88 lines
3.7 KiB
Python
88 lines
3.7 KiB
Python
"""
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FSM State Implementations
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Concrete implementations of different FSM states
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"""
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import numpy as np
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from FSM.fsm_base import FSMState, FSMStateName
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from common.joystick import ControlFlag
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from common.robot_data import RobotData
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import os
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import yaml
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class FSMStateZero(FSMState):
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"""零位状态实现（完整C++逻辑移植）"""
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def __init__(self, robot_data: RobotData):
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super().__init__(robot_data)
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self.current_state_name = FSMStateName.ZERO
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self.q_factor_ = 0.0
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# 获取包路径
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current_dir = os.path.dirname(os.path.abspath(__file__))
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config_path = os.path.join(current_dir, "config", "zero.yaml")
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with open(config_path, 'r') as f:
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policy_config = yaml.safe_load(f)
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try:
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self.action_num_ = policy_config["actions_size"]
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self.motor_num_ = policy_config["motor_num"]
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self.zero_positions_ = np.array(policy_config["zero_positions"], dtype=float)
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self.zero_positions_height_ = np.array(policy_config["zero_positions_height"], dtype=float)
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self.kp_pos_ = np.array(policy_config["kp_pos"], dtype=float)
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self.kd_pos_ = np.array(policy_config["kd_pos"], dtype=float)
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self.interp_step_ = float(policy_config["interp_step"])
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self.interp_max_ = float(policy_config["interp_max"])
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except Exception as e:
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print(f"[FSMStateZero] YAML load error: {e}")
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self.action_num_ = 12
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self.motor_num_ = 29
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self.zero_positions_ = np.zeros(self.motor_num_)
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self.zero_positions_height_ = np.zeros(self.motor_num_)
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self.kp_pos_ = np.zeros(self.motor_num_)
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self.kd_pos_ = np.zeros(self.motor_num_)
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self.interp_step_ = 0.00002
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self.interp_max_ = 0.9
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self.zero_positions = np.zeros(self.motor_num_)
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def on_enter(self):
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print("[FSMStateZero] Enter zero state")
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self.q_factor_ = 0.0
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def run(self, flag: ControlFlag):
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if self.robot_data_ is None:
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return
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q_est = self.robot_data_.q_a_[-self.motor_num_:] # numpy数组切片
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if getattr(flag, 'height_control', False):
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self.zero_positions = self.zero_positions_height_
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else:
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self.zero_positions = self.zero_positions_
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if self.q_factor_ < self.interp_max_:
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pos_cmd = (1.0 - self.q_factor_) * q_est + self.q_factor_ * self.zero_positions
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self.q_factor_ = min(self.q_factor_ + self.interp_step_, self.interp_max_)
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else:
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pos_cmd = self.zero_positions
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self.robot_data_.q_d_[-self.motor_num_:] = pos_cmd
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self.robot_data_.q_dot_d_[-self.motor_num_:] = 0
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self.robot_data_.tau_d_[-self.motor_num_:] = 0
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self.robot_data_.joint_kp_p_[:self.motor_num_] = self.kp_pos_
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self.robot_data_.joint_kd_p_[:self.motor_num_] = self.kd_pos_
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def on_exit(self):
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print("[FSMStateZero] Exit zero position control state")
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def check_transition(self, flag: ControlFlag) -> FSMStateName:
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"""检查状态转换"""
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if flag.fsm_state_command == "gotoSTOP":
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return FSMStateName.STOP
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elif flag.fsm_state_command == "gotoWALKAMP":
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return FSMStateName.WALKAMP
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elif flag.fsm_state_command == "gotoMYPOLICY":
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return FSMStateName.MYPOLICY
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elif flag.fsm_state_command == "gotoXSIMRUN":
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return FSMStateName.XSIMRUN
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elif flag.fsm_state_command == "gotoZERO":
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return FSMStateName.ZERO
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elif flag.fsm_state_command == "gotoBEYONDZERO":
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return FSMStateName.BEYONDZERO
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else:
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return None # 无状态转换
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