upload real-robot deployment code

2025-09-23 15:13:22 +08:00
parent 5dcd1ca503
commit f12b478265
130 changed files with 10434 additions and 5 deletions
--- a/unitree_deploy/test/arm/z1/test_z1_arm.py
+++ b/unitree_deploy/test/arm/z1/test_z1_arm.py
@@ -0,0 +1,81 @@
+import math
+import time
+
+import numpy as np
+import pinocchio as pin
+
+from unitree_deploy.robot.robot_configs import z1_motors
+from unitree_deploy.robot_devices.arm.utils import make_arm_motors_bus
+from unitree_deploy.robot_devices.robots_devices_utils import precise_wait
+from unitree_deploy.utils.trajectory_generator import generate_rotation, sinusoidal_gripper_motion
+
+if __name__ == "__main__":
+    # ============== Arm Configuration ==============
+    arm_type = "z1"
+    arm_kwargs = {
+        "arm_type": arm_type,
+        "init_pose": [0.00623, 1.11164, -0.77531, -0.32167, -0.005, 0.0, 0.0],  # Initial joint pose
+        "motors": z1_motors,
+    }
+    # ==============================================
+
+    # Initialize and connect to the robotic arm
+    arm = make_arm_motors_bus(**arm_kwargs)
+    arm.connect()
+    time.sleep(2)
+    print("✅ Arm connected. Waiting to start...")
+
+    # Define arm initial target poses
+    arm_tf_target = pin.SE3(pin.Quaternion(1, 0, 0, 0), np.array([0.2, 0, 0.4]))
+
+    # Motion parameters
+    rotation_speed = 0.01  # Rotation speed (rad per step)
+    control_dt = 1 / 30  # Control cycle duration (20ms)
+    step = 0
+    max_step = 240  # Full motion cycle
+
+    # 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
+            while True:
+                # Define timing for the control cycle
+                t_cycle_end = time.monotonic() + control_dt
+                t_command_target = t_cycle_end + control_dt
+
+                # Generate target rotation and translation
+                L_quat, R_quat, delta_l, delta_r = generate_rotation(step, rotation_speed, max_step)
+                arm_tf_target.translation += delta_l
+                # delta_r is not used in this context
+                arm_tf_target.rotation = L_quat.toRotationMatrix()
+
+                # Solve inverse kinematics for the left arm
+                arm_sol_q, arm_sol_tauff = arm.arm_ik(arm_tf_target.homogeneous)
+
+                # Generate sinusoidal motion for the gripper
+                target_gripper = (
+                    sinusoidal_gripper_motion(period=4.0, amplitude=0.99, current_time=current_time) - 1
+                )  # Adjust target_q by subtracting 1
+
+                target_arm = np.concatenate((arm_sol_q, target_gripper), axis=0)  # Add a zero for the gripper
+
+                arm.write_arm(
+                    q_target=target_arm,
+                    # tauff_target=left_sol_tauff,   # Optional: send torque feedforward
+                    time_target=t_command_target - time.monotonic() + time.perf_counter(),
+                    cmd_target="schedule_waypoint",
+                )
+
+                # Update step and reset after full cycle
+                step = (step + 1) % (max_step + 1)
+                current_time += control_dt
+
+                # Wait until end of control cycle
+                precise_wait(t_cycle_end)
+
+        except KeyboardInterrupt:
+            # Handle Ctrl+C to safely disconnect
+            print("\n🛑 Ctrl+C detected. Disconnecting arm...")
+            arm.disconnect()
+            print("✅ Arm disconnected. Exiting.")