stanfordroboticsclub / stanfordquadruped Goto Github PK

Both joystick.service and robot.service are active, but an error occurred while connecting the PS4 to the Pupper.

The specific questions are as follows:

pi@raspberrypi(rw):~$ sudo systemctl status joystick.service
● joystick.service - Pupper Joystick service
Loaded: loaded (/boot/appliance/home/pi/PupperCommand/joystick.service; enabled; vendor preset: enabled)
Active: activating (auto-restart) (Result: exit-code) since Thu 2019-02-14 10:17:57 GMT; 78ms ago
Process: 1173 ExecStart=/usr/bin/python3 /home/pi/PupperCommand/joystick.py (code=exited, status=1/FAILURE)
Main PID: 1173 (code=exited, status=1/FAILURE)

Thank you!

What is the default Raspberry Pi login? I used the recommended image.

self.udp_publisher.send ConnectionRefusedError on second call
need to restart run_robot.py

pi@raspberrypi:~ $ sudo systemctl status robot
● robot.service - Robot control service
Loaded: loaded (/home/pi/StanfordQuadruped/robot.service; enabled; vendor preset: enabled)
Active: failed (Result: exit-code) since Tue 2020-12-29 13:48:23 GMT; 4min 22s ago
Process: 343 ExecStartPre=/usr/bin/sudo pigpiod (code=exited, status=0/SUCCESS)
Process: 412 ExecStart=/usr/bin/python3 /home/pi/StanfordQuadruped/run_robot.py (code=exited, status=1/FAILURE)
Main PID: 412 (code=exited, status=1/FAILURE)

Dec 29 13:48:13 raspberrypi python3[412]: joystick_interface.set_color(config.ps4_deactivated_color)
Dec 29 13:48:13 raspberrypi python3[412]: File "/home/pi/StanfordQuadruped/src/JoystickInterface.py", line 94, in set_color
Dec 29 13:48:13 raspberrypi python3[412]: self.udp_publisher.send(joystick_msg)
Dec 29 13:48:13 raspberrypi python3[412]: File "/usr/local/lib/python3.7/dist-packages/UDPComms.py", line 53, in send
Dec 29 13:48:13 raspberrypi python3[412]: self.sock.send(msg)
Dec 29 13:48:13 raspberrypi python3[412]: ConnectionRefusedError: [Errno 111] Connection refused
Dec 29 13:48:13 raspberrypi systemd[1]: robot.service: Main process exited, code=exited, status=1/FAILURE
Dec 29 13:48:23 raspberrypi systemd[1]: robot.service: State 'stop-sigterm' timed out. Killing.
Dec 29 13:48:23 raspberrypi systemd[1]: robot.service: Killing process 410 (pigpiod) with signal SIGKILL.
Dec 29 13:48:23 raspberrypi systemd[1]: robot.service: Failed with result 'exit-code'.

I am able to calibrate the servo. I am using RPI4 normal raspian OS, not the lite version. When I start the robot service I get this. The controller is connected and the light color even changes but the robot does not work. Servos also do not active. What am I doing wrong. I have attached the screenshot.

Anyone please provide me a circuit diagram , which motor will connect which pin of raspberry pi ,which pin will connect the IMU . I am super confused.

Dear @Nate711 ,

First of all, thank you for your incredible work and dedication to the Pupper project. Your efforts have been truly inspiring, and I have been following the development of this robotic dog with great interest.

I am particularly excited about the upcoming release of Pupper v3!
The new specifications, including:

• The GIM4305 brushless motors
• Raspberry Pi 5
• The reinforcement learning locomotion policy
• The addition of the Luxonis SR depth camera
• The LCD screen for debugging and facial expressions is also a great touch.
• Roughly $1000 BOM

As someone who is eagerly looking forward to this release, I would greatly appreciate any updates or information you could provide about the progress of Pupper v3. It would be wonderful to stay informed as you move closer to the release.

Best regards,

Tin Nguyen

Can not find joystick.service file, can this me uploaded.

Thank you

Hello,
I bought some Raspberry Pi 4 boards, but can not boot up them using 2019-09-26-raspbian-buster-lite.img, its version is too old, I tried 2020-02-13-raspbian-buster-lite.img, it's OK.
I also tried 2021-01-11-raspios-buster-armhf-lite.img, and found ssh speed is very slow, so now I use 2020-02-13 version, and have not found any issues.
You can find the image versions at the below link,
https://downloads.raspberrypi.org/raspbian_lite/images/
Please help to double confirm,thanks!
Best,
Afreez

Dear Stanford Robotics Club,

First of all, thank you for your incredible work and dedication to the Pupper project. Your efforts have been truly inspiring, and I have been following the development of this robotic dog with great interest.

I am particularly excited about the upcoming release of Pupper v3!
The new specifications, including:

• The GIM4305 brushless motors
• Raspberry Pi 5
• The reinforcement learning locomotion policy
• The addition of the Luxonis SR depth camera
• The LCD screen for debugging and facial expressions is also a great touch.
• Roughly $1000 BOM

As someone who is eagerly looking forward to this release, I would greatly appreciate any updates or information you could provide about the progress of Pupper v3. It would be wonderful to stay informed as you move closer to the release.

Best regards,

Tin Nguyen

Hello,

Most instances are correct, but sometimes "position" is spelled "postion" in the repository. I noticed it because I make the same typo often myself :) Right now it mostly just makes the naming inconsistent. It's not really a problem, but I thought I would point it out.

It seems MIT license or similar would be appropriate here.

pi@raspberrypi(rw):~/StanfordQuadruped$ sudo bash install.sh
Reading package lists... Done
Building dependency tree
Reading state information... Done
libatlas-base-dev is already the newest version (3.10.3-8+rpi1).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
install.sh: line 2: pip3: command not found
install.sh: line 3: pip: command not found
sudo: pip: command not found
install.sh: line 7: git: command not found
install.sh: line 8: cd: PupperCommand: No such file or directory
bash: install.sh: No such file or directory
install.sh: line 12: git: command not found
install.sh: line 13: cd: PS4Joystick: No such file or directory
bash: install.sh: No such file or directory
Failed to enable unit: Unit file joystick.service does not exist.
--2019-02-14 18:30:30-- https://github.com/joan2937/pigpio/archive/v74.zip
Resolving github.com (github.com)... 20.205.243.166
Connecting to github.com (github.com)|20.205.243.166|:443... connected.
ERROR: The certificate of ‘github.com’ is not trusted.
ERROR: The certificate of ‘github.com’ is not yet activated.
The certificate has not yet been activated
unzip: cannot find or open v74.zip, v74.zip.zip or v74.zip.ZIP.
install.sh: line 20: cd: pigpio-74: No such file or directory
make: *** No targets specified and no makefile found. Stop.
make: *** No rule to make target 'install'. Stop.
install.sh: line 25: cd: StanfordQuadruped: No such file or directory
ln: failed to create symbolic link '/etc/systemd/system/robot.service': File exists
Failed to enable unit: Unit file robot.service does not exist.
Failed to start robot.service: Unit robot.service not found.

Hi,
I'm trying to create a small robot which has the same disposition of servos.
I'm struggling with the 3DOF IK (2d works), so I tried to implement yours (for now with javascript for testing).
I transpiled your Python code to Javascript, created a simple leg simulation in Three.js, and i tried to call you function leg_explicit_inverse_kinematics with custom x,y,z values :
i changed
(x, y, z) = r_body_foot
to
x=... y=..., z=...

It outputs me 3 angles, but when I put them in my leg simulation, it goes to a wrong x,y,z location.

My Parameters :

ABDUCTION_OFFSET = 4
LEG_L1 = 9.2
LEG_L2 = 10

--> the simulation : you can see at the bottom, I call pupperIk(19.2, 0, 4); which should place the arm straight, but it outputs : [98.11, -81.89, -89.99] which put my feet to the wrong location (obviously).

--> My implementation of you IK in Js is correct : i have compared my js result to you python results.

--> does it have something to do with the r_body_foot variable ?

What I would like to know, is how to use your formula to do IK of one leg independently of any other legs (the coxa being the origin ?) ?

Thank you :)

@ian

When the Pupper simulator (sim branch) is run, and one looks at the robot from the side view, one can see that the physics are a bit wonky for the front legs. It looks like it is stepping on some invisible object over and over. I am not sure what causes this, my first thought was that the inertia tensor might be off. But, after playing with that a bit I don't think that is the case.

I'm sorry I didn't find any descriptions of vision sensors in the Puppet doc. And are there any vision sensors in the Puppet?
If not, can we attach any vision sensors (or depth sensors, etc.) to the Puppet, and thus they can "see" the world?

Looking for a fork or a ros package to control the doggo

Hi,

I see IMU code in here but you mentioned you didn't seem to think it helped much. Can you detail that here (publicly for others in the future)? It seems as pupper and derivatives of work of it, an IMU would be necessary for feedback on achieving target poses in the absence of other external sensing. Maybe also for future work in stabilization.

Hello,
Sometimes, I can get the abnormal return from functions "pwm_to_duty_cycle" in the file HardwareInterface.py.
It's OK after change from
return int(pulsewidth_micros / 1e6 * pwm_params.freq * pwm_params.range)
to
pulsewidth_micros = int(pulsewidth_micros / 1e6 * pwm_params.freq * pwm_params.range)
if np.isnan(pulsewidth_micros):
return 0
return int(np.clip(pulsewidth_micros, 0, 4096))

Please double confirm whether the change point is OK, thanks!
Best,
Afreez

Use a defaultdict as the transition mapping from any activated state into a deactivated state

hello, how can i reverse the servomoteurs?

my ps4 cannot bind to raspberry ,its just double flashes and then the flashing lights go out.
anyone can help me
thanks a lot

Put the swing proportion calculation inside the swing controller.

What is the coordinate system of pupper？What is the sequence of motor control？

Doesn't make sense that the controller would have to know about the robot state.