增加按键映射控制，方便无手柄用户使用，兼容1.4.9userctrl

KEYBOARD_CONTROL.md

@@ -0,0 +1,136 @@
+# 键盘控制使用说明
+
+## 概述
+
+已为 unitree_mujoco 添加键盘控制功能，无需手柄即可控制机器人。
+
+## 启用键盘控制
+
+编辑 `simulate/config.yaml` 文件：
+
+```yaml
+use_joystick: 1  # 启用控制器
+joystick_type: "keyboard"  # 使用键盘模式（原来是 "xbox" 或 "switch"）
+```
+
+## 键盘映射
+
+### 基础按键对照表
+
+| 键盘按键 | 手柄按键 | 说明 |
+|---------|---------|------|
+| **左Ctrl** | LB (L1) | 左肩键 |
+| **左Shift** | LT (L2) | 左触发器 |
+| **右Ctrl** | RB (R1) | 右肩键 |
+| **右Shift** | RT (R2) | 右触发器 |
+| **A** | A | A 按钮 |
+| **B** | B | B 按钮 |
+| **X** | X | X 按钮 |
+| **Y** | Y | Y 按钮 |
+| **1** | F1 | 功能键1 |
+| **2** | F2 | 功能键2 |
+| **Tab** | Start | 开始键 |
+| **Esc** | Select | 选择键 |
+| **↑/←/↓/→** | D-pad ↑/←/↓/→ | 方向键 |
+
+### 摇杆控制
+
+| 键盘按键 | 摇杆 | 说明 |
+|---------|------|------|
+| **I** | 左摇杆 ly +1.0 | 前进 |
+| **K** | 左摇杆 ly -1.0 | 后退 |
+| **J** | 左摇杆 lx -1.0 | 左移 |
+| **L** | 左摇杆 lx +1.0 | 右移 |
+| **U** | 右摇杆 rx -1.0 | 左转 |
+| **O** | 右摇杆 rx +1.0 | 右转 |
+
+### 组合键示例（对应 IOSDK 遥控器操作）
+
+键盘支持同时按多个键，模拟遥控器组合键操作：
+
+| 键盘组合 | 手柄组合 | UserCommand | 功能 |
+|---------|---------|-------------|------|
+| **左Ctrl + A** | L1 + A | L1_A | - |
+| **左Ctrl + B** | L1 + B | L1_B | charleston_dance |
+| **左Ctrl + X** | L1 + X | L1_X | - |
+| **左Ctrl + Y** | L1 + Y | L1_Y | - |
+| **左Shift + A** | L2 + A | L2_A | - |
+| **左Shift + B** | L2 + B | L2_B | CMCC_GPC_dance1 |
+| **左Shift + X** | L2 + X | L2_X | - |
+| **左Shift + Y** | L2 + Y | L2_Y | CMCC_GPC_dance2 |
+| **右Ctrl + A** | R1 + A | R1_A | dancekgswing |
+| **右Ctrl + B** | R1 + B | R1_B | dancedzht |
+| **右Ctrl + X** | R1 + X | R1_X | dancekaraoke |
+| **右Ctrl + Y** | R1 + Y | R1_Y | danceydd |
+| **右Shift + A** | R2 + A | R2_A | 行走模式 |
+| **右Shift + B** | R2 + B | R2_B | dancebcgm |
+| **右Shift + X** | R2 + X | R2_X | dancepower |
+| **右Shift + Y** | R2 + Y | R2_Y | dancemojito |
+| **左Shift + 1** | L2 + F1 | L2_F1 | 紧急停止(PASSIVE) |
+| **1 + A** | F1 + A | F1_A | signal_debug |
+
+### 弹性带控制（Elastic Band，用于吊起机器人）
+需要在 `config.yaml` 中设置 `enable_elastic_band: 1`
+
+- **9**: 启用/禁用弹性带
+- **7**: 缩短弹性带（吊起机器人）
+- **8**: 延长弹性带（释放机器人）
+
+### 其他
+- **Backspace**: 重置仿真
+
+### 宏按键
+
+| 按键 | 等效按下 | 说明 |
+|------|----------|------|
+| **3** | **L2 + D-pad Up** | 同时触发 L2 与 D-pad 上 |
+| **4** | **R2 + A** | 同时触发 R2 与 A |
+
+## 使用示例
+
+1. 修改配置文件：
+```bash
+cd ~/Documents/Code/unitree/unitree_mujoco/simulate
+vim config.yaml
+```
+
+2. 修改以下行：
+```yaml
+use_joystick: 1
+joystick_type: "keyboard"
+```
+
+3. 编译并运行：
+```bash
+cd build
+make -j4
+./unitree_mujoco
+```
+
+4. 使用键盘控制机器人移动
+
+## 技术实现
+
+### 新增文件
+- `simulate/src/keyboard_joystick.h`: 键盘控制类实现
+
+### 修改文件
+- `simulate/src/unitree_sdk2_bridge.h`: 添加键盘支持和 `setGLFWWindow()` 方法
+- `simulate/src/main.cc`: 添加全局 bridge 指针和窗口设置逻辑
+
+### 核心类
+```cpp
+class KeyboardJoystick : public unitree::common::UnitreeJoystick
+```
+
+该类继承自 `UnitreeJoystick`，通过 GLFW 键盘事件模拟手柄输入。
+
+## 注意事项
+
+1. 键盘控制是数字输入（0 或 1），不像手柄有模拟量
+2. 对角线移动会自动归一化，保持速度一致
+3. 可以同时按多个键实现组合控制
+4. 键盘控制与原有手柄控制互不冲突，可通过配置文件切换
+
+## 作者
+Zhang Zhen (zhangzhen@cmhi.chinamobile.com)

simulate/config.yaml

@@ -1,14 +1,15 @@
-robot: "go2"  # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
+robot: "g1"  # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
 robot_scene: "scene.xml" # Robot scene, /unitree_robots/[robot]/scene.xml 
 
 domain_id: 1  # Domain id
 interface: "lo" # Interface 
+lowcmd_topic: "" # Empty uses robot default: G1 -> rt/user_lowcmd, others -> rt/lowcmd
 
-use_joystick: 0 # Simulate Unitree WirelessController using a gamepad
-joystick_type: "xbox" # support "xbox" and "switch" gamepad layout
-joystick_device: "/dev/input/js0" # Device path
-joystick_bits: 16 # Some game controllers may only have 8-bit accuracy
+use_joystick: 1 # Simulate Unitree WirelessController using a gamepad
+joystick_type: "keyboard" # support "xbox", "switch", and "keyboard"
+joystick_device: "/dev/input/js0" # Device path (not used in keyboard mode)
+joystick_bits: 16 # Some game controllers may only have 8-bit accuracy (not used in keyboard mode)
 
 print_scene_information: 1 # Print link, joint and sensors information of robot
 
-enable_elastic_band: 0 # Virtual spring band, used for lifting h1
+enable_elastic_band: 1 # Virtual spring band, used for lifting h1

simulate/src/keyboard_joystick.h

@@ -0,0 +1,113 @@
+#pragma once
+
+#include <iostream>
+#include <unitree/dds_wrapper/common/unitree_joystick.hpp>
+#include <GLFW/glfw3.h>
+#include <memory>
+#include <map>
+
+/**
+ * @brief Keyboard-based joystick emulation for unitree_mujoco
+ * @author Zhang Zhen (zhangzhen@cmhi.chinamobile.com)
+ * 
+ * Keyboard mapping:
+ * - IJKL: Left stick (lx, ly) - movement control
+ * - U/O: Right stick rx (left/right turn)
+ * - A/B/X/Y: A/B/X/Y buttons
+ * - LCtrl/LShift: L1/L2
+ * - RCtrl/RShift: R1/R2
+ * - Arrow keys: D-pad (up/left/down/right)
+ * - 1: F1 | 2: F2
+ * - Tab: Start | Esc: Select
+ */
+class KeyboardJoystick : public unitree::common::UnitreeJoystick
+{
+public:
+    KeyboardJoystick(GLFWwindow* window)
+        : unitree::common::UnitreeJoystick(), window_(window)
+    {
+        if (!window_) {
+            std::cout << "Error: GLFW window is null." << std::endl;
+            exit(1);
+        }
+        std::cout << "[KeyboardJoystick] Initialized. Use keyboard to control:" << std::endl;
+        std::cout << "  IJKL: Move (left stick)" << std::endl;
+        std::cout << "  U/O: Turn left/right (right stick rx)" << std::endl;
+        std::cout << "  A/B/X/Y: A/B/X/Y buttons" << std::endl;
+        std::cout << "  LCtrl/LShift: L1/L2 | RCtrl/RShift: R1/R2" << std::endl;
+        std::cout << "  Arrow keys: D-pad (up/left/down/right)" << std::endl;
+        std::cout << "  1: F1 | 2: F2 | Tab: Start | Esc: Select" << std::endl;
+        std::cout << "  3: Lock Stand (L2+Up) | 4: Walk (R2+A)" << std::endl;
+    }
+
+    void update() override
+    {
+        const bool macro_l2_up = (glfwGetKey(window_, GLFW_KEY_3) == GLFW_PRESS);
+        const bool macro_r2_a = (glfwGetKey(window_, GLFW_KEY_4) == GLFW_PRESS);
+
+        // ABXY buttons (A/B/X/Y)
+        A((glfwGetKey(window_, GLFW_KEY_A) == GLFW_PRESS) || macro_r2_a);
+        B(glfwGetKey(window_, GLFW_KEY_B) == GLFW_PRESS);
+        X(glfwGetKey(window_, GLFW_KEY_X) == GLFW_PRESS);
+        Y(glfwGetKey(window_, GLFW_KEY_Y) == GLFW_PRESS);
+
+        // Shoulder buttons: L1=LCtrl, L2=LShift, R1=RCtrl, R2=RShift
+        LB(glfwGetKey(window_, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS);   // L1
+        LT((glfwGetKey(window_, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS) || macro_l2_up);    // L2
+        RB(glfwGetKey(window_, GLFW_KEY_RIGHT_CONTROL) == GLFW_PRESS);  // R1
+        RT((glfwGetKey(window_, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS) || macro_r2_a);   // R2
+
+        // D-pad (Arrow keys)
+        up((glfwGetKey(window_, GLFW_KEY_UP) == GLFW_PRESS) || macro_l2_up);
+        left(glfwGetKey(window_, GLFW_KEY_LEFT) == GLFW_PRESS);
+        down(glfwGetKey(window_, GLFW_KEY_DOWN) == GLFW_PRESS);
+        right(glfwGetKey(window_, GLFW_KEY_RIGHT) == GLFW_PRESS);
+
+        // Function keys: F1 = 1, F2 = 2
+        F1(glfwGetKey(window_, GLFW_KEY_1) == GLFW_PRESS);
+        F2(glfwGetKey(window_, GLFW_KEY_2) == GLFW_PRESS);
+
+        // Other
+        back(glfwGetKey(window_, GLFW_KEY_ESCAPE) == GLFW_PRESS);
+        start(glfwGetKey(window_, GLFW_KEY_TAB) == GLFW_PRESS);
+
+        // Left stick (IJKL for movement)
+        double lx_val = 0.0;
+        double ly_val = 0.0;
+
+        if (glfwGetKey(window_, GLFW_KEY_J) == GLFW_PRESS) lx_val -= 1.0;
+        if (glfwGetKey(window_, GLFW_KEY_L) == GLFW_PRESS) lx_val += 1.0;
+        if (glfwGetKey(window_, GLFW_KEY_I) == GLFW_PRESS) ly_val += 1.0;
+        if (glfwGetKey(window_, GLFW_KEY_K) == GLFW_PRESS) ly_val -= 1.0;
+
+        // Normalize diagonal movement
+        if (lx_val != 0.0 && ly_val != 0.0) {
+            double norm = std::sqrt(lx_val * lx_val + ly_val * ly_val);
+            lx_val /= norm;
+            ly_val /= norm;
+        }
+
+        lx(lx_val);
+        ly(ly_val);
+
+        // Right stick (Arrow keys for rotation/camera)
+        double rx_val = 0.0;
+        double ry_val = 0.0;
+
+        if (glfwGetKey(window_, GLFW_KEY_U) == GLFW_PRESS) rx_val -= 1.0;
+        if (glfwGetKey(window_, GLFW_KEY_O) == GLFW_PRESS) rx_val += 1.0;
+
+        // Normalize diagonal movement
+        if (rx_val != 0.0 && ry_val != 0.0) {
+            double norm = std::sqrt(rx_val * rx_val + ry_val * ry_val);
+            rx_val /= norm;
+            ry_val /= norm;
+        }
+
+        rx(rx_val);
+        ry(ry_val);
+    }
+
+private:
+    GLFWwindow* window_;
+};

simulate/src/main.cc

@@ -99,6 +99,9 @@ namespace
   // model and data
   mjModel *m = nullptr;
   mjData *d = nullptr;
+
+  // global bridge pointer for keyboard joystick setup
+  UnitreeSDK2BridgeBase* g_bridge = nullptr;
 
   // control noise variables
   mjtNum *ctrlnoise = nullptr;
@@ -599,6 +602,7 @@ void *UnitreeSdk2BridgeThread(void *arg)
   } else {
     interface = std::make_unique<Go2Bridge>(m, d);
   }
+  g_bridge = interface.get();  // Save pointer for keyboard joystick setup
   interface->start();
 
   while (true)
@@ -625,9 +629,9 @@ void user_key_cb(GLFWwindow* window, int key, int scancode, int act, int mods) {
     if(param::config.enable_elastic_band == 1) {
       if (key==GLFW_KEY_9) {
         elastic_band.enable_ = !elastic_band.enable_;
-      } else if (key==GLFW_KEY_7 || key==GLFW_KEY_UP) {
+      } else if (key==GLFW_KEY_7) {
         elastic_band.length_ -= 0.1;
-      } else if (key==GLFW_KEY_8 || key==GLFW_KEY_DOWN) {
+      } else if (key==GLFW_KEY_8) {
         elastic_band.length_ += 0.1;
       }
     }
@@ -666,6 +670,7 @@ int main(int argc, char **argv)
 
   mjvOption opt;
   mjv_defaultOption(&opt);
+  opt.flags[mjVIS_CONTACTPOINT] = 1;
 
   mjvPerturb pert;
   mjv_defaultPerturb(&pert);
@@ -687,8 +692,16 @@ int main(int argc, char **argv)
 
   // start physics thread
   std::thread physicsthreadhandle(&PhysicsThread, sim.get(), param::config.robot_scene.c_str());
+
+  // Wait for bridge initialization and set GLFW window for keyboard joystick
+  while (!g_bridge) {
+    usleep(100000);  // Wait 100ms
+  }
+  GLFWwindow* window = static_cast<mj::GlfwAdapter*>(sim->platform_ui.get())->window_;
+  g_bridge->setGLFWWindow(window);
+
   // start simulation UI loop (blocking call)
-  glfwSetKeyCallback(static_cast<mj::GlfwAdapter*>(sim->platform_ui.get())->window_,user_key_cb);
+  glfwSetKeyCallback(window, user_key_cb);
   sim->RenderLoop();
   physicsthreadhandle.join();
 

simulate/src/param.h

@@ -15,6 +15,7 @@ inline struct SimulationConfig
 
     int domain_id;
     std::string interface;
+    std::string lowcmd_topic;
 
     int use_joystick;
     std::string joystick_type;
@@ -35,6 +36,7 @@ inline struct SimulationConfig
             robot_scene = cfg["robot_scene"].as<std::string>();
             domain_id = cfg["domain_id"].as<int>();
             interface = cfg["interface"].as<std::string>();
+            lowcmd_topic = cfg["lowcmd_topic"] ? cfg["lowcmd_topic"].as<std::string>() : "";
             use_joystick = cfg["use_joystick"].as<int>();
             joystick_type = cfg["joystick_type"].as<std::string>();
             joystick_device = cfg["joystick_device"].as<std::string>();
@@ -63,6 +65,7 @@ inline po::variables_map helper(int argc, char** argv)
         ("network,n", po::value<std::string>(&config.interface), "DDS network interface; -n eth0")
         ("robot,r", po::value<std::string>(&config.robot), "Robot type; -r go2")
         ("scene,s", po::value<std::filesystem::path>(&config.robot_scene), "Robot scene file; -s scene_terrain.xml")
+        ("lowcmd_topic", po::value<std::string>(&config.lowcmd_topic), "DDS LowCmd topic override; empty uses robot default")
     ;
 
     po::variables_map vm;
@@ -78,4 +81,4 @@ inline po::variables_map helper(int argc, char** argv)
     return vm;
 }
 
-}
+}