H12ControllerWrapper

This repo implements a controller for the H1-2 robot.

You can control the position and orientation of the two end-effectors.

This repo is archived and read-only; future development is continued in h12_ros2_controller repo.

Installation

• Install Python dependencies from environment.yml:

  conda env create -f environment.yml

• All dependencies are available on pip, so using pip for installation should also work.
• Install the Unitree Python SDK from here so the code can communicate with the robot.

Files

• archive/ contains the old controller implementation.
• assets/ contains robot description files.
• data/ contains data such as joint configurations.
• h12_controller/:
  • utility/ contains useful scripts to inspect robot descriptions, process collision pairs, and lock the robot configuration.
  • robot_model.py tracks robot states and provides useful functions for kinematics, Jacobians, etc., using Pinocchio.
  • controller.py solves inverse kinematics and provides functions to control end-effectors and query their states.
  • channel_interface.py implements a publisher for motor commands and a subscriber for motor states using the Unitree Python SDK.

TODO

• Kinematics Tracker & Solver (robot_model.py)

  • Initialize using robot description file.
  • Subscribe to robot motor states; track joint positions $q$ and torque $\tau$.
  • Given a body name, return the transformation matrix.
  • Given a body name and target position, solve inverse kinematics (avoid self-collision using pink).
  • Given a body name, return the Jacobian.
  • Given a body name, return the estimated wrench.
  • Given a configuration, check validity (joint limits, collisions, etc.).

• Joint Controller (controller.py)

  • Publish motor commands.
  • Control modes: position, velocity, force (Motor SDK).
  • Import the kinematics tracker & solver to track robot states.
  • Implement position, velocity, and force control routines for left and right arms.
  • Add safety threshold on moving velocity.