Init

deploy/deploy_real/common/command_helper.py

@@ -0,0 +1,61 @@
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ as LowCmdGo
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as LowCmdHG
+from typing import Union
+
+
+class MotorMode:
+    PR = 0  # Series Control for Pitch/Roll Joints
+    AB = 1  # Parallel Control for A/B Joints
+
+
+def create_damping_cmd(cmd: Union[LowCmdGo, LowCmdHG]):
+    size = len(cmd.motor_cmd)
+    for i in range(size):
+        cmd.motor_cmd[i].q = 0
+        cmd.motor_cmd[i].qd = 0
+        cmd.motor_cmd[i].kp = 0
+        cmd.motor_cmd[i].kd = 8
+        cmd.motor_cmd[i].tau = 0
+
+
+def create_zero_cmd(cmd: Union[LowCmdGo, LowCmdHG]):
+    size = len(cmd.motor_cmd)
+    for i in range(size):
+        cmd.motor_cmd[i].q = 0
+        cmd.motor_cmd[i].qd = 0
+        cmd.motor_cmd[i].kp = 0
+        cmd.motor_cmd[i].kd = 0
+        cmd.motor_cmd[i].tau = 0
+
+
+def init_cmd_hg(cmd: LowCmdHG, mode_machine: int, mode_pr: int):
+    cmd.mode_machine = mode_machine
+    cmd.mode_pr = mode_pr
+    size = len(cmd.motor_cmd)
+    for i in range(size):
+        cmd.motor_cmd[i].mode = 1
+        cmd.motor_cmd[i].q = 0
+        cmd.motor_cmd[i].qd = 0
+        cmd.motor_cmd[i].kp = 0
+        cmd.motor_cmd[i].kd = 0
+        cmd.motor_cmd[i].tau = 0
+
+
+def init_cmd_go(cmd: LowCmdGo, weak_motor: list):
+    cmd.head[0] = 0xFE
+    cmd.head[1] = 0xEF
+    cmd.level_flag = 0xFF
+    cmd.gpio = 0
+    PosStopF = 2.146e9
+    VelStopF = 16000.0
+    size = len(cmd.motor_cmd)
+    for i in range(size):
+        if i in weak_motor:
+            cmd.motor_cmd[i].mode = 1
+        else:
+            cmd.motor_cmd[i].mode = 0x0A
+        cmd.motor_cmd[i].q = PosStopF
+        cmd.motor_cmd[i].qd = VelStopF
+        cmd.motor_cmd[i].kp = 0
+        cmd.motor_cmd[i].kd = 0
+        cmd.motor_cmd[i].tau = 0

deploy/deploy_real/common/remote_controller.py

@@ -0,0 +1,39 @@
+import struct
+
+
+class KeyMap:
+    R1 = 0
+    L1 = 1
+    start = 2
+    select = 3
+    R2 = 4
+    L2 = 5
+    F1 = 6
+    F2 = 7
+    A = 8
+    B = 9
+    X = 10
+    Y = 11
+    up = 12
+    right = 13
+    down = 14
+    left = 15
+
+
+class RemoteController:
+    def __init__(self):
+        self.lx = 0
+        self.ly = 0
+        self.rx = 0
+        self.ry = 0
+        self.button = [0] * 16
+
+    def set(self, data):
+        # wireless_remote
+        keys = struct.unpack("H", data[2:4])[0]
+        for i in range(16):
+            self.button[i] = (keys & (1 << i)) >> i
+        self.lx = struct.unpack("f", data[4:8])[0]
+        self.rx = struct.unpack("f", data[8:12])[0]
+        self.ry = struct.unpack("f", data[12:16])[0]
+        self.ly = struct.unpack("f", data[20:24])[0]

deploy/deploy_real/common/rotation_helper.py

@@ -0,0 +1,25 @@
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+
+
+def get_gravity_orientation(quaternion):
+    qw = quaternion[0]
+    qx = quaternion[1]
+    qy = quaternion[2]
+    qz = quaternion[3]
+
+    gravity_orientation = np.zeros(3)
+
+    gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
+    gravity_orientation[1] = -2 * (qz * qy + qw * qx)
+    gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
+
+    return gravity_orientation
+
+
+def transform_imu_data(waist_yaw, waist_yaw_omega, imu_quat, imu_omega):
+    RzWaist = R.from_euler("z", waist_yaw).as_matrix()
+    R_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix()
+    R_pelvis = np.dot(R_torso, RzWaist.T)
+    w = np.dot(RzWaist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega])
+    return R.from_matrix(R_pelvis).as_quat()[[3, 0, 1, 2]], w