upload real-robot deployment code

unitree_deploy/test/arm/g1/test_g1_env.py

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+import math
+import time
+
+import numpy as np
+import pinocchio as pin
+
+from unitree_deploy.real_unitree_env import make_real_env
+from unitree_deploy.utils.rerun_visualizer import RerunLogger, flatten_images, visualization_data
+from unitree_deploy.utils.rich_logger import log_info
+from unitree_deploy.utils.trajectory_generator import sinusoidal_gripper_motion
+
+if __name__ == "__main__":
+    period = 2.0
+    motion_period = 2.0
+    motion_amplitude = 0.99
+
+    rerun_logger = RerunLogger()
+    env = make_real_env(robot_type="g1_dex1", dt=1 / 30)
+    env.connect()
+
+    # Define initial target poses for left and right arms
+    L_tf_target = pin.SE3(
+        pin.Quaternion(1, 0, 0, 0),
+        np.array([0.25, +0.25, 0.1]),
+    )
+
+    R_tf_target = pin.SE3(
+        pin.Quaternion(1, 0, 0, 0),
+        np.array([0.25, -0.25, 0.1]),
+    )
+
+    rotation_speed = 0.005  # Rotation speed in radians per iteration
+
+    # Motion parameters
+    control_dt = 1 / 50  # Control cycle duration (20ms)
+    step = 0
+    max_step = 240
+
+    initial_data_received = True  # Used to switch from drive to schedule mode
+    # Wait for user input to start the motion loop
+    user_input = input("Please enter the start signal (enter 's' to start the subsequent program): \n")
+    if user_input.lower() == "s":
+        try:
+            current_time = math.pi / 2
+            idx = 0  # Initialize index for logging
+            while True:
+                # Define timing for the control cycle
+                t_cycle_end = time.monotonic() + control_dt
+                t_command_target = t_cycle_end + control_dt
+
+                direction = 1 if step <= 120 else -1
+                angle = rotation_speed * (step if step <= 120 else (240 - step))
+
+                cos_half_angle = np.cos(angle / 2)
+                sin_half_angle = np.sin(angle / 2)
+
+                L_quat = pin.Quaternion(cos_half_angle, 0, sin_half_angle, 0)  # 绕 Y 轴旋转
+                R_quat = pin.Quaternion(cos_half_angle, 0, 0, sin_half_angle)  # 绕 Z 轴旋转
+
+                delta_l = np.array([0.001, 0.001, 0.001]) * direction
+                delta_r = np.array([0.001, -0.001, 0.001]) * direction
+
+                L_tf_target.translation += delta_l
+                R_tf_target.translation += delta_r
+
+                L_tf_target.rotation = L_quat.toRotationMatrix()
+                R_tf_target.rotation = R_quat.toRotationMatrix()
+
+                # Solve inverse kinematics for the left arm
+                for arm_name in env.robot.arm:
+                    arm_sol_q, arm_sol_tauff = env.robot.arm[arm_name].arm_ik(
+                        L_tf_target.homogeneous, R_tf_target.homogeneous
+                    )
+
+                gripper_target_q = sinusoidal_gripper_motion(
+                    period=motion_period, amplitude=motion_amplitude, current_time=time.perf_counter()
+                )
+                action = np.concatenate([arm_sol_q, gripper_target_q], axis=0)
+                step_type, reward, _, observation = env.step(action)
+
+                idx += 1
+                visualization_data(idx, flatten_images(observation), observation["qpos"], arm_sol_q, rerun_logger)
+
+                # Update step and reset after full cycle
+                current_time += control_dt
+                step = (step + 1) % (max_step + 1)
+
+        except KeyboardInterrupt:
+            # Handle Ctrl+C to safely disconnect
+            log_info("\n🛑 Ctrl+C detected. Disconnecting arm...")
+            env.close()