diff --git a/.DS_Store b/.DS_Store new file mode 100644 index 0000000..9a76a89 Binary files /dev/null and b/.DS_Store differ diff --git a/.gitignore b/.gitignore index 505a3b1..0b60d08 100644 --- a/.gitignore +++ b/.gitignore @@ -5,6 +5,5 @@ build/ dist/ wheels/ *.egg-info - # Virtual environments .venv diff --git a/README.md b/README.md index e69de29..4289a71 100644 --- a/README.md +++ b/README.md @@ -0,0 +1,176 @@ +# Origincar Simulation + +基于 MotrixSim 的阿克曼小车仿真，支持键盘控制和 HTTP API 局域网共享。 + +## 启动 + +```bash +uv run mxpython main.py +``` + +## HTTP API（端口 8765） + +仿真启动后，局域网内其他设备可通过 HTTP 获取摄像头图像、IMU 数据和发送控制指令。 + +### GET `/image` + +获取前置摄像头最新 JPEG 图像。浏览器可直接打开。 + +```bash +# 浏览器 +http://<仿真机IP>:8765/image + +# curl +curl http://192.168.1.100:8765/image -o frame.jpg + +# Python +import requests +r = requests.get("http://192.168.1.100:8765/image") +with open("frame.jpg", "wb") as f: + f.write(r.content) +``` + +### GET `/state` + +获取小车当前状态（JSON）。 + +```bash +curl http://192.168.1.100:8765/state +``` + +返回示例： + +```json +{ + "x": -2.0, + "y": -2.3, + "z": 0.08, + "yaw_deg": 0.0, + "speed_target": 1.0, + "speed_actual": 0.98, + "steer_target": 0.0, + "speed_amp": 1.0, + "steer_amp": 0.35 +} +``` + +### GET `/imu` + +获取 IMU 数据（含 MPU6050 噪声），JSON。 + +```bash +curl http://192.168.1.100:8765/imu +``` + +返回示例： + +```json +{ + "orientation": {"w": 1.0, "x": 0.0, "y": 0.0, "z": 0.0}, + "angular_velocity": {"x": 0.001, "y": -0.003, "z": 0.008}, + "linear_acceleration": {"x": 0.02, "y": -0.01, "z": 9.81} +} +``` + +噪声参数（MPU6050 级别）： +- 陀螺仪白噪声 σ = 0.01 rad/s，bias 随机游走 +- 加速度计白噪声 σ = 0.05 m/s²，bias 随机游走 + +### POST `/cmd` + +发送控制指令（JSON）。 + +```bash +curl -X POST http://192.168.1.100:8765/cmd \ + -H "Content-Type: application/json" \ + -d '{"speed": 1.0, "steer": 0.3}' +``` + +| 字段 | 类型 | 说明 | +|------|------|------| +| `speed` | float | 目标速度 m/s，正=前进，负=后退 | +| `steer` | float | 目标转向角 rad，正=左转，负=右转 | + +**Python 客户端示例**： + +```python +import time +import requests + +IP = "192.168.1.100" + +# 获取图像 +r = requests.get(f"http://{IP}:8765/image") +with open("frame.jpg", "wb") as f: + f.write(r.content) + +# 获取状态 +state = requests.get(f"http://{IP}:8765/state").json() +print(f"位置: ({state['x']}, {state['y']}), 速度: {state['speed_actual']} m/s") + +# 发送控制指令 +requests.post(f"http://{IP}:8765/cmd", json={"speed": 1.0, "steer": 0.2}) +time.sleep(2) +requests.post(f"http://{IP}:8765/cmd", json={"speed": 0.0, "steer": 0.0}) +``` + +**ROS2 桥接示例**： + +```python +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import Image as RosImage +from geometry_msgs.msg import Twist +from cv_bridge import CvBridge +import requests +import numpy as np +import cv2 + +IP = "192.168.1.100" + +class OrigincarBridge(Node): + def __init__(self): + super().__init__("origincar_bridge") + self.bridge = CvBridge() + self.pub = self.create_publisher(RosImage, "/image", 10) + self.sub = self.create_subscription(Twist, "/cmd_vel", self.cmd_cb, 10) + self.timer = self.create_timer(0.1, self.fetch_and_publish) + + def fetch_and_publish(self): + r = requests.get(f"http://{IP}:8765/image", timeout=1) + if r.status_code == 200: + arr = np.frombuffer(r.content, np.uint8) + cv_img = cv2.imdecode(arr, cv2.IMREAD_COLOR) + msg = self.bridge.cv2_to_imgmsg(cv_img, "bgr8") + self.pub.publish(msg) + + def cmd_cb(self, msg: Twist): + requests.post(f"http://{IP}:8765/cmd", json={ + "speed": msg.linear.x, + "steer": msg.angular.z + }) + +rclpy.init() +node = OrigincarBridge() +rclpy.spin(node) +``` + +## 键盘控制 + +| 按键 | 方式 | 作用 | +|------|------|------| +| W/S | 按住 | 前进/后退 | +| A/D | 按住 | 左转/右转 | +| ↑/↓ | 点按 | 速度幅度 ±0.2 m/s（0~2.0） | +| ←/→ | 点按 | 转向幅度 ±0.05 rad（0~0.5） | +| Space | 点按 | 截图保存到 `captures/` | + +键盘与 HTTP `/cmd` 可同时使用：按住 W/A/S/D 时键盘优先，松开后自动切回 HTTP 控制。 + +## 场景结构 + +``` +scene.xml — 5m×5m 地图 + 40cm 白色围栏 + 阿克曼小车 +main.py — 仿真控制 + HTTP API 服务 +origincar.urdf / origincar.xacro — 小车模型（参考） +``` diff --git a/captures/front_cam_0000.png b/captures/front_cam_0000.png new file mode 100644 index 0000000..bb50467 Binary files /dev/null and b/captures/front_cam_0000.png differ diff --git a/cone.obj b/cone.obj new file mode 100644 index 0000000..987a4dc --- /dev/null +++ b/cone.obj @@ -0,0 +1,219 @@ +# Traffic cone +v 0.100000 0.000000 0.000000 +v 0.098481 0.017365 0.000000 +v 0.093969 0.034202 0.000000 +v 0.086603 0.050000 0.000000 +v 0.076604 0.064279 0.000000 +v 0.064279 0.076604 0.000000 +v 0.050000 0.086603 0.000000 +v 0.034202 0.093969 0.000000 +v 0.017365 0.098481 0.000000 +v 0.000000 0.100000 0.000000 +v -0.017365 0.098481 0.000000 +v -0.034202 0.093969 0.000000 +v -0.050000 0.086603 0.000000 +v -0.064279 0.076604 0.000000 +v -0.076604 0.064279 0.000000 +v -0.086603 0.050000 0.000000 +v -0.093969 0.034202 0.000000 +v -0.098481 0.017365 0.000000 +v -0.100000 0.000000 0.000000 +v -0.098481 -0.017365 0.000000 +v -0.093969 -0.034202 0.000000 +v -0.086603 -0.050000 0.000000 +v -0.076604 -0.064279 0.000000 +v -0.064279 -0.076604 0.000000 +v -0.050000 -0.086603 0.000000 +v -0.034202 -0.093969 0.000000 +v -0.017365 -0.098481 0.000000 +v -0.000000 -0.100000 0.000000 +v 0.017365 -0.098481 0.000000 +v 0.034202 -0.093969 0.000000 +v 0.050000 -0.086603 0.000000 +v 0.064279 -0.076604 0.000000 +v 0.076604 -0.064279 0.000000 +v 0.086603 -0.050000 0.000000 +v 0.093969 -0.034202 0.000000 +v 0.098481 -0.017365 0.000000 +v 0.025000 0.000000 0.270000 +v 0.024620 0.004341 0.270000 +v 0.023492 0.008551 0.270000 +v 0.021651 0.012500 0.270000 +v 0.019151 0.016070 0.270000 +v 0.016070 0.019151 0.270000 +v 0.012500 0.021651 0.270000 +v 0.008551 0.023492 0.270000 +v 0.004341 0.024620 0.270000 +v 0.000000 0.025000 0.270000 +v -0.004341 0.024620 0.270000 +v -0.008551 0.023492 0.270000 +v -0.012500 0.021651 0.270000 +v -0.016070 0.019151 0.270000 +v -0.019151 0.016070 0.270000 +v -0.021651 0.012500 0.270000 +v -0.023492 0.008551 0.270000 +v -0.024620 0.004341 0.270000 +v -0.025000 0.000000 0.270000 +v -0.024620 -0.004341 0.270000 +v -0.023492 -0.008551 0.270000 +v -0.021651 -0.012500 0.270000 +v -0.019151 -0.016070 0.270000 +v -0.016070 -0.019151 0.270000 +v -0.012500 -0.021651 0.270000 +v -0.008551 -0.023492 0.270000 +v -0.004341 -0.024620 0.270000 +v -0.000000 -0.025000 0.270000 +v 0.004341 -0.024620 0.270000 +v 0.008551 -0.023492 0.270000 +v 0.012500 -0.021651 0.270000 +v 0.016070 -0.019151 0.270000 +v 0.019151 -0.016070 0.270000 +v 0.021651 -0.012500 0.270000 +v 0.023492 -0.008551 0.270000 +v 0.024620 -0.004341 0.270000 +v 0.000000 0.000000 0.000000 +v 0.000000 0.000000 0.270000 +f 1 2 38 +f 1 38 37 +f 2 3 39 +f 2 39 38 +f 3 4 40 +f 3 40 39 +f 4 5 41 +f 4 41 40 +f 5 6 42 +f 5 42 41 +f 6 7 43 +f 6 43 42 +f 7 8 44 +f 7 44 43 +f 8 9 45 +f 8 45 44 +f 9 10 46 +f 9 46 45 +f 10 11 47 +f 10 47 46 +f 11 12 48 +f 11 48 47 +f 12 13 49 +f 12 49 48 +f 13 14 50 +f 13 50 49 +f 14 15 51 +f 14 51 50 +f 15 16 52 +f 15 52 51 +f 16 17 53 +f 16 53 52 +f 17 18 54 +f 17 54 53 +f 18 19 55 +f 18 55 54 +f 19 20 56 +f 19 56 55 +f 20 21 57 +f 20 57 56 +f 21 22 58 +f 21 58 57 +f 22 23 59 +f 22 59 58 +f 23 24 60 +f 23 60 59 +f 24 25 61 +f 24 61 60 +f 25 26 62 +f 25 62 61 +f 26 27 63 +f 26 63 62 +f 27 28 64 +f 27 64 63 +f 28 29 65 +f 28 65 64 +f 29 30 66 +f 29 66 65 +f 30 31 67 +f 30 67 66 +f 31 32 68 +f 31 68 67 +f 32 33 69 +f 32 69 68 +f 33 34 70 +f 33 70 69 +f 34 35 71 +f 34 71 70 +f 35 36 72 +f 35 72 71 +f 36 1 37 +f 36 37 72 +f 73 2 1 +f 73 3 2 +f 73 4 3 +f 73 5 4 +f 73 6 5 +f 73 7 6 +f 73 8 7 +f 73 9 8 +f 73 10 9 +f 73 11 10 +f 73 12 11 +f 73 13 12 +f 73 14 13 +f 73 15 14 +f 73 16 15 +f 73 17 16 +f 73 18 17 +f 73 19 18 +f 73 20 19 +f 73 21 20 +f 73 22 21 +f 73 23 22 +f 73 24 23 +f 73 25 24 +f 73 26 25 +f 73 27 26 +f 73 28 27 +f 73 29 28 +f 73 30 29 +f 73 31 30 +f 73 32 31 +f 73 33 32 +f 73 34 33 +f 73 35 34 +f 73 36 35 +f 73 1 36 +f 74 37 38 +f 74 38 39 +f 74 39 40 +f 74 40 41 +f 74 41 42 +f 74 42 43 +f 74 43 44 +f 74 44 45 +f 74 45 46 +f 74 46 47 +f 74 47 48 +f 74 48 49 +f 74 49 50 +f 74 50 51 +f 74 51 52 +f 74 52 53 +f 74 53 54 +f 74 54 55 +f 74 55 56 +f 74 56 57 +f 74 57 58 +f 74 58 59 +f 74 59 60 +f 74 60 61 +f 74 61 62 +f 74 62 63 +f 74 63 64 +f 74 64 65 +f 74 65 66 +f 74 66 67 +f 74 67 68 +f 74 68 69 +f 74 69 70 +f 74 70 71 +f 74 71 72 +f 74 72 37 diff --git a/cone_white.obj b/cone_white.obj new file mode 100644 index 0000000..5006104 --- /dev/null +++ b/cone_white.obj @@ -0,0 +1,145 @@ +# White band +v 0.066700 0.000000 0.000000 +v 0.065687 0.011582 0.000000 +v 0.062677 0.022813 0.000000 +v 0.057764 0.033350 0.000000 +v 0.051095 0.042874 0.000000 +v 0.042874 0.051095 0.000000 +v 0.033350 0.057764 0.000000 +v 0.022813 0.062677 0.000000 +v 0.011582 0.065687 0.000000 +v 0.000000 0.066700 0.000000 +v -0.011582 0.065687 0.000000 +v -0.022813 0.062677 0.000000 +v -0.033350 0.057764 0.000000 +v -0.042874 0.051095 0.000000 +v -0.051095 0.042874 0.000000 +v -0.057764 0.033350 0.000000 +v -0.062677 0.022813 0.000000 +v -0.065687 0.011582 0.000000 +v -0.066700 0.000000 0.000000 +v -0.065687 -0.011582 0.000000 +v -0.062677 -0.022813 0.000000 +v -0.057764 -0.033350 0.000000 +v -0.051095 -0.042874 0.000000 +v -0.042874 -0.051095 0.000000 +v -0.033350 -0.057764 0.000000 +v -0.022813 -0.062677 0.000000 +v -0.011582 -0.065687 0.000000 +v -0.000000 -0.066700 0.000000 +v 0.011582 -0.065687 0.000000 +v 0.022813 -0.062677 0.000000 +v 0.033350 -0.057764 0.000000 +v 0.042874 -0.051095 0.000000 +v 0.051095 -0.042874 0.000000 +v 0.057764 -0.033350 0.000000 +v 0.062677 -0.022813 0.000000 +v 0.065687 -0.011582 0.000000 +v 0.038900 0.000000 0.100000 +v 0.038309 0.006755 0.100000 +v 0.036554 0.013305 0.100000 +v 0.033688 0.019450 0.100000 +v 0.029799 0.025004 0.100000 +v 0.025004 0.029799 0.100000 +v 0.019450 0.033688 0.100000 +v 0.013305 0.036554 0.100000 +v 0.006755 0.038309 0.100000 +v 0.000000 0.038900 0.100000 +v -0.006755 0.038309 0.100000 +v -0.013305 0.036554 0.100000 +v -0.019450 0.033688 0.100000 +v -0.025004 0.029799 0.100000 +v -0.029799 0.025004 0.100000 +v -0.033688 0.019450 0.100000 +v -0.036554 0.013305 0.100000 +v -0.038309 0.006755 0.100000 +v -0.038900 0.000000 0.100000 +v -0.038309 -0.006755 0.100000 +v -0.036554 -0.013305 0.100000 +v -0.033688 -0.019450 0.100000 +v -0.029799 -0.025004 0.100000 +v -0.025004 -0.029799 0.100000 +v -0.019450 -0.033688 0.100000 +v -0.013305 -0.036554 0.100000 +v -0.006755 -0.038309 0.100000 +v -0.000000 -0.038900 0.100000 +v 0.006755 -0.038309 0.100000 +v 0.013305 -0.036554 0.100000 +v 0.019450 -0.033688 0.100000 +v 0.025004 -0.029799 0.100000 +v 0.029799 -0.025004 0.100000 +v 0.033688 -0.019450 0.100000 +v 0.036554 -0.013305 0.100000 +v 0.038309 -0.006755 0.100000 +f 1 2 38 +f 1 38 37 +f 2 3 39 +f 2 39 38 +f 3 4 40 +f 3 40 39 +f 4 5 41 +f 4 41 40 +f 5 6 42 +f 5 42 41 +f 6 7 43 +f 6 43 42 +f 7 8 44 +f 7 44 43 +f 8 9 45 +f 8 45 44 +f 9 10 46 +f 9 46 45 +f 10 11 47 +f 10 47 46 +f 11 12 48 +f 11 48 47 +f 12 13 49 +f 12 49 48 +f 13 14 50 +f 13 50 49 +f 14 15 51 +f 14 51 50 +f 15 16 52 +f 15 52 51 +f 16 17 53 +f 16 53 52 +f 17 18 54 +f 17 54 53 +f 18 19 55 +f 18 55 54 +f 19 20 56 +f 19 56 55 +f 20 21 57 +f 20 57 56 +f 21 22 58 +f 21 58 57 +f 22 23 59 +f 22 59 58 +f 23 24 60 +f 23 60 59 +f 24 25 61 +f 24 61 60 +f 25 26 62 +f 25 62 61 +f 26 27 63 +f 26 63 62 +f 27 28 64 +f 27 64 63 +f 28 29 65 +f 28 65 64 +f 29 30 66 +f 29 66 65 +f 30 31 67 +f 30 67 66 +f 31 32 68 +f 31 68 67 +f 32 33 69 +f 32 69 68 +f 33 34 70 +f 33 70 69 +f 34 35 71 +f 34 71 70 +f 35 36 72 +f 35 72 71 +f 36 1 37 +f 36 37 72 diff --git a/main.py b/main.py index 72fddb5..08430d9 100644 --- a/main.py +++ b/main.py @@ -1,5 +1,372 @@ +import io +import json +import math +import os +import random +import threading +from collections import deque +from http.server import BaseHTTPRequestHandler, HTTPServer + +import numpy as np +from PIL import Image as PILImage + +from motrixsim import SceneData, load_model, run, step +from motrixsim.render import CaptureTask, Layout, RenderApp + +# ── Ackermann geometry ────────────────────────────────────────────── +L = 0.1682 # wheelbase: front-rear axle distance +T = 0.189 # track width: left-right wheel distance + +PORT = 8765 + +# ── MPU6050 noise parameters ──────────────────────────────────────── +GYRO_NOISE_STD = 0.01 # rad/s +ACCEL_NOISE_STD = 0.05 # m/s² +GYRO_BIAS_WALK = 1e-5 # rad/s per step +ACCEL_BIAS_WALK = 1e-4 # m/s² per step + + +def ackermann_angles(steer_cmd_rad): + if abs(steer_cmd_rad) < 1e-6: + return 0.0, 0.0 + R = L / math.tan(abs(steer_cmd_rad)) + inner = math.atan(L / (R - T / 2)) + outer = math.atan(L / (R + T / 2)) + if steer_cmd_rad > 0: + return outer, inner + else: + return -inner, -outer + + +def quat_to_body_rotation(qw, qx, qy, qz): + """World-frame vector → body-frame vector using quaternion.""" + v = np.array + R = np.array([ + [1 - 2*(qy*qy + qz*qz), 2*(qx*qy + qw*qz), 2*(qx*qz - qw*qy)], + [ 2*(qx*qy - qw*qz), 1 - 2*(qx*qx + qz*qz), 2*(qy*qz + qw*qx)], + [ 2*(qx*qz + qw*qy), 2*(qy*qz - qw*qx), 1 - 2*(qx*qx + qy*qy)], + ]) + return R + + +class MPU6050Sim: + def __init__(self): + self.gyro_bias = np.zeros(3) + self.accel_bias = np.zeros(3) + + def apply(self, gyro_true, accel_true): + self.gyro_bias += np.random.normal(0, GYRO_BIAS_WALK, 3) + self.accel_bias += np.random.normal(0, ACCEL_BIAS_WALK, 3) + gyro = gyro_true + self.gyro_bias + np.random.normal(0, GYRO_NOISE_STD, 3) + accel = accel_true + self.accel_bias + np.random.normal(0, ACCEL_NOISE_STD, 3) + return gyro, accel + + +# ── Shared state (main ↔ HTTP thread) ────────────────────────────── +shared = { + "latest_jpg": None, # bytes + "cmd_speed": 0.0, # from POST /cmd + "cmd_steer": 0.0, # from POST /cmd + "imu_json": b"{}", + "state_json": b"{}", + "key_active": False, # True when W/A/S/D pressed +} +shared_lock = threading.Lock() + + +class HTTPHandler(BaseHTTPRequestHandler): + def log_message(self, format, *args): + pass # suppress logs + + def _send_json(self, data): + body = json.dumps(data).encode() + self.send_response(200) + self.send_header("Content-Type", "application/json") + self.send_header("Content-Length", str(len(body))) + self.end_headers() + self.wfile.write(body) + + def _send_jpg(self, jpg_bytes): + self.send_response(200) + self.send_header("Content-Type", "image/jpeg") + self.send_header("Content-Length", str(len(jpg_bytes))) + self.send_header("Cache-Control", "no-cache, no-store, must-revalidate") + self.end_headers() + self.wfile.write(jpg_bytes) + + def do_GET(self): + if self.path == "/image": + with shared_lock: + jpg = shared["latest_jpg"] + if jpg: + self._send_jpg(jpg) + else: + self.send_response(204) + self.end_headers() + elif self.path == "/state": + with shared_lock: + body = shared["state_json"] + self.send_response(200) + self.send_header("Content-Type", "application/json") + self.send_header("Content-Length", str(len(body))) + self.end_headers() + self.wfile.write(body) + elif self.path == "/imu": + with shared_lock: + body = shared["imu_json"] + self.send_response(200) + self.send_header("Content-Type", "application/json") + self.send_header("Content-Length", str(len(body))) + self.end_headers() + self.wfile.write(body) + else: + self.send_response(404) + self.end_headers() + + def do_POST(self): + if self.path == "/cmd": + length = int(self.headers.get("Content-Length", 0)) + body = json.loads(self.rfile.read(length)) + with shared_lock: + shared["cmd_speed"] = float(body.get("speed", 0)) + shared["cmd_steer"] = float(body.get("steer", 0)) + self.send_response(200) + self.end_headers() + else: + self.send_response(404) + self.end_headers() + + +def start_http_server(): + server = HTTPServer(("0.0.0.0", PORT), HTTPHandler) + server.serve_forever() + + +# ── Main ──────────────────────────────────────────────────────────── def main(): - print("Hello from motrixsim-examples!") + # Start HTTP server in background thread + http_thread = threading.Thread(target=start_http_server, daemon=True) + http_thread.start() + + with RenderApp() as render: + render.opt.set_left_panel_vis(True) + + model = load_model("scene.xml") + + cameras = model.cameras + front_cam = cameras[0] + front_cam.set_render_target("image", 1280, 960) + + render.launch(model) + render.widgets.create_camera_viewport( + front_cam, layout=Layout(right=0, top=0, width=480, height=360) + ) + + data = SceneData(model) + init_pos = data.dof_pos.copy() + init_pos[0] = -2.0 + init_pos[1] = -2.3 + init_pos[5] = 0.0 + init_pos[6] = 1.0 + data.set_dof_pos(init_pos, model) + + # Drive actuators + drive_dl = model.get_actuator("down_left_drive") + drive_dr = model.get_actuator("down_right_drive") + drive_ul = model.get_actuator("up_left_drive") + drive_ur = model.get_actuator("up_right_drive") + + # Steering actuators + steer_ul = model.get_actuator("up_left_steer") + steer_ur = model.get_actuator("up_right_steer") + + speed = 0.0 + steer_cmd = 0.0 + speed_amp = 1.0 + steer_amp = 0.35 + frame = 0 + + base_link = model.get_link("base_link") + + # IMU state + imu = MPU6050Sim() + prev_vel_world = np.zeros(3) + timestep = float(model.options.timestep) + + # Continuous image capture + capture_task = None + capture_tasks: deque[tuple[int, CaptureTask]] = deque() + capture_index = 0 + + print("=" * 50) + print("Origincar — HTTP API on port", PORT) + print(" http://:{}/image — camera JPEG".format(PORT)) + print(" http://:{}/state — position & speed".format(PORT)) + print(" http://:{}/imu — IMU (MPU6050 noise)".format(PORT)) + print(" POST /cmd {\"speed\":1.0,\"steer\":0.3}") + print("=" * 50) + + def phys_step(): + nonlocal prev_vel_world + + # ── P-controller ── + vel = base_link.get_linear_velocity(data) + pose = base_link.get_pose(data) + qw, qx, qy, qz = pose[3], pose[4], pose[5], pose[6] + fwd_x = 1 - 2 * (qy * qy + qz * qz) + fwd_y = 2 * (qx * qy + qw * qz) + actual_speed = vel[0] * fwd_x + vel[1] * fwd_y + error = speed - actual_speed + kp = 5.0 + base_torque = max(-15.0, min(15.0, kp * error)) + + # ── Differential ── + if abs(steer_cmd) < 1e-6: + factor_l, factor_r = 1.0, 1.0 + else: + R_turn = L / math.tan(abs(steer_cmd)) + outer_f = (R_turn + T / 2) / R_turn + inner_f = (R_turn - T / 2) / R_turn + if steer_cmd > 0: + factor_l, factor_r = inner_f, outer_f + else: + factor_l, factor_r = outer_f, inner_f + + tq_l = max(-15.0, min(15.0, base_torque * factor_l)) + tq_r = max(-15.0, min(15.0, base_torque * factor_r)) + + drive_dl.set_ctrl(data, tq_l) + drive_dr.set_ctrl(data, -tq_r) + drive_ul.set_ctrl(data, tq_l) + drive_ur.set_ctrl(data, -tq_r) + + steer_l, steer_r = ackermann_angles(steer_cmd) + steer_ul.set_ctrl(data, steer_l) + steer_ur.set_ctrl(data, steer_r) + + step(model, data) + + # ── IMU with MPU6050 noise ── + ang_vel = np.array(base_link.get_angular_velocity(data)) # world frame + vel_world = np.array(vel) + accel_world = (vel_world - prev_vel_world) / timestep + prev_vel_world = vel_world + + # Rotate to body frame + R_w2b = quat_to_body_rotation(qw, qx, qy, qz) + ang_vel_body = R_w2b @ ang_vel + accel_body = R_w2b @ accel_world + + gyro_n, accel_n = imu.apply(ang_vel_body, accel_body) + + with shared_lock: + shared["imu_json"] = json.dumps({ + "orientation": {"w": float(qw), "x": float(qx), "y": float(qy), "z": float(qz)}, + "angular_velocity": {"x": float(gyro_n[0]), "y": float(gyro_n[1]), "z": float(gyro_n[2])}, + "linear_acceleration": {"x": float(accel_n[0]), "y": float(accel_n[1]), "z": float(accel_n[2])}, + }).encode() + + def render_step(): + nonlocal speed, steer_cmd, capture_index, frame, speed_amp, steer_amp + + render.sync(data) + inp = render.input + + frame += 1 + + # ── Keyboard controls (speed & steer independent) ── + if inp.is_key_just_pressed("up"): + speed_amp = min(speed_amp + 0.2, 2.0) + if inp.is_key_just_pressed("down"): + speed_amp = max(speed_amp - 0.2, 0.0) + if inp.is_key_just_pressed("left"): + steer_amp = min(steer_amp + 0.05, 0.5) + if inp.is_key_just_pressed("right"): + steer_amp = max(steer_amp - 0.05, 0.0) + + speed = 0.0 + if inp.is_key_pressed("w"): + speed = speed_amp + if inp.is_key_pressed("s"): + speed = -speed_amp + + steer_cmd = 0.0 # always reset — returns to center when A/D released + if inp.is_key_pressed("a"): + steer_cmd = steer_amp + if inp.is_key_pressed("d"): + steer_cmd = -steer_amp + + key_active = speed != 0.0 or steer_cmd != 0.0 + + # ── HTTP /cmd override (if keyboard not active) ── + if not key_active: + with shared_lock: + speed = shared["cmd_speed"] + steer_cmd = shared["cmd_steer"] + + with shared_lock: + shared["key_active"] = key_active + + # ── Continuous image capture (~30 Hz) ── + if frame % 2 == 0: + rcam = render.get_camera(0) + capture_tasks.append((capture_index, rcam.capture())) + capture_index += 1 + + while capture_tasks: + idx, task = capture_tasks[0] + if task.state != "pending": + capture_tasks.popleft() + try: + img = task.take_image() + if img is not None: + arr = img.pixels + if arr.shape[2] == 4: + pil = PILImage.fromarray(arr, "RGBA").convert("RGB") + else: + pil = PILImage.fromarray(arr, "RGB") + buf = io.BytesIO() + pil.save(buf, format="JPEG", quality=80) + with shared_lock: + shared["latest_jpg"] = buf.getvalue() + except Exception: + pass + else: + break + + # ── Console status ── + if frame % 60 == 0: + pose = base_link.get_pose(data) + x, y, z = pose[0], pose[1], pose[2] + qw, qx, qy, qz = pose[3], pose[4], pose[5], pose[6] + yaw = math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz)) + v = base_link.get_linear_velocity(data) + actual_spd = math.hypot(v[0], v[1]) + with shared_lock: + shared["state_json"] = json.dumps({ + "x": round(float(x), 3), "y": round(float(y), 3), "z": round(float(z), 3), + "yaw_deg": round(math.degrees(yaw), 1), + "speed_target": round(speed, 2), + "speed_actual": round(float(actual_spd), 2), + "steer_target": round(steer_cmd, 3), + "speed_amp": round(speed_amp, 1), + "steer_amp": round(steer_amp, 3), + }).encode() + print(f"[pos] x={x:+.3f} y={y:+.3f} z={z:+.3f} | yaw={math.degrees(yaw):+.1f}° " + f"spd={speed:.1f}/{actual_spd:.2f} steer={steer_cmd:+.2f}", flush=True) + + # ── Snapshot to disk ── + if inp.is_key_just_pressed("space"): + with shared_lock: + jpg = shared["latest_jpg"] + if jpg: + os.makedirs("captures", exist_ok=True) + path = f"captures/front_cam_{capture_index:04d}.jpg" + with open(path, "wb") as f: + f.write(jpg) + print(f"Captured: {path}") + + run.render_loop(model.options.timestep, 60, phys_step, render_step) if __name__ == "__main__": diff --git a/map.png b/map.png new file mode 100644 index 0000000..a480e08 Binary files /dev/null and b/map.png differ diff --git a/map_full.png b/map_full.png new file mode 100644 index 0000000..8958176 Binary files /dev/null and b/map_full.png differ diff --git a/pyproject.toml b/pyproject.toml index c4369cb..da56330 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,4 +4,7 @@ version = "0.1.0" description = "Add your description here" readme = "README.md" requires-python = ">=3.13" -dependencies = [] +dependencies = [ + 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