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[update] support h1 and inspire hand

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silencht 11 months ago
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102 changed files with 3093 additions and 18000 deletions
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  1. 46
      README.md
  2. 61
      README_ja-JP.md
  3. 47
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  4. 1543
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  97. 18
      teleop/robot_control/hand_retargeting.py
  98. 256
      teleop/robot_control/robot_arm.py
  99. 266
      teleop/robot_control/robot_arm_ik.py
  100. 199
      teleop/robot_control/robot_hand_inspire.py

46
README.md
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@ -9,9 +9,22 @@
# ๐Ÿ“บ Video Demo
<p align="center">
<table>
<tr>
<td align="center" width="50%">
<a href="https://www.youtube.com/watch?v=OTWHXTu09wE" target="_blank">
<img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Watch the video" style="width: 35%;">
<img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Video 1" width="75%">
</a>
<p><b> G1 (29DoF) </b></p>
</td>
<td align="center" width="50%">
<a href="https://www.youtube.com/watch?v=pNjr2f_XHoo" target="_blank">
<img src="https://img.youtube.com/vi/pNjr2f_XHoo/maxresdefault.jpg" alt="Video 2" width="75%">
</a>
<p><b> H1_2 (Arm 7DoF) </b></p>
</td>
</tr>
</table>
</p>
@ -20,38 +33,40 @@
# 0. ๐Ÿ“– 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,
<table>
<tr>
<th style="text-align: center;"> &#129302; Robot </th>
<th style="text-align: center;"> &#9898; Status </th>
<th style="text-align: center;"> &#128221; Remarks </th>
</tr>
<tr>
<td style="text-align: center;"> G1 (29DoF) + Dex3-1 </td>
<td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1 (29DoF) </td>
<td style="text-align: center;"> &#9989; Completed </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1 (23DoF) </td>
<td style="text-align: center;"> &#9989; Completed </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1 (Arm 4DoF) </td>
<td style="text-align: center;"> &#9989; Completed </td>
<td style="text-align: center;"> main branch </td>
</tr>
<tr>
<td style="text-align: center;"> G1 (23DoF) </td>
<td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1_2 (Arm 7DoF) </td>
<td style="text-align: center;"> &#9989; Completed </td>
<td style="text-align: center;"> main branch </td>
</tr>
<tr>
<td style="text-align: center;"> H1 (Arm 4DoF) </td>
<td style="text-align: center;"> &#9201; In Progress </td>
<td style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/h1" target="_blank">Refer to this branch's ik temporarily</a> </td>
<td style="text-align: center;"> <a href="https://www.unitree.com/Dex3-1" target="_blank"> Dex3-1 hand </td>
<td style="text-align: center;"> &#9989; Completed </td>
</tr>
<tr>
<td style="text-align: center;"> H1_2 (Arm 7DoF) + Inspire </td>
<td style="text-align: center;"> <a href="https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand" target="_blank"> Inspire hand </td>
<td style="text-align: center;"> &#9989; Completed </td>
<td style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/main" target="_blank">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.</a> </td>
</tr>
<tr>
<td style="text-align: center;"> ยทยทยท </td>
<td style="text-align: center;"> ยทยทยท </td>
<td style="text-align: center;"> ยทยทยท </td>
<td style="text-align: center;"> ... </td>
<td style="text-align: center;"> ... </td>
</tr>
</table>
@ -330,6 +345,7 @@ avp_teleoperate/
โ”‚ โ”‚ โ”œโ”€โ”€ episode_writer.py [Used to record data for imitation learning]
โ”‚ โ”‚ โ”œโ”€โ”€ mat_tool.py [Some small math tools]
โ”‚ โ”‚ โ”œโ”€โ”€ weighted_moving_filter.py [For filtering joint data]
| | โ”œโ”€โ”€ rerun_visualizer.py [For visualizing data during recording]
โ”‚ โ”‚
โ”‚ โ”‚โ”€โ”€teleop_hand_and_arm.py [Startup execution code for teleoperation]
```

61
README_ja-JP.md
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@ -9,25 +9,65 @@
# ๐Ÿ“บ ใƒ“ใƒ‡ใ‚ชใƒ‡ใƒข
<p align="center">
<table>
<tr>
<td align="center" width="50%">
<a href="https://www.youtube.com/watch?v=OTWHXTu09wE" target="_blank">
<img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Watch the video" style="width: 35%;">
<img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Video 1" width="75%">
</a>
<p><b> G1 (29DoF) </b></p>
</td>
<td align="center" width="50%">
<a href="https://www.youtube.com/watch?v=pNjr2f_XHoo" target="_blank">
<img src="https://img.youtube.com/vi/pNjr2f_XHoo/maxresdefault.jpg" alt="Video 2" width="75%">
</a>
<p><b> H1_2๏ผˆ่…• 7่‡ช็”ฑๅบฆ๏ผ‰</b></p>
</td>
</tr>
</table>
</p>
# 0. ๐Ÿ“– ใ‚คใƒณใƒˆใƒญใƒ€ใ‚ฏใ‚ทใƒงใƒณ
ใ“ใฎใƒชใƒใ‚ธใƒˆใƒชใฏใ€**Apple Vision Pro** ใ‚’ไฝฟ็”จใ—ใฆ **Unitree ใƒ’ใƒฅใƒผใƒžใƒŽใ‚คใƒ‰ใƒญใƒœใƒƒใƒˆ** ใ‚’้ ้š”ๆ“ไฝœใ™ใ‚‹ใŸใ‚ใฎใ‚‚ใฎใงใ™ใ€‚
ไปฅไธ‹ใฏใ€ใ“ใฎใƒชใƒใ‚ธใƒˆใƒชใŒใ‚ตใƒใƒผใƒˆใ™ใ‚‹ใƒญใƒœใƒƒใƒˆใฎ็จฎ้กžใงใ™๏ผš
ไปฅไธ‹ใฏๆœฌใƒชใƒใ‚ธใƒˆใƒชใง็พๅœจใ‚ตใƒใƒผใƒˆใ•ใ‚Œใฆใ„ใ‚‹ใƒญใƒœใƒƒใƒˆใฎ็จฎ้กžใงใ™,
<table>
<tr>
<th style="text-align: center;"> ๐Ÿค– ใƒญใƒœใƒƒใƒˆ </th>
<th style="text-align: center;"> โšช ใ‚นใƒ†ใƒผใ‚ฟใ‚น </th>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1๏ผˆ29่‡ช็”ฑๅบฆ๏ผ‰ </td>
<td style="text-align: center;"> โœ… ๅฎŒไบ† </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1๏ผˆ23่‡ช็”ฑๅบฆ๏ผ‰ </td>
<td style="text-align: center;"> โœ… ๅฎŒไบ† </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1๏ผˆ่…• 4่‡ช็”ฑๅบฆ๏ผ‰ </td>
<td style="text-align: center;"> โœ… ๅฎŒไบ† </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1_2๏ผˆ่…• 7่‡ช็”ฑๅบฆ๏ผ‰ </td>
<td style="text-align: center;"> โœ… ๅฎŒไบ† </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/Dex3-1" target="_blank"> Dex3-1 ใƒใƒณใƒ‰ </td>
<td style="text-align: center;"> โœ… ๅฎŒไบ† </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand" target="_blank"> Inspire ใƒใƒณใƒ‰ </td>
<td style="text-align: center;"> โœ… ๅฎŒไบ† </td>
</tr>
<tr>
<td style="text-align: center;"> ... </td>
<td style="text-align: center;"> ... </td>
</tr>
</table>
| ใƒญใƒœใƒƒใƒˆ | ใ‚นใƒ†ใƒผใ‚ฟใ‚น | ๅ‚™่€ƒ |
| :----------------------------: | :--------: | :----------------------------------------------------------: |
| G1 (29่‡ช็”ฑๅบฆ) + Dex3-1 | โœ… ๅฎŒไบ† | mainใƒ–ใƒฉใƒณใƒ |
| H1 (ใ‚ขใƒผใƒ 4่‡ช็”ฑๅบฆ) | โณ ้€ฒ่กŒไธญ | [ใ“ใฎไธ€ๆ™‚ใƒ–ใƒฉใƒณใƒใฎIKใ‚ฝใƒซใƒใƒผใ‚’ๅ‚็…ง](https://github.com/unitreerobotics/avp_teleoperate/tree/h1) |
| H1_2 (ใ‚ขใƒผใƒ 7่‡ช็”ฑๅบฆ) + Inspire | โœ… ๅฎŒไบ† | [ๅ…ƒใฎh1_2ใƒ–ใƒฉใƒณใƒใฏๅคใใชใ‚Šใ€ๅ…ƒใฎg1ใƒ–ใƒฉใƒณใƒใŒmainใƒ–ใƒฉใƒณใƒใซๆ”นๅใ•ใ‚Œใ€mainใƒ–ใƒฉใƒณใƒใฏ็พๅœจg1ใจh1_2ใฎไธกๆ–นใ‚’ใ‚ตใƒใƒผใƒˆ](https://github.com/unitreerobotics/avp_teleoperate/tree/main) |
| ... | ... | ... |
ไปฅไธ‹ใฏใ€ๅฟ…่ฆใชใƒ‡ใƒใ‚คใ‚นใจ้…็ทšๅ›ณใงใ™๏ผš
@ -302,6 +342,7 @@ avp_teleoperate/
โ”‚ โ”‚ โ”œโ”€โ”€ episode_writer.py [ๆจกๅ€ฃๅญฆ็ฟ’ใฎใƒ‡ใƒผใ‚ฟใ‚’่จ˜้Œฒใ™ใ‚‹ใŸใ‚ใซไฝฟ็”จ]
โ”‚ โ”‚ โ”œโ”€โ”€ mat_tool.py [ใ„ใใคใ‹ใฎๅฐใ•ใชๆ•ฐๅญฆใƒ„ใƒผใƒซ]
โ”‚ โ”‚ โ”œโ”€โ”€ weighted_moving_filter.py [ใ‚ธใƒงใ‚คใƒณใƒˆใƒ‡ใƒผใ‚ฟใ‚’ใƒ•ใ‚ฃใƒซใ‚ฟใƒชใƒณใ‚ฐใ™ใ‚‹ใŸใ‚]
โ”‚ โ”‚ โ”œโ”€โ”€ rerun_visualizer.py [่จ˜้Œฒไธญใฎใƒ‡ใƒผใ‚ฟใ‚’ๅฏ่ฆ–ๅŒ–ใ™ใ‚‹ใŸใ‚]
โ”‚ โ”‚
โ”‚ โ”‚โ”€โ”€teleop_hand_and_arm.py [้ ้š”ๆ“ไฝœใฎ่ตทๅ‹•ๅฎŸ่กŒใ‚ณใƒผใƒ‰]
```

47
README_zh-CN.md
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@ -9,9 +9,22 @@
# ๐Ÿ“บ ่ง†้ข‘ๆผ”็คบ
<p align="center">
<table>
<tr>
<td align="center" width="50%">
<a href="https://www.bilibili.com/video/BV124m8YXExJ" target="_blank">
<img src="./img/video_cover.jpg" alt="Watch the video" style="width: 35%;">
<img src="./img/video_cover.jpg" alt="Video 1" width="75%">
</a>
<p><b> G1 (29่‡ช็”ฑๅบฆ) </b></p>
</td>
<td align="center" width="50%">
<a href="https://www.bilibili.com/video/BV1SW421X7kA" target="_blank">
<img src="./img/video_cover2.jpg" alt="Video 2" width="75%">
</a>
<p><b> H1_2 (ๆ‰‹่‡‚7่‡ช็”ฑๅบฆ) </b></p>
</td>
</tr>
</table>
</p>
@ -19,33 +32,40 @@
่ฏฅไป“ๅบ“ๅฎž็Žฐไบ†ไฝฟ็”จ **Apple Vision Pro** ๅฏน **ๅฎ‡ๆ ‘๏ผˆUnitree๏ผ‰ไบบๅฝขๆœบๅ™จไบบ** ็š„้ฅๆ“ไฝœๆŽงๅˆถใ€‚
ไปฅไธ‹ๆ˜ฏๆœฌไป“ๅบ“ๅฐ†ๆ”ฏๆŒ็š„ๆœบๅ™จไบบ็ฑปๅž‹๏ผš
ไปฅไธ‹ๆ˜ฏๆœฌไป“ๅบ“็›ฎๅ‰ๆ”ฏๆŒ็š„ๆœบๅ™จไบบ็ฑปๅž‹๏ผš
<table>
<tr>
<th style="text-align: center;"> &#129302; ๆœบๅ™จไบบ </th>
<th style="text-align: center;"> &#9898; ็Šถๆ€ </th>
<th style="text-align: center;"> &#128221; ๅค‡ๆณจ </th>
</tr>
<tr>
<td style="text-align: center;"> G1 (29่‡ช็”ฑๅบฆ) + Dex3-1 </td>
<td style="text-align: center;"> <a href="https://www.unitree.com/cn/g1" target="_blank"> G1 (29่‡ช็”ฑๅบฆ) </td>
<td style="text-align: center;"> &#9989; ๅฎŒๆˆ </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/cn/g1" target="_blank"> G1 (23่‡ช็”ฑๅบฆ) </td>
<td style="text-align: center;"> &#9989; ๅฎŒๆˆ </td>
<th style="text-align: center;">mainๅˆ†ๆ”ฏ</th>
</tr>
<tr>
<td style="text-align: center;"> H1 (ๆ‰‹่‡‚4่‡ช็”ฑๅบฆ) </td>
<td style="text-align: center;"> &#9201; ่ฟ›่กŒไธญ </td>
<th style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/h1" target="_blank">ๅฏๅ‚่€ƒ่ฏฅไธดๆ—ถๅˆ†ๆ”ฏไธ‹ik่งฃ็ฎ—</a> </th>
<td style="text-align: center;"> <a href="https://www.unitree.com/cn/h1" target="_blank"> H1 (ๆ‰‹่‡‚4่‡ช็”ฑๅบฆ) </td>
<td style="text-align: center;"> &#9989; ๅฎŒๆˆ </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/cn/h1" target="_blank"> H1_2 (ๆ‰‹่‡‚7่‡ช็”ฑๅบฆ) </td>
<td style="text-align: center;"> &#9989; ๅฎŒๆˆ </td>
</tr>
<tr>
<td style="text-align: center;"> <a href="https://www.unitree.com/cn/Dex3-1" target="_blank"> Dex3-1 ็ตๅทงๆ‰‹ </td>
<td style="text-align: center;"> &#9989; ๅฎŒๆˆ </td>
</tr>
<tr>
<td style="text-align: center;"> H1_2 (ๆ‰‹่‡‚7่‡ช็”ฑๅบฆ) + Inspire </td>
<td style="text-align: center;"> <a href="https://support.unitree.com/home/zh/G1_developer/inspire_dfx_dexterous_hand" target="_blank"> ๅ› ๆ—ถ็ตๅทงๆ‰‹ </td>
<td style="text-align: center;"> &#9989; ๅฎŒๆˆ </td>
<th style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/main" target="_blank">ๅŽŸh1_2ๅˆ†ๆ”ฏๅ˜ไธบ้™ˆๆ—งๅˆ†ๆ”ฏ๏ผŒๅŽŸg1ๅˆ†ๆ”ฏ้‡ๅ‘ฝๅไธบmainๅˆ†ๆ”ฏ๏ผŒmainๅˆ†ๆ”ฏ็ŽฐๅทฒๅŒๆ—ถๆ”ฏๆŒg1ๅ’Œh1_2</a> </th>
</tr>
<tr>
<td style="text-align: center;"> ยทยทยท </td>
<td style="text-align: center;"> ยทยทยท </td>
<th style="text-align: center;"> ยทยทยท </th>
<td style="text-align: center;"> ... </td>
<td style="text-align: center;"> ... </td>
</tr>
</table>
@ -321,6 +341,7 @@ avp_teleoperate/
โ”‚ โ”‚ โ”œโ”€โ”€ episode_writer.py [็”จไบŽ่ฎฐๅฝ•ๆจกไปฟๅญฆไน ็š„ๆ•ฐๆฎ]
โ”‚ โ”‚ โ”œโ”€โ”€ mat_tool.py [ไธ€ไบ›ๅฐ็š„ๆ•ฐๅญฆๅทฅๅ…ท]
โ”‚ โ”‚ โ”œโ”€โ”€ weighted_moving_filter.py [็”จไบŽ่ฟ‡ๆปคๅ…ณ่Š‚ๆ•ฐๆฎ็š„ๆปคๆณขๅ™จ]
| | โ”œโ”€โ”€ rerun_visualizer.py [็”จไบŽๅฏ่ง†ๅŒ–ๅฝ•ๅˆถๆ•ฐๆฎ]
โ”‚ โ”‚
โ”‚ โ”‚โ”€โ”€teleop_hand_and_arm.py [้ฅๆ“ไฝœ็š„ๅฏๅŠจๆ‰ง่กŒไปฃ็ ]
```

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@ -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
low_pass_alpha: 0.2

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1554
assets/inspire_hand/meshes/R_hand_base_link.STL.convex.stl
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assets/inspire_hand/meshes/left_ankle_pitch_link.STL
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assets/inspire_hand/meshes/left_ankle_roll_link.STL
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assets/inspire_hand/meshes/left_elbow_pitch_link.STL
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assets/inspire_hand/meshes/left_elbow_roll_link.STL
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assets/inspire_hand/meshes/left_knee_link.STL
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assets/inspire_hand/meshes/left_wrist_pitch_link.STL
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assets/inspire_hand/meshes/right_ankle_pitch_link.STL
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assets/inspire_hand/meshes/right_ankle_roll_link.STL
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assets/inspire_hand/meshes/right_elbow_pitch_link.STL
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assets/inspire_hand/meshes/right_elbow_roll_link.STL
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assets/inspire_hand/meshes/right_knee_link.STL
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assets/inspire_hand/meshes/right_wrist_pitch_link.STL
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assets/inspire_hand/meshes/torso_link.STL
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assets/inspire_hand/meshes/wrist_yaw_link.STL
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18
teleop/robot_control/hand_retargeting.py
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@ -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)
@ -33,13 +36,15 @@ class HandRetargeting:
self.left_retargeting_joint_names = self.left_retargeting.joint_names
self.right_retargeting_joint_names = self.right_retargeting.joint_names
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.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.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]
@ -52,6 +57,13 @@ class HandRetargeting:
# ['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}")

256
teleop/robot_control/robot_arm.py
View File

@ -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':

266
teleop/robot_control/robot_arm_ik.py
View File

@ -4,7 +4,6 @@ import numpy as np
import pinocchio as pin
import time
from pinocchio import casadi as cpin
from pinocchio.robot_wrapper import RobotWrapper
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':

199
teleop/robot_control/robot_hand_inspire.py
View File

@ -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
# โ”Œโ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ฌโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”
# โ”‚ Id โ”‚ 0 โ”‚ 1 โ”‚ 2 โ”‚ 3 โ”‚ 4 โ”‚ 5 โ”‚ 6 โ”‚ 7 โ”‚ 8 โ”‚ 9 โ”‚ 10 โ”‚ 11 โ”‚
# โ”œโ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ผโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ค
# โ”‚ โ”‚ Right Hand โ”‚ Left Hand โ”‚
# โ”‚Joint โ”‚ pinky โ”‚ ring โ”‚ middle โ”‚ index โ”‚ thumb-bend โ”‚ thumb-rotation โ”‚ pinky โ”‚ ring โ”‚ middle โ”‚ index โ”‚ thumb-bend โ”‚ thumb-rotation โ”‚
# โ””โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”ดโ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”€โ”˜
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

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