From a6ca122700465eaa731423f919fbd60ffac9c550 Mon Sep 17 00:00:00 2001 From: BaiBaiBaiSTRONG <54527089+BaiBaiBaiSTRONG@users.noreply.github.com> Date: Thu, 2 Jan 2025 01:17:30 -0800 Subject: [PATCH] Initialize --- resources/robots/DMDM/MUJOCO_LOG.TXT | 6 - resources/robots/DMDM/assets/base_0.obj | 36346 --- resources/robots/DMDM/assets/base_1.obj | 23131 -- resources/robots/DMDM/assets/base_2.obj | 8367 - resources/robots/DMDM/assets/base_3.obj | 10932 - resources/robots/DMDM/assets/base_4.obj | 199205 --------------- resources/robots/DMDM/assets/calf_0.obj | 24148 -- resources/robots/DMDM/assets/calf_1.obj | 9243 - .../robots/DMDM/assets/calf_mirror_0.obj | 24145 -- .../robots/DMDM/assets/calf_mirror_1.obj | 9252 - resources/robots/DMDM/assets/foot.obj | 30786 --- resources/robots/DMDM/assets/hip_0.obj | 76960 ------ resources/robots/DMDM/assets/hip_1.obj | 73961 ------ resources/robots/DMDM/assets/thigh_0.obj | 75706 ------ resources/robots/DMDM/assets/thigh_1.obj | 40483 --- .../robots/DMDM/assets/thigh_mirror_0.obj | 75572 ------ .../robots/DMDM/assets/thigh_mirror_1.obj | 40450 --- .../robots/DMDM/assets/z1_GripperMover.stl | Bin 1152684 -> 0 bytes .../robots/DMDM/assets/z1_GripperStator.stl | Bin 2170284 -> 0 bytes resources/robots/DMDM/assets/z1_Link00.stl | Bin 818684 -> 0 bytes resources/robots/DMDM/assets/z1_Link01.stl | Bin 2813284 -> 0 bytes resources/robots/DMDM/assets/z1_Link02.stl | Bin 1306284 -> 0 bytes resources/robots/DMDM/assets/z1_Link03.stl | Bin 1679084 -> 0 bytes resources/robots/DMDM/assets/z1_Link04.stl | Bin 1263884 -> 0 bytes resources/robots/DMDM/assets/z1_Link05.stl | Bin 901584 -> 0 bytes resources/robots/DMDM/assets/z1_Link06.stl | Bin 114584 -> 0 bytes resources/robots/DMDM/go2RodMotor.xml | 281 - resources/robots/DMDM/go2rod.xml | 326 - resources/robots/DMDM/random_test.py | 397 - resources/robots/DMDM/scene.xml | 46 - resources/robots/DMDM/scene_mjx.xml | 23 - 31 files changed, 759766 deletions(-) delete mode 100644 resources/robots/DMDM/MUJOCO_LOG.TXT delete mode 100644 resources/robots/DMDM/assets/base_0.obj delete mode 100644 resources/robots/DMDM/assets/base_1.obj delete mode 100644 resources/robots/DMDM/assets/base_2.obj delete mode 100644 resources/robots/DMDM/assets/base_3.obj delete mode 100644 resources/robots/DMDM/assets/base_4.obj delete mode 100644 resources/robots/DMDM/assets/calf_0.obj delete mode 100644 resources/robots/DMDM/assets/calf_1.obj delete mode 100644 resources/robots/DMDM/assets/calf_mirror_0.obj delete mode 100644 resources/robots/DMDM/assets/calf_mirror_1.obj delete mode 100644 resources/robots/DMDM/assets/foot.obj delete mode 100644 resources/robots/DMDM/assets/hip_0.obj delete mode 100644 resources/robots/DMDM/assets/hip_1.obj delete mode 100644 resources/robots/DMDM/assets/thigh_0.obj delete mode 100644 resources/robots/DMDM/assets/thigh_1.obj delete mode 100644 resources/robots/DMDM/assets/thigh_mirror_0.obj delete mode 100644 resources/robots/DMDM/assets/thigh_mirror_1.obj delete mode 100644 resources/robots/DMDM/assets/z1_GripperMover.stl delete mode 100644 resources/robots/DMDM/assets/z1_GripperStator.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link00.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link01.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link02.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link03.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link04.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link05.stl delete mode 100644 resources/robots/DMDM/assets/z1_Link06.stl delete mode 100644 resources/robots/DMDM/go2RodMotor.xml delete mode 100644 resources/robots/DMDM/go2rod.xml delete mode 100644 resources/robots/DMDM/random_test.py delete mode 100644 resources/robots/DMDM/scene.xml delete mode 100644 resources/robots/DMDM/scene_mjx.xml diff --git a/resources/robots/DMDM/MUJOCO_LOG.TXT b/resources/robots/DMDM/MUJOCO_LOG.TXT deleted file mode 100644 index bea7bde..0000000 --- a/resources/robots/DMDM/MUJOCO_LOG.TXT +++ /dev/null @@ -1,6 +0,0 @@ -Tue Nov 5 02:20:24 2024 -WARNING: mju_openResource: unknown file 'src/robot/go2-rod/scene.xml' - -Tue Nov 5 02:22:42 2024 -WARNING: mju_openResource: unknown file 'src/robot/go2-rod/scene.xml' - diff --git a/resources/robots/DMDM/assets/base_0.obj b/resources/robots/DMDM/assets/base_0.obj deleted file mode 100644 index f2e6882..0000000 --- a/resources/robots/DMDM/assets/base_0.obj +++ /dev/null @@ -1,36346 +0,0 @@ -mtllib 深色橡胶.001.mtl -usemtl 深色橡胶.001 -v 0.28651000 0.03397800 -0.06016600 -v 0.28140700 0.03271000 -0.06153300 -v 0.28510200 0.03416200 -0.05502200 -v 0.29174300 0.03440500 -0.05876400 -v 0.29174300 0.03440500 -0.05876400 -v 0.28791900 0.03379400 -0.06531000 -v 0.28791900 0.03379400 -0.06531000 -v 0.29052700 0.03411300 -0.06461100 -v 0.29052700 0.03411300 -0.06461100 -v 0.28539800 0.03327700 -0.06598500 -v 0.28539800 0.03327700 -0.06598500 -v 0.28676900 0.03288900 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a/resources/robots/DMDM/go2rod.xml b/resources/robots/DMDM/go2rod.xml deleted file mode 100644 index 28b15ad..0000000 --- a/resources/robots/DMDM/go2rod.xml +++ /dev/null @@ -1,326 +0,0 @@ - - - - - \ No newline at end of file diff --git a/resources/robots/DMDM/random_test.py b/resources/robots/DMDM/random_test.py deleted file mode 100644 index 9b01d34..0000000 --- a/resources/robots/DMDM/random_test.py +++ /dev/null @@ -1,397 +0,0 @@ -import mujoco -import mujoco.viewer -import numpy as np -import time - -class Go2JointTester: - def __init__(self, scene_path): - """Initialize MuJoCo model and data""" - self.model = mujoco.MjModel.from_xml_path(scene_path) - self.data = mujoco.MjData(self.model) - - # Define IMU sensor positions and initialize sensor data structure - self.imu_positions = { - 'base': [-0.02557, 0, 0.04232], - 'FL': [0.1934, 0.0465, 0.04232], # Front Left IMU - 'FR': [0.1934, -0.0465, 0.04232], # Front Right IMU - 'RL': [-0.1934, 0.0465, 0.04232], # Rear Left IMU - 'RR': [-0.1934, -0.0465, 0.04232], # Rear Right IMU - 'ball': [0, 0, 0] # Ball IMU - } - - # Initialize IMU sensor data structure - self.imu_data = {name: { - 'accelerometer': np.zeros(3), # Linear acceleration (x, y, z) - 'gyroscope': np.zeros(3), # Angular velocity (roll, pitch, yaw) - 'position': np.zeros(3), # Position (x, y, z) - 'orientation': np.zeros(3) # Orientation (roll, pitch, yaw) - } for name in self.imu_positions.keys()} - - # Create site objects and sensors for IMUs - self._setup_imu_sites() - - # Print detailed model information - print(f"\nModel Information:") - print(f"qpos dimension: {self.data.qpos.shape}") - print(f"qpos initial value: {self.data.qpos}") - print(f"Number of joints: {self.model.njnt}") - print(f"Degrees of freedom: {self.model.nv}") - - # Analyze qpos dimension and set correct home position - self.home_pos = np.zeros_like(self.data.qpos) - - # Parse initial position from keyframe string - keyframe_str = "0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0 0 0 0.45 0 0 0 0" - keyframe_values = [float(x) for x in keyframe_str.split()] - print(f"\nNumber of keyframe values: {len(keyframe_values)}") - print(f"Keyframe values: {keyframe_values}") - - # Copy keyframe values to home_pos - self.home_pos[:len(keyframe_values)] = keyframe_values - - print(f"\nHome position dimension: {self.home_pos.shape}") - print(f"Home position values: {self.home_pos}") - - # Store joint information - self.joint_info = self._get_joint_info() - print(f"\nFound {len(self.joint_info)} joints") - - # Initialize control parameters - self.paused = False - self.show_wireframe = False - self.random_range = 0.5 - self.smooth_factor = 0.02 - - # Add state variables for generating smooth signals - self.time = 0 - self.last_ctrl = np.zeros(self.model.nu) - self.phase_offsets = np.random.uniform(0, 2 * np.pi, self.model.nu) - self.frequencies = np.random.uniform(0.1, 0.3, self.model.nu) - self.amplitudes = np.random.uniform(3, 6, self.model.nu) - - # Add timestep control - self.physics_timestep = 0.002 # Physics simulation timestep - self.render_fps = 60 # Desired render framerate - - # Add touch sensor data structure - self.touch_sensors = { - 'ball_contact': None # Will store ball contact force data - } - - # Initialize sensors - self._setup_sensors() - - def _get_joint_info(self): - """Get information for all joints""" - joint_info = [] - - for i in range(self.model.njnt): - range_min = self.model.jnt_range[i][0] - range_max = self.model.jnt_range[i][1] - - try: - leg_prefixes = ['FL', 'FR', 'RL', 'RR'] - joint_types = ['hip', 'thigh', 'calf'] - - if i < 12: # Leg joints - leg_idx = i // 3 - joint_idx = i % 3 - name = f"{leg_prefixes[leg_idx]}_{joint_types[joint_idx]}_joint" - elif i == 12: - name = "motor_rotation" - elif i == 13: - name = "rod_joint" - else: - name = f"joint_{i}" - - joint_info.append({ - 'name': name, - 'id': i, - 'range_min': range_min, - 'range_max': range_max - }) - print(f"Joint {name}: range [{range_min:.2f}, {range_max:.2f}]") - - except Exception as e: - print(f"Warning: Error processing joint {i}: {str(e)}") - continue - - return joint_info - - def key_callback(self, keycode): - """Handle keyboard input""" - if chr(keycode) == ' ': - self.paused = not self.paused - print("Simulation {}".format("paused" if self.paused else "resumed")) - elif chr(keycode) == 'w': - self.show_wireframe = not self.show_wireframe - print("Wireframe mode {}".format("enabled" if self.show_wireframe else "disabled")) - elif chr(keycode) == 'r': - self.reset_state() - print("Reset to home position") - elif chr(keycode) == 'q': - return True - return False - - def reset_state(self): - """Reset state to initial position""" - # Set positions one by one to avoid dimension mismatch - for i in range(min(len(self.home_pos), len(self.data.qpos))): - self.data.qpos[i] = self.home_pos[i] - - # Reset all velocities - self.data.qvel[:] = 0 - - # Update physics - mujoco.mj_forward(self.model, self.data) - - # Reset signal generator state - self.time = 0 - self.last_ctrl = np.zeros(self.model.nu) - self.phase_offsets = np.random.uniform(0, 2 * np.pi, self.model.nu) - - def generate_random_control(self): - """Generate smooth periodic control signals""" - ctrl = np.zeros(self.model.nu) - - # Generate sine signals for each control dimension - for i in range(self.model.nu): - # Base sine signal - base_signal = self.amplitudes[i] * np.sin( - self.frequencies[i] * self.time + self.phase_offsets[i] - ) - - # Add small random perturbation - noise = np.random.uniform(-0.5, 0.5) - - # Combine signals - ctrl[i] = base_signal + noise - - # Use smooth factor for transition - ctrl = self.last_ctrl + self.smooth_factor * (ctrl - self.last_ctrl) - self.last_ctrl = ctrl.copy() - - # Update time - self.time += 0.01 - - return ctrl - - def run_test(self, duration=30, interval=1.0): - """Run test""" - print("\nKey Instructions:") - print("Space: Pause/Resume") - print("W: Toggle wireframe mode") - print("R: Reset position") - print("Q: Quit") - print("Ctrl+C: Force quit") - - try: - with mujoco.viewer.launch_passive(self.model, self.data, key_callback=self.key_callback) as viewer: - # Set camera view - viewer.cam.distance = 3.0 - viewer.cam.azimuth = 45.0 - viewer.cam.elevation = -20.0 - - # Reset to initial state first - self.reset_state() - - # Pause to let user observe initial state - print("\nInitial state set, press space to start test...") - self.paused = True - - start_time = time.time() - last_print_time = start_time - last_update_time = start_time - - while viewer.is_running(): - current_time = time.time() - - if not self.paused: - # Calculate physics steps to catch up - steps_to_catch_up = int((current_time - last_update_time) / self.physics_timestep) - - for _ in range(steps_to_catch_up): - # Generate and apply random control signals - ctrl = self.generate_random_control() - self.data.ctrl[:] = ctrl - - # Step physics simulation - mujoco.mj_step(self.model, self.data) - - last_update_time = current_time - - # Print current state and control signals - if current_time - last_print_time >= interval: - print(f"\nBase height: {self.data.qpos[2]:.3f}") - print(f"Control signals: {ctrl}") - - # Get and print IMU data - imu_data = self.get_imu_data() - print("\nIMU Sensor Data:") - for imu_name, data in imu_data.items(): - print(f"\nIMU {imu_name}:") - print(f" Position: [{data['position'][0]:.3f}, {data['position'][1]:.3f}, {data['position'][2]:.3f}]") - print(f" Orientation (rad): [{data['orientation'][0]:.3f}, {data['orientation'][1]:.3f}, {data['orientation'][2]:.3f}]") - print(f" Acceleration: [{data['accelerometer'][0]:.3f}, {data['accelerometer'][1]:.3f}, {data['accelerometer'][2]:.3f}]") - print(f" Angular Velocity: [{data['gyroscope'][0]:.3f}, {data['gyroscope'][1]:.3f}, {data['gyroscope'][2]:.3f}]") - - # Get and print touch sensor data - touch_data = self.get_touch_sensor_data() - print("\nTouch Sensor Data:") - for sensor_name, data in touch_data.items(): - print(f"{sensor_name}:") - print(f" Raw Force: {data['raw_force']:.6f} N") - print(f" Magnitude: {data['magnitude']:.6f} N") - - # Print contact state - if data['contact_states']['no_contact']: - contact_state = "No Contact" - elif data['contact_states']['light_contact']: - contact_state = "Light Contact" - else: - contact_state = "Firm Contact" - - print(f" Contact State: {contact_state}") - - last_print_time = current_time - - # Update view - if self.show_wireframe: - viewer.user_scn.flags[mujoco.mjtRndFlag.mjRND_WIREFRAME] = 1 - else: - viewer.user_scn.flags[mujoco.mjtRndFlag.mjRND_WIREFRAME] = 0 - - viewer.sync() - - # Control render framerate - time_to_next_frame = 1.0/self.render_fps - (time.time() - current_time) - if time_to_next_frame > 0: - time.sleep(time_to_next_frame) - - except KeyboardInterrupt: - print("\nTest interrupted by user") - finally: - print("Test ended") - - def _setup_imu_sites(self): - """Setup IMU site objects and sensors in the model""" - for imu_name, pos in self.imu_positions.items(): - site_name = f"imu_{imu_name}" - try: - # Get or create site - site_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, site_name) - if site_id >= 0: - self.model.site_pos[site_id] = pos - - # Get accelerometer sensor - accel_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SENSOR, f"{site_name}_accel") - if accel_id < 0: - print(f"Warning: Accelerometer sensor for {site_name} not found in model") - - # Get gyroscope sensor - gyro_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SENSOR, f"{site_name}_gyro") - if gyro_id < 0: - print(f"Warning: Gyroscope sensor for {site_name} not found in model") - - except Exception as e: - print(f"Warning: Could not setup IMU site and sensors {site_name}: {str(e)}") - - def get_imu_positions(self): - """Get current world positions of all IMU sensors""" - imu_world_pos = {} - for imu_name in self.imu_positions.keys(): - site_name = f"imu_{imu_name}" - try: - site_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, site_name) - if site_id >= 0: - # Get the world position of the IMU site - pos = self.data.site_xpos[site_id] - imu_world_pos[imu_name] = pos - except Exception as e: - print(f"Warning: Could not get position for IMU {site_name}: {str(e)}") - return imu_world_pos - - def get_imu_data(self): - """Get comprehensive IMU sensor data including position, orientation, acceleration, and angular velocity""" - for imu_name in self.imu_positions.keys(): - site_name = f"imu_{imu_name}" - try: - # Get site ID - site_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, site_name) - if site_id >= 0: - # Get position - self.imu_data[imu_name]['position'] = self.data.site_xpos[site_id].copy() - - # Get orientation (from rotation matrix to euler angles) - rot_matrix = self.data.site_xmat[site_id].reshape(3, 3) - orientation = np.zeros(3) - orientation[0] = np.arctan2(rot_matrix[2, 1], rot_matrix[2, 2]) # roll - orientation[1] = np.arcsin(-rot_matrix[2, 0]) # pitch - orientation[2] = np.arctan2(rot_matrix[1, 0], rot_matrix[0, 0]) # yaw - self.imu_data[imu_name]['orientation'] = orientation - - # Get accelerometer data - accel_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SENSOR, f"{site_name}_accel") - if accel_id >= 0: - self.imu_data[imu_name]['accelerometer'] = self.data.sensordata[accel_id:accel_id+3] - - # Get gyroscope data - gyro_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SENSOR, f"{site_name}_gyro") - if gyro_id >= 0: - self.imu_data[imu_name]['gyroscope'] = self.data.sensordata[gyro_id:gyro_id+3] - - except Exception as e: - print(f"Warning: Could not get IMU data for {site_name}: {str(e)}") - - return self.imu_data - - def _setup_sensors(self): - """Setup all sensors including IMUs and touch sensors""" - self._setup_imu_sites() - - # Setup touch sensors - try: - sensor_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SENSOR, "ball_contact_sensor") - if sensor_id < 0: - print("Warning: Ball contact sensor not found in model") - except Exception as e: - print(f"Warning: Could not setup touch sensor: {str(e)}") - - def get_touch_sensor_data(self): - """Get touch sensor data""" - try: - # Get ball contact sensor data - ball_sensor_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SENSOR, "ball_contact_sensor") - if ball_sensor_id >= 0: - force = self.data.sensordata[ball_sensor_id] - force_magnitude = abs(force) - self.touch_sensors['ball_contact'] = { - 'raw_force': force, - 'magnitude': force_magnitude, - 'contact_states': { - 'no_contact': force_magnitude < 0.001, - 'light_contact': 0.001 <= force_magnitude < 0.01, - 'firm_contact': force_magnitude >= 0.01 - }, - 'in_contact': force_magnitude >= 0.001 - } - - except Exception as e: - print(f"Warning: Could not get touch sensor data: {str(e)}") - - return self.touch_sensors - -def main(): - scene_path = "scene.xml" - - try: - tester = Go2JointTester(scene_path) - tester.run_test(duration=30, interval=1.0) - - except Exception as e: - print(f"Error occurred during test: {str(e)}") - import traceback - traceback.print_exc() - -if __name__ == "__main__": - main() \ No newline at end of file diff --git a/resources/robots/DMDM/scene.xml b/resources/robots/DMDM/scene.xml deleted file mode 100644 index ba54eb6..0000000 --- a/resources/robots/DMDM/scene.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/resources/robots/DMDM/scene_mjx.xml b/resources/robots/DMDM/scene_mjx.xml deleted file mode 100644 index 944e223..0000000 --- a/resources/robots/DMDM/scene_mjx.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - -

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