diff --git a/README.md b/README.md index 8165819..20d5e92 100644 --- a/README.md +++ b/README.md @@ -9,9 +9,22 @@ # 📺 Video Demo

- - Watch the video - + + + + + +
+ + Video 1 + +

G1 (29DoF)

+ 		+ + Video 2 + +

H1_2 (Arm 7DoF)

+

@@ -20,38 +33,40 @@ # 0. 📖 Introduction This repository implements teleoperation of the **Unitree humanoid robot** using **Apple Vision Pro**. -Here are the robots that will be supported, +Here are the currently supported robots, - - + + + + + - - + - - - - + + + + + + - + - - - - + +
🤖 Robot ⚪ Status 📝 Remarks
G1 (29DoF) + Dex3-1 G1 (29DoF) ✅ Completed
G1 (23DoF) ✅ Completed main branch
G1 (23DoF) H1 (Arm 4DoF) ✅ Completed main branch
H1 (Arm 4DoF) ⏱ In Progress Refer to this branch's ik temporarily H1_2 (Arm 7DoF) ✅ Completed
Dex3-1 hand ✅ Completed
H1_2 (Arm 7DoF) + Inspire Inspire hand ✅ Completed The original h1_2 branch has become stale, and the original g1 branch has been renamed to the main branch. The main branch now supports both g1 and h1_2.
··· ··· ··· ... ...
@@ -330,6 +345,7 @@ avp_teleoperate/ │ │ ├── episode_writer.py [Used to record data for imitation learning] │ │ ├── mat_tool.py [Some small math tools] │ │ ├── weighted_moving_filter.py [For filtering joint data] +| | ├── rerun_visualizer.py [For visualizing data during recording] │ │ │ │──teleop_hand_and_arm.py [Startup execution code for teleoperation] ``` diff --git a/README_ja-JP.md b/README_ja-JP.md index 416606d..1ce4df6 100644 --- a/README_ja-JP.md +++ b/README_ja-JP.md @@ -9,25 +9,65 @@ # 📺 ビデオデモ

- - Watch the video - + + + + + +
+ + Video 1 + +

G1 (29DoF)

+ 		+ + Video 2 + +

H1_2（腕 7自由度）

+

- - # 0. 📖 イントロダクション このリポジトリは、**Apple Vision Pro** を使用して **Unitree ヒューマノイドロボット** を遠隔操作するためのものです。 -以下は、このリポジトリがサポートするロボットの種類です： +以下は本リポジトリで現在サポートされているロボットの種類です, + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
🤖 ロボット ⚪ ステータス
G1（29自由度） ✅ 完了
G1（23自由度） ✅ 完了
H1（腕 4自由度） ✅ 完了
H1_2（腕 7自由度） ✅ 完了
Dex3-1 ハンド ✅ 完了
Inspire ハンド ✅ 完了
... ...
-| ロボット | ステータス | 備考 | -| :----------------------------: | :--------: | :----------------------------------------------------------: | -| G1 (29自由度) + Dex3-1 | ✅ 完了 | mainブランチ | -| H1 (アーム4自由度) | ⏳ 進行中 | [この一時ブランチのIKソルバーを参照](https://github.com/unitreerobotics/avp_teleoperate/tree/h1) | -| H1_2 (アーム7自由度) + Inspire | ✅ 完了 | [元のh1_2ブランチは古くなり、元のg1ブランチがmainブランチに改名され、mainブランチは現在g1とh1_2の両方をサポート](https://github.com/unitreerobotics/avp_teleoperate/tree/main) | -| ... | ... | ... | 以下は、必要なデバイスと配線図です： @@ -302,6 +342,7 @@ avp_teleoperate/ │ │ ├── episode_writer.py [模倣学習のデータを記録するために使用] │ │ ├── mat_tool.py [いくつかの小さな数学ツール] │ │ ├── weighted_moving_filter.py [ジョイントデータをフィルタリングするため] +│ │ ├── rerun_visualizer.py [記録中のデータを可視化するため] │ │ │ │──teleop_hand_and_arm.py [遠隔操作の起動実行コード] ``` diff --git a/README_zh-CN.md b/README_zh-CN.md index 2019399..ebddc60 100644 --- a/README_zh-CN.md +++ b/README_zh-CN.md @@ -9,9 +9,22 @@ # 📺 视频演示

- - Watch the video - + + + + + +
+ + Video 1 + +

G1 (29自由度)

+ 		+ + Video 2 + +

H1_2 (手臂7自由度)

+

@@ -19,33 +32,40 @@ 该仓库实现了使用 **Apple Vision Pro** 对 **宇树（Unitree）人形机器人** 的遥操作控制。 -以下是本仓库将支持的机器人类型： +以下是本仓库目前支持的机器人类型： - - + - - - - + + + + + + + + + + + + + + - + - - - - + +
🤖 机器人 ⚪ 状态 📝 备注
G1 (29自由度) + Dex3-1 G1 (29自由度) ✅ 完成 main分支
H1 (手臂4自由度) ⏱ 进行中 可参考该临时分支下ik解算 G1 (23自由度) ✅ 完成
H1 (手臂4自由度) ✅ 完成
H1_2 (手臂7自由度) ✅ 完成
Dex3-1 灵巧手 ✅ 完成
H1_2 (手臂7自由度) + Inspire 因时灵巧手 ✅ 完成 原h1_2分支变为陈旧分支，原g1分支重命名为main分支，main分支现已同时支持g1和h1_2
··· ··· ··· ... ...
@@ -321,6 +341,7 @@ avp_teleoperate/ │ │ ├── episode_writer.py [用于记录模仿学习的数据] │ │ ├── mat_tool.py [一些小的数学工具] │ │ ├── weighted_moving_filter.py [用于过滤关节数据的滤波器] +| | ├── rerun_visualizer.py [用于可视化录制数据] │ │ │ │──teleop_hand_and_arm.py [遥操作的启动执行代码] ``` diff --git a/assets/h1/h1_with_hand.urdf b/assets/h1/h1_with_hand.urdf new file mode 100644 index 0000000..c021134 --- /dev/null +++ b/assets/h1/h1_with_hand.urdf @@ -0,0 +1,1543 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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assets/inspire_hand/meshes/right_shoulder_pitch_link.STL rename to assets/h1/meshes/right_shoulder_pitch_link.STL diff --git a/assets/inspire_hand/meshes/right_shoulder_roll_link.STL b/assets/h1/meshes/right_shoulder_roll_link.STL similarity index 100% rename from assets/inspire_hand/meshes/right_shoulder_roll_link.STL rename to assets/h1/meshes/right_shoulder_roll_link.STL diff --git a/assets/inspire_hand/meshes/right_shoulder_yaw_link.STL b/assets/h1/meshes/right_shoulder_yaw_link.STL similarity index 100% rename from assets/inspire_hand/meshes/right_shoulder_yaw_link.STL rename to assets/h1/meshes/right_shoulder_yaw_link.STL diff --git a/assets/h1/meshes/torso_link.STL b/assets/h1/meshes/torso_link.STL new file mode 100644 index 0000000..fe7e59f Binary files /dev/null and b/assets/h1/meshes/torso_link.STL differ diff --git a/assets/inspire_hand/inspire_hand.yml b/assets/inspire_hand/inspire_hand.yml index a2f6071..a3aaaf0 100644 --- a/assets/inspire_hand/inspire_hand.yml +++ b/assets/inspire_hand/inspire_hand.yml @@ -4,17 +4,19 @@ left: wrist_link_name: "L_hand_base_link" # Target refers to the retargeting target, which is the robot hand - target_joint_names: null - target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ] + target_joint_names: ['L_thumb_proximal_yaw_joint', 'L_thumb_proximal_pitch_joint', + 'L_index_proximal_joint', 'L_middle_proximal_joint', + 'L_ring_proximal_joint', 'L_pinky_proximal_joint' ] + target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link"] target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ] - scaling_factor: 1.5 + scaling_factor: 1.20 # Source refers to the retargeting input, which usually corresponds to the human hand # The joint indices of human hand joint which corresponds to each link in the target_link_names target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ] # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency - low_pass_alpha: 0.8 + low_pass_alpha: 0.2 right: type: vector @@ -22,14 +24,16 @@ right: wrist_link_name: "R_hand_base_link" # Target refers to the retargeting target, which is the robot hand - target_joint_names: null - target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ] + target_joint_names: ['R_thumb_proximal_yaw_joint', 'R_thumb_proximal_pitch_joint', + 'R_index_proximal_joint', 'R_middle_proximal_joint', + 'R_ring_proximal_joint', 'R_pinky_proximal_joint' ] + target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link"] target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ] - scaling_factor: 1.5 + scaling_factor: 1.20 # Source refers to the retargeting input, which usually corresponds to the human hand # The joint indices of human hand joint which corresponds to each link in the target_link_names target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ] # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency - low_pass_alpha: 0.8 \ No newline at end of file + low_pass_alpha: 0.2 \ No newline at end of file diff --git a/assets/inspire_hand/inspire_hand_left.urdf b/assets/inspire_hand/inspire_hand_left.urdf index 86299b3..67f7ef2 100644 --- a/assets/inspire_hand/inspire_hand_left.urdf +++ b/assets/inspire_hand/inspire_hand_left.urdf @@ -1,316 +1,245 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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100644 index 827fb2c..0000000 Binary files a/assets/inspire_hand/meshes/left_ankle_pitch_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/left_ankle_roll_link.STL b/assets/inspire_hand/meshes/left_ankle_roll_link.STL deleted file mode 100644 index 83e7de1..0000000 Binary files a/assets/inspire_hand/meshes/left_ankle_roll_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/left_elbow_pitch_link.STL b/assets/inspire_hand/meshes/left_elbow_pitch_link.STL deleted file mode 100644 index 47ae65c..0000000 Binary files a/assets/inspire_hand/meshes/left_elbow_pitch_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/left_elbow_roll_link.STL b/assets/inspire_hand/meshes/left_elbow_roll_link.STL deleted file mode 100644 index 112437b..0000000 Binary files a/assets/inspire_hand/meshes/left_elbow_roll_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/left_knee_link.STL b/assets/inspire_hand/meshes/left_knee_link.STL deleted file mode 100644 index e470aee..0000000 Binary files a/assets/inspire_hand/meshes/left_knee_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/left_wrist_pitch_link.STL b/assets/inspire_hand/meshes/left_wrist_pitch_link.STL deleted file mode 100644 index 83d6d87..0000000 Binary files a/assets/inspire_hand/meshes/left_wrist_pitch_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/right_ankle_pitch_link.STL b/assets/inspire_hand/meshes/right_ankle_pitch_link.STL deleted file mode 100644 index 827fb2c..0000000 Binary files a/assets/inspire_hand/meshes/right_ankle_pitch_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/right_ankle_roll_link.STL b/assets/inspire_hand/meshes/right_ankle_roll_link.STL deleted file mode 100644 index 83e7de1..0000000 Binary files a/assets/inspire_hand/meshes/right_ankle_roll_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/right_elbow_pitch_link.STL b/assets/inspire_hand/meshes/right_elbow_pitch_link.STL deleted file mode 100644 index 360fb7f..0000000 Binary files a/assets/inspire_hand/meshes/right_elbow_pitch_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/right_elbow_roll_link.STL b/assets/inspire_hand/meshes/right_elbow_roll_link.STL deleted file mode 100644 index 5f7f228..0000000 Binary files a/assets/inspire_hand/meshes/right_elbow_roll_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/right_knee_link.STL b/assets/inspire_hand/meshes/right_knee_link.STL deleted file mode 100644 index e470aee..0000000 Binary files a/assets/inspire_hand/meshes/right_knee_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/right_wrist_pitch_link.STL b/assets/inspire_hand/meshes/right_wrist_pitch_link.STL deleted file mode 100644 index f21d1f0..0000000 Binary files a/assets/inspire_hand/meshes/right_wrist_pitch_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/torso_link.STL b/assets/inspire_hand/meshes/torso_link.STL deleted file mode 100644 index 649d870..0000000 Binary files a/assets/inspire_hand/meshes/torso_link.STL and /dev/null differ diff --git a/assets/inspire_hand/meshes/wrist_yaw_link.STL b/assets/inspire_hand/meshes/wrist_yaw_link.STL deleted file mode 100644 index eaff5db..0000000 Binary files a/assets/inspire_hand/meshes/wrist_yaw_link.STL and /dev/null differ diff --git a/teleop/robot_control/hand_retargeting.py b/teleop/robot_control/hand_retargeting.py index ec03702..a0975c5 100644 --- a/teleop/robot_control/hand_retargeting.py +++ b/teleop/robot_control/hand_retargeting.py @@ -5,6 +5,7 @@ from enum import Enum class HandType(Enum): INSPIRE_HAND = "../assets/inspire_hand/inspire_hand.yml" + INSPIRE_HAND_Unit_Test = "../../assets/inspire_hand/inspire_hand.yml" UNITREE_DEX3 = "../assets/unitree_hand/unitree_dex3.yml" UNITREE_DEX3_Unit_Test = "../../assets/unitree_hand/unitree_dex3.yml" @@ -16,6 +17,8 @@ class HandRetargeting: RetargetingConfig.set_default_urdf_dir('../../assets') elif hand_type == HandType.INSPIRE_HAND: RetargetingConfig.set_default_urdf_dir('../assets') + elif hand_type == HandType.INSPIRE_HAND_Unit_Test: + RetargetingConfig.set_default_urdf_dir('../../assets') config_file_path = Path(hand_type.value) @@ -33,25 +36,34 @@ class HandRetargeting: self.left_retargeting_joint_names = self.left_retargeting.joint_names self.right_retargeting_joint_names = self.right_retargeting.joint_names - # In section "Sort by message structure" of https://support.unitree.com/home/en/G1_developer/dexterous_hand - self.right_dex3_api_joint_names = [ 'right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint', - 'right_hand_middle_0_joint', 'right_hand_middle_1_joint', - 'right_hand_index_0_joint', 'right_hand_index_1_joint' ] - self.left_dex3_api_joint_names = [ 'left_hand_thumb_0_joint', 'left_hand_thumb_1_joint', 'left_hand_thumb_2_joint', - 'left_hand_middle_0_joint', 'left_hand_middle_1_joint', - 'left_hand_index_0_joint', 'left_hand_index_1_joint' ] - self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_dex3_api_joint_names] - self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_dex3_api_joint_names] - # Archive: This is the joint order of the dex-retargeting library version 0.1.1. - # print([joint.get_name() for joint in self.left_retargeting.optimizer.robot.get_active_joints()]) - # ['left_hand_thumb_0_joint', 'left_hand_thumb_1_joint', 'left_hand_thumb_2_joint', - # 'left_hand_middle_0_joint', 'left_hand_middle_1_joint', - # 'left_hand_index_0_joint', 'left_hand_index_1_joint'] - # print([joint.get_name() for joint in self.right_retargeting.optimizer.robot.get_active_joints()]) - # ['right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint', - # 'right_hand_middle_0_joint', 'right_hand_middle_1_joint', - # 'right_hand_index_0_joint', 'right_hand_index_1_joint'] + if hand_type == HandType.UNITREE_DEX3 or hand_type == HandType.UNITREE_DEX3_Unit_Test: + # In section "Sort by message structure" of https://support.unitree.com/home/en/G1_developer/dexterous_hand + self.left_dex3_api_joint_names = [ 'left_hand_thumb_0_joint', 'left_hand_thumb_1_joint', 'left_hand_thumb_2_joint', + 'left_hand_middle_0_joint', 'left_hand_middle_1_joint', + 'left_hand_index_0_joint', 'left_hand_index_1_joint' ] + self.right_dex3_api_joint_names = [ 'right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint', + 'right_hand_middle_0_joint', 'right_hand_middle_1_joint', + 'right_hand_index_0_joint', 'right_hand_index_1_joint' ] + self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_dex3_api_joint_names] + self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_dex3_api_joint_names] + + # Archive: This is the joint order of the dex-retargeting library version 0.1.1. + # print([joint.get_name() for joint in self.left_retargeting.optimizer.robot.get_active_joints()]) + # ['left_hand_thumb_0_joint', 'left_hand_thumb_1_joint', 'left_hand_thumb_2_joint', + # 'left_hand_middle_0_joint', 'left_hand_middle_1_joint', + # 'left_hand_index_0_joint', 'left_hand_index_1_joint'] + # print([joint.get_name() for joint in self.right_retargeting.optimizer.robot.get_active_joints()]) + # ['right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint', + # 'right_hand_middle_0_joint', 'right_hand_middle_1_joint', + # 'right_hand_index_0_joint', 'right_hand_index_1_joint'] + elif hand_type == HandType.INSPIRE_HAND or hand_type == HandType.INSPIRE_HAND_Unit_Test: + self.left_inspire_api_joint_names = [ 'L_pinky_proximal_joint', 'L_ring_proximal_joint', 'L_middle_proximal_joint', + 'L_index_proximal_joint', 'L_thumb_proximal_pitch_joint', 'L_thumb_proximal_yaw_joint' ] + self.right_inspire_api_joint_names = [ 'R_pinky_proximal_joint', 'R_ring_proximal_joint', 'R_middle_proximal_joint', + 'R_index_proximal_joint', 'R_thumb_proximal_pitch_joint', 'R_thumb_proximal_yaw_joint' ] + self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_inspire_api_joint_names] + self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_inspire_api_joint_names] except FileNotFoundError: print(f"Configuration file not found: {config_file_path}") diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py index d940dcf..fa040f7 100644 --- a/teleop/robot_control/robot_arm.py +++ b/teleop/robot_control/robot_arm.py @@ -4,15 +4,19 @@ import time from enum import IntEnum from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize # dds -from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_, LowState_ # idl +from unitree_sdk2py.idl.unitree_hg.msg.dds_ import ( LowCmd_ as hg_LowCmd, LowState_ as hg_LowState) # idl for g1, h1_2 from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_ from unitree_sdk2py.utils.crc import CRC +from unitree_sdk2py.idl.unitree_go.msg.dds_ import ( LowCmd_ as go_LowCmd, LowState_ as go_LowState) # idl for h1 +from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ + kTopicLowCommand = "rt/lowcmd" kTopicLowState = "rt/lowstate" G1_29_Num_Motors = 35 G1_23_Num_Motors = 35 H1_2_Num_Motors = 35 +H1_Num_Motors = 20 class MotorState: @@ -31,6 +35,11 @@ class G1_23_LowState: class H1_2_LowState: def __init__(self): self.motor_state = [MotorState() for _ in range(H1_2_Num_Motors)] + +class H1_LowState: + def __init__(self): + self.motor_state = [MotorState() for _ in range(H1_Num_Motors)] + class DataBuffer: def __init__(self): self.data = None @@ -67,9 +76,9 @@ class G1_29_ArmController: # initialize lowcmd publisher and lowstate subscriber ChannelFactoryInitialize(0) - self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, LowCmd_) + self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, hg_LowCmd) self.lowcmd_publisher.Init() - self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, LowState_) + self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState) self.lowstate_subscriber.Init() self.lowstate_buffer = DataBuffer() @@ -331,9 +340,9 @@ class G1_23_ArmController: # initialize lowcmd publisher and lowstate subscriber ChannelFactoryInitialize(0) - self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, LowCmd_) + self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, hg_LowCmd) self.lowcmd_publisher.Init() - self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, LowState_) + self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState) self.lowstate_subscriber.Init() self.lowstate_buffer = DataBuffer() @@ -587,9 +596,9 @@ class H1_2_ArmController: # initialize lowcmd publisher and lowstate subscriber ChannelFactoryInitialize(0) - self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, LowCmd_) + self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, hg_LowCmd) self.lowcmd_publisher.Init() - self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, LowState_) + self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState) self.lowstate_subscriber.Init() self.lowstate_buffer = DataBuffer() @@ -827,29 +836,244 @@ class H1_2_JointIndex(IntEnum): kNotUsedJoint6 = 33 kNotUsedJoint7 = 34 +class H1_ArmController: + def __init__(self): + print("Initialize H1_ArmController...") + self.q_target = np.zeros(8) + self.tauff_target = np.zeros(8) + + self.kp_high = 300.0 + self.kd_high = 5.0 + self.kp_low = 140.0 + self.kd_low = 3.0 + + self.all_motor_q = None + self.arm_velocity_limit = 20.0 + self.control_dt = 1.0 / 250.0 + + self._speed_gradual_max = False + self._gradual_start_time = None + self._gradual_time = None + + # initialize lowcmd publisher and lowstate subscriber + ChannelFactoryInitialize(0) + self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, go_LowCmd) + self.lowcmd_publisher.Init() + self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, go_LowState) + self.lowstate_subscriber.Init() + self.lowstate_buffer = DataBuffer() + + # initialize subscribe thread + self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state) + self.subscribe_thread.daemon = True + self.subscribe_thread.start() + + while not self.lowstate_buffer.GetData(): + time.sleep(0.01) + print("[H1_ArmController] Waiting to subscribe dds...") + + # initialize h1's lowcmd msg + self.crc = CRC() + self.msg = unitree_go_msg_dds__LowCmd_() + self.msg.head[0] = 0xFE + self.msg.head[1] = 0xEF + self.msg.level_flag = 0xFF + self.msg.gpio = 0 + + self.all_motor_q = self.get_current_motor_q() + print(f"Current all body motor state q:\n{self.all_motor_q} \n") + print(f"Current two arms motor state q:\n{self.get_current_dual_arm_q()}\n") + print("Lock all joints except two arms...\n") + + for id in H1_JointIndex: + if self._Is_weak_motor(id): + self.msg.motor_cmd[id].kp = self.kp_low + self.msg.motor_cmd[id].kd = self.kd_low + self.msg.motor_cmd[id].mode = 0x01 + else: + self.msg.motor_cmd[id].kp = self.kp_high + self.msg.motor_cmd[id].kd = self.kd_high + self.msg.motor_cmd[id].mode = 0x0A + self.msg.motor_cmd[id].q = self.all_motor_q[id] + print("Lock OK!\n") + + # initialize publish thread + self.publish_thread = threading.Thread(target=self._ctrl_motor_state) + self.ctrl_lock = threading.Lock() + self.publish_thread.daemon = True + self.publish_thread.start() + + print("Initialize H1_ArmController OK!\n") + + def _subscribe_motor_state(self): + while True: + msg = self.lowstate_subscriber.Read() + if msg is not None: + lowstate = H1_LowState() + for id in range(H1_Num_Motors): + lowstate.motor_state[id].q = msg.motor_state[id].q + lowstate.motor_state[id].dq = msg.motor_state[id].dq + self.lowstate_buffer.SetData(lowstate) + time.sleep(0.002) + + def clip_arm_q_target(self, target_q, velocity_limit): + current_q = self.get_current_dual_arm_q() + delta = target_q - current_q + motion_scale = np.max(np.abs(delta)) / (velocity_limit * self.control_dt) + cliped_arm_q_target = current_q + delta / max(motion_scale, 1.0) + return cliped_arm_q_target + + def _ctrl_motor_state(self): + while True: + start_time = time.time() + + with self.ctrl_lock: + arm_q_target = self.q_target + arm_tauff_target = self.tauff_target + + cliped_arm_q_target = self.clip_arm_q_target(arm_q_target, velocity_limit = self.arm_velocity_limit) + + for idx, id in enumerate(H1_JointArmIndex): + self.msg.motor_cmd[id].q = cliped_arm_q_target[idx] + self.msg.motor_cmd[id].dq = 0 + self.msg.motor_cmd[id].tau = arm_tauff_target[idx] + + self.msg.crc = self.crc.Crc(self.msg) + self.lowcmd_publisher.Write(self.msg) + + if self._speed_gradual_max is True: + t_elapsed = start_time - self._gradual_start_time + self.arm_velocity_limit = 20.0 + (10.0 * min(1.0, t_elapsed / 5.0)) + + current_time = time.time() + all_t_elapsed = current_time - start_time + sleep_time = max(0, (self.control_dt - all_t_elapsed)) + time.sleep(sleep_time) + # print(f"arm_velocity_limit:{self.arm_velocity_limit}") + # print(f"sleep_time:{sleep_time}") + + def ctrl_dual_arm(self, q_target, tauff_target): + '''Set control target values q & tau of the left and right arm motors.''' + with self.ctrl_lock: + self.q_target = q_target + self.tauff_target = tauff_target + + def get_current_motor_q(self): + '''Return current state q of all body motors.''' + return np.array([self.lowstate_buffer.GetData().motor_state[id].q for id in H1_JointIndex]) + + def get_current_dual_arm_q(self): + '''Return current state q of the left and right arm motors.''' + return np.array([self.lowstate_buffer.GetData().motor_state[id].q for id in H1_JointArmIndex]) + + def get_current_dual_arm_dq(self): + '''Return current state dq of the left and right arm motors.''' + return np.array([self.lowstate_buffer.GetData().motor_state[id].dq for id in H1_JointArmIndex]) + + def ctrl_dual_arm_go_home(self): + '''Move both the left and right arms of the robot to their home position by setting the target joint angles (q) and torques (tau) to zero.''' + print("[H1_ArmController] ctrl_dual_arm_go_home start...") + with self.ctrl_lock: + self.q_target = np.zeros(8) + # self.tauff_target = np.zeros(8) + tolerance = 0.05 # Tolerance threshold for joint angles to determine "close to zero", can be adjusted based on your motor's precision requirements + while True: + current_q = self.get_current_dual_arm_q() + if np.all(np.abs(current_q) < tolerance): + print("[H1_ArmController] both arms have reached the home position.") + break + time.sleep(0.05) + + def speed_gradual_max(self, t = 5.0): + '''Parameter t is the total time required for arms velocity to gradually increase to its maximum value, in seconds. The default is 5.0.''' + self._gradual_start_time = time.time() + self._gradual_time = t + self._speed_gradual_max = True + + def speed_instant_max(self): + '''set arms velocity to the maximum value immediately, instead of gradually increasing.''' + self.arm_velocity_limit = 30.0 + + def _Is_weak_motor(self, motor_index): + weak_motors = [ + H1_JointIndex.kLeftAnkle.value, + H1_JointIndex.kRightAnkle.value, + # Left arm + H1_JointIndex.kLeftShoulderPitch.value, + H1_JointIndex.kLeftShoulderRoll.value, + H1_JointIndex.kLeftShoulderYaw.value, + H1_JointIndex.kLeftElbow.value, + # Right arm + H1_JointIndex.kRightShoulderPitch.value, + H1_JointIndex.kRightShoulderRoll.value, + H1_JointIndex.kRightShoulderYaw.value, + H1_JointIndex.kRightElbow.value, + ] + return motor_index.value in weak_motors + +class H1_JointArmIndex(IntEnum): + # Unlike G1 and H1_2, the arm order in DDS messages for H1 is right then left. + # Therefore, the purpose of switching the order here is to maintain consistency with G1 and H1_2. + # Left arm + kLeftShoulderPitch = 16 + kLeftShoulderRoll = 17 + kLeftShoulderYaw = 18 + kLeftElbow = 19 + # Right arm + kRightShoulderPitch = 12 + kRightShoulderRoll = 13 + kRightShoulderYaw = 14 + kRightElbow = 15 + +class H1_JointIndex(IntEnum): + kRightHipRoll = 0 + kRightHipPitch = 1 + kRightKnee = 2 + kLeftHipRoll = 3 + kLeftHipPitch = 4 + kLeftKnee = 5 + kWaistYaw = 6 + kLeftHipYaw = 7 + kRightHipYaw = 8 + kNotUsedJoint = 9 + kLeftAnkle = 10 + kRightAnkle = 11 + # Right arm + kRightShoulderPitch = 12 + kRightShoulderRoll = 13 + kRightShoulderYaw = 14 + kRightElbow = 15 + # Left arm + kLeftShoulderPitch = 16 + kLeftShoulderRoll = 17 + kLeftShoulderYaw = 18 + kLeftElbow = 19 + if __name__ == "__main__": - from robot_arm_ik import G1_29_ArmIK, H1_2_ArmIK + from robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK import pinocchio as pin - # arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = False) - # arm = G1_29_ArmController() - arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = False) - arm = H1_2_ArmController() + arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = False) + arm = G1_29_ArmController() + # arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = False) + # arm = G1_23_ArmController() + # arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = False) + # arm = H1_2_ArmController() + # arm_ik = H1_ArmIK(Unit_Test = True, Visualization = True) + # arm = H1_ArmController() # initial positon L_tf_target = pin.SE3( pin.Quaternion(1, 0, 0, 0), - np.array([0.25, +0.2, 0.1]), + np.array([0.25, +0.25, 0.1]), ) R_tf_target = pin.SE3( pin.Quaternion(1, 0, 0, 0), - np.array([0.25, -0.2, 0.1]), + np.array([0.25, -0.25, 0.1]), ) rotation_speed = 0.005 # Rotation speed in radians per iteration - q_target = np.zeros(35) - tauff_target = np.zeros(35) user_input = input("Please enter the start signal (enter 's' to start the subsequent program): \n") if user_input.lower() == 's': diff --git a/teleop/robot_control/robot_arm_ik.py b/teleop/robot_control/robot_arm_ik.py index 07f15a4..1ef1787 100644 --- a/teleop/robot_control/robot_arm_ik.py +++ b/teleop/robot_control/robot_arm_ik.py @@ -3,8 +3,7 @@ import meshcat.geometry as mg import numpy as np import pinocchio as pin import time -from pinocchio import casadi as cpin -from pinocchio.robot_wrapper import RobotWrapper +from pinocchio import casadi as cpin from pinocchio.visualize import MeshcatVisualizer import os import sys @@ -85,7 +84,8 @@ class G1_29_ArmIK: # frame = self.reduced_robot.model.frames[i] # frame_id = self.reduced_robot.model.getFrameId(frame.name) # print(f"Frame ID: {frame_id}, Name: {frame.name}") - + for idx, name in enumerate(self.reduced_robot.model.names): + print(f"{idx}: {name}") # Creating Casadi models and data for symbolic computing self.cmodel = cpin.Model(self.reduced_robot.model) self.cdata = self.cmodel.createData() @@ -637,7 +637,7 @@ class H1_2_ArmIK: self.vis = MeshcatVisualizer(self.reduced_robot.model, self.reduced_robot.collision_model, self.reduced_robot.visual_model) self.vis.initViewer(open=True) self.vis.loadViewerModel("pinocchio") - self.vis.displayFrames(True, frame_ids=[101, 102], axis_length = 0.15, axis_width = 5) + self.vis.displayFrames(True, frame_ids=[113, 114], axis_length = 0.15, axis_width = 5) self.vis.display(pin.neutral(self.reduced_robot.model)) # Enable the display of end effector target frames with short axis lengths and greater width. @@ -735,11 +735,265 @@ class H1_2_ArmIK: # return sol_q, sol_tauff return current_lr_arm_motor_q, np.zeros(self.reduced_robot.model.nv) +class H1_ArmIK: + def __init__(self, Unit_Test = False, Visualization = False): + np.set_printoptions(precision=5, suppress=True, linewidth=200) + + self.Unit_Test = Unit_Test + self.Visualization = Visualization + + if not self.Unit_Test: + self.robot = pin.RobotWrapper.BuildFromURDF('../assets/h1/h1_with_hand.urdf', '../assets/h1/') + else: + self.robot = pin.RobotWrapper.BuildFromURDF('../../assets/h1/h1_with_hand.urdf', '../../assets/h1/') # for test + + self.mixed_jointsToLockIDs = [ + "right_hip_roll_joint", + "right_hip_pitch_joint", + "right_knee_joint", + "left_hip_roll_joint", + "left_hip_pitch_joint", + "left_knee_joint", + "torso_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + + "left_ankle_joint", + "right_ankle_joint", + + "L_index_proximal_joint", + "L_index_intermediate_joint", + "L_middle_proximal_joint", + "L_middle_intermediate_joint", + "L_ring_proximal_joint", + "L_ring_intermediate_joint", + "L_pinky_proximal_joint", + "L_pinky_intermediate_joint", + "L_thumb_proximal_yaw_joint", + "L_thumb_proximal_pitch_joint", + "L_thumb_intermediate_joint", + "L_thumb_distal_joint", + + "R_index_proximal_joint", + "R_index_intermediate_joint", + "R_middle_proximal_joint", + "R_middle_intermediate_joint", + "R_ring_proximal_joint", + "R_ring_intermediate_joint", + "R_pinky_proximal_joint", + "R_pinky_intermediate_joint", + "R_thumb_proximal_yaw_joint", + "R_thumb_proximal_pitch_joint", + "R_thumb_intermediate_joint", + "R_thumb_distal_joint", + + "left_hand_joint", + "right_hand_joint" + ] + + self.reduced_robot = self.robot.buildReducedRobot( + list_of_joints_to_lock=self.mixed_jointsToLockIDs, + reference_configuration=np.array([0.0] * self.robot.model.nq), + ) + + self.reduced_robot.model.addFrame( + pin.Frame('L_ee', + self.reduced_robot.model.getJointId('left_elbow_joint'), + pin.SE3(np.eye(3), + np.array([0.2605 + 0.05,0,0]).T), + pin.FrameType.OP_FRAME) + ) + + self.reduced_robot.model.addFrame( + pin.Frame('R_ee', + self.reduced_robot.model.getJointId('right_elbow_joint'), + pin.SE3(np.eye(3), + np.array([0.2605 + 0.05,0,0]).T), + pin.FrameType.OP_FRAME) + ) + + # for i in range(self.reduced_robot.model.nframes): + # frame = self.reduced_robot.model.frames[i] + # frame_id = self.reduced_robot.model.getFrameId(frame.name) + # print(f"Frame ID: {frame_id}, Name: {frame.name}") + + # Creating Casadi models and data for symbolic computing + self.cmodel = cpin.Model(self.reduced_robot.model) + self.cdata = self.cmodel.createData() + + # Creating symbolic variables + self.cq = casadi.SX.sym("q", self.reduced_robot.model.nq, 1) + self.cTf_l = casadi.SX.sym("tf_l", 4, 4) + self.cTf_r = casadi.SX.sym("tf_r", 4, 4) + cpin.framesForwardKinematics(self.cmodel, self.cdata, self.cq) + + # Get the hand joint ID and define the error function + self.L_hand_id = self.reduced_robot.model.getFrameId("L_ee") + self.R_hand_id = self.reduced_robot.model.getFrameId("R_ee") + + self.translational_error = casadi.Function( + "translational_error", + [self.cq, self.cTf_l, self.cTf_r], + [ + casadi.vertcat( + self.cdata.oMf[self.L_hand_id].translation - self.cTf_l[:3,3], + self.cdata.oMf[self.R_hand_id].translation - self.cTf_r[:3,3] + ) + ], + ) + self.rotational_error = casadi.Function( + "rotational_error", + [self.cq, self.cTf_l, self.cTf_r], + [ + casadi.vertcat( + cpin.log3(self.cdata.oMf[self.L_hand_id].rotation @ self.cTf_l[:3,:3].T), + cpin.log3(self.cdata.oMf[self.R_hand_id].rotation @ self.cTf_r[:3,:3].T) + ) + ], + ) + + # Defining the optimization problem + self.opti = casadi.Opti() + self.var_q = self.opti.variable(self.reduced_robot.model.nq) + self.var_q_last = self.opti.parameter(self.reduced_robot.model.nq) # for smooth + self.param_tf_l = self.opti.parameter(4, 4) + self.param_tf_r = self.opti.parameter(4, 4) + self.translational_cost = casadi.sumsqr(self.translational_error(self.var_q, self.param_tf_l, self.param_tf_r)) + self.rotation_cost = casadi.sumsqr(self.rotational_error(self.var_q, self.param_tf_l, self.param_tf_r)) + self.regularization_cost = casadi.sumsqr(self.var_q) + self.smooth_cost = casadi.sumsqr(self.var_q - self.var_q_last) + + # Setting optimization constraints and goals + self.opti.subject_to(self.opti.bounded( + self.reduced_robot.model.lowerPositionLimit, + self.var_q, + self.reduced_robot.model.upperPositionLimit) + ) + self.opti.minimize(50 * self.translational_cost + 0.5 * self.rotation_cost + 0.02 * self.regularization_cost + 0.1 * self.smooth_cost) + + opts = { + 'ipopt':{ + 'print_level':0, + 'max_iter':50, + 'tol':1e-6 + }, + 'print_time':False,# print or not + 'calc_lam_p':False # https://github.com/casadi/casadi/wiki/FAQ:-Why-am-I-getting-%22NaN-detected%22in-my-optimization%3F + } + self.opti.solver("ipopt", opts) + + self.init_data = np.zeros(self.reduced_robot.model.nq) + self.smooth_filter = WeightedMovingFilter(np.array([0.4, 0.3, 0.2, 0.1]), 8) + self.vis = None + if self.Visualization: + # Initialize the Meshcat visualizer for visualization + self.vis = MeshcatVisualizer(self.reduced_robot.model, self.reduced_robot.collision_model, self.reduced_robot.visual_model) + self.vis.initViewer(open=True) + self.vis.loadViewerModel("pinocchio") + self.vis.displayFrames(True, frame_ids=[105, 106], axis_length = 0.15, axis_width = 5) + self.vis.display(pin.neutral(self.reduced_robot.model)) + + # Enable the display of end effector target frames with short axis lengths and greater width. + frame_viz_names = ['L_ee_target', 'R_ee_target'] + FRAME_AXIS_POSITIONS = ( + np.array([[0, 0, 0], [1, 0, 0], + [0, 0, 0], [0, 1, 0], + [0, 0, 0], [0, 0, 1]]).astype(np.float32).T + ) + FRAME_AXIS_COLORS = ( + np.array([[1.0, 0.3, 0.3], [1.0, 0.7, 0.7], + [0.3, 1.0, 0.5], [0.7, 1.0, 0.8], + [0.3, 0.8, 1.0], [0.7, 0.9, 1.0]]).astype(np.float32).T + ) + axis_length = 0.1 + axis_width = 10 + for frame_viz_name in frame_viz_names: + self.vis.viewer[frame_viz_name].set_object( + mg.LineSegments( + mg.PointsGeometry( + position=axis_length * FRAME_AXIS_POSITIONS, + color=FRAME_AXIS_COLORS, + ), + mg.LineBasicMaterial( + linewidth=axis_width, + vertexColors=True, + ), + ) + ) + # If the robot arm is not the same size as your arm :) + def scale_arms(self, human_left_pose, human_right_pose, human_arm_length=0.60, robot_arm_length=0.75): + scale_factor = robot_arm_length / human_arm_length + robot_left_pose = human_left_pose.copy() + robot_right_pose = human_right_pose.copy() + robot_left_pose[:3, 3] *= scale_factor + robot_right_pose[:3, 3] *= scale_factor + return robot_left_pose, robot_right_pose + + def solve_ik(self, left_wrist, right_wrist, current_lr_arm_motor_q = None, current_lr_arm_motor_dq = None): + if current_lr_arm_motor_q is not None: + self.init_data = current_lr_arm_motor_q + self.opti.set_initial(self.var_q, self.init_data) + + left_wrist, right_wrist = self.scale_arms(left_wrist, right_wrist) + if self.Visualization: + self.vis.viewer['L_ee_target'].set_transform(left_wrist) # for visualization + self.vis.viewer['R_ee_target'].set_transform(right_wrist) # for visualization + + self.opti.set_value(self.param_tf_l, left_wrist) + self.opti.set_value(self.param_tf_r, right_wrist) + self.opti.set_value(self.var_q_last, self.init_data) # for smooth + + try: + sol = self.opti.solve() + # sol = self.opti.solve_limited() + + sol_q = self.opti.value(self.var_q) + self.smooth_filter.add_data(sol_q) + sol_q = self.smooth_filter.filtered_data + + if current_lr_arm_motor_dq is not None: + v = current_lr_arm_motor_dq * 0.0 + else: + v = (sol_q - self.init_data) * 0.0 + + self.init_data = sol_q + + sol_tauff = pin.rnea(self.reduced_robot.model, self.reduced_robot.data, sol_q, v, np.zeros(self.reduced_robot.model.nv)) + + if self.Visualization: + self.vis.display(sol_q) # for visualization + + return sol_q, sol_tauff + + except Exception as e: + print(f"ERROR in convergence, plotting debug info.{e}") + + sol_q = self.opti.debug.value(self.var_q) + self.smooth_filter.add_data(sol_q) + sol_q = self.smooth_filter.filtered_data + + if current_lr_arm_motor_dq is not None: + v = current_lr_arm_motor_dq * 0.0 + else: + v = (sol_q - self.init_data) * 0.0 + + self.init_data = sol_q + + sol_tauff = pin.rnea(self.reduced_robot.model, self.reduced_robot.data, sol_q, v, np.zeros(self.reduced_robot.model.nv)) + + print(f"sol_q:{sol_q} \nmotorstate: \n{current_lr_arm_motor_q} \nleft_pose: \n{left_wrist} \nright_pose: \n{right_wrist}") + if self.Visualization: + self.vis.display(sol_q) # for visualization + + # return sol_q, sol_tauff + return current_lr_arm_motor_q, np.zeros(self.reduced_robot.model.nv) + if __name__ == "__main__": - # arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = True) + arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = True) # arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = True) - arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = True) + # arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = True) + # arm_ik = H1_ArmIK(Unit_Test = True, Visualization = True) # initial positon L_tf_target = pin.SE3( @@ -754,7 +1008,7 @@ if __name__ == "__main__": rotation_speed = 0.005 noise_amplitude_translation = 0.001 - noise_amplitude_rotation = 0.05 + noise_amplitude_rotation = 0.01 user_input = input("Please enter the start signal (enter 's' to start the subsequent program):\n") if user_input.lower() == 's': diff --git a/teleop/robot_control/robot_hand_inspire.py b/teleop/robot_control/robot_hand_inspire.py index b452be1..77264bf 100644 --- a/teleop/robot_control/robot_hand_inspire.py +++ b/teleop/robot_control/robot_hand_inspire.py @@ -1,55 +1,172 @@ # this file is legacy, need to fix. -from unitree_dds_wrapper.idl import unitree_go -from unitree_dds_wrapper.publisher import Publisher -from unitree_dds_wrapper.subscription import Subscription -from avp_teleoperate.teleop.open_television.constants import inspire_tip_indices +from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize # dds +from unitree_sdk2py.idl.unitree_go.msg.dds_ import MotorCmds_, MotorStates_ # idl +from unitree_sdk2py.idl.default import unitree_go_msg_dds__MotorCmd_ + from teleop.robot_control.hand_retargeting import HandRetargeting, HandType import numpy as np +from enum import IntEnum import threading import time +from multiprocessing import Process, shared_memory, Array, Lock inspire_tip_indices = [4, 9, 14, 19, 24] +Inspire_Num_Motors = 6 +kTopicInspireCommand = "rt/inspire/cmd" +kTopicInspireState = "rt/inspire/state" + +class Inspire_Controller: + def __init__(self, left_hand_array, right_hand_array, dual_hand_data_lock = None, dual_hand_state_array = None, + dual_hand_action_array = None, fps = 100.0, Unit_Test = False): + print("Initialize Inspire_Controller...") + self.fps = fps + self.Unit_Test = Unit_Test + if not self.Unit_Test: + self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND) + else: + self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND_Unit_Test) + ChannelFactoryInitialize(0) + + # initialize handcmd publisher and handstate subscriber + self.HandCmb_publisher = ChannelPublisher(kTopicInspireCommand, MotorCmds_) + self.HandCmb_publisher.Init() -class InspireController: - def __init__(self): - self.cmd = unitree_go.msg.dds_.MotorCmds_() - self.state = unitree_go.msg.dds_.MotorStates_() - self.lock = threading.Lock() - self.handcmd = Publisher(unitree_go.msg.dds_.MotorCmds_, "rt/inspire/cmd") - self.handstate = Subscription(unitree_go.msg.dds_.MotorStates_, "rt/inspire/state") - self.cmd.cmds = [unitree_go.msg.dds_.MotorCmd_() for _ in range(12)] - self.state.states = [unitree_go.msg.dds_.MotorState_() for _ in range(12)] - - self.subscribe_state_thread = threading.Thread(target=self.subscribe_state) + self.HandState_subscriber = ChannelSubscriber(kTopicInspireState, MotorStates_) + self.HandState_subscriber.Init() + + # Shared Arrays for hand states + self.left_hand_state_array = Array('d', Inspire_Num_Motors, lock=True) + self.right_hand_state_array = Array('d', Inspire_Num_Motors, lock=True) + + # initialize subscribe thread + self.subscribe_state_thread = threading.Thread(target=self._subscribe_hand_state) self.subscribe_state_thread.daemon = True self.subscribe_state_thread.start() - self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND) - - def subscribe_state(self): while True: - if self.handstate.msg: - self.state = self.handstate.msg + if any(self.right_hand_state_array): # any(self.left_hand_state_array) and + break time.sleep(0.01) + print("[Inspire_Controller] Waiting to subscribe dds...") + + hand_control_process = Process(target=self.control_process, args=(left_hand_array, right_hand_array, self.left_hand_state_array, self.right_hand_state_array, + dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array)) + hand_control_process.daemon = True + hand_control_process.start() + + print("Initialize Inspire_Controller OK!\n") + + def _subscribe_hand_state(self): + while True: + hand_msg = self.HandState_subscriber.Read() + if hand_msg is not None: + for idx, id in enumerate(Inspire_Left_Hand_JointIndex): + self.right_hand_state_array[idx] = hand_msg.states[id].q + for idx, id in enumerate(Inspire_Right_Hand_JointIndex): + self.left_hand_state_array[idx] = hand_msg.states[id].q + time.sleep(0.002) + + def ctrl_dual_hand(self, left_q_target, right_q_target): + """ + Set current left, right hand motor state target q + """ + for idx, id in enumerate(Inspire_Left_Hand_JointIndex): + self.hand_msg.cmds[id].q = left_q_target[idx] + for idx, id in enumerate(Inspire_Right_Hand_JointIndex): + self.hand_msg.cmds[id].q = right_q_target[idx] + + self.HandCmb_publisher.Write(self.hand_msg) + # print("hand ctrl publish ok.") + + def control_process(self, left_hand_array, right_hand_array, left_hand_state_array, right_hand_state_array, + dual_hand_data_lock = None, dual_hand_state_array = None, dual_hand_action_array = None): + self.running = True + + left_q_target = np.full(Inspire_Num_Motors, 1.0) + right_q_target = np.full(Inspire_Num_Motors, 1.0) + + # initialize inspire hand's cmd msg + self.hand_msg = MotorCmds_() + self.hand_msg.cmds = [unitree_go_msg_dds__MotorCmd_() for _ in range(len(Inspire_Right_Hand_JointIndex) + len(Inspire_Left_Hand_JointIndex))] + + for idx, id in enumerate(Inspire_Left_Hand_JointIndex): + self.hand_msg.cmds[id].q = 1.0 + for idx, id in enumerate(Inspire_Right_Hand_JointIndex): + self.hand_msg.cmds[id].q = 1.0 + + try: + while self.running: + start_time = time.time() + # get dual hand state + left_hand_mat = np.array(left_hand_array[:]).reshape(25, 3).copy() + right_hand_mat = np.array(right_hand_array[:]).reshape(25, 3).copy() + + # Read left and right q_state from shared arrays + state_data = np.concatenate((np.array(left_hand_state_array[:]), np.array(right_hand_state_array[:]))) + + if not np.all(right_hand_mat == 0.0) and not np.all(left_hand_mat[4] == np.array([-1.13, 0.3, 0.15])): # if hand data has been initialized. + ref_left_value = left_hand_mat[inspire_tip_indices] + ref_right_value = right_hand_mat[inspire_tip_indices] + + left_q_target = self.hand_retargeting.left_retargeting.retarget(ref_left_value)[self.hand_retargeting.right_dex_retargeting_to_hardware] + right_q_target = self.hand_retargeting.right_retargeting.retarget(ref_right_value)[self.hand_retargeting.right_dex_retargeting_to_hardware] + + # In website https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand, you can find + # In the official document, the angles are in the range [0, 1] ==> 0.0: fully closed 1.0: fully open + # The q_target now is in radians, ranges: + # - idx 0~3: 0~1.7 (1.7 = closed) + # - idx 4: 0~0.5 + # - idx 5: -0.1~1.3 + # We normalize them using (max - value) / range + def normalize(val, min_val, max_val): + return np.clip((max_val - val) / (max_val - min_val), 0.0, 1.0) + + for idx in range(Inspire_Num_Motors): + if idx <= 3: + left_q_target[idx] = normalize(left_q_target[idx], 0.0, 1.7) + right_q_target[idx] = normalize(right_q_target[idx], 0.0, 1.7) + elif idx == 4: + left_q_target[idx] = normalize(left_q_target[idx], 0.0, 0.5) + right_q_target[idx] = normalize(right_q_target[idx], 0.0, 0.5) + elif idx == 5: + left_q_target[idx] = normalize(left_q_target[idx], -0.1, 1.3) + right_q_target[idx] = normalize(right_q_target[idx], -0.1, 1.3) + + # get dual hand action + action_data = np.concatenate((left_q_target, right_q_target)) + if dual_hand_state_array and dual_hand_action_array: + with dual_hand_data_lock: + dual_hand_state_array[:] = state_data + dual_hand_action_array[:] = action_data + + self.ctrl_dual_hand(left_q_target, right_q_target) + current_time = time.time() + time_elapsed = current_time - start_time + sleep_time = max(0, (1 / self.fps) - time_elapsed) + time.sleep(sleep_time) + finally: + print("Dex3_1_Controller has been closed.") + +# Update hand state, according to the official documentation, https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand +# the state sequence is as shown in the table below +# ┌──────┬───────┬──────┬────────┬────────┬────────────┬────────────────┬───────┬──────┬────────┬────────┬────────────┬────────────────┐ +# │ Id │ 0 │ 1 │ 2 │ 3 │ 4 │ 5 │ 6 │ 7 │ 8 │ 9 │ 10 │ 11 │ +# ├──────┼───────┼──────┼────────┼────────┼────────────┼────────────────┼───────┼──────┼────────┼────────┼────────────┼────────────────┤ +# │ │ Right Hand │ Left Hand │ +# │Joint │ pinky │ ring │ middle │ index │ thumb-bend │ thumb-rotation │ pinky │ ring │ middle │ index │ thumb-bend │ thumb-rotation │ +# └──────┴───────┴──────┴────────┴────────┴────────────┴────────────────┴───────┴──────┴────────┴────────┴────────────┴────────────────┘ +class Inspire_Right_Hand_JointIndex(IntEnum): + kRightHandPinky = 0 + kRightHandRing = 1 + kRightHandMiddle = 2 + kRightHandIndex = 3 + kRightHandThumbBend = 4 + kRightHandThumbRotation = 5 - def ctrl(self, left_angles, right_angles): - for i in range(6): - self.cmd.cmds[i].q = right_angles[i] - self.cmd.cmds[i+6].q = left_angles[i] - self.handcmd.msg.cmds = self.cmd.cmds - self.handcmd.write() - - def get_current_dual_hand_q(self): - with self.lock: - q = np.array([self.state.states[i].q for i in range(12)]) - return q - - def get_right_q(self): - with self.lock: - q = np.array([self.state.states[i].q for i in range(6)]) - return q - - def get_left_q(self): - with self.lock: - q = np.array([self.state.states[i+6].q for i in range(6)]) - return q +class Inspire_Left_Hand_JointIndex(IntEnum): + kLeftHandPinky = 6 + kLeftHandRing = 7 + kLeftHandMiddle = 8 + kLeftHandIndex = 9 + kLeftHandThumbBend = 10 + kLeftHandThumbRotation = 11 \ No newline at end of file diff --git a/teleop/robot_control/robot_hand_unitree.py b/teleop/robot_control/robot_hand_unitree.py index 7592075..039b759 100644 --- a/teleop/robot_control/robot_hand_unitree.py +++ b/teleop/robot_control/robot_hand_unitree.py @@ -176,7 +176,7 @@ class Dex3_1_Controller: # Read left and right q_state from shared arrays state_data = np.concatenate((np.array(left_hand_state_array[:]), np.array(right_hand_state_array[:]))) - if not np.all(left_hand_mat == 0.0): # if hand data has been initialized. + if not np.all(right_hand_mat == 0.0) and not np.all(left_hand_mat[4] == np.array([-1.13, 0.3, 0.15])): # if hand data has been initialized. ref_left_value = left_hand_mat[unitree_tip_indices] ref_right_value = right_hand_mat[unitree_tip_indices] ref_left_value[0] = ref_left_value[0] * 1.15 @@ -339,7 +339,7 @@ class Gripper_Controller: left_hand_mat = np.array(left_hand_array[:]).reshape(25, 3).copy() right_hand_mat = np.array(right_hand_array[:]).reshape(25, 3).copy() - if not np.all(left_hand_mat == 0.0): # if hand data has been initialized. + if not np.all(right_hand_mat == 0.0) and not np.all(left_hand_mat[4] == np.array([-1.13, 0.3, 0.15])): # if hand data has been initialized. left_euclidean_distance = np.linalg.norm(left_hand_mat[unitree_gripper_indices[1]] - left_hand_mat[unitree_gripper_indices[0]]) right_euclidean_distance = np.linalg.norm(right_hand_mat[unitree_gripper_indices[1]] - right_hand_mat[unitree_gripper_indices[0]]) # Linear mapping from [0, THUMB_INDEX_DISTANCE_MAX] to gripper action range diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py index de281c3..ec04019 100644 --- a/teleop/teleop_hand_and_arm.py +++ b/teleop/teleop_hand_and_arm.py @@ -12,9 +12,10 @@ parent_dir = os.path.dirname(current_dir) sys.path.append(parent_dir) from teleop.open_television.tv_wrapper import TeleVisionWrapper -from teleop.robot_control.robot_arm import G1_29_ArmController, G1_23_ArmController, H1_2_ArmController -from teleop.robot_control.robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK +from teleop.robot_control.robot_arm import G1_29_ArmController, G1_23_ArmController, H1_2_ArmController, H1_ArmController +from teleop.robot_control.robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK from teleop.robot_control.robot_hand_unitree import Dex3_1_Controller, Gripper_Controller +from teleop.robot_control.robot_hand_inspire import Inspire_Controller from teleop.image_server.image_client import ImageClient from teleop.utils.episode_writer import EpisodeWriter @@ -28,8 +29,7 @@ if __name__ == '__main__': parser.add_argument('--no-record', dest = 'record', action = 'store_false', help = 'Do not save data') parser.set_defaults(record = False) - parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2'], default='G1_29', help='Select arm controller') - + parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2', 'H1'], default='G1_29', help='Select arm controller') parser.add_argument('--hand', type=str, choices=['dex3', 'gripper', 'inspire1'], help='Select hand controller') args = parser.parse_args() @@ -89,6 +89,9 @@ if __name__ == '__main__': elif args.arm == 'H1_2': arm_ctrl = H1_2_ArmController() arm_ik = H1_2_ArmIK() + elif args.arm == 'H1': + arm_ctrl = H1_ArmController() + arm_ik = H1_ArmIK() # hand if args.hand == "dex3": @@ -106,8 +109,12 @@ if __name__ == '__main__': dual_gripper_action_array = Array('d', 2, lock=False) # current left, right gripper action(2) data. gripper_ctrl = Gripper_Controller(left_hand_array, right_hand_array, dual_gripper_data_lock, dual_gripper_state_array, dual_gripper_action_array) elif args.hand == "inspire1": - print("Inspire1_Controller comming soon.") - pass + left_hand_array = Array('d', 75, lock = True) # [input] + right_hand_array = Array('d', 75, lock = True) # [input] + dual_hand_data_lock = Lock() + dual_hand_state_array = Array('d', 12, lock = False) # [output] current left, right hand state(12) data. + dual_hand_action_array = Array('d', 12, lock = False) # [output] current left, right hand action(12) data. + hand_ctrl = Inspire_Controller(left_hand_array, right_hand_array, dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array) else: pass @@ -170,8 +177,10 @@ if __name__ == '__main__': left_hand_action = [dual_gripper_action_array[1]] right_hand_action = [dual_gripper_action_array[0]] elif args.hand == "inspire1": - print("Inspire1_Controller comming soon.") - pass + left_hand_state = dual_hand_state_array[:6] + right_hand_state = dual_hand_state_array[-6:] + left_hand_action = dual_hand_action_array[:6] + right_hand_action = dual_hand_action_array[-6:] else: print("No dexterous hand set.") pass