initial commit

2026-10-22 09:23:54 +08:00
4515 changed files with 102344 additions and 63374 deletions
@@ -1,11 +1,5 @@
 # 编译产物
 build/
-devel/
+cmake-build-debug/
-install/
+data/*
-logs/
+!data/.gitkeep
-src/CMakeLists.txt   # catkin_make 生成的软链
+.idea/
 *.pyc
 __pycache__/
 # onnxruntime 动态库装到 devel/lib 下会被重复安装，不纳入版本管理
 src/invicta_deploy/third_party/onnxruntime/*/lib/libonnxruntime.so.1.22.0
@@ -0,0 +1,97 @@
 cmake_minimum_required(VERSION 3.10)
 project(m20_sdk_deploy)
 # 设置C++标准
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # 默认构建类型
 if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
 endif()
 # 警告忽略和编译选项
 add_definitions(-w)
 add_compile_options(-fPIC)
 # 配置选项
 set(BUILD_PLATFORM "x86" CACHE STRING "Target platform (x86 or arm)")
 if(BUILD_PLATFORM STREQUAL "arm")
  set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
  set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++") 
 endif()
 # 查找依赖包
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(drdds REQUIRED)
 set(THIRD_PARTY ${CMAKE_CURRENT_SOURCE_DIR}/third_party)
 include_directories(
  include/types
  include/utils
  interface/robot
  interface/user_command
  interface/network
  state_machine
  run_policy
  ${THIRD_PARTY}/eigen/
  ${THIRD_PARTY}/gamepad/include
  ${THIRD_PARTY}/onnxruntime/${BUILD_PLATFORM}/include
 )
 # 子目录
 add_subdirectory(interface)
 # Keep the default RUNPATH behavior so a correctly sourced ROS environment can
 # override stale build-machine library paths when necessary.
 set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 set(CMAKE_INSTALL_RPATH 
  ${THIRD_PARTY}/onnxruntime/${BUILD_PLATFORM}/lib/
  ../lib/onnxruntime/
 )
 file(GLOB_RECURSE STATE_MACHINE_SRC "state_machine/*.c*")
 add_executable(rl_deploy main.cpp ${STATE_MACHINE_SRC})
 add_library(onnxruntime SHARED IMPORTED)
 set_target_properties(onnxruntime PROPERTIES IMPORTED_LOCATION "${THIRD_PARTY}/onnxruntime//${BUILD_PLATFORM}/lib/libonnxruntime.so")
 ament_target_dependencies(rl_deploy
  rclcpp
  drdds
 )
 if(BUILD_PLATFORM STREQUAL "arm")
  target_link_libraries(rl_deploy
    interface
    onnxruntime
    -lpthread
    -lm
    -lrt
    -ldl
    -lstdc++
  )
 else()
  target_link_libraries(rl_deploy
    interface
    onnxruntime
    -lpthread
    -lm
    -lrt
    -ldl
    -lstdc++
  )
 endif()
 install(TARGETS rl_deploy
  DESTINATION lib/${PROJECT_NAME}
 )
 ament_package()
@@ -1,28 +0,0 @@
 BSD 3-Clause License
 Copyright (c) 2025, DEEPRoboticsLab
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.
 3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@@ -0,0 +1,140 @@
 <mujoco model="fire_ant">
  <compiler angle="radian" autolimits="true" balanceinertia="true"/>
  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast">
    <flag multiccd="enable"/>
  </option>
  <default>
    <geom density="0" condim="3" solref="0.005 1" solimp="0.95 0.99 0.001"
          friction="0.6 0.005 0.0001" contype="1" conaffinity="1"/>
    <joint damping="0" armature="0" frictionloss="0"/>
    <default class="wheel">
      <!-- Wheel-ground friction is intentionally independent from the other links. -->
      <geom type="cylinder" size="0.096 0.0415" quat="0.70710678 0.70710678 0 0"
            friction="1.0 0.005 0.0001" rgba="0.08 0.08 0.08 1"/>
      <joint axis="0 -1 0" armature="0.00243216" frictionloss="1.0"/>
    </default>
  </default>
  <asset>
    <texture name="floor_tex" type="2d" builtin="checker" rgb1="0.22 0.27 0.31"
             rgb2="0.12 0.15 0.18" width="512" height="512"/>
    <material name="floor_mat" texture="floor_tex" texrepeat="2 2" texuniform="true"/>
  </asset>
  <worldbody>
    <light directional="true" pos="-2 -1 4" dir="0.5 0.2 -1"/>
    <geom name="floor" type="plane" size="30 8 0.1" material="floor_mat"
          friction="1.0 0.005 0.0001" rgba="0.55 0.6 0.65 1"/>
    <body name="base_link" pos="0 0 0.306">
      <freejoint name="floating_base"/>
      <inertial pos="0.00355106 0.00165076 -0.00346462" mass="15.882"
                diaginertia="0.0880787 0.533816 0.563915"/>
      <site name="base_site" pos="0 0 0" size="0.005"/>
      <site name="imu_site" pos="0 0 0" size="0.005"/>
      <geom name="base_collision" type="box" size="0.30 0.16 0.06" rgba="0.35 0.43 0.50 1"/>
      <geom name="base_left_rail" type="cylinder" size="0.055 0.30" pos="0 0.13 0"
            quat="0.70710678 0 0.70710678 0" rgba="0.22 0.28 0.34 1"/>
      <geom name="base_right_rail" type="cylinder" size="0.055 0.30" pos="0 -0.13 0"
            quat="0.70710678 0 0.70710678 0" rgba="0.22 0.28 0.34 1"/>
      <body name="fl_knee" pos="0.30 0.14 0">
        <inertial pos="0.00341917 0.00269124 -0.18126550" mass="0.612"
                  diaginertia="0.005202 0.005202 0.0007344"/>
        <joint name="fl_knee_joint" axis="0 -1 0" range="-2.792 2.809"
               actuatorfrcrange="-75 75"/>
        <geom name="fl_knee_collision" type="box" size="0.025 0.012 0.10"
              pos="0.012 -0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
        <geom name="fl_motor_collision" type="cylinder" size="0.04 0.045"
              pos="0 0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
        <body name="fl_wheel" pos="0 0.11 -0.21">
          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
          <joint name="fl_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
          <geom name="fl_wheel_collision" class="wheel"/>
        </body>
      </body>
      <body name="fr_knee" pos="0.30 -0.14 0">
        <inertial pos="0.00354945 -0.00247884 -0.18008924" mass="0.612"
                  diaginertia="0.005202 0.005202 0.0007344"/>
        <joint name="fr_knee_joint" axis="0 -1 0" range="-2.792 2.809"
               actuatorfrcrange="-75 75"/>
        <geom name="fr_knee_collision" type="box" size="0.025 0.012 0.10"
              pos="0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
        <geom name="fr_motor_collision" type="cylinder" size="0.04 0.045"
              pos="0 -0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
        <body name="fr_wheel" pos="0 -0.11 -0.21">
          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
          <joint name="fr_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
          <geom name="fr_wheel_collision" class="wheel"/>
        </body>
      </body>
      <body name="hl_knee" pos="-0.30 0.14 0">
        <inertial pos="-0.00354945 0.00247885 -0.18008926" mass="0.612"
                  diaginertia="0.005202 0.005202 0.0007344"/>
        <joint name="hl_knee_joint" axis="0 -1 0" range="-2.809 2.792"
               actuatorfrcrange="-75 75"/>
        <geom name="hl_knee_collision" type="box" size="0.025 0.012 0.10"
              pos="-0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
        <geom name="hl_motor_collision" type="cylinder" size="0.04 0.045"
              pos="0 0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
        <body name="hl_wheel" pos="0 0.11 -0.21">
          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
          <joint name="hl_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
          <geom name="hl_wheel_collision" class="wheel"/>
        </body>
      </body>
      <body name="hr_knee" pos="-0.30 -0.14 0">
        <inertial pos="-0.00341053 -0.00270202 -0.18128749" mass="0.612"
                  diaginertia="0.005202 0.005202 0.0007344"/>
        <joint name="hr_knee_joint" axis="0 -1 0" range="-2.809 2.792"
               actuatorfrcrange="-75 75"/>
        <geom name="hr_knee_collision" type="box" size="0.025 0.012 0.10"
              pos="-0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
        <geom name="hr_motor_collision" type="cylinder" size="0.04 0.045"
              pos="0 -0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
        <body name="hr_wheel" pos="0 -0.11 -0.21">
          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
          <joint name="hr_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
          <geom name="hr_wheel_collision" class="wheel"/>
        </body>
      </body>
    </body>
  </worldbody>
  <!-- Robot/DDS order: FL knee/wheel, FR knee/wheel, HL knee/wheel, HR knee/wheel. -->
  <actuator>
    <motor name="fl_knee_motor" joint="fl_knee_joint" gear="1" ctrlrange="-75 75"/>
    <motor name="fl_wheel_motor" joint="fl_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
    <motor name="fr_knee_motor" joint="fr_knee_joint" gear="1" ctrlrange="-75 75"/>
    <motor name="fr_wheel_motor" joint="fr_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
    <motor name="hl_knee_motor" joint="hl_knee_joint" gear="1" ctrlrange="-75 75"/>
    <motor name="hl_wheel_motor" joint="hl_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
    <motor name="hr_knee_motor" joint="hr_knee_joint" gear="1" ctrlrange="-75 75"/>
    <motor name="hr_wheel_motor" joint="hr_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
  </actuator>
  <contact>
    <exclude body1="base_link" body2="fl_knee"/>
    <exclude body1="fl_knee" body2="fl_wheel"/>
    <exclude body1="base_link" body2="fr_knee"/>
    <exclude body1="fr_knee" body2="fr_wheel"/>
    <exclude body1="base_link" body2="hl_knee"/>
    <exclude body1="hl_knee" body2="hl_wheel"/>
    <exclude body1="base_link" body2="hr_knee"/>
    <exclude body1="hr_knee" body2="hr_wheel"/>
  </contact>
  <sensor>
    <framequat name="base_quat" objtype="site" objname="base_site"/>
    <accelerometer name="base_acc" site="imu_site"/>
    <gyro name="base_gyro" site="imu_site"/>
  </sensor>
  <keyframe>
    <key name="home" qpos="0 0 0.306 1 0 0 0 0.5 0 0.5 0 -0.5 0 -0.5 0"/>
  </keyframe>
 </mujoco>
@@ -0,0 +1,18 @@
 <mujoco model="fire_ant_rough">
  <include file="fire_ant.xml"/>
  <worldbody>
    <!-- A deterministic mixed obstacle course for Stage-2 sim2sim checks. -->
    <geom name="step_08cm" type="box" pos="1.30 0 0.04" size="0.18 1.0 0.04"
          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.42 0.48 0.55 1"/>
    <geom name="step_12cm" type="box" pos="1.66 0 0.06" size="0.18 1.0 0.06"
          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.46 0.52 0.59 1"/>
    <geom name="step_16cm" type="box" pos="2.02 0 0.08" size="0.18 1.0 0.08"
          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.50 0.56 0.63 1"/>
    <geom name="top_platform" type="box" pos="2.72 0 0.08" size="0.52 1.0 0.08"
          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.54 0.60 0.67 1"/>
    <geom name="descending_step_10cm" type="box" pos="3.42 0 0.05" size="0.18 1.0 0.05"
          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.46 0.52 0.59 1"/>
    <geom name="isolated_box" type="box" pos="4.30 0 0.07" size="0.16 0.55 0.07"
          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.73 0.42 0.20 1"/>
  </worldbody>
 </mujoco>
--- a/Show More
+++ b/Show More