rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-08-01 10:15:08 +02:00
parent 489da82052
commit 5b72401055
3 changed files with 19 additions and 13 deletions
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23
mini_bdx_runtime/mini_bdx_runtime/imu.py
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@ -109,6 +109,7 @@ class Imu:
try:
# imu returns scalar first
raw_orientation = np.array(self.imu.quaternion).copy() # quat
gyro = np.array(self.imu.gyro).copy() # gyro
euler = (
R.from_quat(raw_orientation, scalar_first=True)
.as_euler("xyz")
@ -126,23 +127,27 @@ class Imu:
# gives scalar last, which is what isaac wants
final_orientation_quat = R.from_euler("xyz", euler).as_quat()
self.imu_queue.put(final_orientation_quat.copy())
self.imu_queue.put(
{"orientation": final_orientation_quat.copy(), "gyro": gyro.copy()}
)
took = time.time() - s
time.sleep(max(0, 1 / self.sampling_freq - took))
def get_data(self, euler=False, mat=False):
def get_data(self, as_euler=False, as_mat=False):
try:
self.last_imu_data = self.imu_queue.get(False) # non blocking
except Exception:
pass
try:
if not euler and not mat:
return self.last_imu_data
elif euler:
return R.from_quat(self.last_imu_data).as_euler("xyz")
elif mat:
return R.from_quat(self.last_imu_data).as_matrix()
if as_euler:
euler = R.from_quat(self.last_imu_data["orientation"]).as_euler("xyz")
self.last_imu_data["orientation"] = euler
elif as_mat:
mat = R.from_quat(self.last_imu_data["orientation"]).as_matrix()
self.last_imu_data["orientation"] = mat
return self.last_imu_data
except Exception as e:
print("[IMU]: ", e)
@ -156,6 +161,6 @@ if __name__ == "__main__":
data = imu.get_data()
# print(data)
print("gyro", np.around(data["gyro"], 3))
print("accelero", np.around(data["accelero"], 3))
print("orientation", np.around(data["orientation"], 3))
print("---")
time.sleep(1 / 25)

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scripts/polynomial_coefficients.pkl
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9
scripts/v2_rl_walk_mujoco.py
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@ -5,7 +5,8 @@ import numpy as np
from mini_bdx_runtime.rustypot_position_hwi import HWI
from mini_bdx_runtime.onnx_infer import OnnxInfer
from mini_bdx_runtime.raw_imu import Imu
# from mini_bdx_runtime.raw_imu import Imu
from mini_bdx_runtime.imu import Imu
from mini_bdx_runtime.poly_reference_motion import PolyReferenceMotion
from mini_bdx_runtime.xbox_controller import XBoxController
from mini_bdx_runtime.feet_contacts import FeetContacts
@ -159,7 +160,7 @@ class RLWalk:
imu_data["accelero"],
cmds,
dof_pos - self.init_pos,
dof_vel * 0.05,
dof_vel * 0.1,
self.last_action,
self.last_last_action,
self.last_last_last_action,
@ -347,12 +348,12 @@ if __name__ == "__main__":
required=False,
default=f"{HOME_DIR}/duck_config.json",
)
parser.add_argument("-a", "--action_scale", type=float, default=0.25)
parser.add_argument("-a", "--action_scale", type=float, default=1.0)
parser.add_argument("-p", type=int, default=30)
parser.add_argument("-i", type=int, default=0)
parser.add_argument("-d", type=int, default=0)
parser.add_argument("-c", "--control_freq", type=int, default=50)
parser.add_argument("--pitch_bias", type=float, default=0, help="deg")
parser.add_argument("--pitch_bias", type=float, default=-10, help="deg")
parser.add_argument(
"--commands",
action="store_true",