[real] 整理 Python Sim2Real v2

2026-07-27 16:45:09 +08:00
parent 55094bf682
commit 3bf6eb0c4c
84 changed files with 13361 additions and 5 deletions
@@ -0,0 +1,216 @@
+import time
+from typing import Callable, Dict, Tuple
+
+import numpy as np
+
+from interface.imu_client import IMUClient
+from interface.motor_driver import HardwareIO
+from tools.math_utils import LowPassFilter, MahonyFilter, get_gravity_orientation
+
+
+def _quat_yaw_wxyz(quat) -> float:
+    w, x, y, z = [float(v) for v in quat]
+    return float(np.arctan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z)))
+
+
+def _wrap_pi(angle: float) -> float:
+    return float((angle + np.pi) % (2.0 * np.pi) - np.pi)
+
+
+class OdomTracker:
+    def __init__(self, jump_distance_m: float = 0.5, jump_yaw_rad: float = 0.8):
+        self.jump_distance_m = float(jump_distance_m)
+        self.jump_yaw_rad = float(jump_yaw_rad)
+        self.origin_pos = None
+        self.origin_yaw = 0.0
+        self.last_local_pos = None
+        self.last_local_yaw = 0.0
+
+    def reset(self):
+        self.origin_pos = None
+        self.origin_yaw = 0.0
+        self.last_local_pos = None
+        self.last_local_yaw = 0.0
+
+    def update(self, odom):
+        if odom is None:
+            return None
+        pos = np.asarray(odom.get("pos", [0.0, 0.0, 0.0]), dtype=np.float32)
+        yaw = _quat_yaw_wxyz(odom.get("quat_wxyz", [1.0, 0.0, 0.0, 0.0]))
+        if self.origin_pos is None:
+            self.origin_pos = pos.copy()
+            self.origin_yaw = yaw
+        local_pos = pos - self.origin_pos
+        local_yaw = _wrap_pi(yaw - self.origin_yaw)
+        jump_detected = False
+        jump_distance = 0.0
+        jump_yaw = 0.0
+        if self.last_local_pos is not None:
+            jump_distance = float(np.linalg.norm(local_pos[:2] - self.last_local_pos[:2]))
+            jump_yaw = abs(_wrap_pi(local_yaw - self.last_local_yaw))
+            jump_detected = jump_distance > self.jump_distance_m or jump_yaw > self.jump_yaw_rad
+        self.last_local_pos = local_pos.copy()
+        self.last_local_yaw = local_yaw
+        tracked = dict(odom)
+        tracked.update(
+            {
+                "local_pos": local_pos.tolist(),
+                "local_yaw": local_yaw,
+                "jump_detected": bool(jump_detected),
+                "jump_distance_m": jump_distance,
+                "jump_yaw_rad": jump_yaw,
+            }
+        )
+        return tracked
+
+
+class RealIO:
+    def __init__(
+        self,
+        driver_factory: Callable[[str, str, bool], Tuple[object, object]],
+        motor_model: str,
+        can1_port: str,
+        can2_port: str,
+        imu_lib_path: str,
+        control_dt: float = 0.02,
+        motor_dt: float = 0.005,
+        kp_leg: float = 80.0,
+        kd_leg: float = 2.5,
+        hold_kp_leg: float | None = None,
+        hold_kd_leg: float | None = None,
+        kd_wheel: float = 2.0,
+        debug: bool = False,
+        dry_run: bool = False,
+    ):
+        self.control_dt = control_dt
+        self.motor_dt = motor_dt
+        self.kp_leg = kp_leg
+        self.kd_leg = kd_leg
+        self.hold_kp_leg = kp_leg if hold_kp_leg is None else float(hold_kp_leg)
+        self.hold_kd_leg = kd_leg if hold_kd_leg is None else float(hold_kd_leg)
+        self.kd_wheel = kd_wheel
+
+        print("[RealIO] 初始化电机驱动...")
+        self.hw = HardwareIO(driver_factory, motor_model, can1_port, can2_port, debug)
+        print("[RealIO] 初始化 IMU...")
+        self.imu = IMUClient(lib_path=imu_lib_path, dry_run=dry_run)
+
+        # 使用 motor_dt 初始化滤波器，因为它们都在 200Hz 电机控制循环中更新
+        self.imu_filter = MahonyFilter(kp=2.0, ki=0.0, dt=motor_dt)
+        self.quat_wxyz = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32)
+
+        self.lpf_legs = LowPassFilter(cutoff_freq=5.0, dt=motor_dt, dim=12)
+        self.lpf_wheels = LowPassFilter(cutoff_freq=15.0, dt=motor_dt, dim=4)
+
+        self._last_imu_age_ms = -1.0
+        self._last_imu_fresh = False
+        self.odom_tracker = OdomTracker()
+        self._last_read_time = None
+
+    def connect(self, imu_timeout_ms: int = 8000):
+        self.hw.connect()
+        self.imu.start(timeout_ms=imu_timeout_ms)
+        if self.imu.initial_gravity is not None:
+            self.imu_filter.reset_with_accel(self.imu.initial_gravity)
+            self.quat_wxyz = self.imu_filter.q.copy()
+        self.odom_tracker.reset()
+        self._last_read_time = None
+
+    def disconnect(self):
+        try:
+            self.hw.disable_all()
+        finally:
+            self.imu.stop()
+            self.hw.disconnect()
+
+    def enable_motors(self):
+        self.hw.enable_all()
+
+    def disable_motors(self):
+        self.hw.disable_all()
+
+    def damping_brake(self):
+        self.hw.damping_brake(self.kd_leg, self.kd_wheel)
+
+    def wait_feedback_ready(self, max_attempts: int = 20, poll_interval: float = 0.05):
+        return self.hw.wait_feedback_ready(max_attempts=max_attempts, poll_interval=poll_interval)
+
+    def read_measured_pose(self) -> np.ndarray:
+        return self.hw.read_measured_pose()
+
+    def read_state(self) -> Dict[str, object]:
+        joint_pos, joint_vel, joint_torque, motor_diag = self.hw.read_state()
+        gyro, accel, age_ms, fresh = self.imu.get_latest()
+        odom = self.odom_tracker.update(self.imu.get_latest_odom())
+        self._last_imu_age_ms = age_ms
+        self._last_imu_fresh = fresh
+
+        # 动态测量 dt，以适应 POLL (5Hz) 与 RUNTIME (200Hz) 的不同频率切换
+        t_now = time.perf_counter()
+        if self._last_read_time is not None:
+            dt = t_now - self._last_read_time
+            if dt <= 0.0 or dt > 0.5:
+                dt = self.motor_dt
+        else:
+            dt = self.motor_dt
+        self._last_read_time = t_now
+
+        self.quat_wxyz = self.imu_filter.update(accel, gyro, dt=dt)
+        projected_gravity = get_gravity_orientation(self.quat_wxyz)
+
+        return {
+            "joint_pos": joint_pos,
+            "joint_vel": joint_vel,
+            "joint_torque": joint_torque,
+            "imu_gyro": gyro,
+            "imu_accel": accel,
+            "quat_wxyz": self.quat_wxyz.copy(),
+            "projected_gravity": projected_gravity,
+            "imu_age_ms": age_ms,
+            "imu_fresh": fresh,
+            "odom": odom,
+            "motor_stale": motor_diag,
+        }
+
+    def get_obs_policy(
+        self,
+        state: Dict[str, object],
+        command: np.ndarray,
+        default_dof_pos: np.ndarray,
+        last_actions_raw: np.ndarray,
+    ) -> np.ndarray:
+        gyro = state["imu_gyro"]
+        joint_pos = state["joint_pos"]
+        joint_vel = state["joint_vel"]
+        projected_gravity = state["projected_gravity"]
+
+        base_ang_vel = (gyro * 0.25).astype(np.float32)
+        joint_pos_rel = (joint_pos[:12] - default_dof_pos[:12]).astype(np.float32)
+        joint_vel_leg = (joint_vel[:12] * 0.05).astype(np.float32)
+        wheel_vel = (joint_vel[12:] * 0.05).astype(np.float32)
+
+        return np.concatenate(
+            [
+                base_ang_vel,
+                projected_gravity,
+                command.astype(np.float32),
+                joint_pos_rel,
+                joint_vel_leg,
+                wheel_vel,
+                last_actions_raw,
+            ]
+        ).astype(np.float32)
+
+    def send_actions(self, scaled_actions: np.ndarray, default_dof_pos: np.ndarray):
+        act = (scaled_actions + default_dof_pos).astype(np.float32)
+        act = np.clip(act, -100.0, 100.0)
+        act[:12] = self.lpf_legs.filter(act[:12])
+        act[12:] = self.lpf_wheels.filter(act[12:])
+        self.hw.send_control(act, self.kp_leg, self.kd_leg, self.kd_wheel)
+        return act
+
+    def hold_pose(self, sim_target_pose: np.ndarray, kp_scale: float = 1.0):
+        target = np.clip(sim_target_pose.astype(np.float32), -100.0, 100.0)
+        kp_scale = float(np.clip(kp_scale, 0.0, 1.0))
+        self.hw.send_control(target, self.hold_kp_leg * kp_scale, self.hold_kd_leg, self.kd_wheel)
+        return target