kuavo-humanoid-sdk 0.1.0__py3-none-any.whl

kuavo_humanoid_sdk/kuavo/core/ros/param.py

@@ -0,0 +1,171 @@
+import rospy
+import json
+import xml.etree.ElementTree as ET
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+class RosParameter:
+    def __init__(self):
+        pass
+    def robot_version(self)->str:
+        if not rospy.has_param('/robot_version'):
+            rospy.logerr("robot_version parameter not found")
+            return None
+        return rospy.get_param('/robot_version')
+    
+    def arm_dof(self)->int:
+        if not rospy.has_param('/armRealDof'):
+            rospy.logerr("armRealDof parameter not found")
+            return None
+        return rospy.get_param('/armRealDof')
+    
+    def head_dof(self)->int:
+        if not rospy.has_param('/headRealDof'):
+            rospy.logerr("headRealDof parameter not found")
+            return None
+        return rospy.get_param('/headRealDof')
+    
+    def leg_dof(self)->int:
+        if not rospy.has_param('/legRealDof'):
+            rospy.logerr("legRealDof parameter not found")
+            return None
+        return rospy.get_param('/legRealDof')
+    
+    def end_effector_type(self)->str:
+        if not rospy.has_param('/end_effector_type'):
+            return None
+        return rospy.get_param('/end_effector_type')
+    
+    def humanoid_description(self)->str:
+        if not rospy.has_param('/humanoid_description'):
+            rospy.logerr("humanoid_description parameter not found")
+            return None
+        return rospy.get_param('/humanoid_description')
+
+    def model_path(self)->str:
+        if not rospy.has_param('/modelPath'):
+            rospy.logerr("modelPath parameter not found")
+            return None
+        return rospy.get_param('/modelPath')
+
+    def kuavo_config(self)->str:
+        if not rospy.has_param('/kuavo_configuration'):
+            rospy.logerr("kuavo_configuration parameter not found")
+            return None
+        return rospy.get_param('/kuavo_configuration')
+
+    def initial_state(self)->str:
+        if not rospy.has_param('/initial_state'):
+            rospy.logerr("initial_state parameter not found")
+            return None
+        return rospy.get_param('/initial_state')
+
+kuavo_ros_param = RosParameter()
+
+def joint_names()->dict:
+    leg_link_names = [
+        'leg_l1_link', 'leg_l2_link', 'leg_l3_link', 'leg_l4_link', 'leg_l5_link', 'leg_l6_link',
+        'leg_r1_link', 'leg_r2_link', 'leg_r3_link', 'leg_r4_link', 'leg_r5_link', 'leg_r6_link'
+    ]
+    arm_link_names = [
+        'zarm_l1_link', 'zarm_l2_link', 'zarm_l3_link', 'zarm_l4_link', 'zarm_l5_link', 'zarm_l6_link', 'zarm_l7_link',
+        'zarm_r1_link', 'zarm_r2_link', 'zarm_r3_link', 'zarm_r4_link', 'zarm_r5_link', 'zarm_r6_link', 'zarm_r7_link',
+    ]
+    head_link_names = [
+        'zhead_1_link', 'zhead_2_link'
+    ]
+    robot_desc = kuavo_ros_param.humanoid_description()
+    if robot_desc is None:
+        return None
+
+    """
+        <link name="leg_l1_link">
+        <inertial>
+        ....
+        </inertial>
+        <visual>
+        ...
+        <geometry>
+            <mesh filename="package://kuavo_assets/models/biped_s43/meshes/l_leg_roll.STL" />
+        </geometry>
+        ...
+        </visual>
+        </link>
+    """
+    root = ET.fromstring(robot_desc)
+    process_link_name = lambda link_name: (
+        (root.find(f".//link[@name='{link_name}']") is not None and
+        root.find(f".//link[@name='{link_name}']/visual") is not None and
+        root.find(f".//link[@name='{link_name}']/visual/geometry") is not None and
+        root.find(f".//link[@name='{link_name}']/visual/geometry/mesh") is not None and
+        root.find(f".//link[@name='{link_name}']/visual/geometry/mesh").get("filename") is not None)
+        and (
+            # Extract the basename (without path and extension)
+            root.find(f".//link[@name='{link_name}']/visual/geometry/mesh")
+            .get("filename")
+            .split("/")[-1]
+            .split(".")[0]
+        )
+        or (
+            SDKLogger.warn(f"Warning: {link_name} is not found or incomplete in robot_desc"),
+            None
+        )[1]  # Return None after printing the warning
+    )
+    leg_joint_names = [process_link_name(link_name) for link_name in leg_link_names if process_link_name(link_name) is not None]
+    arm_joint_names = [process_link_name(link_name) for link_name in arm_link_names if process_link_name(link_name) is not None]
+    head_joint_names = [process_link_name(link_name) for link_name in head_link_names if process_link_name(link_name) is not None]
+
+    if len(leg_link_names) != len(leg_joint_names):
+        SDKLogger.warn(f"leg_joint_names is not equal to leg_link_names, {len(leg_link_names)} != {len(leg_joint_names)}")
+        return None
+    if len(arm_link_names)!= len(arm_joint_names):
+        SDKLogger.warn(f"arm_joint_names is not equal to arm_link_names, {len(arm_link_names)}!= {len(arm_joint_names)}")
+        return None
+    if len(head_link_names)!= len(head_joint_names):
+        SDKLogger.warn(f"head_joint_names is not equal to head_link_names, {len(head_link_names)}!= {len(head_joint_names)}")
+        return None
+    
+    return leg_joint_names + arm_joint_names + head_joint_names
+
+kuavo_ros_info = None
+
+def end_frames_names()->dict:
+    default = ["torso", "zarm_l7_link", "zarm_r7_link", "zarm_l4_link", "zarm_r4_link"]
+    kuavo_json = kuavo_ros_param.kuavo_config()
+    if kuavo_json is None:
+        return default
+    
+    try:
+        kuavo_config = json.loads(kuavo_json)
+        if kuavo_config.get('end_frames_names') is not None:
+            return kuavo_config.get('end_frames_names')
+        else:
+            return default
+    except Exception as e:
+        print(f"Failed to get end_frames_names from kuavo_json: {e}")
+        return default
+
+def make_robot_param()->dict:
+    global kuavo_ros_info
+    if kuavo_ros_info is not None:
+        return kuavo_ros_info
+    
+    kuavo_ros_info = {
+        'robot_version': kuavo_ros_param.robot_version(),
+        'arm_dof': kuavo_ros_param.arm_dof(),
+        'head_dof': kuavo_ros_param.head_dof(),
+        'leg_dof': kuavo_ros_param.leg_dof(),
+        'end_effector_type': kuavo_ros_param.end_effector_type(),
+        'joint_names': joint_names(),
+        'end_frames_names': end_frames_names(),
+    }
+
+    for key, value in kuavo_ros_info.items():
+        if value is None and key != 'end_effector_type':
+            SDKLogger.debug(f"[Error]: Failed to get '{key}' from ROS.")
+            kuavo_ros_info = None
+            raise Exception(f"[Error]: Failed to get '{key}' from ROS.")
+
+    return kuavo_ros_info        
+
+if __name__ == "__main__":
+    rospy.init_node("kuavo_ros_param_test")
+    print(make_robot_param())

kuavo_humanoid_sdk/kuavo/core/ros/sat_utils.py

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+import numpy as np
+
+class RotatingRectangle:
+    def __init__(self, center, width, height, angle):
+        self.center = center
+        self.width = width
+        self.height = height
+        self.angle = angle
+
+    def set_rotation(self, angle):
+        self.angle = angle
+    
+    def rotate_point(self, point):
+        """旋转点"""
+        px, py = point
+        cos_theta = np.cos(self.angle)
+        sin_theta = np.sin(self.angle)
+        return (cos_theta * px - sin_theta * py, sin_theta * px + cos_theta * py)
+    
+    def get_vertices(self):
+        """获取旋转长方形的顶点"""
+        cx, cy = self.center
+        half_w, half_h = self.width / 2, self.height / 2
+        vertices = [
+            (half_w, half_h),
+            (-half_w, half_h),
+            (-half_w, -half_h),
+            (half_w, -half_h)
+        ]
+        return [(cx + x, cy + y) for x, y in (self.rotate_point(v) for v in vertices)]
+
+    @staticmethod
+    def project(vertices, axis):
+        """将顶点投影到轴上"""
+        projections = [np.dot(v, axis) for v in vertices]
+        return min(projections), max(projections)
+
+    @staticmethod
+    def is_separating_axis(vertices1, vertices2, axis):
+        """检查是否为分离轴"""
+        min1, max1 = RotatingRectangle.project(vertices1, axis)
+        min2, max2 = RotatingRectangle.project(vertices2, axis)
+        return max1 < min2 or max2 < min1
+
+    def is_collision(self, other):
+        """检测两个旋转长方形是否发生碰撞"""
+        vertices1 = self.get_vertices()
+        vertices2 = other.get_vertices()
+        
+        # 获取所有可能的分离轴
+        axes = []
+        for i in range(4):
+            edge = (vertices1[i][0] - vertices1[i-1][0], vertices1[i][1] - vertices1[i-1][1])
+            axis = (-edge[1], edge[0])
+            axes.append(axis)
+        for i in range(4):
+            edge = (vertices2[i][0] - vertices2[i-1][0], vertices2[i][1] - vertices2[i-1][1])
+            axis = (-edge[1], edge[0])
+            axes.append(axis)
+        
+        # 检查所有轴上的投影是否重叠
+        for axis in axes:
+            if self.is_separating_axis(vertices1, vertices2, axis):
+                return False
+        return True
+
+    def show(self, color):
+        """绘制旋转长方形"""
+        vertices = self.get_vertices()
+        vertices.append(vertices[0])  # 闭合多边形
+        xs, ys = zip(*vertices)
+        plt.fill(xs, ys, color=color, alpha=0.5)
+
+
+# 示例
+if __name__ == "__main__":
+    rect1 = RotatingRectangle(center=(0, 0.1), width=0.2, height=0.1, angle=0)
+    rect2 = RotatingRectangle(center=(0, -0.1), width=0.2, height=0.1, angle=0)
+
+    collision = rect1.is_collision(rect2)
+    print("发生碰撞:", collision)
+
+    rect1.set_rotation(-np.pi / 4)
+    rect2.set_rotation(np.pi / 4)
+    collision = rect1.is_collision(rect2)
+    print("发生碰撞:", collision)
+
+    # visualize
+    import matplotlib.pyplot as plt
+    # 绘制长方形
+    plt.figure()
+    rect1.show(color='blue')
+    rect2.show(color='red')
+
+    # 设置显示区域
+    plt.xlim(-0.3, 0.3)
+    plt.ylim(-0.3, 0.3)
+    plt.xlabel('x')
+    plt.ylabel('y')
+    plt.gca().set_aspect('equal', adjustable='box')
+    plt.grid()
+    plt.title(f'Rotated Rectangle Collision Detection: {collision}')
+    plt.show()

kuavo_humanoid_sdk/kuavo/core/ros/state.py

@@ -0,0 +1,325 @@
+import rospy
+import copy
+import time
+from typing import Tuple
+from std_msgs.msg import Float64
+from nav_msgs.msg import Odometry
+from kuavo_msgs.msg import sensorsData, lejuClawState, gaitTimeName
+
+from kuavo_msgs.srv import changeArmCtrlMode, changeArmCtrlModeRequest, getCurrentGaitName, getCurrentGaitNameRequest
+from ocs2_msgs.msg import mpc_observation
+from kuavo_humanoid_sdk.interfaces.data_types import KuavoImuData, KuavoJointData, KuavoOdometry, KuavoArmCtrlMode, EndEffectorState
+from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+
+from collections import deque
+from typing import Tuple, Optional
+
+class GaitManager:
+    def __init__(self, max_size: int = 20):
+        self._max_size = max_size
+        self._gait_time_names = deque(maxlen=max_size)
+
+    @property
+    def is_empty(self) -> bool:
+        """Check if there are any gait time names stored.
+        
+        Returns:
+            bool: True if no gait time names are stored, False otherwise
+        """
+        return len(self._gait_time_names) == 0
+    def add(self, start_time: float, name: str) -> None:
+        self._gait_time_names.append((start_time, name))
+
+    def get_gait(self, current_time: float) -> str:
+        if not self._gait_time_names:
+            return "No_Gait"
+
+        for start_time, name in reversed(self._gait_time_names):
+            if current_time >= start_time:
+                return name
+
+        return self._gait_time_names[0].name
+
+    def get_gait_name(self, current_time: float) -> str:
+        return self.get_gait(current_time)[1]
+
+    def get_last_gait_name(self) -> str:
+        if not self._gait_time_names:
+            return "No_Gait"
+        return self._gait_time_names[-1][1]
+
+class KuavoRobotStateCore:
+    _instance = None
+
+    def __new__(cls, *args, **kwargs):
+        if not cls._instance:
+            cls._instance = super().__new__(cls)
+        return cls._instance
+
+    def __init__(self):
+        if not hasattr(self, '_initialized'):
+            rospy.Subscriber("/sensors_data_raw", sensorsData, self._sensors_data_raw_callback)
+            rospy.Subscriber("/odom", Odometry, self._odom_callback)
+            rospy.Subscriber("/humanoid/mpc/terrainHeight", Float64, self._terrain_height_callback)
+            rospy.Subscriber("/humanoid_mpc_gait_time_name", gaitTimeName, self._humanoid_mpc_gait_changed_callback)
+            rospy.Subscriber("/humanoid_mpc_observation", mpc_observation, self._humanoid_mpc_observation_callback)
+            
+            kuavo_info = make_robot_param()
+            if kuavo_info['end_effector_type'] == "lejuclaw":
+                rospy.Subscriber("/leju_claw_state", lejuClawState, self._lejuclaw_state_callback)
+            elif kuavo_info['end_effector_type'] == "qiangnao":
+                pass # TODO(kuavo): add qiangnao state subscriber
+                # rospy.Subscriber("/robot_hand_state", robotHandState, self._dexterous_hand_state_callback)
+            
+            """ data """
+            self._terrain_height = 0.0
+            self._imu_data = KuavoImuData(
+                gyro = (0.0, 0.0, 0.0),
+                acc = (0.0, 0.0, 0.0),
+                free_acc = (0.0, 0.0, 0.0),
+                quat = (0.0, 0.0, 0.0, 0.0)
+            )
+            self._joint_data = KuavoJointData(
+                position = [0.0] * 28,
+                velocity = [0.0] * 28,
+                torque = [0.0] * 28,
+                acceleration = [0.0] * 28
+            )
+            self._odom_data = KuavoOdometry(
+                position = (0.0, 0.0, 0.0),
+                orientation = (0.0, 0.0, 0.0, 0.0),
+                linear = (0.0, 0.0, 0.0),
+                angular = (0.0, 0.0, 0.0)
+            )
+            self._eef_state = (EndEffectorState(
+                position = 0.0,
+                velocity = 0.0,
+                effort = 0.0,
+                state=EndEffectorState.GraspingState.UNKNOWN
+            ), EndEffectorState(
+                position = 0.0,
+                velocity = 0.0,
+                effort = 0.0,
+                state=EndEffectorState.GraspingState.UNKNOWN
+            ))
+
+            # gait manager
+            self._gait_manager = GaitManager()
+            self._prev_gait_name = self.gait_name
+
+            # Wait for first MPC observation data
+            self._mpc_observation_data = None
+            start_time = time.time()
+            while self._mpc_observation_data is None:
+                if time.time() - start_time > 1.0:  # 1.0s timeout
+                    SDKLogger.warn("Timeout waiting for MPC observation data")
+                    break
+                SDKLogger.debug("Waiting for first MPC observation data...")
+                time.sleep(0.1)
+            # 如果 gait_manager 为空，则把当前的状态添加到其中
+            if self._mpc_observation_data is not None:
+                if self._gait_manager.is_empty:
+                    self._prev_gait_name = self.gait_name()
+                    SDKLogger.debug(f"[State] Adding initial gait state: {self._prev_gait_name} at time {self._mpc_observation_data.time}")
+                    self._gait_manager.add(self._mpc_observation_data.time, self._prev_gait_name)
+
+            # 获取当前手臂控制模式
+            self._arm_ctrl_mode = self._srv_get_arm_ctrl_mode()
+            self._initialized = True
+
+    @property
+    def com_height(self)->float:
+        # odom.position.z - terrain_height = com_height
+        return self._odom_data.position[2] - self._terrain_height
+    
+    @property
+    def imu_data(self)->KuavoImuData:
+        return self._imu_data
+    
+    @property
+    def joint_data(self)->KuavoJointData:
+        return self._joint_data
+    
+    @property
+    def odom_data(self)->KuavoOdometry:
+        return self._odom_data
+
+    @property
+    def arm_control_mode(self) -> KuavoArmCtrlMode:
+        mode = self._srv_get_arm_ctrl_mode()
+        if mode is not None:
+            self._arm_ctrl_mode = mode
+        return self._arm_ctrl_mode
+    
+    @property
+    def eef_state(self)->Tuple[EndEffectorState, EndEffectorState]:
+        return self._eef_state
+    
+    @property
+    def current_observation_time(self) -> float:
+        """Get the current observation time from MPC.
+        
+        Returns:
+            float: Current observation time in seconds, or None if no observation data available
+        """
+        if self._mpc_observation_data is None:
+            return None
+        return self._mpc_observation_data.time
+    
+    @property
+    def current_gait_mode(self) -> int:
+        """
+        Get the current gait mode from MPC observation.
+        
+        Notes: FF=0, FH=1, FT=2, FS=3, HF=4, HH=5, HT=6, HS=7, TF=8, TH=9, TT=10, TS=11, SF=12, SH=13, ST=14, SS=15
+        
+        Returns:
+            int: Current gait mode, or None if no observation data available
+        """
+        if self._mpc_observation_data is None:
+            return None
+        return self._mpc_observation_data.mode
+
+    def gait_name(self)->str:
+        return self._srv_get_current_gait_name()
+    
+    def is_gait(self, gait_name: str) -> bool:
+        """Check if current gait matches the given gait name.
+        
+        Args:
+            gait_name (str): Name of gait to check
+            
+        Returns:
+            bool: True if current gait matches given name, False otherwise
+        """
+        return self._gait_manager.get_gait(self._mpc_observation_data.time) == gait_name
+
+    def register_gait_changed_callback(self, callback):
+        """Register a callback function that will be called when the gait changes.
+        
+        Args:
+            callback: A function that takes current time (float) and gait name (str) as arguments
+        Raises:
+            ValueError: If callback does not accept 2 parameters: current_time (float), gait_name (str)
+        """
+        if not hasattr(self, '_gait_changed_callbacks'):
+            self._gait_changed_callbacks = []
+        
+        # Verify callback accepts current_time (float) and gait_name (str) parameters
+        from inspect import signature
+        sig = signature(callback)
+        if len(sig.parameters) != 2:
+            raise ValueError("Callback must accept 2 parameters: current_time (float), gait_name (str)")
+        if callback not in self._gait_changed_callbacks:
+            self._gait_changed_callbacks.append(callback)
+        
+    """ ------------------------------- callback ------------------------------- """
+    def _terrain_height_callback(self, msg:Float64)->None:
+        self._terrain_height = msg.data
+
+    def _sensors_data_raw_callback(self, msg:sensorsData)->None:
+        # update imu data
+        self._imu_data = KuavoImuData(
+            gyro = (msg.imu_data.gyro.x, msg.imu_data.gyro.y, msg.imu_data.gyro.z),
+            acc = (msg.imu_data.acc.x, msg.imu_data.acc.y, msg.imu_data.acc.z),
+            free_acc = (msg.imu_data.free_acc.x, msg.imu_data.free_acc.y, msg.imu_data.free_acc.z),
+            quat = (msg.imu_data.quat.x, msg.imu_data.quat.y, msg.imu_data.quat.z, msg.imu_data.quat.w)
+        )
+        # update joint data
+        self._joint_data = KuavoJointData(
+            position = copy.deepcopy(msg.joint_data.joint_q),
+            velocity = copy.deepcopy(msg.joint_data.joint_v),
+            torque = copy.deepcopy(msg.joint_data.joint_vd),
+            acceleration = copy.deepcopy(msg.joint_data.joint_current)
+        )
+
+    def _odom_callback(self, msg:Odometry)->None:
+        # update odom data
+        self._odom_data = KuavoOdometry(
+            position = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z),
+            orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w),
+            linear = (msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z),
+            angular = (msg.twist.twist.angular.x, msg.twist.twist.angular.y, msg.twist.twist.angular.z)
+        )
+
+    def _lejuclaw_state_callback(self, msg:lejuClawState)->None:
+        self._eef_state = (EndEffectorState(
+            position = msg.data.position[0],
+            velocity = msg.data.velocity[0],
+            effort = msg.data.effort[0],
+            state=EndEffectorState.GraspingState(msg.state[0])
+        ), EndEffectorState(
+            position = msg.data.position[1],
+            velocity = msg.data.velocity[1],
+            effort = msg.data.effort[1],
+            state=EndEffectorState.GraspingState(msg.state[1])
+        ))
+
+    def _dexterous_hand_state_callback(self, msg)->None:
+        self._eef_state = (EndEffectorState(
+            position = msg.data.position[0],
+            velocity = msg.data.velocity[0],
+            effort = msg.data.effort[0],
+            state=EndEffectorState.GraspingState(msg.state[0])
+        ), EndEffectorState(
+            position = msg.data.position[1],
+            velocity = msg.data.velocity[1],
+            effort = msg.data.effort[1],
+            state=EndEffectorState.GraspingState(msg.state[1])
+        ))
+    def _humanoid_mpc_gait_changed_callback(self, msg: gaitTimeName):
+        """
+        Callback function for gait change messages.
+        Updates the current gait name when a gait change occurs.
+        """
+        SDKLogger.debug(f"[State] Received gait change message: {msg.gait_name} at time {msg.start_time}")
+        self._gait_manager.add(msg.start_time, msg.gait_name)
+    
+    def _humanoid_mpc_observation_callback(self, msg: mpc_observation) -> None:
+        """
+        Callback function for MPC observation messages.
+        Updates the current MPC state and input data.
+        """
+        try:
+            self._mpc_observation_data = msg
+            # Only update gait info after initialization
+            if hasattr(self, '_initialized'): 
+                curr_time = self._mpc_observation_data.time
+                current_gait = self._gait_manager.get_gait(curr_time)
+                if self._prev_gait_name != current_gait:
+                    SDKLogger.debug(f"[State] Gait changed to: {current_gait} at time {curr_time}")
+                    # Update previous gait name and notify callback if registered
+                    self._prev_gait_name = current_gait
+                    if hasattr(self, '_gait_changed_callbacks') and self._gait_changed_callbacks is not None:
+                        for callback in self._gait_changed_callbacks:
+                            callback(curr_time, current_gait)
+        except Exception as e:
+            SDKLogger.error(f"Error processing MPC observation: {e}")
+
+    def _srv_get_arm_ctrl_mode(self)-> KuavoArmCtrlMode:
+        try:
+            rospy.wait_for_service('/humanoid_get_arm_ctrl_mode')
+            get_arm_ctrl_mode_srv = rospy.ServiceProxy('/humanoid_get_arm_ctrl_mode', changeArmCtrlMode)
+            req = changeArmCtrlModeRequest()
+            resp = get_arm_ctrl_mode_srv(req)
+            return KuavoArmCtrlMode(resp.mode)
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"[Error] get arm ctrl mode: {e}")
+        return None
+    
+    def _srv_get_current_gait_name(self)->str:
+        try:
+            rospy.wait_for_service('/humanoid_get_current_gait_name', timeout=1.0)
+            srv = rospy.ServiceProxy('/humanoid_get_current_gait_name', getCurrentGaitName)
+            request = getCurrentGaitNameRequest()
+            response = srv(request)
+            if response.success:
+                return response.gait_name
+            else:
+                return None
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        return None