this repo has no description
Continue rapport
+119
-9
+2
-3
rapport/gz-unitree.typ
+2
-3
rapport/gz-unitree.typ
···
55
55
56
56
#let img = image("./wireshark-trace.png")
57
57
// https://forum.typst.app/t/how-to-blend-a-color-with-an-image-and-make-the-image-transparent/1677/5
58
-
#let overlayed-img = contents => layout(bounds => {
58
+
#let overlayed-img = (contents, img) => layout(bounds => {
59
59
let size = measure(img, ..bounds)
60
60
img
61
61
place(top + left, block(..size, contents))
···
63
63
64
64
#figure(
65
65
caption: [Trace de paquets RTPS sur _Wireshark_],
66
-
overlayed-img[
66
+
overlayed-img([
67
67
#diagram(spacing: (4.54pt, 2.75pt), {
68
68
node((0, 0))[]
69
69
let annotations-x = 80
···
1073
1073
trimmed-image("./cicd-commits.png", trim: (right: 65%)),
1074
1074
),
1075
1075
)
1076
-
slides/main.pdf
slides/main.pdf
This is a binary file and will not be displayed.
+117
-6
slides/main.typ
+117
-6
slides/main.typ
···
1
1
#import "../rapport/utils.typ": dontbreak, todo
2
2
#import "../rapport/context.typ": argmax, cL, definitions_paths_set, exp
3
+
#import "../rapport/gz-unitree.typ": overlayed-img
3
4
#import "@preview/touying:0.6.1": *
4
5
#import themes.simple: *
5
6
···
218
219
219
220
#centered[
220
221
221
-
$
222
-
Pi' = & cases(
223
-
argmax_(pi) cL_r (pi, Pi),
224
-
"s.c. distance"(Pi', Pi) < delta
225
-
)
226
-
$
222
+
$
223
+
Pi' = & cases(
224
+
argmax_(pi) cL_r (pi, Pi),
225
+
"s.c. distance"(Pi', Pi) < delta
226
+
)
227
+
$
228
+
229
+
]
230
+
231
+
== Mise à jour de $Pi$: distance entre politiques
232
+
233
+
#centered[
234
+
$
235
+
"distance"(Pi', Pi) & := max_(s in S) D_"KL" (Q_Pi' (s, dot) || Q_Pi (s, dot)) \
236
+
D_"KL" (P || P') & := sum_(x in cal(X)) P(x) log P(x) / (P'(x))
237
+
$
238
+
]
239
+
240
+
241
+
#title-slide[
242
+
== Le _SDK_#super[1] d'Unitree
243
+
#super[1]Software Development Kit
244
+
]
245
+
246
+
== DDS
247
+
248
+
#overlayed-img[
249
+
#diagram(spacing: (4.54pt, 2.75pt), {
250
+
node((0, 0))[]
251
+
let annotations-x = 80
252
+
let annotate = (y-start, y-end, label) => edge(
253
+
(annotations-x, y-start),
254
+
"|-|",
255
+
(annotations-x, y-end),
256
+
label-fill: white,
257
+
label-side: left,
258
+
label,
259
+
)
227
260
261
+
annotate(3, 20)[Attente]
262
+
annotate(20, 60)[Initialisation]
263
+
annotate(60, 100)[Échange `rt/` \ `lowstate` $arrows.lr$ `lowcmd`]
264
+
})
265
+
]
266
+
267
+
== Le SDK d'Unitree
268
+
269
+
#centered[
270
+
#diagram((
271
+
node((0, 0), $Pi$),
272
+
node((1, 0), "SDK"),
273
+
node((2, 0), "robot"),
274
+
edge((0, 0), (0, 0), "<-", bend: 130deg, loop-angle: 180deg)[],
275
+
edge((2.25, 0), (2.25, 0), "->", bend: -130deg, loop-angle: -180deg)[],
276
+
edge((0, 0), (1, 0), "->", shift: 7pt)[ordres],
277
+
edge((0, 0), (1, 0), "<-", shift: -7pt, label-side: right)[état],
278
+
edge((1, 0), (2, 0), "-->", shift: 7pt)[ordres],
279
+
edge((1, 0), (2, 0), "<--", shift: -7pt, label-side: right)[état],
280
+
))
281
+
282
+
#diagram((
283
+
edge((0, 0), (1, 0), "-->"),
284
+
node((1.40, 0))[Message DDS],
285
+
))
286
+
]
287
+
288
+
289
+
== Le SDK d'Unitree
290
+
291
+
#centered[
292
+
#diagram({
293
+
node((0, 0), $Pi$)
294
+
node((1, 0), "SDK")
295
+
node((2, 0))[*Bridge*]
296
+
node((3, 0), "Simulateur")
297
+
298
+
edge((0, 0), (0, 0), "<-", bend: 130deg, loop-angle: 180deg)[]
299
+
edge((3.25, 0), (3.25, 0), "->", bend: -130deg, loop-angle: -180deg)[]
300
+
301
+
for i in range(0, 3) {
302
+
let dash = if i == 1 { "--" } else { "-" }
303
+
edge((i, 0), (i + 1, 0), dash + ">", shift: 7pt)[ordres]
304
+
edge((i, 0), (i + 1, 0), "<" + dash, shift: -7pt, label-side: right)[état]
305
+
}
306
+
307
+
edge((0, 1), (2, 1), "|-|", label-side: right)[API du SDK]
308
+
edge((2, 1), (3, 1), "|-|", label-side: right)[API du simulateur]
309
+
})
310
+
]
311
+
312
+
313
+
== `unitree_mujoco`
314
+
315
+
#centered(scale(70%, reflow: true, diagram({
316
+
node(name: <sdk>, (0, 0))[SDK]
317
+
node(enclose: ((1, 1), (-1, 1)), stroke: blue, inset: 10pt, snap: false, text(fill: blue)[Canaux \ DDS])
318
+
node(name: <lowcmd>, (1, 1))[`rt/lowcmd`]
319
+
node(name: <lowstate>, (-1, 1))[`rt/lowstate`]
320
+
node(name: <bridge>, enclose: ((1, 2), (-1, 2)), stroke: black, inset: 10pt)[Bridge]
321
+
node(name: <mujoco>, (0, 3))[Mujoco]
322
+
323
+
324
+
edge(<sdk>, <lowcmd>, "->", bend: 30deg)[pub]
325
+
edge(<lowcmd>, (1, 2), "-->", bend: 20deg)[via sub]
326
+
edge((1, 2), <mujoco>, "->", bend: 20deg, `data->ctrl[i] = ...`)
327
+
328
+
edge(<sdk>, <lowstate>, "<--", bend: -30deg)[via sub]
329
+
edge(<lowstate>, (-1, 2), "<-", bend: -20deg)[pub]
330
+
edge((-1, 2), <mujoco>, "<-", bend: -20deg, `... = data->sensordata[i]`)
331
+
332
+
edge(<mujoco>, <mujoco>, "->", bend: 130deg, loop-angle: -90deg, `mj_step(model, data)`)
333
+
})))
334
+
335
+
336
+
#title-slide[
337
+
== Développement de _gz-unitree_
338
+
Un bridge pour Gazebo
228
339
]