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Dynamic mode_machine finding and setting #11

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26 changes: 22 additions & 4 deletions gr00t_wbc/control/envs/g1/utils/command_sender.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
import time
from typing import Dict

import numpy as np
from unitree_sdk2py.core.channel import ChannelPublisher
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber
from unitree_sdk2py.idl.default import unitree_hg_msg_dds__HandCmd_
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import HandCmd_
from unitree_sdk2py.utils.crc import CRC
Expand All @@ -21,7 +22,7 @@ def __init__(self, config: Dict):
or self.config["ROBOT_TYPE"] == "h1-2_27dof"
):
from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_, LowState_

self.low_cmd = unitree_hg_msg_dds__LowCmd_()
else:
Expand All @@ -44,8 +45,22 @@ def __init__(self, config: Dict):
# init low cmd publisher
self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_)
self.lowcmd_publisher_.Init()
self.InitLowCmd()
self.low_state = None

# wait for first lowstate to set mode_machine (g1/h1-2 robots)
if (
self.config["ROBOT_TYPE"] == "g1_29dof"
or self.config["ROBOT_TYPE"] == "h1-2_21dof"
or self.config["ROBOT_TYPE"] == "h1-2_27dof"
):
self._lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
self._lowstate_subscriber.Init(self._LowStateHandler, 10)
print("Waiting for first lowstate to set mode_machine...")
while self.low_state is None:
time.sleep(0.1)
print(f"mode_machine set to {self.low_state.mode_machine}")

self.InitLowCmd()
self.crc = CRC()

def InitLowCmd(self):
Expand Down Expand Up @@ -73,14 +88,17 @@ def InitLowCmd(self):
or self.config["ROBOT_TYPE"] == "h1-2_21dof"
or self.config["ROBOT_TYPE"] == "h1-2_27dof"
):
self.low_cmd.mode_machine = self.config["UNITREE_LEGGED_CONST"]["MODE_MACHINE"]
self.low_cmd.mode_machine = self.low_state.mode_machine
self.low_cmd.mode_pr = self.config["UNITREE_LEGGED_CONST"]["MODE_PR"]
else:
pass

def is_weak_motor(self, motor_index: int) -> bool:
return motor_index in self.weak_motor_joint_index

def _LowStateHandler(self, msg):
self.low_state = msg

def send_command(self, cmd_q: np.ndarray, cmd_dq: np.ndarray, cmd_tau: np.ndarray):
for i in range(self.config["NUM_MOTORS"]):
motor_index = self.config["JOINT2MOTOR"][i]
Expand Down