ergo = nullptr; + if (std::find(idleft.begin(), idleft.end(), p_Ergo->data[i].id) != idleft.end()) + { + t_Ergo = &s_Instance->m_LeftGloveErgoData; + left_glove_id = p_Ergo->data[i].id; + } + if (std::find(idright.begin(), idright.end(), p_Ergo->data[i].id) != idright.end()) + { + t_Ergo = &s_Instance->m_RightGloveErgoData; + right_glove_id = p_Ergo->data[i].id; + } + if (t_Ergo == nullptr)continue; + CoreSdk_GetTimestampInfo(p_Ergo->publishTime, &s_Instance->m_ErgoTimestampInfo); + t_Ergo->id = p_Ergo->data[i].id; + t_Ergo->isUserID = p_Ergo->data[i].isUserID; + // Create a vector to store the angles of the hand + std::vector orientations_left; + std::vector orientations_right; + for (int j = 0; j < ErgonomicsDataType::ErgonomicsDataType_MAX_SIZE; j++) + { + t_Ergo->data[j] = p_Ergo->data[i].data[j]; + double roundedValue = s_Instance->RoundFloatValue(t_Ergo->data[j], 2); + if (t_Ergo == &s_Instance->m_LeftGloveErgoData) + { + orientations_left.push_back(roundedValue); + } + else if (t_Ergo == &s_Instance->m_RightGloveErgoData) + { + orientations_right.push_back(roundedValue); + } + } + if(left_glove_id!=0){ + output_map[std::to_string(left_glove_id)+"_angle"] = orientations_left; + } + if(right_glove_id!=0){ + output_map[std::to_string(right_glove_id)+"_angle"] = orientations_right; + } + } + } +} + +/// @brief Round the given float value so that it has no more than the given number of decimals. +float SDKClient::RoundFloatValue(float p_Value, int p_NumDecimalsToKeep) +{ + // Since C++11, powf is supposed to be declared in . + // Unfortunately, gcc decided to be non-compliant on this for no apparent + // reason, so now we have to do this. + // https://stackoverflow.com/questions/5483930/powf-is-not-a-member-of-std + float t_Power = static_cast(std::pow( + 10.0, + static_cast(p_NumDecimalsToKeep))); + return std::round(p_Value * t_Power) / t_Power; +} + +/// @brief Set the position that the next log message will appear at. +/// Using this allows us to have somewhat of a static, yet flexible layout of logging. +void SDKClient::AdvanceConsolePosition(short int p_Y) +{ + if (p_Y < 0) + { + m_ConsoleCurrentOffset = 0; + } + else + { + m_ConsoleCurrentOffset += p_Y; + } + + ApplyConsolePosition(m_ConsoleCurrentOffset); +} + +/// @brief Initialize the sdk, register the callbacks and set the coordinate system. +/// This needs to be done before any of the other SDK functions can be used. +ClientReturnCode SDKClient::InitializeSDK() +{ + // ClientLog::print("Select what mode you would like to start in (and press enter to submit)"); + // ClientLog::print("[1] Core Integrated - This will run standalone without the need for a MANUS Core connection"); + // ClientLog::print("[2] Core Local - This will connect to a MANUS Core running locally on your machine"); + // ClientLog::print("[3] Core Remote - This will search for a MANUS Core running locally on your network"); + // std::string t_ConnectionTypeInput; + // std::cin >> t_ConnectionTypeInput; + + std::string t_ConnectionTypeInput = "1"; + + switch (t_ConnectionTypeInput[0]) + { + case '1': + m_ConnectionType = ConnectionType::ConnectionType_Integrated; + m_State = ClientState::ClientState_ConnectingToCore; + break; + case '2': + m_ConnectionType = ConnectionType::ConnectionType_Local; + m_State = ClientState::ClientState_LookingForHosts; + break; + case '3': + m_ConnectionType = ConnectionType::ConnectionType_Remote; + m_State = ClientState::ClientState_LookingForHosts; + break; + default: + m_ConnectionType = ConnectionType::ConnectionType_Invalid; + m_State = ClientState::ClientState_Starting; + ClientLog::print("Invalid input, try again"); + return InitializeSDK(); + } + + // Invalid connection type detected + if (m_ConnectionType == ConnectionType::ConnectionType_Invalid + || m_ConnectionType == ConnectionType::ClientState_MAX_CLIENT_STATE_SIZE) + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + + // before we can use the SDK, some internal SDK bits need to be initialized. + // however after initializing, the SDK is not yet connected to a host or doing anything network related just yet. + bool t_Remote = m_ConnectionType != ConnectionType::ConnectionType_Integrated; + const SDKReturnCode t_InitializeResult = CoreSdk_Initialize(m_ClientType, t_Remote); + if (t_InitializeResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to initialize the Manus Core SDK. The value returned was {}.", (int32_t)t_InitializeResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + const ClientReturnCode t_CallBackResults = RegisterAllCallbacks(); + if (t_CallBackResults != ::ClientReturnCode::ClientReturnCode_Success) + { + ClientLog::error("Failed to initialize callbacks."); + return t_CallBackResults; + } + + // after everything is registered and initialized as seen above + // we must also set the coordinate system being used for the data in this client. + // (each client can have their own settings. unreal and unity for instance use different coordinate systems) + // if this is not set, the SDK will not connect to any Manus core host. + // The coordinate system used for this example is z-up, x-positive, right-handed and in meter scale. + CoordinateSystemVUH t_VUH; + CoordinateSystemVUH_Init(&t_VUH); + t_VUH.handedness = Side::Side_Right; + t_VUH.up = AxisPolarity::AxisPolarity_PositiveZ; + t_VUH.view = AxisView::AxisView_XFromViewer; + t_VUH.unitScale = 1.0f; //1.0 is meters, 0.01 is cm, 0.001 is mm. + + // The above specified coordinate system is used to initialize and the coordinate space is specified (world/local). + const SDKReturnCode t_CoordinateResult = CoreSdk_InitializeCoordinateSystemWithVUH(t_VUH, true); + + /* this is an example if you want to use the other coordinate system instead of VUH (view, up, handedness) + CoordinateSystemDirection t_Direction; + t_Direction.x = AxisDirection::AD_Right; + t_Direction.y = AxisDirection::AD_Up; + t_Direction.z = AxisDirection::AD_Forward; + const SDKReturnCode t_InitializeResult = CoreSdk_InitializeCoordinateSystemWithDirection(t_Direction, true); + */ + + if (t_CoordinateResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to initialize the Manus Core SDK coordinate system. The value returned was {}.", (int32_t)t_InitializeResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief Used to restart and initialize the SDK to make sure a new connection can be set up. +/// This function is used by the client to shutdown the SDK and any connections it has. +/// After that it reinitializes the SDK so that it is ready to connect to a new Manus Core. +ClientReturnCode SDKClient::RestartSDK() +{ + const SDKReturnCode t_ShutDownResult = CoreSdk_ShutDown(); + if (t_ShutDownResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to shutdown the SDK. The value returned was {}.", (int32_t)t_ShutDownResult); + return ClientReturnCode::ClientReturnCode_FailedToShutDownSDK; + } + + const ClientReturnCode t_IntializeResult = InitializeSDK(); + if (t_IntializeResult != ClientReturnCode::ClientReturnCode_Success) + { + ClientLog::error("Failed to initialize the SDK functionality. The value returned was {}.", (int32_t)t_IntializeResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief Used to register the callbacks between sdk and core. +/// Callbacks that are registered functions that get called when a certain 'event' happens, such as data coming in from Manus Core. +/// All of these are optional, but depending on what data you require you may or may not need all of them. +ClientReturnCode SDKClient::RegisterAllCallbacks() +{ + // Register the callback for when manus core is connected to the SDK + // it is optional, but helps trigger your client nicely if needed. + // see the function OnConnectedCallback for more details + const SDKReturnCode t_RegisterConnectCallbackResult = CoreSdk_RegisterCallbackForOnConnect(*OnConnectedCallback); + if (t_RegisterConnectCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for after connecting to Manus Core. The value returned was {}.", (int32_t)t_RegisterConnectCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is disconnected to the SDK + // it is optional, but helps trigger your client nicely if needed. + // see OnDisconnectedCallback for more details. + const SDKReturnCode t_RegisterDisconnectCallbackResult = CoreSdk_RegisterCallbackForOnDisconnect(*OnDisconnectedCallback); + if (t_RegisterDisconnectCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for after disconnecting from Manus Core. The value returned was {}.", (int32_t)t_RegisterDisconnectCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for logging from the SDK + // it is optional, but it might help display the logs at the right time/place + const SDKReturnCode t_RegisterLogCallbackResult = CoreSdk_RegisterCallbackForOnLog(*OnLogCallback); + if (t_RegisterLogCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for logging from the SDK. The value returned was {}.", (int32_t)t_RegisterLogCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending Skeleton data + // it is optional, but without it you can not see any resulting skeleton data. + // see OnSkeletonStreamCallback for more details. + const SDKReturnCode t_RegisterSkeletonCallbackResult = CoreSdk_RegisterCallbackForSkeletonStream(*OnSkeletonStreamCallback); + if (t_RegisterSkeletonCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for processing skeletal data from Manus Core. The value returned was {}.", (int32_t)t_RegisterSkeletonCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending landscape data + // it is optional, but this allows for a reactive adjustment of device information. + const SDKReturnCode t_RegisterLandscapeCallbackResult = CoreSdk_RegisterCallbackForLandscapeStream(*OnLandscapeCallback); + if (t_RegisterLandscapeCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback for landscape from Manus Core. The value returned was {}.", (int32_t)t_RegisterLandscapeCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending System messages + // This is usually not used by client applications unless they want to show errors/events from core. + // see OnSystemCallback for more details. + const SDKReturnCode t_RegisterSystemCallbackResult = CoreSdk_RegisterCallbackForSystemStream(*OnSystemCallback); + if (t_RegisterSystemCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for system feedback from Manus Core. The value returned was {}.", (int32_t)t_RegisterSystemCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending Ergonomics data + // it is optional, but helps trigger your client nicely if needed. + // see OnErgonomicsCallback for more details. + const SDKReturnCode t_RegisterErgonomicsCallbackResult = CoreSdk_RegisterCallbackForErgonomicsStream(*OnErgonomicsCallback); + if (t_RegisterErgonomicsCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for ergonomics data from Manus Core. The value returned was {}.", (int32_t)t_RegisterErgonomicsCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending Raw Skeleton data + // it is optional, but without it you can not see any resulting skeleton data. + // see OnSkeletonStreamCallback for more details. + const SDKReturnCode t_RegisterRawSkeletonCallbackResult = CoreSdk_RegisterCallbackForRawSkeletonStream(*OnRawSkeletonStreamCallback); + if (t_RegisterRawSkeletonCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for processing raw skeletal data from Manus Core. The value returned was {}.", (int32_t)t_RegisterRawSkeletonCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending Tracker data + // it is optional, but without it you can not see any resulting tracker data. + // see OnTrackerStreamCallback for more details. + const SDKReturnCode t_RegisterTrackerCallbackResult = CoreSdk_RegisterCallbackForTrackerStream(*OnTrackerStreamCallback); + if (t_RegisterTrackerCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for processing tracker data from Manus Core. The value returned was {}.", (int32_t)t_RegisterTrackerCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + // Register the callback for when manus core is sending Raw Skeleton data + // it is optional, but without it you can not see any resulting skeleton data. + // see OnGestureStreamCallback for more details. + const SDKReturnCode t_RegisterGestureCallbackResult = CoreSdk_RegisterCallbackForGestureStream(*OnGestureStreamCallback); + if (t_RegisterGestureCallbackResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to register callback function for processing gesture data from Manus Core. The value returned was {}.", (int32_t)t_RegisterGestureCallbackResult); + return ClientReturnCode::ClientReturnCode_FailedToInitialize; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief Simple example of the SDK looking for manus core hosts on the network +/// and display them on screen. +ClientReturnCode SDKClient::LookingForHosts() +{ + ClientLog::print("Looking for hosts..."); + + // Underlying function will sleep for m_SecondsToFindHosts to allow servers to reply. + bool t_ConnectLocally = m_ConnectionType == ConnectionType::ConnectionType_Local; + const SDKReturnCode t_StartResult = CoreSdk_LookForHosts(m_SecondsToFindHosts, t_ConnectLocally); + if (t_StartResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to look for hosts. The error given was {}.", (int32_t)t_StartResult); + + return ClientReturnCode::ClientReturnCode_FailedToFindHosts; + } + + m_NumberOfHostsFound = 0; + const SDKReturnCode t_NumberResult = CoreSdk_GetNumberOfAvailableHostsFound(&m_NumberOfHostsFound); + if (t_NumberResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get the number of available hosts. The error given was {}.", (int32_t)t_NumberResult); + + return ClientReturnCode::ClientReturnCode_FailedToFindHosts; + } + + if (m_NumberOfHostsFound == 0) + { + ClientLog::warn("No hosts found."); + m_State = ClientState::ClientState_NoHostsFound; + + return ClientReturnCode::ClientReturnCode_FailedToFindHosts; + } + + m_AvailableHosts.reset(new ManusHost[m_NumberOfHostsFound]); + const SDKReturnCode t_HostsResult = CoreSdk_GetAvailableHostsFound(m_AvailableHosts.get(), m_NumberOfHostsFound); + if (t_HostsResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get the available hosts. The error given was {}.", (int32_t)t_HostsResult); + + return ClientReturnCode::ClientReturnCode_FailedToFindHosts; + } + + if (t_ConnectLocally) + { + m_State = ClientState::ClientState_ConnectingToCore; + return ClientReturnCode::ClientReturnCode_Success; + } + + m_State = ClientState::ClientState_PickingHost; + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief When no available hosts are found the user can either retry or exit. +ClientReturnCode SDKClient::NoHostsFound() +{ + if (m_ConsoleClearTickCount == 0) + { + AdvanceConsolePosition(-1); + ClientLog::print("No hosts were found. Retry?"); + ClientLog::print("[R] retry"); + ClientLog::print("[ESC] exit"); + } + + if (GetKeyDown('R')) + { + ClientLog::print("Retrying."); + + m_State = ClientState::ClientState_LookingForHosts; + } + + // Note: escape is handled by default below. + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief Print the found hosts and give the user the option to select one. +ClientReturnCode SDKClient::PickingHost() +{ + if (m_ConsoleClearTickCount == 0) + { + AdvanceConsolePosition(-1); + + ClientLog::print("[R] retry [ESC] exit"); + ClientLog::print("Pick a host to connect to."); + ClientLog::print("Found the following hosts:"); + + // Note: only 10 hosts are shown, to match the number of number keys, for easy selection. + for (unsigned int t_HostNumber = 0; t_HostNumber < 10 && t_HostNumber < m_NumberOfHostsFound; t_HostNumber++) + { + ClientLog::print( + "[{}] hostname \"{}\", IP address \"{}\" Version {}.{}.{}", + t_HostNumber, + m_AvailableHosts[t_HostNumber].hostName, + m_AvailableHosts[t_HostNumber].ipAddress, + m_AvailableHosts[t_HostNumber].manusCoreVersion.major, + m_AvailableHosts[t_HostNumber].manusCoreVersion.minor, + m_AvailableHosts[t_HostNumber].manusCoreVersion.patch); + } + } + + for (unsigned int t_HostNumber = 0; t_HostNumber < 10 && t_HostNumber < m_NumberOfHostsFound; t_HostNumber++) + { + if (GetKeyDown('0' + t_HostNumber)) + { + ClientLog::print("Selected host {}.", t_HostNumber); + + m_HostToConnectTo = t_HostNumber; + m_State = ClientState::ClientState_ConnectingToCore; + + break; + } + } + + if (GetKeyDown('R')) + { + ClientLog::print("Retrying."); + m_State = ClientState::ClientState_LookingForHosts; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief After a connection option was selected, the client will now try to connect to manus core via the SDK. +ClientReturnCode SDKClient::ConnectingToCore() +{ + SDKReturnCode t_ConnectResult = SDKReturnCode::SDKReturnCode_Error; + switch (m_ConnectionType) + { + case ConnectionType::ConnectionType_Integrated: + { + ManusHost t_Empty; + ManusHost_Init(&t_Empty); + t_ConnectResult = CoreSdk_ConnectToHost(t_Empty); + break; + } + case ConnectionType::ConnectionType_Local: + { + t_ConnectResult = CoreSdk_ConnectToHost(m_AvailableHosts[0]); + break; + } + case ConnectionType::ConnectionType_Remote: + { + t_ConnectResult = CoreSdk_ConnectToHost(m_AvailableHosts[m_HostToConnectTo]); + break; + } + } + + if (t_ConnectResult == SDKReturnCode::SDKReturnCode_NotConnected) + { + m_State = ClientState::ClientState_NoHostsFound; + + return ClientReturnCode::ClientReturnCode_Success; // Differentiating between error and no connect + } + if (t_ConnectResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to connect to Core. The error given was {}.", (int32_t)t_ConnectResult); + + return ClientReturnCode::ClientReturnCode_FailedToConnect; + } + + m_State = ClientState::ClientState_DisplayingData; + + // Note: a log message from somewhere in the SDK during the connection process can cause text + // to permanently turn green after this step. Adding a sleep here of 2+ seconds "fixes" the + // issue. It seems to be caused by a threading issue somewhere, resulting in a log call being + // interrupted while it is printing the green [info] text. The log output then gets stuck in + // green mode. + + return ClientReturnCode::ClientReturnCode_Success; +} + + +/// @brief Some things happen before every display update, no matter what state. +/// They happen here, such as the updating of the landscape and the generated tracker +/// @return +ClientReturnCode SDKClient::UpdateBeforeDisplayingData() +{ + AdvanceConsolePosition(-1); + + m_SkeletonMutex.lock(); + if (m_NextSkeleton != nullptr) + { + if (m_Skeleton != nullptr)delete m_Skeleton; + m_Skeleton = m_NextSkeleton; + m_NextSkeleton = nullptr; + } + m_SkeletonMutex.unlock(); + + m_RawSkeletonMutex.lock(); + if (m_NextRawSkeleton != nullptr) + { + if (m_RawSkeleton != nullptr)delete m_RawSkeleton; + m_RawSkeleton = m_NextRawSkeleton; + m_NextRawSkeleton = nullptr; + } + m_RawSkeletonMutex.unlock(); + + m_TrackerMutex.lock(); + if (m_NextTrackerData != nullptr) + { + if (m_TrackerData != nullptr)delete m_TrackerData; + m_TrackerData = m_NextTrackerData; + m_NextTrackerData = nullptr; + } + m_TrackerMutex.unlock(); + + m_GestureMutex.lock(); + if (m_NewFirstLeftGloveGestures != nullptr) + { + if (m_FirstLeftGloveGestures != nullptr) delete m_FirstLeftGloveGestures; + m_FirstLeftGloveGestures = m_NewFirstLeftGloveGestures; + m_NewFirstLeftGloveGestures = nullptr; + } + if (m_NewFirstRightGloveGestures != nullptr) + { + if (m_FirstRightGloveGestures != nullptr) delete m_FirstRightGloveGestures; + m_FirstRightGloveGestures = m_NewFirstRightGloveGestures; + m_NewFirstRightGloveGestures = nullptr; + } + m_GestureMutex.unlock(); + + m_LandscapeMutex.lock(); + if (m_NewLandscape != nullptr) + { + if (m_Landscape != nullptr) + { + delete m_Landscape; + } + m_Landscape = m_NewLandscape; + m_NewLandscape = nullptr; + m_GestureLandscapeData.swap(m_NewGestureLandscapeData); + } + m_LandscapeMutex.unlock(); + + m_FirstLeftGloveID = 0; + m_FirstRightGloveID = 0; + if (m_Landscape == nullptr)return ClientReturnCode::ClientReturnCode_Success; + for (size_t i = 0; i < m_Landscape->gloveDevices.gloveCount; i++) + { + if (m_FirstLeftGloveID == 0 && m_Landscape->gloveDevices.gloves[i].side == Side::Side_Left) + { + m_FirstLeftGloveID = m_Landscape->gloveDevices.gloves[i].id; + continue; + } + if (m_FirstRightGloveID == 0 && m_Landscape->gloveDevices.gloves[i].side == Side::Side_Right) + { + m_FirstRightGloveID = m_Landscape->gloveDevices.gloves[i].id; + continue; + } + } + + return ClientReturnCode::ClientReturnCode_Success; +} + + +/// @brief Once the connections are made we loop this function +/// it calls all the input handlers for different aspects of the SDK +/// and then prints any relevant data of it. +ClientReturnCode SDKClient::DisplayingData() +{ + ClientLog::print("<
> [ESC] quit"); + ClientLog::print("[G] Go To Gloves & Dongle Menu"); + ClientLog::print("[S] Go To Skeleton Menu"); + ClientLog::print("[X] Go To Temporary Skeleton Menu"); + ClientLog::print("[T] Go To Tracker Menu"); + ClientLog::print("[D] Go To Landscape Time Info"); + ClientLog::print("[J] Go To Gestures Menu"); + ClientLog::print("[C] Go To Glove Calibration Menu"); + ClientLog::print("[P] Go To Pairing Menu"); + + AdvanceConsolePosition(10); + + GO_TO_DISPLAY('G', DisplayingDataGlove) + GO_TO_DISPLAY('S', DisplayingDataSkeleton) + GO_TO_DISPLAY('X', DisplayingDataTemporarySkeleton) + GO_TO_DISPLAY('T', DisplayingDataTracker) + GO_TO_DISPLAY('D', DisplayingLandscapeTimeData) + GO_TO_DISPLAY('J', DisplayingDataGestures) + GO_TO_DISPLAY('C', DisplayingGloveCalibration) + GO_TO_DISPLAY('P', DisplayingPairing) + + PrintSystemMessage(); + + // AdvanceConsolePosition(10); + // GO_TO_DISPLAY('G', DisplayingDataGlove) + // PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief display the ergonomics data of the gloves, and handles haptic commands. +/// @return +ClientReturnCode SDKClient::DisplayingDataGlove() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print("Haptic keys: left:([1]-[5] = pinky-thumb.) right:([6]-[0] = thumb-pinky.)"); + + AdvanceConsolePosition(3); + + GO_TO_MENU_IF_REQUESTED() + + HandleHapticCommands(); + + PrintErgonomicsData(); + PrintDongleData(); + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingDataSkeleton() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print(" [B] Load Left Hand Skeleton [N] Load Right Hand Skeleton [M] Unload Skeleton"); + ClientLog::print(" [D] Toggle Send to DevTools ({})", m_SendToDevTools); + ClientLog::print(" left:([1]-[5] = pinky-thumb) right:([6]-[0] = thumb-pinky)"); + + AdvanceConsolePosition(4); + + GO_TO_MENU_IF_REQUESTED() + + HandleSkeletonCommands(); + HandleSkeletonHapticCommands(); + + PrintSkeletonData(); + + AdvanceConsolePosition(1); + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingDataTracker() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print("[O] Toggle Test Tracker [G] Toggle per user tracker display [T] Set Tracker Offset to Left Wrist"); + + AdvanceConsolePosition(3); + + GO_TO_MENU_IF_REQUESTED() + HandleTrackerCommands(); + + PrintRawSkeletonData(); + + PrintTrackerData(); + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingDataTemporarySkeleton() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print("[A] Auto allocate chains and load skeleton"); + ClientLog::print("[B] Build Temporary Skeleton [C] Clear Temporary Skeleton [D] Clear All Temporary Skeletons For The Current Session"); + ClientLog::print("[E] Save Temporary Skeleton To File, [F] Get Temporary Skeleton From File"); + + AdvanceConsolePosition(5); + + GO_TO_MENU_IF_REQUESTED() + + HandleTemporarySkeletonCommands(); + + PrintTemporarySkeletonInfo(); + GetTemporarySkeletonIfModified(); + + AdvanceConsolePosition(3); + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingLandscapeTimeData() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + + AdvanceConsolePosition(2); + + GO_TO_MENU_IF_REQUESTED() + + PrintLandscapeTimeData(); + + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingDataGestures() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print("[H] Show other Hand"); + + AdvanceConsolePosition(3); + + GO_TO_MENU_IF_REQUESTED() + + HandleGesturesCommands(); + + PrintGestureData(); + + AdvanceConsolePosition(1); + + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingGloveCalibration() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print("[H] Toggle other Hand [P] Add 1 to the calibration step [M] Remove 1 from the calibration step"); + ClientLog::print("[S] Start glove calibration [C] Cancel glove calibration [F] Finish glove calibration"); + ClientLog::print("[E] Execute calibration step"); + + AdvanceConsolePosition(5); + + GO_TO_MENU_IF_REQUESTED() + + HandleGloveCalibrationCommands(); + + PrintGloveCalibrationData(); + + AdvanceConsolePosition(3); + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +ClientReturnCode SDKClient::DisplayingPairing() +{ + ClientLog::print("[Q] Back <> [ESC] quit"); + ClientLog::print("<> [P] Pair first available Glove"); + ClientLog::print("<> [U] Unpair first available Glove"); + + + GO_TO_MENU_IF_REQUESTED() + + HandlePairingCommands(); + + AdvanceConsolePosition(4); + PrintSystemMessage(); + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief When the SDK loses the connection with Core the user can either +/// close the sdk or try to reconnect to a local or to a remote host. +ClientReturnCode SDKClient::DisconnectedFromCore() +{ + if (m_Host == nullptr) { return ClientReturnCode::ClientReturnCode_FailedToConnect; } + + AdvanceConsolePosition(-1); + + auto t_Duration = std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - m_TimeSinceLastDisconnect).count(); + ClientLog::print("The SDK lost connection with Manus Core {} seconds ago.", t_Duration); + ClientLog::print("[P] Pick a new host. [ESC] exit"); + + AdvanceConsolePosition(3); + + bool t_ConnectLocally = m_ConnectionType == ConnectionType::ConnectionType_Local; + if (t_ConnectLocally) + { + ClientLog::print("Automatically trying to reconnect to local host."); + + ClientReturnCode t_ReconnectResult = ReconnectingToCore(); + if (t_ReconnectResult != ClientReturnCode::ClientReturnCode_FailedToConnect) + { + return t_ReconnectResult; + } + } + else + { + ClientLog::print("[R] Try to reconnect to the last host {} at {}.", m_Host->hostName, m_Host->ipAddress); + if (GetKeyDown('R')) + { + ClientLog::print("Reconnecting"); + + ClientReturnCode t_ReconnectResult = ReconnectingToCore(m_SecondsToAttemptReconnecting, m_MaxReconnectionAttempts); + if (t_ReconnectResult != ClientReturnCode::ClientReturnCode_FailedToConnect) + { + return t_ReconnectResult; + } + } + } + + AdvanceConsolePosition(10); + + + if (GetKeyDown('P')) + { + ClientLog::print("Picking new host."); + + // Restarting and initializing CoreConnection to make sure a new connection can be set up + const ClientReturnCode t_RestartResult = RestartSDK(); + if (t_RestartResult != ClientReturnCode::ClientReturnCode_Success) + { + ClientLog::error("Failed to Restart CoreConnection."); + return ClientReturnCode::ClientReturnCode_FailedToRestart; + } + + m_State = ClientState::ClientState_LookingForHosts; + } + + return ClientReturnCode::ClientReturnCode_Success; +} + +/// @brief It is called when the sdk is disconnected from Core and the user select one of the options to reconnect. +ClientReturnCode SDKClient::ReconnectingToCore(int32_t p_ReconnectionTime, int32_t p_ReconnectionAttempts) +{ + if (p_ReconnectionTime <= 0) { p_ReconnectionTime = std::numeric_limits::max(); } + if (p_ReconnectionAttempts <= 0) { p_ReconnectionAttempts = std::numeric_limits::max(); } + + // Restarting and initializing CoreConnection to make sure a new connection can be set up + const ClientReturnCode t_RestartResult = RestartSDK(); + if (t_RestartResult != ClientReturnCode::ClientReturnCode_Success) + { + ClientLog::error("Failed to Restart CoreConnection."); + return ClientReturnCode::ClientReturnCode_FailedToRestart; + } + + std::chrono::high_resolution_clock::time_point t_Start = std::chrono::high_resolution_clock::now(); + int t_Attempt = 0; + while ((p_ReconnectionAttempts > 0) && (p_ReconnectionTime > 0)) + { + ClientLog::print("Trying to reconnect to {} at {}. Attempt {}.", m_Host->hostName, m_Host->ipAddress, t_Attempt); + ClientLog::print("Attempts remaining: {}. Seconds before time out: {}.", p_ReconnectionAttempts, p_ReconnectionTime); + + bool t_ConnectLocally = m_ConnectionType == ConnectionType::ConnectionType_Local; + if (t_ConnectLocally) + { + ClientReturnCode t_ConnectionResult = LookingForHosts(); + if (t_ConnectionResult == ClientReturnCode::ClientReturnCode_Success) + { + ClientLog::print("Reconnected to ManusCore."); + return ClientReturnCode::ClientReturnCode_Success; + } + } + else + { + SDKReturnCode t_ConnectionResult = CoreSdk_ConnectToHost(*m_Host.get()); + if (t_ConnectionResult == SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::print("Reconnected to ManusCore."); + return ClientReturnCode::ClientReturnCode_Success; + } + } + std::this_thread::sleep_for(std::chrono::milliseconds(m_SleepBetweenReconnectingAttemptsInMs)); + p_ReconnectionTime -= static_cast(std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - t_Start).count()); + --p_ReconnectionAttempts; + ++t_Attempt; + } + + ClientLog::print("Failed to reconnect to ManusCore."); + m_State = ClientState::ClientState_Disconnected; + return ClientReturnCode::ClientReturnCode_FailedToConnect; +} + + +/// @brief Prints the ergonomics data of a hand. +/// @param p_ErgoData +void SDKClient::PrintHandErgoData(ErgonomicsData& p_ErgoData, bool p_Left) +{ + const std::string t_FingerNames[NUM_FINGERS_ON_HAND] = { "[thumb] ", "[index] ", "[middle]", "[ring] ", "[pinky] " }; + const std::string t_FingerJointNames[NUM_FINGERS_ON_HAND] = { "mcp", "pip", "dip" }; + const std::string t_ThumbJointNames[NUM_FINGERS_ON_HAND] = { "cmc", "mcp", "ip " }; + + int t_DataOffset = 0; + if (!p_Left)t_DataOffset = 20; + + const std::string* t_JointNames = t_ThumbJointNames; + for (unsigned int t_FingerNumber = 0; t_FingerNumber < NUM_FINGERS_ON_HAND; t_FingerNumber++) + { + ClientLog::printWithPadding("{} {} spread: {}, {} stretch: {}, {} stretch: {}, {} stretch: {} ", 6, + t_FingerNames[t_FingerNumber], // Name of the finger. + t_JointNames[0], + RoundFloatValue(p_ErgoData.data[t_DataOffset], 2), + t_JointNames[0], + RoundFloatValue(p_ErgoData.data[t_DataOffset + 1], 2), + t_JointNames[1], + RoundFloatValue(p_ErgoData.data[t_DataOffset + 2], 2), + t_JointNames[2], + RoundFloatValue(p_ErgoData.data[t_DataOffset + 3], 2)); + t_JointNames = t_FingerJointNames; + t_DataOffset += 4; + } +} + +/// @brief Print the ergonomics data received from Core. +void SDKClient::PrintErgonomicsData() +{ + // for testing purposes we only look at the first 2 gloves available + ClientLog::print(" -- Ergo Timestamp {}:{}:{}.{} ~ {}/{}/{}(D/M/Y)", + m_ErgoTimestampInfo.hour, m_ErgoTimestampInfo.minute, m_ErgoTimestampInfo.second, m_ErgoTimestampInfo.fraction, + m_ErgoTimestampInfo.day, m_ErgoTimestampInfo.month, std::to_string(m_ErgoTimestampInfo.year)); + ClientLog::print(" -- Left Glove -- 0x{} - Angles in degrees", m_FirstLeftGloveID); + if (m_LeftGloveErgoData.id == m_FirstLeftGloveID) + { + PrintHandErgoData(m_LeftGloveErgoData, true); + } + else + { + ClientLog::print(" ...No Data..."); + } + ClientLog::print(" -- Right Glove -- 0x{} - Angles in degrees", m_FirstRightGloveID); + if (m_RightGloveErgoData.id == m_FirstRightGloveID) + { + PrintHandErgoData(m_RightGloveErgoData, false); + } + else + { + ClientLog::print(" ...No Data..."); + } + + AdvanceConsolePosition(14); +} + +std::string ConvertDeviceClassTypeToString(DeviceClassType p_Type) +{ + switch (p_Type) + { + case DeviceClassType_Dongle: + return "Dongle"; + case DeviceClassType_Glove: + return "Glove"; + case DeviceClassType_Glongle: + return "Glongle (Glove Dongle)"; + default: + return "Unknown"; + } +} + +std::string ConvertDeviceFamilyTypeToString(DeviceFamilyType p_Type) +{ + switch (p_Type) + { + case DeviceFamilyType_Prime1: + return "Prime 1"; + case DeviceFamilyType_Prime2: + return "Prime 2"; + case DeviceFamilyType_PrimeX: + return "Prime X"; + case DeviceFamilyType_Metaglove: + return "Metaglove"; + case DeviceFamilyType_Prime3: + return "Prime 3"; + case DeviceFamilyType_Virtual: + return "Virtual"; + case DeviceFamilyType_MetaglovePro: + return "Metaglove Pro"; + default: + return "Unknown"; + } +} + +/// @brief Print the ergonomics data received from Core. +void SDKClient::PrintDongleData() +{ + // get a dongle id + uint32_t t_DongleCount = m_Landscape->gloveDevices.dongleCount; + if (t_DongleCount == 0) return; // we got no gloves to work on anyway! + + DongleLandscapeData t_DongleData; + + for (uint32_t i = 0; i < t_DongleCount; i++) + { + t_DongleData = m_Landscape->gloveDevices.dongles[i]; + ClientLog::print(" -- Dongle -- 0x{}", t_DongleData.id); + + ClientLog::print(" Type: {} - {}", + ConvertDeviceClassTypeToString(t_DongleData.classType), + ConvertDeviceFamilyTypeToString(t_DongleData.familyType)); + ClientLog::print(" License: {}", t_DongleData.licenseType); + + AdvanceConsolePosition(4); + } +} + +/// @brief Prints the last received system messages received from Core. +void SDKClient::PrintSystemMessage() +{ + m_SystemMessageMutex.lock(); + ClientLog::print(""); //blank line + ClientLog::print("Received System data:{} / code:{}", m_SystemMessage, (int32_t)m_SystemMessageCode); + m_SystemMessageMutex.unlock(); +} + +/// @brief Prints the finalized skeleton data received from Core. +/// Since our console cannot render this data visually in 3d (its not in the scope of this client) +/// we only display a little bit of data of the skeletons we receive. +void SDKClient::PrintSkeletonData() +{ + if (m_Skeleton == nullptr || m_Skeleton->skeletons.size() == 0) + { + return; + } + + ClientLog::print("Received Skeleton data. skeletons:{} first skeleton id:{}", m_Skeleton->skeletons.size(), (int32_t)m_Skeleton->skeletons[0].info.id); + + AdvanceConsolePosition(2); +} + +void SDKClient::PrintRawSkeletonData() +{ + if (m_RawSkeleton == nullptr || m_RawSkeleton->skeletons.size() == 0) + { + return; + } + ClientLog::print("Received Skeleton glove data from Core. skeletons:{} first skeleton glove id:{}", m_RawSkeleton->skeletons.size(), m_RawSkeleton->skeletons[0].info.gloveId); + + if (m_FirstLeftGloveID == 0 && m_FirstRightGloveID == 0) return; // no gloves connected to core + + uint32_t t_NodeCount = 0; + uint32_t t_GloveId; + if (m_FirstLeftGloveID != 0) + { + t_GloveId = m_FirstLeftGloveID; + } + else + { + t_GloveId = m_FirstRightGloveID; + } + // we need to know the number of nodes in the hierarchy, so we can initialize an array with the correct size. + SDKReturnCode t_Result = CoreSdk_GetRawSkeletonNodeCount(t_GloveId, t_NodeCount); + if (t_Result != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get Raw Skeleton Node Count. The error given was {}.", (int32_t)t_Result); + return; + } + + // now get the hierarchy data, this can be used to reconstruct the positions of each node in case the user set up the system with a local coordinate system, and to know what each node is exactly. + // having a node position defined as local means that this will be related to its parent + NodeInfo* t_NodeInfo = new NodeInfo[t_NodeCount]; + t_Result = CoreSdk_GetRawSkeletonNodeInfoArray(t_GloveId, t_NodeInfo, t_NodeCount); + if (t_Result != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get Raw Skeleton Hierarchy. The error given was {}.", (int32_t)t_Result); + return; + } + + ClientLog::print("Fetched array with Raw Skeleton Hierarchy with {} nodes.", (int32_t)t_NodeCount); + AdvanceConsolePosition(2); +} + +/// @brief Prints the tracker data +/// Since our console cannot render this data visually in 3d (its not in the scope of this client) +/// we only display a little bit of data of the trackers we receive. +void SDKClient::PrintTrackerData() +{ + ClientLog::print("Tracker test active: {}.", m_TrackerTest); //To show that test tracker is being sent to core + ClientLog::print("Per user tracker display: {}.", m_TrackerDataDisplayPerUser); + + AdvanceConsolePosition(2); + + if (m_TrackerDataDisplayPerUser) + { + PrintTrackerDataPerUser(); + AdvanceConsolePosition(10); + } + else + { + PrintTrackerDataGlobal(); + AdvanceConsolePosition(3); + } + + // now, as a test, print the tracker data received from the stream + if (m_TrackerData == nullptr || m_TrackerData->trackerData.size() == 0) + { + return; + } + + ClientLog::print("Received Tracker data. number of received trackers:{} first tracker type:{}", m_TrackerData->trackerData.size(), (int32_t)m_TrackerData->trackerData[0].trackerType); +} + +/// @brief Prints the tracker data without taking users into account. +/// This shows how one can get the tracker data that is being streamed without caring about users. +void SDKClient::PrintTrackerDataGlobal() +{ + uint32_t t_NumberOfAvailabletrackers = 0; + SDKReturnCode t_TrackerResult = CoreSdk_GetNumberOfAvailableTrackers(&t_NumberOfAvailabletrackers); + if (t_TrackerResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get tracker data. The error given was {}.", (int32_t)t_TrackerResult); + return; + } + + ClientLog::print("received available trackers :{} ", t_NumberOfAvailabletrackers); + + if (t_NumberOfAvailabletrackers == 0) return; // nothing else to do. + TrackerId* t_TrackerId = new TrackerId[t_NumberOfAvailabletrackers]; + t_TrackerResult = CoreSdk_GetIdsOfAvailableTrackers(t_TrackerId, t_NumberOfAvailabletrackers); + if (t_TrackerResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get tracker data. The error given was {}.", (int32_t)t_TrackerResult); + return; + } +} + +/// @brief Prints the tracker data per user, this shows how to access this data for each user. +void SDKClient::PrintTrackerDataPerUser() +{ + uint32_t t_NumberOfAvailableUsers = 0; + SDKReturnCode t_UserResult = CoreSdk_GetNumberOfAvailableUsers(&t_NumberOfAvailableUsers); + if (t_UserResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get user count. The error given was {}.", (int32_t)t_UserResult); + return; + } + if (t_NumberOfAvailableUsers == 0) return; // nothing to get yet + + + for (uint32_t i = 0; i < t_NumberOfAvailableUsers; i++) + { + uint32_t t_NumberOfAvailabletrackers = 0; + SDKReturnCode t_TrackerResult = CoreSdk_GetNumberOfAvailableTrackersForUserIndex(&t_NumberOfAvailabletrackers, i); + if (t_TrackerResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get tracker data. The error given was {}.", (int32_t)t_TrackerResult); + return; + } + + if (t_NumberOfAvailabletrackers == 0) continue; + + ClientLog::print("received available trackers for user index[{}] :{} ", i, t_NumberOfAvailabletrackers); + + if (t_NumberOfAvailabletrackers == 0) return; // nothing else to do. + TrackerId* t_TrackerId = new TrackerId[t_NumberOfAvailabletrackers]; + t_TrackerResult = CoreSdk_GetIdsOfAvailableTrackersForUserIndex(t_TrackerId, i, t_NumberOfAvailabletrackers); + if (t_TrackerResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get tracker data. The error given was {}.", (int32_t)t_TrackerResult); + return; + } + } +} + +std::string GetFPSEnumName(TimecodeFPS p_FPS) +{ + switch (p_FPS) + { + case TimecodeFPS::TimecodeFPS_23_976: + return "23.976 FPS (24 dropframe)"; + case TimecodeFPS::TimecodeFPS_24: + return "24 FPS"; + case TimecodeFPS::TimecodeFPS_25: + return "25 FPS"; + case TimecodeFPS::TimecodeFPS_29_97: + return "29.97 FPS (30 dropframe)"; + case TimecodeFPS::TimecodeFPS_30: + return "30 FPS"; + case TimecodeFPS::TimecodeFPS_50: + return "50 FPS"; + case TimecodeFPS::TimecodeFPS_59_94: + return "59.94 FPS (60 dropframe)"; + case TimecodeFPS::TimecodeFPS_60: + return "60 FPS"; + default: + return "Undefined FPS"; + } +} + +void SDKClient::PrintLandscapeTimeData() +{ + ClientLog::print("Total count of Interfaces: {}", m_Landscape->time.interfaceCount); + ClientLog::print("Current Interface: {} {} at index {}", m_Landscape->time.currentInterface.name, m_Landscape->time.currentInterface.api, m_Landscape->time.currentInterface.index); + + ClientLog::print("FPS: {}", GetFPSEnumName(m_Landscape->time.fps)); + ClientLog::print("Fake signal: {} | Sync Pulse: {} | Sync Status: {}", m_Landscape->time.fakeTimecode, m_Landscape->time.useSyncPulse, m_Landscape->time.syncStatus); + ClientLog::print("Device keep alive: {} | Timecode Status: {}", m_Landscape->time.deviceKeepAlive, m_Landscape->time.timecodeStatus); + + AdvanceConsolePosition(6); +} + +void SDKClient::PrintGestureData() +{ + ClientGestures* t_Gest = m_FirstLeftGloveGestures; + std::string t_Side = "Left"; + if (!m_ShowLeftGestures) + { + t_Side = "Right"; + t_Gest = m_FirstRightGloveGestures; + } + + if (t_Gest == nullptr) + { + ClientLog::print("No Gesture information for first {} glove.", t_Side); + AdvanceConsolePosition(1); + return; + } + ClientLog::print("Total count of gestures for the {} glove: {}", t_Side, t_Gest->info.totalGestureCount); + uint32_t t_Max = t_Gest->info.totalGestureCount; + if (t_Max > 20) t_Max = 20; + ClientLog::print("Showing result of first {} gestures.", t_Max); + for (uint32_t i = 0; i < t_Max; i++) + { + char* t_Name = ""; + for (uint32_t g = 0; g < m_GestureLandscapeData.size(); g++) + { + if (m_GestureLandscapeData[g].id == t_Gest->probabilities[i].id) + { + t_Name = m_GestureLandscapeData[g].name; + } + } + ClientLog::print("Gesture {} ({}) has a probability of {}%.", t_Name, t_Gest->probabilities[i].id, t_Gest->probabilities[i].percent * 100.0f); + } + + AdvanceConsolePosition(t_Max + 2); +} + +void SDKClient::PrintGloveCalibrationData() +{ + std::string t_Side = "Left"; + if (!m_CalibrateLeftHand) + { + t_Side = "Right"; + } + ClientLog::print("Calibrating: {} - Step {} ", t_Side, m_CalibrationStep); + ClientLog::print("Glove: {}", m_CalibrationGloveId); + ClientLog::print("Number of steps: {}", m_NumberOfCalibrationSteps); + ClientLog::print("Title: {}", m_StepData.title); + ClientLog::print("Description: {}", m_StepData.description); + ClientLog::print("Time: {}", m_StepData.time); + ClientLog::print("In progress: {}", m_IsCalibrationInProgress); + ClientLog::print("Message: {}", m_CalibrationMessage); + + AdvanceConsolePosition(6); +} + +/// @brief Prints the type of the first chain generated by the AllocateChain function, this is used for testing. +void SDKClient::PrintSkeletonInfo() +{ + switch (m_ChainType) + { + case ChainType::ChainType_FingerIndex: + { + ClientLog::print("received Skeleton chain type: ChainType_FingerIndex"); + break; + } + case ChainType::ChainType_FingerMiddle: + { + ClientLog::print("received Skeleton chain type: ChainType_FingerMiddle"); + break; + } + case ChainType::ChainType_FingerPinky: + { + ClientLog::print("received Skeleton chain type: ChainType_FingerPinky"); + break; + } + case ChainType::ChainType_FingerRing: + { + ClientLog::print("received Skeleton chain type: ChainType_FingerRing"); + break; + } + case ChainType::ChainType_FingerThumb: + { + ClientLog::print("received Skeleton chain type: ChainType_FingerThumb"); + break; + } + case ChainType::ChainType_Hand: + { + ClientLog::print("received Skeleton chain type: ChainType_Hand"); + break; + } + case ChainType::ChainType_Head: + { + ClientLog::print("received Skeleton chain type: ChainType_Head"); + break; + } + case ChainType::ChainType_Leg: + { + ClientLog::print("received Skeleton chain type: ChainType_Leg"); + break; + } + case ChainType::ChainType_Neck: + { + ClientLog::print("received Skeleton chain type: ChainType_Neck"); + break; + } + case ChainType::ChainType_Pelvis: + { + ClientLog::print("received Skeleton chain type: ChainType_Pelvis"); + break; + } + case ChainType::ChainType_Shoulder: + { + ClientLog::print("received Skeleton chain type: ChainType_Shoulder"); + break; + } + case ChainType::ChainType_Spine: + { + ClientLog::print("received Skeleton chain type: ChainType_Spine"); + break; + } + case ChainType::ChainType_Arm: + { + ClientLog::print("received Skeleton chain type: ChainType_Arm"); + break; + } + case ChainType_Foot: + { + ClientLog::print("received Skeleton chain type: ChainType_Foot"); + break; + } + case ChainType_Toe: + { + ClientLog::print("received Skeleton chain type: ChainType_Toe"); + break; + } + case ChainType::ChainType_Invalid: + default: + { + ClientLog::print("received Skeleton chain type: ChainType_Invalid"); + break; + } + } + AdvanceConsolePosition(2); +} + +/// @brief This support function checks if a temporary skeleton related to the current session has been modified and gets it. +/// Whenever the Dev Tools saves the changes to the skeleton, it sets the boolean t_IsSkeletonModified to true for that skeleton. +/// With callback OnSystemCallback this application can be notified when one of its temporary skeletons has been modified, so it can get it and, potentially, load it. +void SDKClient::GetTemporarySkeletonIfModified() +{ + // if a temporary skeleton associated to the current session has been modified we can get it and, potentially, load it + if (m_ModifiedSkeletonIndex != UINT_MAX) + { + // get the temporary skeleton + uint32_t t_SessionId = m_SessionId; + SDKReturnCode t_Res = CoreSdk_GetTemporarySkeleton(m_ModifiedSkeletonIndex, t_SessionId); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get temporary skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // At this point if we are satisfied with the modifications to the skeleton we can load it into Core. + // Remember to always call function CoreSdk_ClearTemporarySkeleton after loading a temporary skeleton, + // this will keep the temporary skeleton list in sync between Core and the SDK. + + //uint32_t t_ID = 0; + //SDKReturnCode t_Res = CoreSdk_LoadSkeleton(m_ModifiedSkeletonIndex, &t_ID); + //if (t_Res != SDKReturnCode::SDKReturnCode_Success) + //{ + // ClientLog::error("Failed to load skeleton. The error given was {}.", t_Res); + // return; + //} + //if (t_ID == 0) + //{ + // ClientLog::error("Failed to give skeleton an ID."); + //} + //m_LoadedSkeletons.push_back(t_ID); + //t_Res = CoreSdk_ClearTemporarySkeleton(m_ModifiedSkeletonIndex, m_SessionId); + //if (t_Res != SDKReturnCode::SDKReturnCode_Success) + //{ + // ClientLog::error("Failed to clear temporary skeleton. The error given was {}.", t_Res); + // return; + //} + m_ModifiedSkeletonIndex = UINT_MAX; + } +} +/// @brief This support function gets the temporary skeletons for all sessions connected to Core and it prints the total number of temporary skeletons associated to the current session. +/// Temporary skeletons are used for auto allocation and in the Dev Tools. +void SDKClient::PrintTemporarySkeletonInfo() +{ + ClientLog::print("Number of temporary skeletons in the SDK: {} ", m_TemporarySkeletons.size()); + + static uint32_t t_TotalNumberOfTemporarySkeletonsInCore = 0; + auto t_TimeSinceLastTemporarySkeletonUpdate = std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - m_LastTemporarySkeletonUpdate).count(); + if (t_TimeSinceLastTemporarySkeletonUpdate < static_cast(MILLISECONDS_BETWEEN_TEMPORARY_SKELETONS_UPDATE)) + { + ClientLog::print("Total number of temporary skeletons in core: {} ", t_TotalNumberOfTemporarySkeletonsInCore); + return; + } + TemporarySkeletonCountForAllSessions t_TemporarySkeletonCountForAllSessions; + SDKReturnCode t_Res = CoreSdk_GetTemporarySkeletonCountForAllSessions(&t_TemporarySkeletonCountForAllSessions); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get all temporary skeletons. The error given was {}.", (int32_t)t_Res); + return; + } + + t_TotalNumberOfTemporarySkeletonsInCore = 0; + for (uint32_t i = 0; i < t_TemporarySkeletonCountForAllSessions.sessionsCount; i++) + { + t_TotalNumberOfTemporarySkeletonsInCore += t_TemporarySkeletonCountForAllSessions.temporarySkeletonCountForSessions[i].skeletonCount; + } + + // print total number of temporary skeletons: + ClientLog::print("Total number of temporary skeletons in core: {} ", t_TotalNumberOfTemporarySkeletonsInCore); + m_LastTemporarySkeletonUpdate = std::chrono::high_resolution_clock::now(); +} + +void SDKClient::HandlePairingCommands() +{ + if (GetKeyDown('P')) // press P to pair + { + PairGlove(); + } + + if (GetKeyDown('U')) // press U to Unpair + { + UnpairGlove(); + } +} + +/// @brief This showcases haptics support on gloves. +/// Send haptics commands to connected gloves if specific keys were pressed. +/// We have two ways of sending the vibration commands, based on the dongle id or based on the skeleton id. +void SDKClient::HandleHapticCommands() +{ + const int t_LeftHand = 0; + const int t_RightHand = 1; + + uint32_t t_GloveIDs[2] = { 0, 0 }; + + for (size_t i = 0; i < m_Landscape->gloveDevices.gloveCount; i++) + { + GloveLandscapeData t_GloveLandscapeData = m_Landscape->gloveDevices.gloves[i]; + if (t_GloveLandscapeData.side == Side_Left && t_GloveLandscapeData.isHaptics) + { + t_GloveIDs[t_LeftHand] = t_GloveLandscapeData.id; + break; + } + } + + for (size_t i = 0; i < m_Landscape->gloveDevices.gloveCount; i++) + { + GloveLandscapeData t_GloveLandscapeData = m_Landscape->gloveDevices.gloves[i]; + if (t_GloveLandscapeData.side == Side_Right && t_GloveLandscapeData.isHaptics) + { + t_GloveIDs[t_RightHand] = t_GloveLandscapeData.id; + break; + } + } + + ClientHapticSettings t_HapticState[NUMBER_OF_HANDS_SUPPORTED]{}; + + // The strange key number sequence here results from having gloves lie in front of you, and have the keys and haptics in the same order. + t_HapticState[t_LeftHand].shouldHapticFinger[0] = GetKey('5'); // left thumb + t_HapticState[t_LeftHand].shouldHapticFinger[1] = GetKey('4'); // left index + t_HapticState[t_LeftHand].shouldHapticFinger[2] = GetKey('3'); // left middle + t_HapticState[t_LeftHand].shouldHapticFinger[3] = GetKey('2'); // left ring + t_HapticState[t_LeftHand].shouldHapticFinger[4] = GetKey('1'); // left pinky + t_HapticState[t_RightHand].shouldHapticFinger[0] = GetKey('6'); // right thumb + t_HapticState[t_RightHand].shouldHapticFinger[1] = GetKey('7'); // right index + t_HapticState[t_RightHand].shouldHapticFinger[2] = GetKey('8'); // right middle + t_HapticState[t_RightHand].shouldHapticFinger[3] = GetKey('9'); // right ring + t_HapticState[t_RightHand].shouldHapticFinger[4] = GetKey('0'); // right pinky + + const float s_FullPower = 1.0f; + + for (unsigned int t_HandNumber = 0; t_HandNumber < NUMBER_OF_HANDS_SUPPORTED; t_HandNumber++) + { + //If the Glove ID is 0, no glove was found for that side + if (t_GloveIDs[t_HandNumber] == 0) + { + continue; + } + + float t_HapticsPowers[NUM_FINGERS_ON_HAND]{}; + for (unsigned int t_FingerNumber = 0; t_FingerNumber < NUM_FINGERS_ON_HAND; t_FingerNumber++) + { + t_HapticsPowers[t_FingerNumber] = t_HapticState[t_HandNumber].shouldHapticFinger[t_FingerNumber] ? s_FullPower : 0.0f; + } + + CoreSdk_VibrateFingersForGlove(t_GloveIDs[t_HandNumber], t_HapticsPowers); + } +} + +/// @brief Handles the console commands for the skeletons. +void SDKClient::HandleSkeletonCommands() +{ + if (GetKeyDown('B')) + { + LoadTestSkeleton(Side_Left); + } + if (GetKeyDown('N')) + { + LoadTestSkeleton(Side_Right); + } + if (GetKeyDown('M')) + { + UnloadTestSkeleton(); + } + if (GetKeyDown('D')) + { + //Toggle send to DevTools + m_SendToDevTools = !m_SendToDevTools; + } +} + +/// @brief This showcases haptics support on the skeletons. +/// Send haptics commands to the gloves connected to a skeleton if specific keys were pressed. +/// We have two ways of sending the vibration commands, based on the dongle id or based on the skeleton id. +void SDKClient::HandleSkeletonHapticCommands() +{ + if (m_Skeleton == nullptr || m_Skeleton->skeletons.size() == 0) + { + return; + } + + ClientHapticSettings t_HapticState[NUMBER_OF_HANDS_SUPPORTED]{}; + const int t_LeftHand = 0; + const int t_RightHand = 1; + + // The strange key number sequence here results from having gloves lie in front of you, and have the keys and haptics in the same order. + t_HapticState[t_LeftHand].shouldHapticFinger[0] = GetKey('5'); // left thumb + t_HapticState[t_LeftHand].shouldHapticFinger[1] = GetKey('4'); // left index + t_HapticState[t_LeftHand].shouldHapticFinger[2] = GetKey('3'); // left middle + t_HapticState[t_LeftHand].shouldHapticFinger[3] = GetKey('2'); // left ring + t_HapticState[t_LeftHand].shouldHapticFinger[4] = GetKey('1'); // left pinky + t_HapticState[t_RightHand].shouldHapticFinger[0] = GetKey('6'); // right thumb + t_HapticState[t_RightHand].shouldHapticFinger[1] = GetKey('7'); // right index + t_HapticState[t_RightHand].shouldHapticFinger[2] = GetKey('8'); // right middle + t_HapticState[t_RightHand].shouldHapticFinger[3] = GetKey('9'); // right ring + t_HapticState[t_RightHand].shouldHapticFinger[4] = GetKey('0'); // right pinky + + // Note: this timer is apparently not very accurate. + // It is good enough for this test client, but should probably be replaced for other uses. + static std::chrono::high_resolution_clock::time_point s_TimeOfLastHapticsCommandSent; + const std::chrono::high_resolution_clock::time_point s_Now = std::chrono::high_resolution_clock::now(); + const long long s_MillisecondsSinceLastHapticCommand = std::chrono::duration_cast(s_Now - s_TimeOfLastHapticsCommandSent).count(); + + if (s_MillisecondsSinceLastHapticCommand < static_cast(MINIMUM_MILLISECONDS_BETWEEN_HAPTICS_COMMANDS)) + { + return; + } + + const Side s_Hands[NUMBER_OF_HANDS_SUPPORTED] = { Side::Side_Left, Side::Side_Right }; + const float s_FullPower = 1.0f; + + // The preferred way of sending the haptics commands is based on skeleton id + + for (unsigned int t_HandNumber = 0; t_HandNumber < NUMBER_OF_HANDS_SUPPORTED; t_HandNumber++) + { + float t_HapticsPowers[NUM_FINGERS_ON_HAND]{}; + for (unsigned int t_FingerNumber = 0; t_FingerNumber < NUM_FINGERS_ON_HAND; t_FingerNumber++) + { + t_HapticsPowers[t_FingerNumber] = t_HapticState[t_HandNumber].shouldHapticFinger[t_FingerNumber] ? s_FullPower : 0.0f; + } + bool t_IsHaptics = false; + if (CoreSdk_DoesSkeletonGloveSupportHaptics(m_Skeleton->skeletons[0].info.id, s_Hands[t_HandNumber], &t_IsHaptics) != SDKReturnCode::SDKReturnCode_Success) + { + continue; + } + if (!t_IsHaptics) + { + continue; + } + CoreSdk_VibrateFingersForSkeleton(m_Skeleton->skeletons[0].info.id, s_Hands[t_HandNumber], t_HapticsPowers); + } +} + +/// @brief Handles the console commands for the temporary skeletons. +void SDKClient::HandleTemporarySkeletonCommands() +{ + if (GetKeyDown('A')) + { + AllocateChains(); + } + if (GetKeyDown('B')) + { + BuildTemporarySkeleton(); + } + if (GetKeyDown('C')) + { + ClearTemporarySkeleton(); + } + if (GetKeyDown('D')) + { + ClearAllTemporarySkeletons(); + } + if (GetKeyDown('E')) + { + SaveTemporarySkeletonToFile(); + } + if (GetKeyDown('F')) + { + GetTemporarySkeletonFromFile(); + } +} + +/// @brief This support function is used to set a test tracker and add it to the landscape. +void SDKClient::HandleTrackerCommands() +{ + if (GetKeyDown('O')) + { + m_TrackerTest = !m_TrackerTest; + } + + if (GetKeyDown('G')) + { + m_TrackerDataDisplayPerUser = !m_TrackerDataDisplayPerUser; + } + + if (GetKeyDown('T')) + { + SetTrackerOffset(); + } + + if (m_TrackerTest) + { + m_TrackerOffset += 0.0005f; + if (m_TrackerOffset >= 10.0f) + { + m_TrackerOffset = 0.0f; + } + + TrackerId t_TrackerId; + CopyString(t_TrackerId.id, sizeof(t_TrackerId.id), std::string("Test Tracker")); + TrackerData t_TrackerData = {}; + t_TrackerData.isHmd = false; + t_TrackerData.trackerId = t_TrackerId; + t_TrackerData.trackerType = TrackerType::TrackerType_Unknown; + t_TrackerData.position = { 0.0f, m_TrackerOffset, 0.0f }; + t_TrackerData.rotation = { 1.0f, 0.0f, 0.0f, 0.0f }; + t_TrackerData.quality = TrackerQuality::TrackingQuality_Trackable; + TrackerData t_TrackerDatas[MAX_NUMBER_OF_TRACKERS]; + t_TrackerDatas[0] = t_TrackerData; + + const SDKReturnCode t_TrackerSend = CoreSdk_SendDataForTrackers(t_TrackerDatas, 1); + if (t_TrackerSend != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to send tracker data. The error given was {}.", (int32_t)t_TrackerSend); + return; + } + } +} + +/// @brief This support function is used to set the tracker offset. It sets the tracker offset for the left hand tracker to the wrist. +void SDKClient::SetTrackerOffset() { + + TrackerOffset t_TrackerOffset; + + //Positions the tracker 3mm right, 58mm up and 43mm forward relative to the wrist. This value is illustrative and should be adjusted to the actual tracker position. + t_TrackerOffset.translation = { 0.003f, -0.058f, -0.043f }; + t_TrackerOffset.rotation = { 1.0f, 0.0f, 0.0f, 0.0f }; + t_TrackerOffset.entryType = TrackerOffsetType::TrackerOffsetType_LeftHandTrackerToWrist; + + auto t_UserId = m_Landscape->users.users[0].id; + + SDKReturnCode t_SetTrackerReturn = CoreSdk_SetTrackerOffset(t_UserId, &t_TrackerOffset); + if (t_SetTrackerReturn != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to set tracker offset. The error given was {}.", (int32_t)t_SetTrackerReturn); + return; + } +} + +/// @brief Handles the console commands for the gestures. +void SDKClient::HandleGesturesCommands() +{ + if (GetKeyDown('H')) + { + m_ShowLeftGestures = !m_ShowLeftGestures; + } +} + +void SDKClient::ExecuteGloveCalibrationStep(GloveCalibrationStepArgs p_Args) +{ + bool t_Result; + auto t_Res = CoreSdk_GloveCalibrationStartStep(p_Args, &t_Result); + + if (t_Res == SDKReturnCode_Success && t_Result) + m_CalibrationMessage = "Step finished"; + else + m_CalibrationMessage = "Step failed"; + + m_IsCalibrationInProgress = false; +} + + +/// @brief Handles the console commands for the glove calibration. +void SDKClient::HandleGloveCalibrationCommands() +{ + // Reset data + m_NumberOfCalibrationSteps = 0; + m_CalibrationGloveId = 0; + m_ValidStepData = false; + GloveCalibrationStepData_Init(&m_StepData); + + if (GetKeyDown('H')) + { + m_CalibrateLeftHand = !m_CalibrateLeftHand; + } + + // Get glove id + if (m_Landscape == nullptr || m_Landscape->users.userCount == 0) + return; + + uint32_t t_GloveID = m_Landscape->users.users[0].leftGloveID; + if (!m_CalibrateLeftHand) + t_GloveID = m_Landscape->users.users[0].rightGloveID; + + m_CalibrationGloveId = t_GloveID; + + // Check if glove ID is valid, if not return + if (m_CalibrationGloveId == 0) + return; + + GloveCalibrationArgs t_Args; + t_Args.gloveId = m_CalibrationGloveId; + + // Get the number of calibration steps + auto t_Res = CoreSdk_GloveCalibrationGetNumberOfSteps(t_Args, &m_NumberOfCalibrationSteps); + if (t_Res != SDKReturnCode_Success || m_NumberOfCalibrationSteps == 0) + return; + + if (GetKeyDown('P') && m_CalibrationStep < 9) + { + m_CalibrationStep++; + } + + if (GetKeyDown('M') && m_CalibrationStep != 0) + { + m_CalibrationStep--; + } + + // Clamp current step to max number of steps + if (m_CalibrationStep >= m_NumberOfCalibrationSteps) + m_CalibrationStep = m_NumberOfCalibrationSteps - 1; + + // Get step data + GloveCalibrationStepArgs t_StepArgs; + t_StepArgs.gloveId = t_Args.gloveId; + t_StepArgs.stepIndex = m_CalibrationStep; + t_Res = CoreSdk_GloveCalibrationGetStepData(t_StepArgs, &m_StepData); + if (t_Res != SDKReturnCode_Success) + return; + + // Dont allow starting/stopping/etc while in progress + if (m_IsCalibrationInProgress) + return; + + if (GetKeyDown('S')) // Start + { + bool t_Result = false; + t_Res = CoreSdk_GloveCalibrationStart(t_Args, &t_Result); + + if (t_Res == SDKReturnCode::SDKReturnCode_Success && t_Result) + m_CalibrationMessage = "Glove calibration started"; + else + m_CalibrationMessage = "Failed to start glove calibration"; + } + + if (GetKeyDown('C')) // Cancel + { + bool t_Result = false; + t_Res = CoreSdk_GloveCalibrationStop(t_Args, &t_Result); + + if (t_Res == SDKReturnCode::SDKReturnCode_Success && t_Result) + m_CalibrationMessage = "Glove calibration stopped"; + else + m_CalibrationMessage = "Failed to stop glove calibration"; + } + + if (GetKeyDown('F')) // Finish + { + bool t_Result = false; + t_Res = CoreSdk_GloveCalibrationFinish(t_Args, &t_Result); + + if (t_Res == SDKReturnCode::SDKReturnCode_Success && t_Result) + m_CalibrationMessage = "Glove calibration finished"; + else + m_CalibrationMessage = "Failed to finish glove calibration"; + } + + if (GetKeyDown('E')) // Execute step + { + m_CalibrationMessage = "Step " + std::to_string(m_CalibrationStep) + " in progress"; + m_IsCalibrationInProgress = true; + std::thread t_Thread(&SDKClient::ExecuteGloveCalibrationStep, this, t_StepArgs); + t_Thread.detach(); + } +} + +/// @brief Skeletons are pretty extensive in their data setup +/// so we have several support functions so we can correctly receive and parse the data, +/// this function helps setup the data. +/// @param p_Id the id of the created node setup +/// @param p_ParentId the id of the node parent +/// @param p_PosX X position of the node, this is defined with respect to the global coordinate system or the local one depending on +/// the parameter p_UseWorldCoordinates set when initializing the sdk, +/// @param p_PosY Y position of the node this is defined with respect to the global coordinate system or the local one depending on +/// the parameter p_UseWorldCoordinates set when initializing the sdk, +/// @param p_PosZ Z position of the node this is defined with respect to the global coordinate system or the local one depending on +/// the parameter p_UseWorldCoordinates set when initializing the sdk, +/// @param p_Name the name of the node setup +/// @return the generated node setup +NodeSetup SDKClient::CreateNodeSetup(uint32_t p_Id, uint32_t p_ParentId, float p_PosX, float p_PosY, float p_PosZ, std::string p_Name) +{ + NodeSetup t_Node; + NodeSetup_Init(&t_Node); + t_Node.id = p_Id; //Every ID needs to be unique per node in a skeleton. + CopyString(t_Node.name, sizeof(t_Node.name), p_Name); + t_Node.type = NodeType::NodeType_Joint; + //Every node should have a parent unless it is the Root node. + t_Node.parentID = p_ParentId; //Setting the node ID to its own ID ensures it has no parent. + t_Node.settings.usedSettings = NodeSettingsFlag::NodeSettingsFlag_None; + + t_Node.transform.position.x = p_PosX; + t_Node.transform.position.y = p_PosY; + t_Node.transform.position.z = p_PosZ; + return t_Node; +} + +ManusVec3 SDKClient::CreateManusVec3(float p_X, float p_Y, float p_Z) +{ + ManusVec3 t_Vec; + t_Vec.x = p_X; + t_Vec.y = p_Y; + t_Vec.z = p_Z; + return t_Vec; +} + +/// @brief This support function sets up the nodes for the skeleton hand +/// In order to have any 3d positional/rotational information from the gloves or body, +/// one needs to setup the skeleton on which this data should be applied. +/// In the case of this sample we create a Hand skeleton for which we want to get the calculated result. +/// The ID's for the nodes set here are the same IDs which are used in the OnSkeletonStreamCallback, +/// this allows us to create the link between Manus Core's data and the data we enter here. +bool SDKClient::SetupHandNodes(uint32_t p_SklIndex, Side p_Side) +{ + // Define number of fingers per hand and number of joints per finger + const uint32_t t_NumFingers = 5; + const uint32_t t_NumJoints = 4; + + // Because the skeleton is build up in world space coordinates all joints have to be defined in coordate space as well + // If it is required for the skeleton to work in local space, substract all previous positions from the vectors + static ManusVec3 s_LeftHandPositions[t_NumFingers * t_NumJoints] + { + CreateManusVec3(0.025320f, -0.024950f, 0.000000f), //Thumb CMC joint + CreateManusVec3(0.025320f + 0.032742f, -0.024950f, 0.000000f), //Thumb MCP joint + CreateManusVec3(0.025320f + 0.032742f + 0.028739f, -0.024950f, 0.000000f), //Thumb IP joint + CreateManusVec3(0.025320f + 0.032742f + 0.028739f + 0.028739f, -0.024950f, 0.000000f), //Thumb Tip joint + + CreateManusVec3(0.052904f, -0.011181f, 0.000000f), //Index MCP joint + CreateManusVec3(0.052904f + 0.038257f, -0.011181f, 0.000000f), //Index PIP joint + CreateManusVec3(0.052904f + 0.038257f + 0.020884f, -0.011181f, 0.000000f), //Index DIP joint + CreateManusVec3(0.052904f + 0.038257f + 0.020884f + 0.018759f, -0.011181f, 0.000000f), //Index Tip joint + + CreateManusVec3(0.051287f, 0.000000f, 0.000000f), //Middle MCP joint + CreateManusVec3(0.051287f + 0.041861f, 0.000000f, 0.000000f), //Middle PIP joint + CreateManusVec3(0.051287f + 0.041861f + 0.024766f, 0.000000f, 0.000000f), //Middle DIP joint + CreateManusVec3(0.051287f + 0.041861f + 0.024766f + 0.019683f, 0.000000f, 0.000000f), //Middle Tip joint + + CreateManusVec3(0.049802f, 0.011274f, 0.000000f ), //Ring MCP joint + CreateManusVec3(0.049802f + 0.039736f, 0.011274f, 0.000000f), //Ring PIP joint + CreateManusVec3(0.049802f + 0.039736f + 0.023564f, 0.011274f, 0.000000f), //Ring DIP joint + CreateManusVec3(0.049802f + 0.039736f + 0.023564f + 0.019868f, 0.011274f, 0.000000f), //Ring Tip joint + + CreateManusVec3(0.047309f, 0.020145f,0.000000f), //Pinky MCP joint + CreateManusVec3(0.047309f + 0.033175f, 0.020145f, 0.000000f), //Pinky PIP joint + CreateManusVec3(0.047309f + 0.033175f + 0.018020f, 0.020145f, 0.000000f), //Pinky DIP joint + CreateManusVec3(0.047309f + 0.033175f + 0.018020f + 0.019129f, 0.020145f, 0.000000f), //Pinky Tip joint + }; + + static ManusVec3 s_RightHandPositions[t_NumFingers * t_NumJoints] + { + CreateManusVec3(0.025320f, 0.024950f, 0.000000f), //Thumb CMC joint + CreateManusVec3(0.025320f + 0.032742f, 0.024950f, 0.000000f), //Thumb MCP joint + CreateManusVec3(0.025320f + 0.032742f + 0.028739f, 0.024950f, 0.000000f), //Thumb IP joint + CreateManusVec3(0.025320f + 0.032742f + 0.028739f + 0.028739f, 0.024950f, 0.000000f), //Thumb Tip joint + + CreateManusVec3(0.052904f, 0.011181f, 0.000000f), //Index MCP joint + CreateManusVec3(0.052904f + 0.038257f, 0.011181f, 0.000000f), //Index PIP joint + CreateManusVec3(0.052904f + 0.038257f + 0.020884f, 0.011181f, 0.000000f), //Index DIP joint + CreateManusVec3(0.052904f + 0.038257f + 0.020884f + 0.018759f, 0.011181f, 0.000000f), //Index Tip joint + + CreateManusVec3(0.051287f, 0.000000f, 0.000000f), //Middle MCP joint + CreateManusVec3(0.051287f + 0.041861f, 0.000000f, 0.000000f), //Middle PIP joint + CreateManusVec3(0.051287f + 0.041861f + 0.024766f, 0.000000f, 0.000000f), //Middle DIP joint + CreateManusVec3(0.051287f + 0.041861f + 0.024766f + 0.019683f, 0.000000f, 0.000000f), //Middle Tip joint + + CreateManusVec3(0.049802f, -0.011274f, 0.000000f),//Ring MCP joint + CreateManusVec3(0.049802f + 0.039736f, -0.011274f, 0.000000f), //Ring PIP joint + CreateManusVec3(0.049802f + 0.039736f + 0.023564f, -0.011274f, 0.000000f), //Ring DIP joint + CreateManusVec3(0.049802f + 0.039736f + 0.023564f + 0.019868f, -0.011274f, 0.000000f), //Ring Tip joint + + CreateManusVec3(0.047309f, -0.020145f, 0.000000f),//Pinky MCP joint + CreateManusVec3(0.047309f + 0.033175f, -0.020145f, 0.000000f), //Pinky PIP joint + CreateManusVec3(0.047309f + 0.033175f + 0.018020f, -0.020145f, 0.000000f), //Pinky DIP joint + CreateManusVec3(0.047309f + 0.033175f + 0.018020f + 0.019129f, -0.020145f, 0.000000f), //Pinky Tip joint + }; + + // Create an array with the initial position of each hand node. + // Note, these values are just an example of node positions and refer to the hand laying on a flat surface. + ManusVec3* t_Fingers; + if (p_Side == Side::Side_Left) + { + t_Fingers = s_LeftHandPositions; + } + else + { + t_Fingers = s_RightHandPositions; + } + + // skeleton entry is already done. just the nodes now. + // setup a very simple node hierarchy for fingers + // first setup the root node + // + // root, This node has ID 0 and parent ID 0, to indicate it has no parent. + SDKReturnCode t_Res = CoreSdk_AddNodeToSkeletonSetup(p_SklIndex, CreateNodeSetup(0, 0, 0, 0, 0, "Hand")); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Node To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return false; + } + + // then loop for 5 fingers + int t_FingerId = 0; + for (uint32_t i = 0; i < t_NumFingers; i++) + { + uint32_t t_ParentID = 0; + // then the digits of the finger that are linked to the root of the finger. + for (uint32_t j = 0; j < t_NumJoints; j++) + { + t_Res = CoreSdk_AddNodeToSkeletonSetup(p_SklIndex, CreateNodeSetup(1 + t_FingerId + j, t_ParentID, t_Fingers[i * 4 + j].x, t_Fingers[i * 4 + j].y, t_Fingers[i * 4 + j].z, "fingerdigit")); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + printf("Failed to Add Node To Skeleton Setup. The error given %d.", t_Res); + return false; + } + t_ParentID = 1 + t_FingerId + j; + } + t_FingerId += t_NumJoints; + } + return true; +} + +/// @brief This function sets up some basic hand chains. +/// Chains are required for a Skeleton to be able to be animated, it basically tells Manus Core +/// which nodes belong to which body part and what data needs to be applied to which node. +/// @param p_SklIndex The index of the temporary skeleton on which the chains will be added. +/// @return Returns true if everything went fine, otherwise returns false. +bool SDKClient::SetupHandChains(uint32_t p_SklIndex, Side p_Side) +{ + // Add the Hand chain, this identifies the wrist of the hand + { + ChainSettings t_ChainSettings; + ChainSettings_Init(&t_ChainSettings); + t_ChainSettings.usedSettings = ChainType::ChainType_Hand; + t_ChainSettings.hand.handMotion = HandMotion::HandMotion_IMU; + t_ChainSettings.hand.fingerChainIdsUsed = 5; //we will have 5 fingers + t_ChainSettings.hand.fingerChainIds[0] = 1; //links to the other chains we will define further down + t_ChainSettings.hand.fingerChainIds[1] = 2; + t_ChainSettings.hand.fingerChainIds[2] = 3; + t_ChainSettings.hand.fingerChainIds[3] = 4; + t_ChainSettings.hand.fingerChainIds[4] = 5; + + ChainSetup t_Chain; + ChainSetup_Init(&t_Chain); + t_Chain.id = 0; //Every ID needs to be unique per chain in a skeleton. + t_Chain.type = ChainType::ChainType_Hand; + t_Chain.dataType = ChainType::ChainType_Hand; + t_Chain.side = p_Side; + t_Chain.dataIndex = 0; + t_Chain.nodeIdCount = 1; + t_Chain.nodeIds[0] = 0; //this links to the hand node created in the SetupHandNodes + t_Chain.settings = t_ChainSettings; + + SDKReturnCode t_Res = CoreSdk_AddChainToSkeletonSetup(p_SklIndex, t_Chain); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Chain To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return false; + } + } + + // Add the 5 finger chains + const ChainType t_FingerTypes[5] = { ChainType::ChainType_FingerThumb, + ChainType::ChainType_FingerIndex, + ChainType::ChainType_FingerMiddle, + ChainType::ChainType_FingerRing, + ChainType::ChainType_FingerPinky }; + for (int i = 0; i < 5; i++) + { + ChainSettings t_ChainSettings; + ChainSettings_Init(&t_ChainSettings); + t_ChainSettings.usedSettings = t_FingerTypes[i]; + t_ChainSettings.finger.handChainId = 0; //This links to the wrist chain above. + //This identifies the metacarpal bone, if none exists, or the chain is a thumb it should be set to -1. + //The metacarpal bone should not be part of the finger chain, unless you are defining a thumb which does need it. + t_ChainSettings.finger.metacarpalBoneId = -1; + t_ChainSettings.finger.useLeafAtEnd = false; //this is set to true if there is a leaf bone to the tip of the finger. + ChainSetup t_Chain; + ChainSetup_Init(&t_Chain); + t_Chain.id = i + 1; //Every ID needs to be unique per chain in a skeleton. + t_Chain.type = t_FingerTypes[i]; + t_Chain.dataType = t_FingerTypes[i]; + t_Chain.side = p_Side; + t_Chain.dataIndex = 0; + if (i == 0) // Thumb + { + t_Chain.nodeIdCount = 4; //The amount of node id's used in the array + t_Chain.nodeIds[0] = 1; //this links to the hand node created in the SetupHandNodes + t_Chain.nodeIds[1] = 2; //this links to the hand node created in the SetupHandNodes + t_Chain.nodeIds[2] = 3; //this links to the hand node created in the SetupHandNodes + t_Chain.nodeIds[3] = 4; //this links to the hand node created in the SetupHandNodes + } + else // All other fingers + { + t_Chain.nodeIdCount = 4; //The amount of node id's used in the array + t_Chain.nodeIds[0] = (i * 4) + 1; //this links to the hand node created in the SetupHandNodes + t_Chain.nodeIds[1] = (i * 4) + 2; //this links to the hand node created in the SetupHandNodes + t_Chain.nodeIds[2] = (i * 4) + 3; //this links to the hand node created in the SetupHandNodes + t_Chain.nodeIds[3] = (i * 4) + 4; //this links to the hand node created in the SetupHandNodes + } + t_Chain.settings = t_ChainSettings; + + SDKReturnCode t_Res = CoreSdk_AddChainToSkeletonSetup(p_SklIndex, t_Chain); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + return false; + } + } + return true; +} + +/// @brief This function sets up a very minimalistic hand skeleton. +/// In order to have any 3d positional/rotational information from the gloves or body, +/// one needs to setup a skeleton on which this data can be applied. +/// In the case of this sample we create a Hand skeleton in order to get skeleton information +/// in the OnSkeletonStreamCallback function. This sample does not contain any 3D rendering, so +/// we will not be applying the returned data on anything. +void SDKClient::LoadTestSkeleton(Side p_Side) +{ + uint32_t t_SklIndex = 0; + + SkeletonSetupInfo t_SKL; + SkeletonSetupInfo_Init(&t_SKL); + t_SKL.type = SkeletonType::SkeletonType_Hand; + t_SKL.settings.scaleToTarget = true; + t_SKL.settings.useEndPointApproximations = true; + t_SKL.settings.targetType = SkeletonTargetType::SkeletonTargetType_UserIndexData; + //If the user does not exist then the added skeleton will not be animated. + //Same goes for any other skeleton made for invalid users/gloves. + t_SKL.settings.skeletonTargetUserIndexData.userIndex = 0; + + CopyString(t_SKL.name, sizeof(t_SKL.name), p_Side == Side::Side_Left ? std::string("LeftHand") : std::string("RightHand")); + + SDKReturnCode t_Res = CoreSdk_CreateSkeletonSetup(t_SKL, &t_SklIndex); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Create Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.push_back(t_SklIndex); + + // setup nodes and chains for the skeleton hand + if (!SetupHandNodes(t_SklIndex, p_Side)) return; + if (!SetupHandChains(t_SklIndex, p_Side)) return; + + if (m_SendToDevTools) + { + SendLoadedSkeleton(t_SklIndex); + } + + // load skeleton + uint32_t t_ID = 0; + t_Res = CoreSdk_LoadSkeleton(t_SklIndex, &t_ID); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to load skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + RemoveIndexFromTemporarySkeletonList(t_SklIndex); + + if (t_ID == 0) + { + ClientLog::error("Failed to give skeleton an ID."); + } + m_LoadedSkeletons.push_back(t_ID); +} + +/// @brief This support function is used to unload a skeleton from Core. +void SDKClient::UnloadTestSkeleton() +{ + if (m_LoadedSkeletons.size() == 0) + { + ClientLog::error("There was no skeleton for us to unload."); + return; + } + SDKReturnCode t_Res = CoreSdk_UnloadSkeleton(m_LoadedSkeletons[0]); + m_LoadedSkeletons.erase(m_LoadedSkeletons.begin()); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to unload skeleton. The error given was {}.", (int32_t)t_Res); + + return; + } +} + +/// @brief +/// Sends the loaded skeleton to the Core SDK. +/// This function saves the temporary skeleton with the given session ID and returns an error if the operation fails. +void SDKClient::SendLoadedSkeleton(uint32_t p_SklIndex) +{ + // save the temporary skeleton + SDKReturnCode t_Res = CoreSdk_SaveTemporarySkeleton(p_SklIndex, m_SessionId, true); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to save temporary skeleton. The error given was {}.", (int32_t)t_Res); + } +} + + +/// @brief This support function sets up an incomplete hand skeleton and then uses manus core to allocate chains for it. +void SDKClient::AllocateChains() +{ + m_ChainType = ChainType::ChainType_Invalid; + + uint32_t t_SklIndex = 0; + + SkeletonSettings t_Settings; + SkeletonSettings_Init(&t_Settings); + t_Settings.scaleToTarget = true; + t_Settings.targetType = SkeletonTargetType::SkeletonTargetType_UserData; + t_Settings.skeletonTargetUserData.userID = 0; + + SkeletonSetupInfo t_SKL; + SkeletonSetupInfo_Init(&t_SKL); + t_SKL.id = 0; + t_SKL.type = SkeletonType::SkeletonType_Hand; + t_SKL.settings = t_Settings; + CopyString(t_SKL.name, sizeof(t_SKL.name), std::string("hand")); + + SDKReturnCode t_Res = CoreSdk_CreateSkeletonSetup(t_SKL, &t_SklIndex); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Create Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.push_back(t_SklIndex); + + // setup nodes for the skeleton hand + SetupHandNodes(t_SklIndex, Side::Side_Left); + + // allocate chains for skeleton + t_Res = CoreSdk_AllocateChainsForSkeletonSetup(t_SklIndex); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to allocate chains for skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // get the skeleton info + SkeletonSetupArraySizes t_SkeletonInfo; + t_Res = CoreSdk_GetSkeletonSetupArraySizes(t_SklIndex, &t_SkeletonInfo); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get info about skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + ChainSetup* t_Chains = new ChainSetup[t_SkeletonInfo.chainsCount]; + // now get the chain data + t_Res = CoreSdk_GetSkeletonSetupChainsArray(t_SklIndex, t_Chains, t_SkeletonInfo.chainsCount); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get skeleton setup chains. The error given was {}.", (int32_t)t_Res); + delete[] t_Chains; + return; + } + // as proof store the first chain type + m_ChainType = t_Chains[0].dataType; + + // but since we want to cleanly load the skeleton without holding everything up + // we need to set its side first + for (size_t i = 0; i < t_SkeletonInfo.chainsCount; i++) + { + if (t_Chains[i].dataType == ChainType::ChainType_Hand) + { + t_Chains[i].side = Side::Side_Left; // we're just picking a side here. + + t_Res = CoreSdk_OverwriteChainToSkeletonSetup(t_SklIndex, t_Chains[i]); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to overwrite Chain To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + delete[] t_Chains; + return; + } + break; // no need to continue checking the others. + } + } + // cleanup + delete[] t_Chains; + + // load skeleton so it is done. + uint32_t t_ID = 0; + t_Res = CoreSdk_LoadSkeleton(t_SklIndex, &t_ID); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to load skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + RemoveIndexFromTemporarySkeletonList(t_SklIndex); + + if (t_ID == 0) + { + ClientLog::error("Failed to give skeleton an ID."); + } + m_LoadedSkeletons.push_back(t_ID); +} + +/// @brief This support function is used for the manual allocation of the skeleton chains with means of a temporary skeleton. +/// Temporary Skeletons can be helpful when the user wants to modify the skeletons chains or nodes more than once before retargeting, +/// as they can be saved in core and retrieved later by the user to apply further modifications. This can be done easily with means of the Dev Tools. +/// The current function contains an example that shows how to create a temporary skeleton, modify its chains, nodes and +/// skeleton info, and save it into Core. This process should be used during development. +/// After that, the final skeleton should be loaded into core for retargeting and for getting the actual data,as displayed in the LoadTestSkeleton +/// function. +void SDKClient::BuildTemporarySkeleton() +{ + // define the session Id for which we want to save + // in this example we want to save a skeleton for the current session so we use our own Session Id + uint32_t t_SessionId = m_SessionId; + + bool t_IsSkeletonModified = false; // this bool is set to true by the Dev Tools after saving any modification to the skeleton, + // this triggers the OnSyStemCallback which is used in the SDK to be notified about a change to its temporary skeletons. + // for the purpose of this example setting this bool to true is not really necessary. + + // first create a skeleton setup of type Body + uint32_t t_SklIndex = 0; + + SkeletonSettings t_Settings; + SkeletonSettings_Init(&t_Settings); + t_Settings.scaleToTarget = true; + t_Settings.targetType = SkeletonTargetType::SkeletonTargetType_UserData; + t_Settings.skeletonTargetUserData.userID = 0; // this needs to be a real user Id when retargeting, when editing the temporary skeleton this may (hopefully) not cause issues + + SkeletonSetupInfo t_SKL; + SkeletonSetupInfo_Init(&t_SKL); + t_SKL.id = 0; + t_SKL.type = SkeletonType::SkeletonType_Body; + t_SKL.settings = t_Settings; + CopyString(t_SKL.name, sizeof(t_SKL.name), std::string("body")); + + SDKReturnCode t_Res = CoreSdk_CreateSkeletonSetup(t_SKL, &t_SklIndex); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Create Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.push_back(t_SklIndex); + //Add 3 nodes to the skeleton setup + t_Res = CoreSdk_AddNodeToSkeletonSetup(t_SklIndex, CreateNodeSetup(0, 0, 0, 0, 0, "root")); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Node To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + t_Res = CoreSdk_AddNodeToSkeletonSetup(t_SklIndex, CreateNodeSetup(1, 0, 0, 1, 0, "branch")); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Node To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + t_Res = CoreSdk_AddNodeToSkeletonSetup(t_SklIndex, CreateNodeSetup(2, 1, 0, 2, 0, "leaf")); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Node To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + //Add one chain of type Leg to the skeleton setup + ChainSettings t_ChainSettings; + ChainSettings_Init(&t_ChainSettings); + t_ChainSettings.usedSettings = ChainType::ChainType_Leg; + t_ChainSettings.leg.footForwardOffset = 0; + t_ChainSettings.leg.footSideOffset = 0; + t_ChainSettings.leg.reverseKneeDirection = false; + t_ChainSettings.leg.kneeRotationOffset = 0; + + ChainSetup t_Chain; + ChainSetup_Init(&t_Chain); + t_Chain.id = 0; + t_Chain.type = ChainType::ChainType_Leg; + t_Chain.dataType = ChainType::ChainType_Leg; + t_Chain.dataIndex = 0; + t_Chain.nodeIdCount = 3; + t_Chain.nodeIds[0] = 0; + t_Chain.nodeIds[1] = 1; + t_Chain.nodeIds[2] = 2; + t_Chain.settings = t_ChainSettings; + t_Chain.side = Side::Side_Left; + + t_Res = CoreSdk_AddChainToSkeletonSetup(t_SklIndex, t_Chain); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Chain To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + // save the temporary skeleton + t_Res = CoreSdk_SaveTemporarySkeleton(t_SklIndex, t_SessionId, t_IsSkeletonModified); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to save temporary skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // if we want to go on with the modifications to the same temporary skeleton + // get the skeleton + t_Res = CoreSdk_GetTemporarySkeleton(t_SklIndex, t_SessionId); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get temporary skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // now add second chain to the same temporary skeleton + t_ChainSettings.usedSettings = ChainType::ChainType_Head; + + t_Chain.id = 1; + t_Chain.type = ChainType::ChainType_Head; + t_Chain.dataType = ChainType::ChainType_Head; + t_Chain.dataIndex = 0; + t_Chain.nodeIdCount = 1; + t_Chain.nodeIds[0] = 0; + t_Chain.settings = t_ChainSettings; + t_Chain.side = Side::Side_Center; + + t_Res = CoreSdk_AddChainToSkeletonSetup(t_SklIndex, t_Chain); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Chain To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + // save the temporary skeleton + t_Res = CoreSdk_SaveTemporarySkeleton(t_SklIndex, t_SessionId, t_IsSkeletonModified); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to save temporary skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // get the skeleton info (number of nodes and chains for that skeleton) + SkeletonSetupArraySizes t_SkeletonInfo; + t_Res = CoreSdk_GetSkeletonSetupArraySizes(t_SklIndex, &t_SkeletonInfo); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get info about skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // now get the chain data + ChainSetup* t_Chains = new ChainSetup[t_SkeletonInfo.chainsCount]; + t_Res = CoreSdk_GetSkeletonSetupChainsArray(t_SklIndex, t_Chains, t_SkeletonInfo.chainsCount); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get skeleton setup chains. The error given was {}.", (int32_t)t_Res); + return; + } + + // get the node data + NodeSetup* t_Nodes = new NodeSetup[t_SkeletonInfo.nodesCount]; + t_Res = CoreSdk_GetSkeletonSetupNodesArray(t_SklIndex, t_Nodes, t_SkeletonInfo.nodesCount); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get skeleton setup nodes. The error given was {}.", (int32_t)t_Res); + return; + } + + // just as an example try to get the skeleton setup info + SkeletonSetupInfo t_SKeletonSetupInfo; + SkeletonSetupInfo_Init(&t_SKeletonSetupInfo); + t_Res = CoreSdk_GetSkeletonSetupInfo(t_SklIndex, &t_SKeletonSetupInfo); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to overwrite Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + // if we want to modify the skeleton setup or if we want to apply some changes to the chains or nodes: + // first overwrite the existing skeleton setup and then re-add all the chains and nodes to it + SkeletonSettings_Init(&t_Settings); + t_Settings.targetType = SkeletonTargetType::SkeletonTargetType_GloveData; + + t_SKL.settings = t_Settings; + CopyString(t_SKL.name, sizeof(t_SKL.name), std::string("body2")); + + // this way we overwrite the temporary skeleton with index t_SklIndex with the modified skeleton setup + t_Res = CoreSdk_OverwriteSkeletonSetup(t_SklIndex, t_SKL); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to overwrite Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + + // modify chains and nodes + t_Chains[0].side = Side::Side_Right; + t_Nodes[0].type = NodeType::NodeType_Mesh; + + // add all the existing nodes to the new skeleton setup + for (size_t i = 0; i < t_SkeletonInfo.nodesCount; i++) + { + t_Res = CoreSdk_AddNodeToSkeletonSetup(t_SklIndex, t_Nodes[i]); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Node To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + } + + // then add all the existing chains to the new skeleton setup + for (size_t i = 0; i < t_SkeletonInfo.chainsCount; i++) + { + t_Res = CoreSdk_AddChainToSkeletonSetup(t_SklIndex, t_Chains[i]); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Add Chains To Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + } + + // cleanup + delete[] t_Chains; + delete[] t_Nodes; + + // save temporary skeleton + // in the Dev Tools this bool is set to true when saving the temporary skeleton, this triggers OnSystemCallback which + // notifies the SDK sessions about a modifications to one of their temporary skeletons. + // setting the bool to true in this example is not really necessary, it's just for testing purposes. + t_IsSkeletonModified = true; + t_Res = CoreSdk_SaveTemporarySkeleton(t_SklIndex, t_SessionId, t_IsSkeletonModified); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to save temporary skeleton. The error given was {}.", (int32_t)t_Res); + return; + } +} + +/// @brief This support function is used to clear a temporary skeleton from the temporary skeleton list, for example it can be used when the +/// max number of temporary skeletons has been reached for a specific session. +void SDKClient::ClearTemporarySkeleton() +{ + // clear the first element of the temporary skeleton list + if (m_TemporarySkeletons.size() == 0) + { + ClientLog::error("There are no Temporary Skeletons to clear!"); + return; + } + uint32_t t_SklIndex = m_TemporarySkeletons[0]; + SDKReturnCode t_Res = CoreSdk_ClearTemporarySkeleton(t_SklIndex, m_SessionId); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Clear Temporary Skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.erase(m_TemporarySkeletons.begin()); +} + +/// @brief This support function is used to clear all temporary skeletons associated to the current SDK session, it can be used when the +/// max number of temporary skeletons has been reached for the current session and we want to make room for more. +void SDKClient::ClearAllTemporarySkeletons() +{ + if (m_TemporarySkeletons.size() == 0) + { + ClientLog::error("There are no Temporary Skeletons to clear!"); + return; + } + SDKReturnCode t_Res = CoreSdk_ClearAllTemporarySkeletons(); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Clear All Temporary Skeletons. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.clear(); +} + +void SDKClient::SaveTemporarySkeletonToFile() +{ + // this example shows how to save a temporary skeleton to a file + // first create a temporary skeleton: + + // define the session Id for which we want to save + uint32_t t_SessionId = m_SessionId; + + bool t_IsSkeletonModified = false; // setting this bool to true is not necessary here, it is mostly used by the Dev Tools + // to notify the SDK sessions about their skeleton being modified. + + // first create a skeleton setup + uint32_t t_SklIndex = 0; + + SkeletonSetupInfo t_SKL; + SkeletonSetupInfo_Init(&t_SKL); + t_SKL.type = SkeletonType::SkeletonType_Hand; + t_SKL.settings.scaleToTarget = true; + t_SKL.settings.targetType = SkeletonTargetType::SkeletonTargetType_GloveData; + t_SKL.settings.skeletonTargetUserIndexData.userIndex = 0; + + CopyString(t_SKL.name, sizeof(t_SKL.name), std::string("LeftHand")); + + SDKReturnCode t_Res = CoreSdk_CreateSkeletonSetup(t_SKL, &t_SklIndex); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Create Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.push_back(t_SklIndex); + + // setup nodes and chains for the skeleton hand + if (!SetupHandNodes(t_SklIndex, Side_Left)) return; + if (!SetupHandChains(t_SklIndex, Side_Left)) return; + + // save the temporary skeleton + t_Res = CoreSdk_SaveTemporarySkeleton(t_SklIndex, t_SessionId, t_IsSkeletonModified); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to save temporary skeleton. The error given was {}.", (int32_t)t_Res); + return; + } + + // now compress the temporary skeleton data and get the size of the compressed data: + uint32_t t_TemporarySkeletonLengthInBytes; + + t_Res = CoreSdk_CompressTemporarySkeletonAndGetSize(t_SklIndex, t_SessionId, &t_TemporarySkeletonLengthInBytes); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to compress temporary skeleton and get size. The error given was {}.", (int32_t)t_Res); + return; + } + unsigned char* t_TemporarySkeletonData = new unsigned char[t_TemporarySkeletonLengthInBytes]; + + // get the array of bytes with the compressed temporary skeleton data, remember to always call function CoreSdk_CompressTemporarySkeletonAndGetSize + // before trying to get the compressed temporary skeleton data + t_Res = CoreSdk_GetCompressedTemporarySkeletonData(t_TemporarySkeletonData, t_TemporarySkeletonLengthInBytes); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to get compressed temporary skeleton data. The error given was {}.", (int32_t)t_Res); + return; + } + + // now save the data into a .mskl file + // as an example we save the temporary skeleton in a folder called ManusTemporarySkeleton inside the documents directory + // get the path for the documents directory + std::string t_DirectoryPathString = GetDocumentsDirectoryPath_UTF8(); + + // create directory name and file name for storing the temporary skeleton + std::string t_DirectoryPath = + t_DirectoryPathString + + s_SlashForFilesystemPath + + "ManusTemporarySkeleton"; + + CreateFolderIfItDoesNotExist(t_DirectoryPath); + + std::string t_DirectoryPathAndFileName = + t_DirectoryPath + + s_SlashForFilesystemPath + + "TemporarySkeleton.mskl"; + + // write the temporary skeleton data to .mskl file + std::ofstream t_File = GetOutputFileStream(t_DirectoryPathAndFileName); + t_File.write((char*)t_TemporarySkeletonData, t_TemporarySkeletonLengthInBytes); + t_File.close(); + + t_Res = CoreSdk_ClearTemporarySkeleton(t_SklIndex, t_SessionId); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Clear Temporary Skeleton after saving. The error given was {}.", (int32_t)t_Res); + return; + } + RemoveIndexFromTemporarySkeletonList(t_SklIndex); +} + + +void SDKClient::GetTemporarySkeletonFromFile() +{ + // this example shows how to load a temporary skeleton data from a file + + // as an example we try to get the temporary skeleton data previously saved as .mskl file in directory Documents/ManusTemporarySkeleton + // get the path for the documents directory + std::string t_DirectoryPathString = GetDocumentsDirectoryPath_UTF8(); + + // check if directory exists + std::string t_DirectoryPath = + t_DirectoryPathString + + s_SlashForFilesystemPath + + "ManusTemporarySkeleton"; + + if (!DoesFolderOrFileExist(t_DirectoryPath)) + { + ClientLog::warn("Failed to read from client file, the mentioned directory does not exist"); + return; + } + + // create string with file name + std::string t_DirectoryPathAndFileName = + t_DirectoryPath + + s_SlashForFilesystemPath + + "TemporarySkeleton.mskl"; + + // read from file + std::ifstream t_File = GetInputFileStream(t_DirectoryPathAndFileName); + + if (!t_File) + { + ClientLog::warn("Failed to read from client file, the file does not exist in the mentioned directory"); + return; + } + + // get file dimension + t_File.seekg(0, t_File.end); + int t_FileLength = (int)t_File.tellg(); + t_File.seekg(0, t_File.beg); + + // get temporary skeleton data from file + unsigned char* t_TemporarySkeletonData = new unsigned char[t_FileLength]; + t_File.read((char*)t_TemporarySkeletonData, t_FileLength); + t_File.close(); + + + // save the zipped temporary skeleton information, they will be used internally for sending the data to Core + uint32_t t_TemporarySkeletonLengthInBytes = t_FileLength; + + if (t_TemporarySkeletonData == nullptr) + { + ClientLog::warn("Failed to read the compressed temporary skeleton data from file"); + delete[] t_TemporarySkeletonData; + return; + } + + // create a skeleton setup where we will store the temporary skeleton retrieved from file + SkeletonSetupInfo t_SKL; + SkeletonSetupInfo_Init(&t_SKL); + uint32_t t_SklIndex = 0; + SDKReturnCode t_Res = CoreSdk_CreateSkeletonSetup(t_SKL, &t_SklIndex); + if (t_Res != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to Create Skeleton Setup. The error given was {}.", (int32_t)t_Res); + return; + } + m_TemporarySkeletons.push_back(t_SklIndex); + + // associate the retrieved temporary skeleton to the current session id + uint32_t t_SessionId = m_SessionId; + + // load the temporary skeleton data retrieved from the zipped file and save it with index t_SklIndex and session id of the current session + SDKReturnCode t_Result = CoreSdk_GetTemporarySkeletonFromCompressedData(t_SklIndex, t_SessionId, t_TemporarySkeletonData, t_TemporarySkeletonLengthInBytes); + if (t_Result != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::warn("Failed to load temporary skeleton data from client file in Core, the error code was: {}.", (int32_t)t_Result); + return; + } + + delete[] t_TemporarySkeletonData; +} + +void SDKClient::TestTimestamp() +{ + ManusTimestamp t_TS; + ManusTimestamp_Init(&t_TS); + ManusTimestampInfo t_TSInfo; + ManusTimestampInfo_Init(&t_TSInfo); + t_TSInfo.fraction = 30; + t_TSInfo.second = 15; + t_TSInfo.minute = 30; + t_TSInfo.hour = 12; + t_TSInfo.day = 1; + t_TSInfo.month = 8; + t_TSInfo.year = 2012; + t_TSInfo.timecode = true; + + CoreSdk_SetTimestampInfo(&t_TS, t_TSInfo); + + ManusTimestampInfo t_TSInfo2; + CoreSdk_GetTimestampInfo(t_TS, &t_TSInfo2); +} + +void SDKClient::RemoveIndexFromTemporarySkeletonList(uint32_t p_Idx) +{ + for (int i = 0; i < m_TemporarySkeletons.size(); i++) + { + if (m_TemporarySkeletons[i] == p_Idx) + { + m_TemporarySkeletons.erase(m_TemporarySkeletons.begin() + i); + } + } +} + +void SDKClient::PairGlove() +{ + bool t_GloveFound = false; + uint32_t t_GloveToPairId = -1; + + for (size_t i = 0; i < m_Landscape->gloveDevices.gloveCount; i++) + { + if (m_Landscape->gloveDevices.gloves[i].pairedState == DevicePairedState_Unpaired) + { + t_GloveToPairId = m_Landscape->gloveDevices.gloves[i].id; + t_GloveFound = true; + break; + } + } + + if (!t_GloveFound) + { + ClientLog::warn("No glove available for pairing found."); + return; + } + + bool t_Paired; + SDKReturnCode t_PairGloveResult = CoreSdk_PairGlove(t_GloveToPairId, &t_Paired); + if (t_PairGloveResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to pair glove with ID: {}. The error given was {}", t_GloveToPairId, (int32_t)t_PairGloveResult); + return; + } + + if (!t_Paired) + { + ClientLog::error("Failed to pair glove with ID: {}", t_GloveToPairId); + return; + } + + ClientLog::print("Succesfully paired glove with ID: {}", t_GloveToPairId); + + return; +} + +void SDKClient::UnpairGlove() +{ + bool t_GloveFound = false; + uint32_t t_GloveToUnPairId = -1; + + for (size_t i = 0; i < m_Landscape->gloveDevices.gloveCount; i++) + { + if (m_Landscape->gloveDevices.gloves[i].id == m_Landscape->gloveDevices.gloves[i].dongleID) + continue; + + if (m_Landscape->gloveDevices.gloves[i].pairedState == DevicePairedState_Paired) + { + t_GloveToUnPairId = m_Landscape->gloveDevices.gloves[i].id; + t_GloveFound = true; + break; + } + } + + if (!t_GloveFound) + { + ClientLog::error("No glove to unpair found"); + return; + } + + bool t_Unpaired; + SDKReturnCode t_UnpairGloveResult = CoreSdk_UnpairGlove(t_GloveToUnPairId, &t_Unpaired); + if (t_UnpairGloveResult != SDKReturnCode::SDKReturnCode_Success) + { + ClientLog::error("Failed to unpair glove with ID: {}. The error given was ", t_GloveToUnPairId, (int32_t)t_UnpairGloveResult); + return; + } + + ClientLog::print("Succesfully unpaired glove with ID: {}", t_GloveToUnPairId); + return; +} +/// @brief Prints the type of the first chain generated by the AllocateChain function, this is used for testing. +void SDKClient::PrintLogs() +{ + std::vector t_SDKLogs; + s_Instance->m_LogMutex.lock(); + t_SDKLogs.swap(s_Instance->m_Logs); + s_Instance->m_LogMutex.unlock(); + + for (size_t i = 0; i < t_SDKLogs.size(); i++) + { + ClientLog::print(t_SDKLogs[i]->string.c_str()); + delete t_SDKLogs[i]; + } +} diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient.hpp b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient.hpp new file mode 100644 index 0000000..edbdc1b --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient.hpp @@ -0,0 +1,349 @@ +#ifndef _SDK_CLIENT_HPP_ +#define _SDK_CLIENT_HPP_ + +// Set up a Doxygen group. +/** @addtogroup SDKClient + * @{ + */ + +#include // Used for haptic commands. +#include // Used for rounding float values. +#include // Used for printing glove data, and converting glove IDs to strings. +#include // Used for smart pointers. +#include +#include +#include +#include +#include + +#include "ClientPlatformSpecific.hpp" +#include "ManusSDK.h" + +extern std::map> output_map; + + +/// @brief Constant expression: number of hands supported by demo. +constexpr unsigned int NUMBER_OF_HANDS_SUPPORTED = 2; + +/// @brief Constant expression used to define the time between two possible haptics commands sent +constexpr unsigned long long int MINIMUM_MILLISECONDS_BETWEEN_HAPTICS_COMMANDS = 20; + +/// @brief Constant expression used to define the time between two updates of the temporary skeleton count printing +constexpr unsigned long long int MILLISECONDS_BETWEEN_TEMPORARY_SKELETONS_UPDATE = 1000; + +/// @brief The type of connection to core. +enum class ConnectionType : int +{ + ConnectionType_Invalid = 0, + ConnectionType_Integrated, + ConnectionType_Local, + ConnectionType_Remote, + ClientState_MAX_CLIENT_STATE_SIZE +}; + +/// @brief The current state of the client. +enum class ClientState : int +{ + ClientState_Starting = 0, + ClientState_LookingForHosts, + ClientState_NoHostsFound, + ClientState_PickingHost, + ClientState_ConnectingToCore, + ClientState_DisplayingData, + ClientState_Disconnected, + + ClientState_MAX_CLIENT_STATE_SIZE +}; + +/// @brief Values that can be returned by this application. +enum class ClientReturnCode : int +{ + ClientReturnCode_Success = 0, + ClientReturnCode_FailedPlatformSpecificInitialization, + ClientReturnCode_FailedToResizeWindow, + ClientReturnCode_FailedToInitialize, + ClientReturnCode_FailedToFindHosts, + ClientReturnCode_FailedToConnect, + ClientReturnCode_UnrecognizedStateEncountered, + ClientReturnCode_FailedToShutDownSDK, + ClientReturnCode_FailedPlatformSpecificShutdown, + ClientReturnCode_FailedToRestart, + ClientReturnCode_FailedWrongTimeToGetData, + + ClientReturnCode_MAX_CLIENT_RETURN_CODE_SIZE +}; + +struct SDKLog +{ + LogSeverity severity; + std::string string; +}; + +/// @brief Haptic settings for a single glove. +/// +/// This is used to store if a specific motor on the glove should be enabled or not. +struct ClientHapticSettings +{ + bool shouldHapticFinger[NUM_FINGERS_ON_HAND]; +}; + +/// @brief Used to store the information about the final animated skeletons. +class ClientSkeleton +{ +public: + SkeletonInfo info; + std::vector nodes; +}; + +/// @brief Used to store all the final animated skeletons received from Core. +class ClientSkeletonCollection +{ +public: + std::vector skeletons; +}; + +/// @brief Used to store the information about the skeleton data coming from the estimation system in Core. +class ClientRawSkeleton +{ +public: + RawSkeletonInfo info; + std::vector nodes; +}; + +/// @brief Used to store all the skeleton data coming from the estimation system in Core. +class ClientRawSkeletonCollection +{ +public: + std::vector skeletons; +}; + +/// @brief Used to store all the tracker data coming from Core. +class TrackerDataCollection +{ +public: + std::vector trackerData; +}; + +/// @brief Used to store the information about the final animated skeletons. +class ClientGestures +{ +public: + GestureProbabilities info; + std::vector probabilities; +}; + +class SDKClient : public SDKClientPlatformSpecific +{ +public: + SDKClient(); + ~SDKClient(); + + ClientReturnCode Initialize(); + ClientReturnCode Run(); + ClientReturnCode ShutDown(); + + //Callbacks + static void OnConnectedCallback(const ManusHost* const p_Host); + static void OnDisconnectedCallback(const ManusHost* const p_Host); + static void OnLogCallback(LogSeverity p_Severity, const char* const p_Log, uint32_t p_Length); + static void OnSkeletonStreamCallback(const SkeletonStreamInfo* const p_Skeleton); + static void OnLandscapeCallback(const Landscape* const p_Landscape); + static void OnSystemCallback(const SystemMessage* const p_SystemMessage); + static void OnErgonomicsCallback(const ErgonomicsStream* const p_Ergo); + static void OnRawSkeletonStreamCallback(const SkeletonStreamInfo* const p_RawSkeletonStreamInfo); + static void OnTrackerStreamCallback(const TrackerStreamInfo* const p_TrackerStreamInfo); + static void OnGestureStreamCallback(const GestureStreamInfo* const p_GestureStream); + + float RoundFloatValue(float p_Value, int p_NumDecimalsToKeep); + void AdvanceConsolePosition(short int p_Y); + +protected: + virtual ClientReturnCode InitializeSDK(); + virtual ClientReturnCode RestartSDK(); + virtual ClientReturnCode RegisterAllCallbacks(); + + virtual ClientReturnCode LookingForHosts(); + virtual ClientReturnCode NoHostsFound(); + virtual ClientReturnCode PickingHost(); + virtual ClientReturnCode ConnectingToCore(); + + virtual ClientReturnCode UpdateBeforeDisplayingData(); + + virtual ClientReturnCode DisplayingData(); + virtual ClientReturnCode DisplayingDataGlove(); + virtual ClientReturnCode DisplayingDataSkeleton(); + virtual ClientReturnCode DisplayingDataTracker(); + virtual ClientReturnCode DisplayingDataTemporarySkeleton(); + virtual ClientReturnCode DisplayingLandscapeTimeData(); + virtual ClientReturnCode DisplayingDataGestures(); + virtual ClientReturnCode DisplayingGloveCalibration(); + virtual ClientReturnCode DisplayingPairing(); + + virtual ClientReturnCode DisconnectedFromCore(); + virtual ClientReturnCode ReconnectingToCore(int32_t p_ReconnectionTime = 0, int32_t p_ReconnectionAttempts = 0); + + void PrintHandErgoData(ErgonomicsData& p_ErgoData, bool p_Left); + void PrintErgonomicsData(); + void PrintDongleData(); + void PrintSystemMessage(); + void PrintSkeletonData(); + void PrintRawSkeletonData(); + + + void PrintTrackerData(); + void PrintTrackerDataGlobal(); + void PrintTrackerDataPerUser(); + + void PrintLandscapeTimeData(); + + void PrintGestureData(); + void PrintGloveCalibrationData(); + + void PrintSkeletonInfo(); + void PrintTemporarySkeletonInfo(); + void HandlePairingCommands(); + void GetTemporarySkeletonIfModified(); + + void HandleHapticCommands(); + + void HandleSkeletonCommands(); + void HandleSkeletonHapticCommands(); + void HandleTemporarySkeletonCommands(); + void HandleTrackerCommands(); + void SetTrackerOffset(); + void HandleGesturesCommands(); + void HandleGloveCalibrationCommands(); + + static NodeSetup CreateNodeSetup(uint32_t p_Id, uint32_t p_ParentId, float p_PosX, float p_PosY, float p_PosZ, std::string p_Name); + bool SetupHandNodes(uint32_t p_SklIndex, Side p_Side); + bool SetupHandChains(uint32_t p_SklIndex, Side p_Side); + + void LoadTestSkeleton(Side p_Side); + void UnloadTestSkeleton(); + void SendLoadedSkeleton(uint32_t p_SklIndex); + + void AllocateChains(); + + void BuildTemporarySkeleton(); + void ClearTemporarySkeleton(); + void ClearAllTemporarySkeletons(); + void SaveTemporarySkeletonToFile(); + void GetTemporarySkeletonFromFile(); + + void TestTimestamp(); + + void RemoveIndexFromTemporarySkeletonList(uint32_t p_Idx); + void PairGlove(); + void UnpairGlove(); + static ManusVec3 CreateManusVec3(float p_X, float p_Y, float p_Z); + + void ExecuteGloveCalibrationStep(GloveCalibrationStepArgs p_Args); + + void PrintLogs(); + +protected: + static SDKClient* s_Instance; + + bool m_RequestedExit = false; + ConnectionType m_ConnectionType = ConnectionType::ConnectionType_Invalid; + + //Console + uint32_t m_ConsoleClearTickCount = 0; + const short int m_ConsoleWidth = 220; + const short int m_ConsoleHeight = 55; + const short int m_ConsoleScrollback = 500; + int m_ConsoleCurrentOffset = 0; + + SessionType m_ClientType = SessionType::SessionType_CoreSDK; + + ClientState m_State = ClientState::ClientState_Starting; + ClientState m_PreviousState = m_State; + + std::function m_CurrentInteraction = nullptr; + + uint32_t m_HostToConnectTo = 0; + uint32_t m_NumberOfHostsFound = 0; + uint32_t m_SecondsToFindHosts = 2; + + int32_t m_SecondsToAttemptReconnecting = 60; + int32_t m_MaxReconnectionAttempts = 10; + uint32_t m_SleepBetweenReconnectingAttemptsInMs = 100; + + std::unique_ptr m_AvailableHosts = nullptr; + std::unique_ptr m_Host; + + //Data + uint32_t m_SessionId = 0; + + bool m_RumblingWrist[NUMBER_OF_HANDS_SUPPORTED] = { false, false }; + + std::vector m_LoadedSkeletons; + std::vector m_TemporarySkeletons; + + std::mutex m_SkeletonMutex; + std::mutex m_RawSkeletonMutex; + + ClientSkeletonCollection* m_NextSkeleton = nullptr; + ClientSkeletonCollection* m_Skeleton = nullptr; + + ClientRawSkeletonCollection* m_NextRawSkeleton = nullptr; + ClientRawSkeletonCollection* m_RawSkeleton = nullptr; + + std::mutex m_TrackerMutex; + + TrackerDataCollection* m_NextTrackerData = nullptr; + TrackerDataCollection* m_TrackerData = nullptr; + + std::chrono::time_point m_TimeSinceLastDisconnect; + std::chrono::time_point m_LastTemporarySkeletonUpdate = std::chrono::high_resolution_clock::now(); + + std::mutex m_SystemMessageMutex; + std::string m_SystemMessage = ""; + SystemMessageType m_SystemMessageCode = SystemMessageType::SystemMessageType_Unknown; + uint32_t m_ModifiedSkeletonIndex = UINT_MAX; + + ManusTimestampInfo m_ErgoTimestampInfo; + ErgonomicsData m_LeftGloveErgoData; + ErgonomicsData m_RightGloveErgoData; + + ChainType m_ChainType = ChainType::ChainType_Invalid; + + bool m_TrackerTest = false; + bool m_TrackerDataDisplayPerUser = false; + float m_TrackerOffset = 0.0f; + + std::mutex m_LandscapeMutex; + Landscape* m_NewLandscape = nullptr; + Landscape* m_Landscape = nullptr; + std::vector m_NewGestureLandscapeData; + std::vector m_GestureLandscapeData; + + uint32_t m_FirstLeftGloveID = 0; + uint32_t m_FirstRightGloveID = 0; + + std::mutex m_GestureMutex; + ClientGestures* m_NewFirstLeftGloveGestures = nullptr; + ClientGestures* m_FirstLeftGloveGestures = nullptr; + + ClientGestures* m_NewFirstRightGloveGestures = nullptr; + ClientGestures* m_FirstRightGloveGestures = nullptr; + + bool m_ShowLeftGestures = true; + + bool m_CalibrateLeftHand = true; + uint32_t m_CalibrationStep = 0; + uint32_t m_CalibrationGloveId = 0; + uint32_t m_NumberOfCalibrationSteps = 0; + bool m_ValidStepData = false; + GloveCalibrationStepData m_StepData; + bool m_IsCalibrationInProgress = false; + std::string m_CalibrationMessage = ""; + bool m_SendToDevTools = false; + + std::mutex m_LogMutex; + std::vector m_Logs; +}; + +// Close the Doxygen group. +/** @} */ +#endif diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.code-workspace b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.code-workspace new file mode 100644 index 0000000..ef9f5d2 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.code-workspace @@ -0,0 +1,7 @@ +{ + "folders": [ + { + "path": "." + } + ] +} \ No newline at end of file diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.vcxproj b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.vcxproj new file mode 100644 index 0000000..205c4d6 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.vcxproj @@ -0,0 +1,249 @@ + + + + + Debug + ARM + + + Release + ARM + + + Debug + ARM64 + + + Release + ARM64 + + + Debug + x64 + + + Release + x64 + + + + + + + + + + + + + + + {DADD0545-4F93-41DE-B0B7-C28B8497D16B} + Linux + SDKClient_Linux + 15.0 + Linux + 1.0 + Generic + {D51BCBC9-82E9-4017-911E-C93873C4EA2B} + + + + true + Remote_Clang_1_0 + + + false + Remote_Clang_1_0 + + + true + Remote_GCC_1_0 + + + false + Remote_GCC_1_0 + + + false + Remote_Clang_1_0 + + + true + Remote_Clang_1_0 + + + + + + + + $(RemoteRootDir)/$(RemoteOutRelDir)/$(TargetName)$(TargetExt) + + + $(SolutionDir)Output\$(Platform)\$(Configuration)\ + $(SolutionDir)Temp\$(ProjectGuid)\$(Platform)\$(Configuration)\ + 8 + + + $(SolutionDir)Output\$(Platform)\$(Configuration)\ + $(SolutionDir)Temp\$(ProjectGuid)\$(Platform)\$(Configuration)\ + 8 + + + $(SolutionDir)Output\$(Platform)\$(Configuration)\ + $(SolutionDir)Temp\$(ProjectGuid)\$(Platform)\$(Configuration)\ + 8 + + + $(SolutionDir)Output\$(Platform)\$(Configuration)\ + $(SolutionDir)Temp\$(ProjectGuid)\$(Platform)\$(Configuration)\ + 8 + + + $(SolutionDir)Output\$(Platform)\$(Configuration)\ + $(SolutionDir)Temp\$(ProjectGuid)\$(Platform)\$(Configuration)\ + 8 + + + $(SolutionDir)Output\$(Platform)\$(Configuration)\ + $(SolutionDir)Temp\$(ProjectGuid)\$(Platform)\$(Configuration)\ + 8 + + + + ~/ManusSDK/include;%(AdditionalIncludeDirectories) + c++17 + + + ~/ManusSDK/lib/libManusSDK.so;%(AdditionalDependencies) + ncurses + -pthread + + + rem Copy SDK client base files + copy /Y "$(SolutionDir)SDKClient_Windows\Main.cpp" "$(ProjectDir)\Main.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.hpp" "$(ProjectDir)\SDKClient.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.cpp" "$(ProjectDir)\SDKClient.cpp" + + rem Copy platform specific files + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\ClientPlatformSpecific.hpp" "$(ProjectDir)\ClientPlatformSpecific.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecific.cpp" "$(ProjectDir)\ClientPlatformSpecific.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecificTypes.hpp" "$(ProjectDir)\ClientPlatformSpecificTypes.hpp" + + + + + ~/ManusSDK/include;%(AdditionalIncludeDirectories) + c++17 + + + ~/ManusSDK/lib/libManusSDK.so;%(AdditionalDependencies) + ncurses + -pthread + + + rem Copy SDK client base files + copy /Y "$(SolutionDir)SDKClient_Windows\Main.cpp" "$(ProjectDir)\Main.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.hpp" "$(ProjectDir)\SDKClient.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.cpp" "$(ProjectDir)\SDKClient.cpp" + + rem Copy platform specific files + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\ClientPlatformSpecific.hpp" "$(ProjectDir)\ClientPlatformSpecific.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecific.cpp" "$(ProjectDir)\ClientPlatformSpecific.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecificTypes.hpp" "$(ProjectDir)\ClientPlatformSpecificTypes.hpp" + + + + + ~/ManusSDK/include;%(AdditionalIncludeDirectories) + c++17 + + + ~/ManusSDK/lib/libManusSDK.so;%(AdditionalDependencies) + ncurses + -pthread + + + rem Copy SDK client base files + copy /Y "$(SolutionDir)SDKClient_Windows\Main.cpp" "$(ProjectDir)\Main.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.hpp" "$(ProjectDir)\SDKClient.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.cpp" "$(ProjectDir)\SDKClient.cpp" + + rem Copy platform specific files + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\ClientPlatformSpecific.hpp" "$(ProjectDir)\ClientPlatformSpecific.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecific.cpp" "$(ProjectDir)\ClientPlatformSpecific.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecificTypes.hpp" "$(ProjectDir)\ClientPlatformSpecificTypes.hpp" + + + + + ~/ManusSDK/include;%(AdditionalIncludeDirectories) + c++17 + + + ~/ManusSDK/lib/libManusSDK.so;%(AdditionalDependencies) + ncurses + -pthread + + + rem Copy SDK client base files + copy /Y "$(SolutionDir)SDKClient_Windows\Main.cpp" "$(ProjectDir)\Main.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.hpp" "$(ProjectDir)\SDKClient.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.cpp" "$(ProjectDir)\SDKClient.cpp" + + rem Copy platform specific files + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\ClientPlatformSpecific.hpp" "$(ProjectDir)\ClientPlatformSpecific.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecific.cpp" "$(ProjectDir)\ClientPlatformSpecific.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecificTypes.hpp" "$(ProjectDir)\ClientPlatformSpecificTypes.hpp" + + + + + ~/ManusSDK/include;%(AdditionalIncludeDirectories) + c++17 + FMT_HEADER_ONLY;DEBUG;_DEBUG;%(PreprocessorDefinitions) + + + ~/ManusSDK/lib/libManusSDK.so;%(AdditionalDependencies) + ncurses + -pthread + + + rem Copy SDK client base files + copy /Y "$(SolutionDir)SDKClient_Windows\Main.cpp" "$(ProjectDir)\Main.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.hpp" "$(ProjectDir)\SDKClient.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.cpp" "$(ProjectDir)\SDKClient.cpp" + + rem Copy platform specific files + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\ClientPlatformSpecific.hpp" "$(ProjectDir)\ClientPlatformSpecific.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecific.cpp" "$(ProjectDir)\ClientPlatformSpecific.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecificTypes.hpp" "$(ProjectDir)\ClientPlatformSpecificTypes.hpp" + + + + + ~/ManusSDK/include;%(AdditionalIncludeDirectories) + c++17 + FMT_HEADER_ONLY;NDEBUG;%(PreprocessorDefinitions) + + + ~/ManusSDK/lib/libManusSDK.so;%(AdditionalDependencies) + ncurses + -pthread + + + rem Copy SDK client base files + copy /Y "$(SolutionDir)SDKClient_Windows\Main.cpp" "$(ProjectDir)\Main.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.hpp" "$(ProjectDir)\SDKClient.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\SDKClient.cpp" "$(ProjectDir)\SDKClient.cpp" + + rem Copy platform specific files + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\ClientPlatformSpecific.hpp" "$(ProjectDir)\ClientPlatformSpecific.hpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecific.cpp" "$(ProjectDir)\ClientPlatformSpecific.cpp" + copy /Y "$(SolutionDir)SDKClient_Windows\PlatformSpecific\Linux\ClientPlatformSpecificTypes.hpp" "$(ProjectDir)\ClientPlatformSpecificTypes.hpp" + + + + + \ No newline at end of file diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.vcxproj.filters b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.vcxproj.filters new file mode 100644 index 0000000..85be791 --- /dev/null +++ b/gr00t_wbc/control/teleop/device/SDKClient_Linux/SDKClient_Linux.vcxproj.filters @@ -0,0 +1,25 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + + + + + + Platform Specific + + + + + + + Platform Specific + + + Platform Specific + + + + \ No newline at end of file diff --git a/gr00t_wbc/control/teleop/device/SDKClient_Linux/objects/ClientPlatformSpecific.d b/gr00t_wbc/control/teleop/device/SDKClient_Linux/objects/ClientPlatformSpecific.d new 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