diff --git a/.gitignore b/.gitignore index 4e57108..9d1e862 100644 --- a/.gitignore +++ b/.gitignore @@ -38,3 +38,11 @@ MUJOCO_LOG.TXT **/*.urdf.bak* **/*.xml.bak* **/*.json.bak* + +# Organized generated outputs and rollback snapshots +outputs/ +archive/backups/ +archive/exports/ + +# Machine-local workspace links +external_ws/ diff --git a/README.md b/README.md index b57651b..c6f7121 100644 --- a/README.md +++ b/README.md @@ -1,215 +1,71 @@ -# Mujoco LinkerBot（ROS 2） +# LinkerHand MuJoCo 工程 -Linker Hand 的 MuJoCo + ROS 2 仿真工作区。支持： +日常只需使用根目录 `run.sh` 和 `hands/`。根目录旧启动脚本已移入归档，不再重复摆放。 -- **O6**：经典 6 通道 0~255 控制（launch） -- **G20 左手**：PLAN 桥接、标定查表、MJCF/URDF 零位同步 -- **L20 V10.1 左手**：与 G20 双窗对比 -- 关节弧度监视 GUI、曲线录制与实验脚本 - -远程仓库： - ---- - -## 环境要求 - -- Ubuntu + ROS 2 **Jazzy** -- 工作区路径示例：`~/linker_hand_mujoco_ros2` -- Python 依赖在本地 `venv`（含 `mujoco` 等；**不要**把 `venv` 提交进仓库） -- `ros2 launch` 使用系统 Python，仅 `source venv` 不够，请用仓库里的启动脚本（会把 `venv/site-packages` 加入 `PYTHONPATH`） - ---- - -## 一、编译（首次或改代码后） +## 启动仿真 ```bash -cd ~/linker_hand_mujoco_ros2 -source /opt/ros/jazzy/setup.bash -colcon build --symlink-install --packages-select linker_hand_mujoco_ros2 -source install/setup.bash +./run.sh O30 right +./run.sh O30 left +./run.sh G20 left +./run.sh O6 right +./run.sh L6 left +./run.sh O12 right ``` -`venv/` 已放 `COLCON_IGNORE`，不会被 colcon 误扫。 +支持 G20、O6、L6、O30 左右手，以及 O12 右手。参数继续向驱动传递，例如 `./run.sh O30 right --pd-drive`。 ---- - -## 二、O6 仿真（原有流程） +双窗对比在对应手型目录，例如： ```bash -./run_sim.sh +./hands/G20/compare_left.sh +./hands/O6/compare_right.sh ``` -- 控制话题：`/cb_left_hand_control_cmd` -- 类型：`sensor_msgs/msg/JointState` -- `position`：6 个数，约 **0~255**（**255≈张开，0≈握紧**） +主动关节使用线性映射；G20 可使用被动 JSON 联动。O12 输入为弧度，其余上述手型为 SDK 0～255。详见 [驱动与映射说明](hands/README.md)。 -| 索引 | 含义 | -|------|------| -| 0 | 拇指弯曲 | -| 1 | 拇指横摆 | -| 2 | 食指弯曲 | -| 3 | 中指弯曲 | -| 4 | 无名指弯曲 | -| 5 | 小指弯曲 | +## 目录职责 -更多 O6 / 多机 DDS / 曲线录制说明见下文「附录：O6 与多机」。 - ---- - -## 三、G20 左手仿真（推荐） - -### 3.1 一键启动 - -```bash -./run_g20_mujoco_plan.sh +```text +run.sh 统一仿真启动入口 +hands/ 按手型使用 + G20/ O6/ L6/ O12/ O30/ + run_left.sh / run_right.sh 单手启动（按支持情况提供） + compare_left.sh / ... 双窗比较（按支持情况提供） + scripts/ 内部启动实现、监视工具 + assets/ 包内模型的相对链接 + O30/release/ 当前干净的 V10 左右手导出包链接 +assets/ + exports/ 当前导出包，仅保留干净 V10 包及压缩包 + vendor/Linkerbot_URDF/ 原始供应方资产，按手型保存 +src/ ROS2 仿真源码、实际运行模型 +outputs/ + reports/O6/ O6 实验结果 + reports/O30/ O30 标定与诊断结果 + logs/ 独立运行日志 +archive/ + backups/ 修改前备份 + exports/ 旧版导出、历史副本 + launchers/ 原根目录兼容脚本 + layout_migration.json 文件搬迁对照清单 +tools/ 标定、记录、镜像等开发工具 + hardware/ 真机启动/记录脚本（不会被 run.sh 调用） + experiments/ 实验启动脚本 +tests/ 回归测试 +docs/ 技术文档、计划及历史说明 ``` -默认行为： +`hands/*/assets` 等链接指向工程内的原文件，不维护重复的运行模型。移动整个工程时保留相对符号链接即可；单独取某个手型时仍需携带其实际资产和共享驱动。 -| 项 | 值 | -|----|-----| -| 模型 | `urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml` | -| 控制话题 | `/g20/cb_left_hand_control_cmd` | -| 状态话题 | `/sim/mujoco/g20/left/joint_state` | -| 指令 | 20 维 0~255（与真机 SDK 通道对齐） | -| 映射 | 标定 JSON 查表 + URDF 被动 mimic | -| 速度 | 约 1.35× 墙钟，可用 `--speed` / `--slew-rad-s` 调整 | +`venv/`、`build/`、`install/`、`log/`、`external_ws/`、`linker_hand_ros2_sdk_ws/` 是环境或 ROS 工作空间。保留原位置，避免破坏虚拟环境及已生成的 ROS 安装路径；平时无需进入这些目录。 -常用参数示例： +## 旧文件去哪了 -```bash -./run_g20_mujoco_plan.sh --speed 1.0 -./run_g20_mujoco_plan.sh --cmd-topic /g20/cb_left_hand_control_cmd -./run_g20_mujoco_plan.sh --mapping g20_calibrated -``` +- 原根目录 `run_*.sh`：`archive/launchers/`；真机与实验脚本分别进入 `tools/hardware/`、`tools/experiments/`。 +- 原 `exports/`：干净当前包进入 `assets/exports/`，旧版及副本进入 `archive/exports/`。 +- 原 `backups/`：`archive/backups/`。 +- 原 `reports/`：`outputs/reports/`，按 O6/O30 分类。 +- 原 `Linkerbot_URDF/`：`assets/vendor/Linkerbot_URDF/`。 +- 原 README、启动说明、行动计划：`docs/legacy/` 和 `docs/plans/`。 -### 3.2 关节弧度 GUI - -```bash -./run_g20_joint_gui.sh -``` - -默认订阅 `/sim/mujoco/g20/left/joint_state`，按手指分组显示 hinge 弧度（默认 6 位小数）。 - -### 3.3 G20 + L20 双窗对比 - -```bash -./run_dual_mujoco_compare.sh -``` - -- 左窗：当前标定 **G20**（`g20_calibrated`） -- 右窗：**L20 V10.1** 原版 URDF 映射（`l20_urdf`，默认关 collision project，避免自碰卡住） -- 共用同一条 0~255 控制话题（默认 `/g20/cb_left_hand_control_cmd`） - ---- - -## 四、标定与模型文件（G20） - -目录： - -`src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/` - -| 文件 | 说明 | -|------|------| -| `linkerhand_g20_left.urdf` | 当前使用的 URDF（含投影零位修正） | -| `linker_hand_g20_left.xml` | 当前使用的 MJCF（与 URDF 原点/限位同步） | -| `g20_left_G20_LEFT_001_calibration.json` | 运行时 0~255→弧度查表（schema 3） | -| `meshes/` | 网格 | - -映射实现：`utils/g20_joints.py` - -要点： - -1. **主动关节**：用标定 JSON 的 `angle_rad[0..255]` 查表。 -2. **零位**：用 `zero_angles.table_projected_zero_rad` 相对夹具参考修正 URDF/MJCF `origin`（相机投影零位，非完整外参优化）。 -3. **被动关节**：`thumb_ip`、四指 DIP 走 URDF mimic；JSON 里 `thumb_ip` 是累计投影角，**不能**直接当相对关节角。 -4. **四指侧摆**：运行时符号与真机约定见 `G20_FLIP_JOINT_SIGN`。 - -当前已知：张开大姿态已基本对齐；拇指 CMC 零位仍可能有小量前探/拧向残差。更稳妥的做法是解耦重测三个 CMC 投影零位，或导出 TAG 全位姿后做原点优化，而不是肉眼加减角度。 - ---- - -## 五、主要源码入口 - -| 路径 | 说明 | -|------|------| -| `linker_hand_mujoco_ros2/g20_plan_bridge.py` | G20/L20 MuJoCo PLAN 桥 | -| `linker_hand_mujoco_ros2/g20_joint_monitor_gui.py` | 关节弧度监视 GUI | -| `linker_hand_mujoco_ros2/utils/g20_joints.py` | G20 标定查表与映射 | -| `launch/linker_hand_mujoco_ros2.launch.py` | O6 launch | -| `urdf/O6/` | O6 MJCF | -| `urdf/G20/` | G20 URDF/MJCF + 标定 | -| `urdf/L20_V10.1/` | L20 V10.1 URDF/MJCF | -| `tools/` | 曲线录制、实验脚本 | - -Console 入口（`setup.py`）：`g20_plan_bridge`、`g20_joint_monitor_gui` 等。 - ---- - -## 六、克隆与推送 - -```bash -git clone https://gitea.robotquan.com/sunxianghui/mujoco_linkerbot.git -cd mujoco_linkerbot -# 自建 venv 并安装 mujoco 等依赖后，再 colcon build -``` - -本仓库 `origin` 指向上述 Gitea 地址。提交后： - -```bash -git push -u origin main -``` - ---- - -## 附录：O6 与多机 - -### 本机发一帧（O6 握拳示例） - -```bash -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{ - header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, - name: [], - position: [0.0, 100.0, 0.0, 0.0, 0.0, 0.0], - velocity: [], - effort: [] -}" -``` - -### 两台电脑共用 ROS 2 - -两边约定同一 Domain： - -```bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 -``` - -仿真机跑 `./run_sim.sh` 或 `./run_g20_mujoco_plan.sh`；控制机 `ros2 topic list` / `hz` / `echo` 检查。 - -### 通用曲线录制 - -```bash -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 -python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim -``` - -### 常见问题 - -**`ModuleNotFoundError: No module named 'mujoco'`** -用 `./run_sim.sh` / `./run_g20_mujoco_plan.sh`，或手动把 `venv/lib/python3.12/site-packages` 加入 `PYTHONPATH`。 - -**L20 双窗对比时手不动** -自碰投影会把目标打回；`run_dual_mujoco_compare.sh` 已对 L20 默认 `--no-collision-project`。 - ---- - -## 许可与归属 - -包内模型与标定数据来自 Linker Hand / 本机标定流程；请按公司内部仓库规范使用与分发。 +本轮仅整理目录和路径引用，不改关节参数、网格或控制话题。O30 左手入口从旧 V9 文件名切换到干净 V10 文件名，已核对两个 URDF 的 SHA256 完全一致。 diff --git a/archive/launchers/run_dual_mujoco_compare.sh b/archive/launchers/run_dual_mujoco_compare.sh new file mode 100755 index 0000000..9fcd710 --- /dev/null +++ b/archive/launchers/run_dual_mujoco_compare.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +# 兼容入口：左手双开（G20 标定 vs L20 V10.1 未标定） +# 实际逻辑见 run_g20_left_dual_compare.sh（与右手 run_g20_right_dual_compare.sh 对称） +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_left_dual_compare.sh" "$@" diff --git a/archive/launchers/run_g20_joint_gui.sh b/archive/launchers/run_g20_joint_gui.sh new file mode 100755 index 0000000..767e6f8 --- /dev/null +++ b/archive/launchers/run_g20_joint_gui.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_joint_gui.sh" "$@" diff --git a/archive/launchers/run_g20_left_desktop_urdf.sh b/archive/launchers/run_g20_left_desktop_urdf.sh new file mode 100755 index 0000000..3054061 --- /dev/null +++ b/archive/launchers/run_g20_left_desktop_urdf.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_left_desktop_urdf.sh" "$@" diff --git a/archive/launchers/run_g20_left_dual_compare.sh b/archive/launchers/run_g20_left_dual_compare.sh new file mode 100755 index 0000000..8a45063 --- /dev/null +++ b/archive/launchers/run_g20_left_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_left_dual_compare.sh" "$@" diff --git a/archive/launchers/run_g20_left_mcp_roll_check.sh b/archive/launchers/run_g20_left_mcp_roll_check.sh new file mode 100755 index 0000000..7d86aab --- /dev/null +++ b/archive/launchers/run_g20_left_mcp_roll_check.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_left_mcp_roll_check.sh" "$@" diff --git a/archive/launchers/run_g20_mujoco_plan.sh b/archive/launchers/run_g20_mujoco_plan.sh new file mode 100755 index 0000000..f8373b4 --- /dev/null +++ b/archive/launchers/run_g20_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_g20_right_dual_compare.sh b/archive/launchers/run_g20_right_dual_compare.sh new file mode 100755 index 0000000..c6ef2ae --- /dev/null +++ b/archive/launchers/run_g20_right_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_right_dual_compare.sh" "$@" diff --git a/archive/launchers/run_g20_right_joint_gui.sh b/archive/launchers/run_g20_right_joint_gui.sh new file mode 100755 index 0000000..3d68a9f --- /dev/null +++ b/archive/launchers/run_g20_right_joint_gui.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_right_joint_gui.sh" "$@" diff --git a/archive/launchers/run_g20_right_mujoco_plan.sh b/archive/launchers/run_g20_right_mujoco_plan.sh new file mode 100755 index 0000000..57f8004 --- /dev/null +++ b/archive/launchers/run_g20_right_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/G20/scripts/run_g20_right_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_l6_left_dual_compare.sh b/archive/launchers/run_l6_left_dual_compare.sh new file mode 100755 index 0000000..6e6fa32 --- /dev/null +++ b/archive/launchers/run_l6_left_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/L6/scripts/run_l6_left_dual_compare.sh" "$@" diff --git a/archive/launchers/run_l6_left_mujoco_plan.sh b/archive/launchers/run_l6_left_mujoco_plan.sh new file mode 100755 index 0000000..9bdede3 --- /dev/null +++ b/archive/launchers/run_l6_left_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/L6/scripts/run_l6_left_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_l6_right_dual_compare.sh b/archive/launchers/run_l6_right_dual_compare.sh new file mode 100755 index 0000000..362a65f --- /dev/null +++ b/archive/launchers/run_l6_right_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/L6/scripts/run_l6_right_dual_compare.sh" "$@" diff --git a/archive/launchers/run_l6_right_mujoco_plan.sh b/archive/launchers/run_l6_right_mujoco_plan.sh new file mode 100755 index 0000000..a363325 --- /dev/null +++ b/archive/launchers/run_l6_right_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/L6/scripts/run_l6_right_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_o12_right_dual_compare.sh b/archive/launchers/run_o12_right_dual_compare.sh new file mode 100755 index 0000000..b759426 --- /dev/null +++ b/archive/launchers/run_o12_right_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O12/scripts/run_o12_right_dual_compare.sh" "$@" diff --git a/archive/launchers/run_o12_right_mujoco_plan.sh b/archive/launchers/run_o12_right_mujoco_plan.sh new file mode 100755 index 0000000..6846b32 --- /dev/null +++ b/archive/launchers/run_o12_right_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O12/scripts/run_o12_right_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_o30_left_mujoco_plan.sh b/archive/launchers/run_o30_left_mujoco_plan.sh new file mode 100755 index 0000000..59eed8b --- /dev/null +++ b/archive/launchers/run_o30_left_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/scripts/run_o30_left_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_o30_right_mujoco_plan.sh b/archive/launchers/run_o30_right_mujoco_plan.sh new file mode 100755 index 0000000..0d6d8fb --- /dev/null +++ b/archive/launchers/run_o30_right_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_o30_right_v5_piecewise.sh b/archive/launchers/run_o30_right_v5_piecewise.sh new file mode 100755 index 0000000..88b4099 --- /dev/null +++ b/archive/launchers/run_o30_right_v5_piecewise.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/legacy/run_o30_right_v5_piecewise.sh" "$@" diff --git a/archive/launchers/run_o30_right_v6_linear.sh b/archive/launchers/run_o30_right_v6_linear.sh new file mode 100755 index 0000000..50813a9 --- /dev/null +++ b/archive/launchers/run_o30_right_v6_linear.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/legacy/run_o30_right_v6_linear.sh" "$@" diff --git a/archive/launchers/run_o30_right_v7_linear.sh b/archive/launchers/run_o30_right_v7_linear.sh new file mode 100755 index 0000000..fa74b30 --- /dev/null +++ b/archive/launchers/run_o30_right_v7_linear.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/legacy/run_o30_right_v7_linear.sh" "$@" diff --git a/archive/launchers/run_o30_right_v8_linear.sh b/archive/launchers/run_o30_right_v8_linear.sh new file mode 100755 index 0000000..a1efee5 --- /dev/null +++ b/archive/launchers/run_o30_right_v8_linear.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/legacy/run_o30_right_v8_linear.sh" "$@" diff --git a/archive/launchers/run_o30_right_v9_linear.sh b/archive/launchers/run_o30_right_v9_linear.sh new file mode 100755 index 0000000..6a0d660 --- /dev/null +++ b/archive/launchers/run_o30_right_v9_linear.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O30/legacy/run_o30_right_v9_linear.sh" "$@" diff --git a/archive/launchers/run_o6_left_dual_compare.sh b/archive/launchers/run_o6_left_dual_compare.sh new file mode 100755 index 0000000..1ad2e70 --- /dev/null +++ b/archive/launchers/run_o6_left_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O6/scripts/run_o6_left_dual_compare.sh" "$@" diff --git a/archive/launchers/run_o6_left_mujoco_plan.sh b/archive/launchers/run_o6_left_mujoco_plan.sh new file mode 100755 index 0000000..2372465 --- /dev/null +++ b/archive/launchers/run_o6_left_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O6/scripts/run_o6_left_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_o6_right_dual_compare.sh b/archive/launchers/run_o6_right_dual_compare.sh new file mode 100755 index 0000000..82da1cf --- /dev/null +++ b/archive/launchers/run_o6_right_dual_compare.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O6/scripts/run_o6_right_dual_compare.sh" "$@" diff --git a/archive/launchers/run_o6_right_mujoco_plan.sh b/archive/launchers/run_o6_right_mujoco_plan.sh new file mode 100755 index 0000000..a7633b2 --- /dev/null +++ b/archive/launchers/run_o6_right_mujoco_plan.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Compatibility entry; implementation is grouped by hand model. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/O6/scripts/run_o6_right_mujoco_plan.sh" "$@" diff --git a/archive/launchers/run_sim.sh b/archive/launchers/run_sim.sh new file mode 100755 index 0000000..f8b3f30 --- /dev/null +++ b/archive/launchers/run_sim.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +# Legacy ROS launch interface; prefer hands//run_.sh. +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/hands/legacy/run_sim.sh" "$@" diff --git a/archive/layout_migration.json b/archive/layout_migration.json new file mode 100644 index 0000000..4f8f5cd --- /dev/null +++ b/archive/layout_migration.json @@ -0,0 +1,167 @@ +{ + "date": "20260928_104430", + "moves": { + "run_o6_right_dual_compare.sh": "archive/launchers/run_o6_right_dual_compare.sh", + "run_g20_joint_gui.sh": "archive/launchers/run_g20_joint_gui.sh", + "run_o6_right_mujoco_plan.sh": "archive/launchers/run_o6_right_mujoco_plan.sh", + "run_o30_right_v9_linear.sh": "archive/launchers/run_o30_right_v9_linear.sh", + "run_o30_left_mujoco_plan.sh": "archive/launchers/run_o30_left_mujoco_plan.sh", + "run_dual_mujoco_compare.sh": "archive/launchers/run_dual_mujoco_compare.sh", + "run_o6_left_dual_compare.sh": "archive/launchers/run_o6_left_dual_compare.sh", + "run_l6_right_mujoco_plan.sh": "archive/launchers/run_l6_right_mujoco_plan.sh", + "run_g20_mujoco_plan.sh": "archive/launchers/run_g20_mujoco_plan.sh", + "run_g20_right_dual_compare.sh": "archive/launchers/run_g20_right_dual_compare.sh", + "run_g20_left_dual_compare.sh": "archive/launchers/run_g20_left_dual_compare.sh", + "run_o30_right_mujoco_plan.sh": "archive/launchers/run_o30_right_mujoco_plan.sh", + "run_o12_right_dual_compare.sh": "archive/launchers/run_o12_right_dual_compare.sh", + "run_sim.sh": "archive/launchers/run_sim.sh", + "run_o30_right_v7_linear.sh": "archive/launchers/run_o30_right_v7_linear.sh", + "run_l6_left_dual_compare.sh": "archive/launchers/run_l6_left_dual_compare.sh", + "run_g20_left_mcp_roll_check.sh": "archive/launchers/run_g20_left_mcp_roll_check.sh", + "run_l6_right_dual_compare.sh": "archive/launchers/run_l6_right_dual_compare.sh", + "run_l6_left_mujoco_plan.sh": "archive/launchers/run_l6_left_mujoco_plan.sh", + "run_o30_right_v6_linear.sh": "archive/launchers/run_o30_right_v6_linear.sh", + "run_o12_right_mujoco_plan.sh": "archive/launchers/run_o12_right_mujoco_plan.sh", + "run_g20_left_desktop_urdf.sh": "archive/launchers/run_g20_left_desktop_urdf.sh", + "run_o30_right_v8_linear.sh": "archive/launchers/run_o30_right_v8_linear.sh", + "run_g20_right_joint_gui.sh": "archive/launchers/run_g20_right_joint_gui.sh", + "run_o6_left_mujoco_plan.sh": "archive/launchers/run_o6_left_mujoco_plan.sh", + "run_o30_right_v5_piecewise.sh": "archive/launchers/run_o30_right_v5_piecewise.sh", + "run_g20_right_mujoco_plan.sh": "archive/launchers/run_g20_right_mujoco_plan.sh", + "run_real_middle_record.sh": "tools/hardware/run_real_middle_record.sh", + "run_real_hand.sh": "tools/hardware/run_real_hand.sh", + "run_middle_step_experiment.sh": "tools/experiments/run_middle_step_experiment.sh", + "hands/L6/run_l6_right_mujoco_plan.sh": "hands/L6/scripts/run_l6_right_mujoco_plan.sh", + "hands/L6/run_l6_left_dual_compare.sh": "hands/L6/scripts/run_l6_left_dual_compare.sh", + "hands/L6/run_l6_right_dual_compare.sh": "hands/L6/scripts/run_l6_right_dual_compare.sh", + "hands/L6/run_l6_left_mujoco_plan.sh": "hands/L6/scripts/run_l6_left_mujoco_plan.sh", + "hands/O30/run_o30_left_mujoco_plan.sh": "hands/O30/scripts/run_o30_left_mujoco_plan.sh", + "hands/O30/run_o30_right_mujoco_plan.sh": "hands/O30/scripts/run_o30_right_mujoco_plan.sh", + "hands/O12/run_o12_right_dual_compare.sh": "hands/O12/scripts/run_o12_right_dual_compare.sh", + "hands/O12/run_o12_right_mujoco_plan.sh": "hands/O12/scripts/run_o12_right_mujoco_plan.sh", + "hands/G20/run_g20_joint_gui.sh": "hands/G20/scripts/run_g20_joint_gui.sh", + "hands/G20/run_g20_mujoco_plan.sh": "hands/G20/scripts/run_g20_mujoco_plan.sh", + "hands/G20/run_g20_right_dual_compare.sh": "hands/G20/scripts/run_g20_right_dual_compare.sh", + "hands/G20/run_g20_left_dual_compare.sh": "hands/G20/scripts/run_g20_left_dual_compare.sh", + "hands/G20/run_g20_left_mcp_roll_check.sh": "hands/G20/scripts/run_g20_left_mcp_roll_check.sh", + "hands/G20/run_g20_left_desktop_urdf.sh": "hands/G20/scripts/run_g20_left_desktop_urdf.sh", + "hands/G20/run_g20_right_joint_gui.sh": "hands/G20/scripts/run_g20_right_joint_gui.sh", + "hands/G20/run_g20_right_mujoco_plan.sh": "hands/G20/scripts/run_g20_right_mujoco_plan.sh", + "hands/O6/run_o6_right_dual_compare.sh": "hands/O6/scripts/run_o6_right_dual_compare.sh", + "hands/O6/run_o6_right_mujoco_plan.sh": "hands/O6/scripts/run_o6_right_mujoco_plan.sh", + "hands/O6/run_o6_left_dual_compare.sh": "hands/O6/scripts/run_o6_left_dual_compare.sh", + "hands/O6/run_o6_left_mujoco_plan.sh": "hands/O6/scripts/run_o6_left_mujoco_plan.sh", + "backups": "archive/backups", + "exports": "assets/exports", + "Linkerbot_URDF": "assets/vendor/Linkerbot_URDF", + "reports": "outputs/reports", + "MUJOCO_LOG.TXT": "outputs/logs/MUJOCO_LOG.TXT", + "README.md": "docs/legacy/README_before_directory_cleanup.md", + "README_启动.md": "docs/legacy/README_启动.md", + "议题3_仿真负责人行动计划.md": "docs/plans/议题3_仿真负责人行动计划.md", + "assets/exports/O30_right_V7_linear": "archive/exports/O30_right_V7_linear", + "assets/exports/O30_right_V9_linear": "archive/exports/O30_right_V9_linear", + "assets/exports/O30_V9_left_right": "archive/exports/O30_V9_left_right", + "assets/exports/O30_right_V6_linear.zip": "archive/exports/O30_right_V6_linear.zip", + "assets/exports/O30_right_V7_linear.zip": "archive/exports/O30_right_V7_linear.zip", + "assets/exports/O30_V10_left_right (副本)": "archive/exports/O30_V10_left_right (副本)", + "assets/exports/O30_V9_left_right.zip": "archive/exports/O30_V9_left_right.zip", + "assets/exports/O30_right_V10_linear.zip": "archive/exports/O30_right_V10_linear.zip", + "assets/exports/O30_right_V8_linear.zip": "archive/exports/O30_right_V8_linear.zip", + "assets/exports/O30_right_V6_linear": "archive/exports/O30_right_V6_linear", + "assets/exports/O30_left_right (副本)": "archive/exports/O30_left_right (副本)", + "assets/exports/O30_right_V10_linear": "archive/exports/O30_right_V10_linear", + "assets/exports/O30_left_right (副本).zip": "archive/exports/O30_left_right (副本).zip", + "assets/exports/O30_right_V8_linear": "archive/exports/O30_right_V8_linear", + "assets/exports/O30_right_V9_linear.zip": "archive/exports/O30_right_V9_linear.zip", + "outputs/reports/o30_right_middle_review": "outputs/reports/O30/o30_right_middle_review", + "outputs/reports/o30_right_multiview_calibration": "outputs/reports/O30/o30_right_multiview_calibration", + "outputs/reports/o30_right_two_joint_calibration": "outputs/reports/O30/o30_right_two_joint_calibration", + "outputs/reports/O6_index_sweep": "outputs/reports/O6/O6_index_sweep", + "outputs/reports/o30_right_tip_review": "outputs/reports/O30/o30_right_tip_review", + "outputs/reports/o30_right_zero_v10_calibration": "outputs/reports/O30/o30_right_zero_v10_calibration", + "outputs/reports/o30_right_pinch_calibration": "outputs/reports/O30/o30_right_pinch_calibration", + "outputs/reports/o30_right_middle_calibration": "outputs/reports/O30/o30_right_middle_calibration", + "outputs/reports/o30_right_zero_review": "outputs/reports/O30/o30_right_zero_review", + "outputs/reports/o30_right_pinky_refinement": "outputs/reports/O30/o30_right_pinky_refinement", + "outputs/reports/o30_right_pinky_root_calibration": "outputs/reports/O30/o30_right_pinky_root_calibration", + "outputs/reports/o30_right_photo_calibration": "outputs/reports/O30/o30_right_photo_calibration", + "outputs/reports/o30_right_two_joint_review": "outputs/reports/O30/o30_right_two_joint_review", + "outputs/reports/o30_right_endpoint_calibration": "outputs/reports/O30/o30_right_endpoint_calibration", + "outputs/reports/O6_middle_sweep": "outputs/reports/O6/O6_middle_sweep", + "outputs/reports/O6_middle_ros": "outputs/reports/O6/O6_middle_ros", + "outputs/reports/o30_right_linear_calibration": "outputs/reports/O30/o30_right_linear_calibration" + }, + "updated_text_files": [ + "hands/L6/run_left.sh", + "hands/L6/run_right.sh", + "hands/O30/run_left.sh", + "hands/O30/run_right.sh", + "hands/O12/run_right.sh", + "hands/G20/run_left.sh", + "hands/G20/run_right.sh", + "hands/O6/run_left.sh", + "hands/O6/run_right.sh", + "hands/L6/scripts/run_l6_right_mujoco_plan.sh", + "hands/L6/scripts/run_l6_left_dual_compare.sh", + "hands/L6/scripts/run_l6_right_dual_compare.sh", + "hands/L6/scripts/run_l6_left_mujoco_plan.sh", + "hands/O30/legacy/run_o30_right_v9_linear.sh", + "hands/O30/legacy/run_o30_right_v7_linear.sh", + "hands/O30/legacy/run_o30_right_v6_linear.sh", + "hands/O30/legacy/run_o30_right_v8_linear.sh", + "hands/O30/legacy/run_o30_right_v5_piecewise.sh", + "hands/O30/scripts/run_o30_left_mujoco_plan.sh", + "hands/O30/scripts/run_o30_right_mujoco_plan.sh", + "hands/O12/scripts/run_o12_right_dual_compare.sh", + "hands/O12/scripts/run_o12_right_mujoco_plan.sh", + "hands/G20/scripts/run_g20_right_dual_compare.sh", + "hands/G20/scripts/run_g20_left_dual_compare.sh", + "hands/G20/scripts/run_g20_left_mcp_roll_check.sh", + "hands/G20/scripts/run_g20_left_desktop_urdf.sh", + "hands/G20/scripts/run_g20_right_mujoco_plan.sh", + "hands/O6/scripts/run_o6_right_dual_compare.sh", + "hands/O6/scripts/run_o6_right_mujoco_plan.sh", + "hands/O6/scripts/run_o6_left_dual_compare.sh", + "hands/O6/scripts/run_o6_left_mujoco_plan.sh", + "tools/run_middle_step_experiment.py", + "tools/hand_curve_recorder_standalone.py", + "tools/ros_real_record_qvt.py", + "tools/ros_mujoco_record_qvt.py", + "tools/friction_id/sweep_index_plot.py", + "tools/experiments/run_middle_step_experiment.sh", + "tools/o30_mirror/build.py", + "tools/o30_right_calibration/two_joint_review.py", + "tools/o30_right_calibration/fit_two_joints.py", + "tools/o30_right_calibration/README_v7.md", + "tools/o30_right_calibration/fit_photos.py", + "tools/o30_right_calibration/fit_middle.py", + "tools/o30_right_calibration/README_v3.md", + "tools/o30_right_calibration/fit_linear.py", + "tools/o30_right_calibration/README.md", + "tools/o30_right_calibration/fit_pinky.py", + "tools/o30_right_calibration/README_v1.md", + "tools/o30_right_calibration/README_v8.md", + "tools/o30_right_calibration/calibrate.py", + "tools/o30_right_calibration/fit_multiview.py", + "tools/o30_right_calibration/README_v9.md", + "tools/o30_right_calibration/fit_pinky_root.py", + "tools/o30_right_calibration/README_v2.md", + "tools/o30_right_calibration/fit_zero_v10.py", + "tools/o30_right_calibration/README_v5.md", + "tools/o30_right_calibration/README_v4.md", + "tools/o30_right_calibration/fit_endpoints.py", + "tools/o30_right_calibration/README_v6.md", + "src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/hand_curve_recorder.py", + "src/linkerhand-sim/linker_hand_mujoco_ros2/launch/hand_curve_recorder.launch.py", + "src/linkerhand-sim/linker_hand_mujoco_ros2/launch/g20_plan_bridge.launch.py", + "outputs/reports/o30_right_tip_review/render_rejected_candidate.py", + "outputs/reports/o30_right_tip_review/search_restricted.py", + "outputs/reports/o30_right_tip_review/search_relaxed_diagnostic.py", + "outputs/reports/o30_right_tip_review/strict_geometry/pivot_probe.py", + "outputs/reports/o30_right_tip_review/strict_geometry/check_axes.py", + "outputs/reports/o30_right_tip_review/strict_geometry/isolated_mcp_review.py", + "archive/launchers/run_dual_mujoco_compare.sh" + ], + "backup": "archive/backups/before_directory_cleanup_20260928_104430" +} diff --git a/assets/exports/O30_V10_left_right.zip b/assets/exports/O30_V10_left_right.zip new file mode 100644 index 0000000..e0af5c2 Binary files /dev/null and b/assets/exports/O30_V10_left_right.zip differ diff --git a/assets/exports/O30_V10_left_right/README.md b/assets/exports/O30_V10_left_right/README.md new file mode 100644 index 0000000..5cd79e3 --- /dev/null +++ b/assets/exports/O30_V10_left_right/README.md @@ -0,0 +1,28 @@ +# O30 V10 左右手（最新零位校准版） + +此目录为最新 V10 的独立副本，文件名已统一为 v10。旧目录和启动脚本未更改。 + +- 左手：`left/linkerhand_o30_left_v10.urdf` +- 右手：`right/linkerhand_o30_right_v10.urdf` +- 两侧各附带自己的 `meshes/`，移动时需与对应 URDF 一起复制。 + +右手是最新 V10 零位校准版，左手为其完整镜像。保持 SDK 0～255 按关节限位纯线性换算，没有分段映射。相同 SDK 顺序见 `sdk_joint_order.txt`；四组对指及零位见 `commands.json` 的 `sdk_command`。 + +零位指令： + +``` +[0,0,255,197,110,28,0,0,0,0,0,0,0,0,0,0,0,0,0,0] +``` + +`left_ros_radians` 只是内部弧度参考，不能当作 SDK 指令发送。左手话题为 `/cb_left_hand_control_cmd`，右手为 `/cb_right_hand_control_cmd`，均接收 JointState.position 的 20 个 SDK 值。 + +从本目录显式启动（在项目根目录执行）： + +```bash +O30_LEFT_URDF="$PWD/exports/O30_V10_left_right/left/linkerhand_o30_left_v10.urdf" ./run_o30_left_mujoco_plan.sh +O30_RIGHT_URDF="$PWD/exports/O30_V10_left_right/right/linkerhand_o30_right_v10.urdf" ./run_o30_right_mujoco_plan.sh +``` + +复制来源已通过原始 SHA256 检查；新左右手 URDF 和网格与来源一致，仅 URDF 文件名更新。`validation.json` 与 `comparison.png` 为这些相同资产的既有验证记录和预览，复制本身不表示重新拟合。 + +左手仍是右手的对称仿真资产，未对左手真机单独标定。V10 基于伸直/并行几何先验调整零位，保留四组捏合及已校准弯曲端点，不代表照片精确测角或真机全行程验证。 diff --git a/assets/exports/O30_V10_left_right/SHA256SUMS.json b/assets/exports/O30_V10_left_right/SHA256SUMS.json new file mode 100644 index 0000000..c3bc165 --- /dev/null +++ b/assets/exports/O30_V10_left_right/SHA256SUMS.json @@ -0,0 +1,52 @@ +{ + "README.md": "a147289beed7c19242d3d21b6a7ad030c0ab1072e2957ca99214d99f83adcf23", + "commands.json": "69879230c754d5b36a59962b9a46f858f7a928adbf0aa7f06aa5408ce0e99b0e", + "comparison.png": "3c2e88a55788dfef722401006b0313ba82ee6ea31f3a6e9c0ba8729b79d6bdce", + "left/linkerhand_o30_left_v10.urdf": "44c8fdb411a712cac1f6be83b31c97344684e850ea1fbdb784ee93f2b515fe7a", + "left/meshes/hand_base_link.STL": "0a2d3b5716441a937b4983f544d5f7e9cf48efa406834bd99088c260a9fe161d", + "left/meshes/index_distal.STL": "dc58601a997bb95b70bf304cca6162942c0156aca17790adb94f5856235c9916", + "left/meshes/index_metacarpals.STL": "43fe41dee08b286c9c74d028518e6039a60fa875fa9786f19e8b0fa84bc2e2c2", + "left/meshes/index_middle.STL": "9b921b66922da9ccefd37b363728931747278200c50b566c79a1240afc8b3627", + "left/meshes/index_proximal.STL": "e8f06b5aaee297b71818bb60f338fa795d546061d1db00b056d99af1817644a3", + "left/meshes/middle_distal.STL": 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"index_mcp_pitch", + "middle_mcp_pitch", + "ring_mcp_pitch", + "pinky_mcp_pitch", + "index_pip", + "middle_pip", + "ring_pip", + "pinky_pip", + "thumb_ip", + "index_dip", + "middle_dip", + "ring_dip", + "pinky_dip" + ], + "left_ros_order": [ + "thumb_cmc_roll", + "thumb_cmc_yaw", + "thumb_mcp", + "thumb_ip", + "index_mcp_roll", + "index_mcp_pitch", + "index_pip", + "index_dip", + "middle_mcp_roll", + "middle_mcp_pitch", + "middle_pip", + "middle_dip", + "ring_mcp_roll", + "ring_mcp_pitch", + "ring_pip", + "ring_dip", + "pinky_mcp_roll", + "pinky_mcp_pitch", + "pinky_pip", + "pinky_dip" + ], + "pinches": { + "index": { + "sdk_command": [ + 55, + 181, + 225, + 176, + 212, + 162, + 135, + 164, + 0, + 0, + 0, + 139, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "left_ros_radians": [ + 0.18813577840372547, + 1.4396582597857257, + 1.0277351056058823, + 0.0, + -0.09370641027822224, + 1.11587286439394, + 0.8020369133142686, + 0.0, + -0.056923250644910384, + 0.0, + 0.0, + 0.0, + 0.20105220210793762, + 0.0, + 0.0, + 0.0, + 0.17710860883550222, + 0.0, + 0.0, + 0.0 + ] + }, + "middle": { + "sdk_command": [ + 137, + 166, + 225, + 176, + 212, + 162, + 174, + 0, + 78, + 0, + 0, + 139, + 216, + 0, + 0, + 0, + 0, + 79, + 0, + 0 + ], + "left_ros_radians": [ + 0.468629120751098, + 1.3203495642233727, + 1.3246363583364706, + 0.0, + -0.09370641027822224, + 0.0, + 0.8020369133142686, + 0.0, + -0.056923250644910384, + 0.4851377064829213, + 1.3475198126296868, + 0.49499464386611763, + 0.20105220210793762, + 0.0, + 0.0, + 0.0, + 0.17710860883550222, + 0.0, + 0.0, + 0.0 + ] + }, + "ring": { + "sdk_command": [ + 255, + 172, + 169, + 169, + 162, + 170, + 143, + 0, + 0, + 140, + 0, + 0, + 0, + 172, + 0, + 0, + 0, + 0, + 61, + 0 + ], + "left_ros_radians": [ + 0.87226588169, + 1.3680730424483138, + 1.0886379266788235, + 0.0, + -0.16919281483119805, + 0.0, + 0.0, + 0.0, + -0.07162232590335149, + 0.0, + 0.0, + 0.0, + 0.09967196576172593, + 0.8531488605184314, + 1.07031189749349, + 0.3765771849929412, + 0.18856088581503322, + 0.0, + 0.0, + 0.0 + ] + }, + "pinky": { + "sdk_command": [ + 101, + 255, + 169, + 169, + 162, + 170, + 98, + 0, + 0, + 0, + 166, + 0, + 0, + 0, + 150, + 52, + 0, + 0, + 0, + 107 + ], + "left_ros_radians": [ + 0.3454857021595686, + 2.02824782456, + 0.7460595581435294, + 0.32699495581089144, + -0.16919281483119805, + 0.0, + 0.0, + 0.0, + -0.07162232590335149, + 0.0, + 0.0, + 0.0, + 0.09967196576172593, + 0.0, + 0.0, + 0.0, + 0.18856088581503322, + 1.136714936245495, + 0.9274665849352941, + 0.6655254905272548 + ] + } + }, + "zero": { + "sdk_command": [ + 0, + 0, + 255, + 197, + 110, + 28, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "left_ros_radians": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.053267264981985196, + 0.0, + 0.0, + 0.0, + -0.012826024869587227, + 0.0, + 0.0, + 0.0, + -0.00576348003833424, + 0.0, + 0.0, + 0.0, + -0.014717030571641594, + 0.0, + 0.0, + 0.0 + ] + } +} diff --git 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b/assets/exports/O30_V10_left_right/sdk_joint_order.txt new file mode 100644 index 0000000..a464add --- /dev/null +++ b/assets/exports/O30_V10_left_right/sdk_joint_order.txt @@ -0,0 +1,20 @@ +0: thumb_cmc_roll +1: thumb_cmc_yaw +2: index_mcp_roll +3: middle_mcp_roll +4: ring_mcp_roll +5: pinky_mcp_roll +6: thumb_mcp +7: index_mcp_pitch +8: middle_mcp_pitch +9: ring_mcp_pitch +10: pinky_mcp_pitch +11: index_pip +12: middle_pip +13: ring_pip +14: pinky_pip +15: thumb_ip +16: index_dip +17: middle_dip +18: ring_dip +19: pinky_dip diff --git a/assets/exports/O30_V10_left_right/validation.json b/assets/exports/O30_V10_left_right/validation.json new file mode 100644 index 0000000..e2ba779 --- /dev/null +++ b/assets/exports/O30_V10_left_right/validation.json @@ -0,0 +1,33 @@ +{ + "commands": 37, + "max_mirror_position_error_m": 0.0, + "max_mirror_rotation_error": 0.0, + "max_runtime_pose_error": 1.833602714107485e-14, + "contacts": [ + { + "finger": "index", + "right_gap_mm": -0.000126303898665965, + "left_gap_mm": -0.00012630389866754953, + "runtime_left_gap_mm": -0.00012630389910024724 + }, + { + "finger": "middle", + "right_gap_mm": 0.020000402670061167, + "left_gap_mm": 0.020000402670061167, + "runtime_left_gap_mm": 0.020000402670048555 + }, + { + "finger": "ring", + "right_gap_mm": 0.0, + "left_gap_mm": 0.0, + "runtime_left_gap_mm": 0.0 + }, + { + "finger": "pinky", + "right_gap_mm": 0.020000643267029144, + "left_gap_mm": 0.020000643267029144, + "runtime_left_gap_mm": 0.020000643267029144 + } + ], + "mirrored_inertia": true +} diff --git a/assets/exports/O30_V10_left_right/version.json b/assets/exports/O30_V10_left_right/version.json new file mode 100644 index 0000000..a3d7904 --- /dev/null +++ b/assets/exports/O30_V10_left_right/version.json @@ -0,0 +1,7 @@ +{ + "asset_version": "V10", + "source": "src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_zero_v10_calibrated.urdf", + "source_sha256": "f233c5eff38ba46d1a2826c2624fc8a13e86ed0c74c6b914bf0fcc021b43e439", + "note": "Both URDF filenames and directory explicitly labeled V10; copied without changing asset contents.", + "copied_from": "exports/O30_V9_left_right" +} diff --git a/assets/vendor/Linkerbot_URDF/012/left/.vscode/settings.json b/assets/vendor/Linkerbot_URDF/012/left/.vscode/settings.json new file mode 100644 index 0000000..4685fd8 --- /dev/null +++ b/assets/vendor/Linkerbot_URDF/012/left/.vscode/settings.json @@ -0,0 +1,8 @@ +// settings.json +{ + // other settings + "urdf-visualizer.packages": { + "linkerhand_o12_t3_left": "src/linkerhand_o12_t3_left" + }, + // other settings +} \ No newline at end of file diff --git a/assets/vendor/Linkerbot_URDF/012/left/linkerhand_o12_left.urdf b/assets/vendor/Linkerbot_URDF/012/left/linkerhand_o12_left.urdf new file mode 100644 index 0000000..f07ed5a --- /dev/null +++ b/assets/vendor/Linkerbot_URDF/012/left/linkerhand_o12_left.urdf @@ -0,0 +1,1231 @@ + + + + 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100644 index 0000000..bd3c424 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals_base1.STL b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals_base1.STL new file mode 100644 index 0000000..21bd7eb Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals_base1.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals_base2.STL b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals_base2.STL new file mode 100644 index 0000000..5cd144a Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_metacarpals_base2.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_proximal.STL b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_proximal.STL new file mode 100644 index 0000000..90aca3e Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/left/meshes/thumb_proximal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/right/.vscode/settings.json b/assets/vendor/Linkerbot_URDF/012/right/.vscode/settings.json new file mode 100644 index 0000000..abcbc4b --- /dev/null +++ b/assets/vendor/Linkerbot_URDF/012/right/.vscode/settings.json @@ -0,0 +1,8 @@ +// settings.json +{ + // other settings + "urdf-visualizer.packages": { + "linkerhand_o12_t3_right": "src/linkerhand_o12_t3_right" + }, + // other settings +} \ No newline at end of file diff --git a/assets/vendor/Linkerbot_URDF/012/right/linkerhand_o12_right.urdf b/assets/vendor/Linkerbot_URDF/012/right/linkerhand_o12_right.urdf new file mode 100644 index 0000000..543f403 --- /dev/null +++ b/assets/vendor/Linkerbot_URDF/012/right/linkerhand_o12_right.urdf @@ -0,0 +1,1234 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/base_link.STL b/assets/vendor/Linkerbot_URDF/012/right/meshes/base_link.STL new file mode 100644 index 0000000..42541fa Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/right/meshes/base_link.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/index_distal.STL b/assets/vendor/Linkerbot_URDF/012/right/meshes/index_distal.STL new file mode 100644 index 0000000..56a9b93 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/right/meshes/index_distal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/index_metacarpals.STL b/assets/vendor/Linkerbot_URDF/012/right/meshes/index_metacarpals.STL new file mode 100644 index 0000000..5233fa7 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/right/meshes/index_metacarpals.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/index_middle.STL 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diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_metacarpals_base1.STL b/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_metacarpals_base1.STL new file mode 100644 index 0000000..2ba4a8b Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_metacarpals_base1.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_metacarpals_base2.STL b/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_metacarpals_base2.STL new file mode 100644 index 0000000..cbf82a6 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_metacarpals_base2.STL differ diff --git a/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_proximal.STL b/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_proximal.STL new file mode 100644 index 0000000..22c9357 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/012/right/meshes/thumb_proximal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/linkerhand_o6_left.urdf b/assets/vendor/Linkerbot_URDF/06/LEFT/linkerhand_o6_left.urdf new file mode 100644 index 0000000..c8215e9 --- /dev/null +++ b/assets/vendor/Linkerbot_URDF/06/LEFT/linkerhand_o6_left.urdf @@ -0,0 +1,666 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/hand_base_link.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/hand_base_link.STL new file mode 100644 index 0000000..b7ab0c1 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/hand_base_link.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/index_distal.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/index_distal.STL new file mode 100644 index 0000000..db30679 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/index_distal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/index_proximal.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/index_proximal.STL new file mode 100644 index 0000000..f427e3c Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/index_proximal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/middle_distal.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/middle_distal.STL new file mode 100644 index 0000000..a4838a5 Binary files /dev/null and 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b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/ring_distal.STL new file mode 100644 index 0000000..b8247b1 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/ring_distal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/ring_proximal.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/ring_proximal.STL new file mode 100644 index 0000000..7c47ff6 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/ring_proximal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_distal.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_distal.STL new file mode 100644 index 0000000..19eee73 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_distal.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_metacarpals.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_metacarpals.STL new file mode 100644 index 0000000..9f1ab59 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_metacarpals.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_metacarpals_base2.STL b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_metacarpals_base2.STL new file mode 100644 index 0000000..5e66834 Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/06/LEFT/meshes/thumb_metacarpals_base2.STL differ diff --git a/assets/vendor/Linkerbot_URDF/06/LEFT/o6_left_O6_LEFT_TRANSFERRED_FROM_O6_RIGHT_001_transferred_calibration.json b/assets/vendor/Linkerbot_URDF/06/LEFT/o6_left_O6_LEFT_TRANSFERRED_FROM_O6_RIGHT_001_transferred_calibration.json new file mode 100644 index 0000000..ec32b09 --- /dev/null +++ b/assets/vendor/Linkerbot_URDF/06/LEFT/o6_left_O6_LEFT_TRANSFERRED_FROM_O6_RIGHT_001_transferred_calibration.json @@ -0,0 +1,8857 @@ +{ + "angle_unit": "rad", + "baseline_command_u8": [ + 255, + 255, + 255, + 255, + 255, + 255 + ], + "calibration_scope": "partial", + "command_names": [ + "thumb_cmc_pitch", + 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a/assets/vendor/Linkerbot_URDF/O30/urdf_0803-right/meshes/thumb_proximal.STL b/assets/vendor/Linkerbot_URDF/O30/urdf_0803-right/meshes/thumb_proximal.STL new file mode 100644 index 0000000..6bd0d4e Binary files /dev/null and b/assets/vendor/Linkerbot_URDF/O30/urdf_0803-right/meshes/thumb_proximal.STL differ diff --git a/docs/legacy/README_before_directory_cleanup.md b/docs/legacy/README_before_directory_cleanup.md new file mode 100644 index 0000000..b57651b --- /dev/null +++ b/docs/legacy/README_before_directory_cleanup.md @@ -0,0 +1,215 @@ +# Mujoco LinkerBot（ROS 2） + +Linker Hand 的 MuJoCo + ROS 2 仿真工作区。支持： + +- **O6**：经典 6 通道 0~255 控制（launch） +- **G20 左手**：PLAN 桥接、标定查表、MJCF/URDF 零位同步 +- **L20 V10.1 左手**：与 G20 双窗对比 +- 关节弧度监视 GUI、曲线录制与实验脚本 + +远程仓库： + +--- + +## 环境要求 + +- Ubuntu + ROS 2 **Jazzy** +- 工作区路径示例：`~/linker_hand_mujoco_ros2` +- Python 依赖在本地 `venv`（含 `mujoco` 等；**不要**把 `venv` 提交进仓库） +- `ros2 launch` 使用系统 Python，仅 `source venv` 不够，请用仓库里的启动脚本（会把 `venv/site-packages` 加入 `PYTHONPATH`） + +--- + +## 一、编译（首次或改代码后） + +```bash +cd ~/linker_hand_mujoco_ros2 +source /opt/ros/jazzy/setup.bash +colcon build --symlink-install --packages-select linker_hand_mujoco_ros2 +source install/setup.bash +``` + +`venv/` 已放 `COLCON_IGNORE`，不会被 colcon 误扫。 + +--- + +## 二、O6 仿真（原有流程） + +```bash +./run_sim.sh +``` + +- 控制话题：`/cb_left_hand_control_cmd` +- 类型：`sensor_msgs/msg/JointState` +- `position`：6 个数，约 **0~255**（**255≈张开，0≈握紧**） + +| 索引 | 含义 | +|------|------| +| 0 | 拇指弯曲 | +| 1 | 拇指横摆 | +| 2 | 食指弯曲 | +| 3 | 中指弯曲 | +| 4 | 无名指弯曲 | +| 5 | 小指弯曲 | + +更多 O6 / 多机 DDS / 曲线录制说明见下文「附录：O6 与多机」。 + +--- + +## 三、G20 左手仿真（推荐） + +### 3.1 一键启动 + +```bash +./run_g20_mujoco_plan.sh +``` + +默认行为： + +| 项 | 值 | +|----|-----| +| 模型 | `urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml` | +| 控制话题 | `/g20/cb_left_hand_control_cmd` | +| 状态话题 | `/sim/mujoco/g20/left/joint_state` | +| 指令 | 20 维 0~255（与真机 SDK 通道对齐） | +| 映射 | 标定 JSON 查表 + URDF 被动 mimic | +| 速度 | 约 1.35× 墙钟，可用 `--speed` / `--slew-rad-s` 调整 | + +常用参数示例： + +```bash +./run_g20_mujoco_plan.sh --speed 1.0 +./run_g20_mujoco_plan.sh --cmd-topic /g20/cb_left_hand_control_cmd +./run_g20_mujoco_plan.sh --mapping g20_calibrated +``` + +### 3.2 关节弧度 GUI + +```bash +./run_g20_joint_gui.sh +``` + +默认订阅 `/sim/mujoco/g20/left/joint_state`，按手指分组显示 hinge 弧度（默认 6 位小数）。 + +### 3.3 G20 + L20 双窗对比 + +```bash +./run_dual_mujoco_compare.sh +``` + +- 左窗：当前标定 **G20**（`g20_calibrated`） +- 右窗：**L20 V10.1** 原版 URDF 映射（`l20_urdf`，默认关 collision project，避免自碰卡住） +- 共用同一条 0~255 控制话题（默认 `/g20/cb_left_hand_control_cmd`） + +--- + +## 四、标定与模型文件（G20） + +目录： + +`src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/` + +| 文件 | 说明 | +|------|------| +| `linkerhand_g20_left.urdf` | 当前使用的 URDF（含投影零位修正） | +| `linker_hand_g20_left.xml` | 当前使用的 MJCF（与 URDF 原点/限位同步） | +| `g20_left_G20_LEFT_001_calibration.json` | 运行时 0~255→弧度查表（schema 3） | +| `meshes/` | 网格 | + +映射实现：`utils/g20_joints.py` + +要点： + +1. **主动关节**：用标定 JSON 的 `angle_rad[0..255]` 查表。 +2. **零位**：用 `zero_angles.table_projected_zero_rad` 相对夹具参考修正 URDF/MJCF `origin`（相机投影零位，非完整外参优化）。 +3. **被动关节**：`thumb_ip`、四指 DIP 走 URDF mimic；JSON 里 `thumb_ip` 是累计投影角，**不能**直接当相对关节角。 +4. **四指侧摆**：运行时符号与真机约定见 `G20_FLIP_JOINT_SIGN`。 + +当前已知：张开大姿态已基本对齐；拇指 CMC 零位仍可能有小量前探/拧向残差。更稳妥的做法是解耦重测三个 CMC 投影零位，或导出 TAG 全位姿后做原点优化，而不是肉眼加减角度。 + +--- + +## 五、主要源码入口 + +| 路径 | 说明 | +|------|------| +| `linker_hand_mujoco_ros2/g20_plan_bridge.py` | G20/L20 MuJoCo PLAN 桥 | +| `linker_hand_mujoco_ros2/g20_joint_monitor_gui.py` | 关节弧度监视 GUI | +| `linker_hand_mujoco_ros2/utils/g20_joints.py` | G20 标定查表与映射 | +| `launch/linker_hand_mujoco_ros2.launch.py` | O6 launch | +| `urdf/O6/` | O6 MJCF | +| `urdf/G20/` | G20 URDF/MJCF + 标定 | +| `urdf/L20_V10.1/` | L20 V10.1 URDF/MJCF | +| `tools/` | 曲线录制、实验脚本 | + +Console 入口（`setup.py`）：`g20_plan_bridge`、`g20_joint_monitor_gui` 等。 + +--- + +## 六、克隆与推送 + +```bash +git clone https://gitea.robotquan.com/sunxianghui/mujoco_linkerbot.git +cd mujoco_linkerbot +# 自建 venv 并安装 mujoco 等依赖后，再 colcon build +``` + +本仓库 `origin` 指向上述 Gitea 地址。提交后： + +```bash +git push -u origin main +``` + +--- + +## 附录：O6 与多机 + +### 本机发一帧（O6 握拳示例） + +```bash +source /opt/ros/jazzy/setup.bash +export ROS_DOMAIN_ID=30 +export ROS_LOCALHOST_ONLY=0 + +ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{ + header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, + name: [], + position: [0.0, 100.0, 0.0, 0.0, 0.0, 0.0], + velocity: [], + effort: [] +}" +``` + +### 两台电脑共用 ROS 2 + +两边约定同一 Domain： + +```bash +export ROS_DOMAIN_ID=30 +export ROS_LOCALHOST_ONLY=0 +``` + +仿真机跑 `./run_sim.sh` 或 `./run_g20_mujoco_plan.sh`；控制机 `ros2 topic list` / `hz` / `echo` 检查。 + +### 通用曲线录制 + +```bash +source /opt/ros/jazzy/setup.bash +export ROS_DOMAIN_ID=30 +export ROS_LOCALHOST_ONLY=0 +python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim +``` + +### 常见问题 + +**`ModuleNotFoundError: No module named 'mujoco'`** +用 `./run_sim.sh` / `./run_g20_mujoco_plan.sh`，或手动把 `venv/lib/python3.12/site-packages` 加入 `PYTHONPATH`。 + +**L20 双窗对比时手不动** +自碰投影会把目标打回；`run_dual_mujoco_compare.sh` 已对 L20 默认 `--no-collision-project`。 + +--- + +## 许可与归属 + +包内模型与标定数据来自 Linker Hand / 本机标定流程；请按公司内部仓库规范使用与分发。 diff --git a/README_启动.md b/docs/legacy/README_启动.md similarity index 100% rename from README_启动.md rename to docs/legacy/README_启动.md diff --git a/议题3_仿真负责人行动计划.md b/docs/plans/议题3_仿真负责人行动计划.md similarity index 100% rename from 议题3_仿真负责人行动计划.md rename to docs/plans/议题3_仿真负责人行动计划.md diff --git a/hands/G20/README.md b/hands/G20/README.md new file mode 100644 index 0000000..c2c48d5 --- /dev/null +++ b/hands/G20/README.md @@ -0,0 +1,10 @@ +# G20 + +[统一入口与映射说明](../README.md) + +- `compare_left.sh` +- `compare_right.sh` +- `run_left.sh` +- `run_right.sh` + +`assets/` 是包内模型链接；`scripts/` 为内部实现及辅助工具。 diff --git a/hands/G20/assets b/hands/G20/assets new file mode 120000 index 0000000..e28c854 --- /dev/null +++ b/hands/G20/assets @@ -0,0 +1 @@ +../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20 \ No newline at end of file diff --git a/hands/G20/calibration/left_passive.json b/hands/G20/calibration/left_passive.json new file mode 120000 index 0000000..4fe29e7 --- /dev/null +++ b/hands/G20/calibration/left_passive.json @@ -0,0 +1 @@ +../../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_passive.json \ No newline at end of file diff --git a/hands/G20/calibration/right_passive.json b/hands/G20/calibration/right_passive.json new file mode 120000 index 0000000..9805a80 --- /dev/null +++ b/hands/G20/calibration/right_passive.json @@ -0,0 +1 @@ +../../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_right/g20_right_passive.json \ No newline at end of file diff --git a/hands/G20/compare_left.sh b/hands/G20/compare_left.sh new file mode 100755 index 0000000..d41d73e --- /dev/null +++ b/hands/G20/compare_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_g20_left_dual_compare.sh" "$@" diff --git a/hands/G20/compare_right.sh b/hands/G20/compare_right.sh new file mode 100755 index 0000000..025969c --- /dev/null +++ b/hands/G20/compare_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_g20_right_dual_compare.sh" "$@" diff --git a/hands/G20/reference/left_calibrated.urdf b/hands/G20/reference/left_calibrated.urdf new file mode 100644 index 0000000..bcf15e1 --- /dev/null +++ b/hands/G20/reference/left_calibrated.urdf @@ -0,0 +1,1285 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hands/G20/reference/right_calibrated.urdf b/hands/G20/reference/right_calibrated.urdf new file mode 100644 index 0000000..da6bb0d --- /dev/null +++ b/hands/G20/reference/right_calibrated.urdf @@ -0,0 +1,1285 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/hands/G20/run_left.sh b/hands/G20/run_left.sh new file mode 100755 index 0000000..f6280b5 --- /dev/null +++ b/hands/G20/run_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_g20_mujoco_plan.sh" "$@" diff --git a/hands/G20/run_right.sh b/hands/G20/run_right.sh new file mode 100755 index 0000000..359f8e7 --- /dev/null +++ b/hands/G20/run_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_g20_right_mujoco_plan.sh" "$@" diff --git a/run_g20_joint_gui.sh b/hands/G20/scripts/run_g20_joint_gui.sh similarity index 91% rename from run_g20_joint_gui.sh rename to hands/G20/scripts/run_g20_joint_gui.sh index f5c3f7b..27fa93b 100755 --- a/run_g20_joint_gui.sh +++ b/hands/G20/scripts/run_g20_joint_gui.sh @@ -2,7 +2,7 @@ # G20 关节弧度监视 GUI（默认 6 位小数） # 订阅 /sim/mujoco/g20/left/joint_state set -eo pipefail -ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" cd "$ROOT" set +u diff --git a/hands/G20/scripts/run_g20_left_desktop_urdf.sh b/hands/G20/scripts/run_g20_left_desktop_urdf.sh new file mode 100755 index 0000000..36f74d7 --- /dev/null +++ b/hands/G20/scripts/run_g20_left_desktop_urdf.sh @@ -0,0 +1,57 @@ +#!/usr/bin/env bash +# MuJoCo G20 左手 — 桌面 URDF 验证 +# URDF: /home/lxqs/桌面/L20/LEFT/linkerhand_g20_left.urdf（已同步到包内） +# 默认 mapping=g20_urdf（四指侧摆无外部取负，跟 URDF 轴正向） +# +# 用法: +# ./hands/G20/scripts/run_g20_left_desktop_urdf.sh +# ./hands/G20/scripts/run_g20_left_desktop_urdf.sh --pd-drive +# 另开终端扫侧摆方向: +# ./hands/G20/scripts/run_g20_left_mcp_roll_check.sh +# 监视关节弧度: +# ./hands/G20/scripts/run_g20_joint_gui.sh +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left_desktop.xml" +URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_desktop.urdf" +if [[ ! -f "$XML" ]]; then + echo "[error] missing MJCF: $XML" >&2 + exit 1 +fi + +echo "[g20-left-desktop] urdf=$URDF" +echo "[g20-left-desktop] xml=$XML" +echo "[g20-left-desktop] cmd-topic=/cb_left_hand_control_cmd" +echo "[g20-left-desktop] sim-state=/sim/mujoco/g20/left/joint_state" +echo "[g20-left-desktop] mapping=g20_urdf (侧摆 cmd0→负限位, cmd255→正限位, 无外部取负)" +echo "[g20-left-desktop] URDF 四指 mcp_roll 轴: +X (未翻转；右手已改为 -X)" +echo "[g20-left-desktop] 侧摆验证: 另开终端运行 ./hands/G20/scripts/run_g20_left_mcp_roll_check.sh" + +exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge \ + --xml "$XML" \ + --node-name g20_mujoco_plan_bridge_left_desktop \ + --window-title "G20 left (desktop URDF)" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/g20/left/joint_state \ + --nominal-topic /retarget/g20/left/joint_target_nominal \ + --mapping g20_urdf \ + "$@" diff --git a/hands/G20/scripts/run_g20_left_dual_compare.sh b/hands/G20/scripts/run_g20_left_dual_compare.sh new file mode 100755 index 0000000..ff9d0b4 --- /dev/null +++ b/hands/G20/scripts/run_g20_left_dual_compare.sh @@ -0,0 +1,404 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：G20 左手标定 vs L20 原版 URDF（未标定） +# +# 标定: /home/lxqs/图片/linkerhand_g20_left_tag.urdf +# → 同步包内 linker_hand_g20_left.xml（限位/侧摆轴/body 零位）；mapping=g20_calibrated +# （可用 G20_LEFT_URDF=... 覆盖） +# 未标定: L20 V10.1 左手 URDF → 运行时按左手模板刷新 linker_hand_l20v101_left.xml +# mapping=l20_urdf +# +# 主动关节统一按当前模型限位线性换算；g20_calibrated 仅保留可选被动 JSON 联动。 +# +# 默认运动学硬写。需要 PD+自碰时手动加 --pd-drive（两窗均加）。 +# 两个窗口共用 /cb_left_hand_control_cmd（20 维 0~255）。 +# +# 用法: +# ./hands/G20/scripts/run_g20_left_dual_compare.sh +# ./hands/G20/scripts/run_g20_left_dual_compare.sh --cmd-topic /cb_left_hand_control_cmd --speed 1.0 +# ./hands/G20/scripts/run_g20_left_dual_compare.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" +G20_DIR="$PKG_SRC/urdf/G20/linker_hand_g20_left" +URDF_CALIBRATED="${G20_LEFT_URDF:-$ROOT/hands/G20/reference/left_calibrated.urdf}" +MESHDIR_CALIB="$G20_DIR/meshes" +URDF_UNCALIBRATED="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linkerhand_L20v10.1_left.urdf" +MESHDIR_UNCAL="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/meshes" +CALIB_XML="$G20_DIR/linker_hand_g20_left.xml" +CALIB_URDF_PKG="$G20_DIR/linkerhand_g20_left.urdf" +L20_TEMPLATE="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml" +STOCK_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml" + +if [[ ! -f "$URDF_CALIBRATED" ]]; then + # 回退到包内副本 + URDF_CALIBRATED="$CALIB_URDF_PKG" +fi +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$CALIB_XML" ]]; then + echo "[error] missing calibrated MJCF template: $CALIB_XML" >&2 + exit 1 +fi +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -d "$MESHDIR_UNCAL" ]]; then + echo "[error] missing uncalibrated meshes: $MESHDIR_UNCAL" >&2 + exit 1 +fi +if [[ ! -f "$L20_TEMPLATE" ]]; then + echo "[error] missing L20 V10.1 left MJCF template: $L20_TEMPLATE" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}" + +echo "[g20-left-dual] sync calibrated MJCF from G20 left URDF -> $CALIB_XML" +python3 - "$URDF_CALIBRATED" "$MESHDIR_CALIB" "$CALIB_XML" "$CALIB_URDF_PKG" <<'PY' +import re +import shutil +import sys +from pathlib import Path + +import mujoco +import numpy as np + +urdf_cal = Path(sys.argv[1]) +meshdir_cal = Path(sys.argv[2]) +calib_xml = Path(sys.argv[3]) +calib_urdf_pkg = Path(sys.argv[4]) + +# 包内主副本 + tag 文件名副本 +shutil.copy2(urdf_cal, calib_urdf_pkg) +shutil.copy2(urdf_cal, calib_urdf_pkg.parent / "linkerhand_g20_left_tag.urdf") + +MCP_ROLL_JOINTS = ( + "index_mcp_roll", + "middle_mcp_roll", + "ring_mcp_roll", + "pinky_mcp_roll", +) +BODY_FROM_JOINT = { + "thumb_cmc_roll": "thumb_metacarpals_base1", + "thumb_cmc_yaw": "thumb_metacarpals_base2", + "thumb_cmc_pitch": "thumb_metacarpals", + "thumb_mcp": "thumb_proximal", + "thumb_ip": "thumb_distal", + "index_mcp_roll": "index_metacarpals", + "index_mcp_pitch": "index_proximal", + "index_pip": "index_middle", + "index_dip": "index_distal", + "middle_mcp_roll": "middle_metacarpals", + "middle_mcp_pitch": "middle_proximal", + "middle_pip": "middle_middle", + "middle_dip": "middle_distal", + "ring_mcp_roll": "ring_metacarpals", + "ring_mcp_pitch": "ring_proximal", + "ring_pip": "ring_middle", + "ring_dip": "ring_distal", + "pinky_mcp_roll": "pinky_metacarpals", + "pinky_mcp_pitch": "pinky_proximal", + "pinky_pip": "pinky_middle", + "pinky_dip": "pinky_distal", +} + + +def rpy_to_quat(roll, pitch, yaw): + cr, sr = np.cos(roll / 2), np.sin(roll / 2) + cp, sp = np.cos(pitch / 2), np.sin(pitch / 2) + cy, sy = np.cos(yaw / 2), np.sin(yaw / 2) + return np.array( + [ + cr * cp * cy + sr * sp * sy, + sr * cp * cy - cr * sp * sy, + cr * sp * cy + sr * cp * sy, + cr * cp * sy - sr * sp * cy, + ] + ) + + +def parse_urdf(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + if "revolute" not in attrs: + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + # URDF 常写成 ，不能写死 "axis xyz=" + axis = re.search(r']*xyz="([^"]+)"', body) + xyz = [float(x) for x in origin.group(1).split()] if origin else [0.0, 0.0, 0.0] + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "xyz": xyz, + "rpy": rpy, + "axis": axis.group(1) if axis else "1 0 0", + } + return joints + + +def apply_urdf_to_mjcf(template: str, joints: dict[str, dict]) -> str: + xml = template + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + pat = rf'(]*\srange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + act_pat = rf'(]*\sctrlrange=")([^"]+)(")' + xml = re.sub( + act_pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + if jname in MCP_ROLL_JOINTS: + ax = info["axis"].strip() + ax_pat = rf'(]*\saxis=")([^"]+)(")' + xml = re.sub(ax_pat, lambda m, ax=ax: f"{m.group(1)}{ax}{m.group(3)}", xml, count=1) + + # 同步零位 body pos/quat（拇指 CMC 等）；保留原有 visual/collision geom 结构 + for jname, bname in BODY_FROM_JOINT.items(): + if jname not in joints: + continue + j = joints[jname] + xyz, rpy = j["xyz"], j["rpy"] + q = rpy_to_quat(*rpy) + pos = f"{xyz[0]:g} {xyz[1]:g} {xyz[2]:g}" + m = re.search(rf']*>', xml) + if not m: + continue + if np.allclose(q, [1, 0, 0, 0], atol=1e-9): + new = f'' + else: + quat = "{:.8g} {:.8g} {:.8g} {:.8g}".format(*q) + new = f'' + xml = xml[: m.start()] + new + xml[m.end() :] + + return xml + + +joints = parse_urdf(urdf_cal) +xml = apply_urdf_to_mjcf(calib_xml.read_text(), joints) +calib_xml.write_text(xml) +mujoco.MjModel.from_xml_path(str(calib_xml)) + +for j in MCP_ROLL_JOINTS: + ax = re.search(rf']*\saxis="([^"]+)"', calib_xml.read_text()) + print(f"[g20-left-dual] synced {j} axis={ax.group(1) if ax else '?'}") +for j in ("thumb_cmc_roll", "thumb_cmc_yaw", "thumb_cmc_pitch"): + info = joints[j] + print(f"[g20-left-dual] {j} rpy={info['rpy']} lim=[{info['lo']}, {info['hi']}]") +print(f"[g20-left-dual] calibrated URDF: {urdf_cal}") +print(f"[g20-left-dual] calibrated MJCF: {calib_xml} (package template)") +if meshdir_cal.is_dir(): + print(f"[g20-left-dual] calibrated meshes: {meshdir_cal}") +PY + +echo "[g20-left-dual] refresh uncalibrated L20 V10.1 left MJCF from $URDF_UNCALIBRATED" +python3 - "$URDF_UNCALIBRATED" "$MESHDIR_UNCAL" "$L20_TEMPLATE" "$STOCK_XML" <<'PY' +import re +import shutil +import sys +from pathlib import Path + +import mujoco +import numpy as np + +urdf_path = Path(sys.argv[1]) +meshdir = Path(sys.argv[2]) +template_path = Path(sys.argv[3]) +out_path = Path(sys.argv[4]) + + +def rpy_to_quat(roll, pitch, yaw): + cr, sr = np.cos(roll / 2), np.sin(roll / 2) + cp, sp = np.cos(pitch / 2), np.sin(pitch / 2) + cy, sy = np.cos(yaw / 2), np.sin(yaw / 2) + return np.array([ + cr * cp * cy + sr * sp * sy, + sr * cp * cy - cr * sp * sy, + cr * sp * cy + sr * cp * sy, + cr * cp * sy - sr * sp * cy, + ]) + + +def parse_joints(path: Path) -> dict: + text = path.read_text() + joints = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name = re.search(r'name="([^"]+)"', attrs).group(1) + jtype = re.search(r'type="([^"]+)"', attrs).group(1) + if jtype != "revolute": + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + axis = re.search(r']*xyz="([^"]+)"', body) + joints[name] = { + "xyz": tuple(map(float, origin.group(1).split())), + "rpy": tuple(map(float, origin.group(2).split())), + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "axis": tuple(map(float, axis.group(1).split())), + } + if "thumb_dip" in joints and "thumb_ip" not in joints: + joints["thumb_ip"] = dict(joints["thumb_dip"]) + return joints + + +def fmt_axis(ax): + return " ".join(f"{v:g}" for v in ax) + + +def fmt_range(lo, hi): + return f"{lo:g} {hi:g}" + + +out_path.parent.mkdir(parents=True, exist_ok=True) +mesh_out = out_path.parent / "meshes" +mesh_out.mkdir(exist_ok=True) +for f in meshdir.glob("*"): + shutil.copy2(f, mesh_out / f.name) +shutil.copy2(urdf_path, out_path.parent / urdf_path.name) + +# 先读模板全文（out 可能与 template 同路径） +xml = template_path.read_text() +l20 = parse_joints(urdf_path) +joint_specs = {n: (j["lo"], j["hi"], j["axis"]) for n, j in l20.items() if n != "thumb_dip"} + +for name, (lo, hi, axis) in joint_specs.items(): + pat = re.compile(rf']*>') + m = pat.search(xml) + if not m: + raise SystemExit(f"missing joint {name}") + new = ( + f'' + ) + xml = xml[: m.start()] + new + xml[m.end() :] + +for name, (lo, hi, _) in joint_specs.items(): + pat = re.compile( + rf'(]*\bctrlrange=")[^"]+(")' + ) + if not pat.search(xml): + raise SystemExit(f"missing actuator {name}_pos") + xml = pat.sub(rf"\g<1>{lo:g} {hi:g}\2", xml, count=1) + +body_from_joint = { + "thumb_cmc_roll": "thumb_metacarpals_base1", + "thumb_cmc_yaw": "thumb_metacarpals_base2", + "thumb_cmc_pitch": "thumb_metacarpals", + "thumb_mcp": "thumb_proximal", + "thumb_ip": "thumb_distal", + "index_mcp_roll": "index_metacarpals", + "index_mcp_pitch": "index_proximal", + "index_pip": "index_middle", + "index_dip": "index_distal", + "middle_mcp_roll": "middle_metacarpals", + "middle_mcp_pitch": "middle_proximal", + "middle_pip": "middle_middle", + "middle_dip": "middle_distal", + "ring_mcp_roll": "ring_metacarpals", + "ring_mcp_pitch": "ring_proximal", + "ring_pip": "ring_middle", + "ring_dip": "ring_distal", + "pinky_mcp_roll": "pinky_metacarpals", + "pinky_mcp_pitch": "pinky_proximal", + "pinky_pip": "pinky_middle", + "pinky_dip": "pinky_distal", +} + +for jname, bname in body_from_joint.items(): + j = l20[jname] + xyz = j["xyz"] + rpy = j["rpy"] + q = rpy_to_quat(*rpy) + pos = f"{xyz[0]:g} {xyz[1]:g} {xyz[2]:g}" + pat = re.compile(rf']*>') + m = pat.search(xml) + if not m: + raise SystemExit(f"missing body {bname}") + if np.allclose(q, [1, 0, 0, 0], atol=1e-9): + new = f'' + else: + quat = "{:.6g} {:.6g} {:.6g} {:.6g}".format(*q) + new = f'' + xml = xml[: m.start()] + new + xml[m.end() :] + +out_path.write_text(xml) +mujoco.MjModel.from_xml_path(str(out_path)) +print(f"[g20-left-dual] uncalibrated URDF: {urdf_path}") +print(f"[g20-left-dual] uncalibrated meshes: {meshdir} -> {mesh_out}") +print(f"[g20-left-dual] uncalibrated MJCF -> {out_path} (L20v101 left template + visual/collision split)") +PY + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true + [[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[g20-left-dual] G20 calibrated xml=$CALIB_XML" +"$ROOT/hands/G20/scripts/run_g20_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --node-name g20_calibrated_left \ + --window-title "G20 left 标定 (linkerhand_g20_left_tag)" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/g20/left/calibrated/joint_state \ + --mapping g20_calibrated \ + "${EXTRA[@]}" & +PID_G20=$! + +sleep 1 + +echo "[g20-left-dual] L20 stock xml=$STOCK_XML (L20v101 left, URDF-native mapping)" +"$ROOT/hands/G20/scripts/run_g20_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --node-name l20_stock_left \ + --window-title "L20 V10.1 left 未标定" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l20/left/stock/joint_state \ + --mapping l20_urdf \ + "${EXTRA[@]}" & +PID_L20=$! + +echo "[g20-left-dual] both started. cmd topic: /cb_left_hand_control_cmd" +echo "[g20-left-dual] mode: kinematic（运动学硬写；稳定跟 0~255）" +echo "[g20-left-dual] 标定 mapping=g20_calibrated（主动线性，仅被动 JSON）；未标定 mapping=l20_urdf + collision_project=on" +echo "[g20-left-dual] 需要 PD+自碰: ./hands/G20/scripts/run_g20_left_dual_compare.sh --pd-drive" +echo "[g20-left-dual] Ctrl+C stops both." +wait "$PID_G20" "$PID_L20" diff --git a/hands/G20/scripts/run_g20_left_mcp_roll_check.sh b/hands/G20/scripts/run_g20_left_mcp_roll_check.sh new file mode 100755 index 0000000..2744817 --- /dev/null +++ b/hands/G20/scripts/run_g20_left_mcp_roll_check.sh @@ -0,0 +1,35 @@ +#!/usr/bin/env bash +# 左手四指侧摆方向检查：依次扫 SDK 通道 6~9（index/middle/ring/pinky mcp_roll） +# 需先运行: ./hands/G20/scripts/run_g20_left_desktop_urdf.sh +# +# 预期（g20_urdf, URDF 轴 +X）: +# cmd=0 → 关节角为负（约 -0.23 rad，URDF lower） +# cmd=255 → 关节角为正（约 +0.23 rad，URDF upper） +# 若视觉与真机相反，说明 URDF 轴方向或映射仍不一致。 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +CMD_TOPIC="${CMD_TOPIC:-/cb_left_hand_control_cmd}" +STATE_TOPIC="${STATE_TOPIC:-/sim/mujoco/g20/left/joint_state}" + +exec python3 -m linker_hand_mujoco_ros2.g20_left_mcp_roll_check \ + --cmd-topic "$CMD_TOPIC" \ + --state-topic "$STATE_TOPIC" \ + "$@" diff --git a/run_g20_mujoco_plan.sh b/hands/G20/scripts/run_g20_mujoco_plan.sh similarity index 86% rename from run_g20_mujoco_plan.sh rename to hands/G20/scripts/run_g20_mujoco_plan.sh index 944ae56..dbf0561 100755 --- a/run_g20_mujoco_plan.sh +++ b/hands/G20/scripts/run_g20_mujoco_plan.sh @@ -1,10 +1,10 @@ #!/usr/bin/env bash # MuJoCo G20 左手仿真桥 -# 默认订阅 /g20/cb_left_hand_control_cmd（0~255） +# 默认订阅 /cb_left_hand_control_cmd（0~255） # 发布 /sim/mujoco/g20/left/joint_state # 默认 1.35× 墙钟 + 关节限速；可用 --speed / --slew-rad-s 再调 set -eo pipefail -ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" cd "$ROOT" set +u diff --git a/hands/G20/scripts/run_g20_right_dual_compare.sh b/hands/G20/scripts/run_g20_right_dual_compare.sh new file mode 100755 index 0000000..f44ca11 --- /dev/null +++ b/hands/G20/scripts/run_g20_right_dual_compare.sh @@ -0,0 +1,337 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：G20 右手标定 vs L20 原版 URDF（未标定） +# +# 标定: 包内 linker_hand_g20_right.xml（启动前从 linkerhand_G20_RIGHT_tag.urdf 仅 patch 限位/侧摆轴；保留 _col 碰撞体与 body quat） +# 未标定: /home/lxqs/linkerhand_L20_V10 (2).1--0728/linkerhand_L20_V10.1_right.urdf → 运行时生成 *_stock.xml +# +# 默认运动学硬写（与 run_dual_mujoco_compare.sh / O6·L6 双开一致）：稳定、跟 0~255 真机命令。 +# 需要 PD+自碰时手动加 --pd-drive（两窗均加）。 +# +# 两个窗口共用 /cb_right_hand_control_cmd（20 维 0~255）。 +# +# 用法: +# ./hands/G20/scripts/run_g20_right_dual_compare.sh +# ./hands/G20/scripts/run_g20_right_dual_compare.sh --cmd-topic /cb_right_hand_control_cmd --speed 1.0 +# ./hands/G20/scripts/run_g20_right_dual_compare.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" +G20_DIR="$PKG_SRC/urdf/G20/linker_hand_g20_right" +URDF_CALIBRATED="${G20_RIGHT_URDF:-$ROOT/hands/G20/reference/right_calibrated.urdf}" +MESHDIR_CALIB="$G20_DIR/meshes" +URDF_UNCALIBRATED="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_right/linkerhand_L20v10.1_right.urdf" +MESHDIR_UNCAL="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_right/meshes" +CALIB_XML="$G20_DIR/linker_hand_g20_right.xml" +CALIB_URDF_PKG="$G20_DIR/linkerhand_g20_right.urdf" +L20_TEMPLATE="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml" +STOCK_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_right/linker_hand_l20v101_right.xml" + +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$CALIB_XML" ]]; then + echo "[error] missing calibrated MJCF template: $CALIB_XML" >&2 + exit 1 +fi +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -d "$MESHDIR_UNCAL" ]]; then + echo "[error] missing uncalibrated meshes: $MESHDIR_UNCAL" >&2 + exit 1 +fi +if [[ ! -f "$L20_TEMPLATE" ]]; then + echo "[error] missing L20 V10.1 left MJCF template: $L20_TEMPLATE" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}" + +echo "[g20-right-dual] sync calibrated MJCF from G20_RIGHT_tag URDF -> $CALIB_XML" +python3 - "$URDF_CALIBRATED" "$MESHDIR_CALIB" "$CALIB_XML" "$CALIB_URDF_PKG" <<'PY' +import re +import shutil +import sys +from pathlib import Path + +import mujoco + +urdf_cal = Path(sys.argv[1]) +meshdir_cal = Path(sys.argv[2]) +calib_xml = Path(sys.argv[3]) +calib_urdf_pkg = Path(sys.argv[4]) + +# 包内留一份 Linkerbot URDF 副本，便于对照 +shutil.copy2(urdf_cal, calib_urdf_pkg) + +# 只同步限位/轴；不要改 body quat（会破坏 MJCF 运动链，_col 与 visual 错位→对指穿模） + +MCP_ROLL_JOINTS = ( + "index_mcp_roll", + "middle_mcp_roll", + "ring_mcp_roll", + "pinky_mcp_roll", +) + + +def parse_urdf(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + if 'revolute' not in attrs: + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + # URDF 常写成 ，不能写死 "axis xyz=" + axis = re.search(r']*xyz="([^"]+)"', body) + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "rpy": rpy, + "axis": axis.group(1) if axis else "1 0 0", + } + return joints + + +def apply_urdf_to_mjcf(template: str, joints: dict[str, dict]) -> str: + xml = template + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + pat = rf'(]*\srange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + act_pat = rf'(]*\sctrlrange=")([^"]+)(")' + xml = re.sub( + act_pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + if jname in MCP_ROLL_JOINTS: + ax = info["axis"].strip() + ax_pat = rf'(]*\saxis=")([^"]+)(")' + xml = re.sub(ax_pat, lambda m, ax=ax: f"{m.group(1)}{ax}{m.group(3)}", xml, count=1) + + return xml + + +joints = parse_urdf(urdf_cal) +xml = apply_urdf_to_mjcf(calib_xml.read_text(), joints) +calib_xml.write_text(xml) +mujoco.MjModel.from_xml_path(str(calib_xml)) + +for j in MCP_ROLL_JOINTS: + ax = re.search(rf']*\saxis="([^"]+)"', calib_xml.read_text()) + print(f"[g20-right-dual] synced {j} axis={ax.group(1) if ax else '?'}") +print(f"[g20-right-dual] calibrated URDF: {urdf_cal}") +print(f"[g20-right-dual] calibrated MJCF: {calib_xml} (package template + _col)") +if meshdir_cal.is_dir(): + print(f"[g20-right-dual] calibrated meshes: {meshdir_cal} (package _col meshes)") +PY + +echo "[g20-right-dual] build uncalibrated L20 V10.1 right MJCF from template + $URDF_UNCALIBRATED" +python3 - "$URDF_UNCALIBRATED" "$MESHDIR_UNCAL" "$L20_TEMPLATE" "$STOCK_XML" <<'PY' +import re +import shutil +import sys +from pathlib import Path + +import mujoco +import numpy as np + +urdf_path = Path(sys.argv[1]) +meshdir = Path(sys.argv[2]) +template_path = Path(sys.argv[3]) +out_path = Path(sys.argv[4]) + + +def rpy_to_quat(roll, pitch, yaw): + cr, sr = np.cos(roll / 2), np.sin(roll / 2) + cp, sp = np.cos(pitch / 2), np.sin(pitch / 2) + cy, sy = np.cos(yaw / 2), np.sin(yaw / 2) + return np.array([ + cr * cp * cy + sr * sp * sy, + sr * cp * cy - cr * sp * sy, + cr * sp * cy + sr * cp * sy, + cr * cp * sy - sr * sp * cy, + ]) + + +def parse_joints(path: Path) -> dict: + text = path.read_text() + joints = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name = re.search(r'name="([^"]+)"', attrs).group(1) + jtype = re.search(r'type="([^"]+)"', attrs).group(1) + if jtype != "revolute": + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + axis = re.search(r']*xyz="([^"]+)"', body) + joints[name] = { + "xyz": tuple(map(float, origin.group(1).split())), + "rpy": tuple(map(float, origin.group(2).split())), + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "axis": tuple(map(float, axis.group(1).split())), + } + if "thumb_dip" in joints and "thumb_ip" not in joints: + joints["thumb_ip"] = dict(joints["thumb_dip"]) + return joints + + +def fmt_axis(ax): + return " ".join(f"{v:g}" for v in ax) + + +def fmt_range(lo, hi): + return f"{lo:g} {hi:g}" + + +out_path.parent.mkdir(parents=True, exist_ok=True) +mesh_out = out_path.parent / "meshes" +mesh_out.mkdir(exist_ok=True) +for f in meshdir.glob("*"): + shutil.copy2(f, mesh_out / f.name) +shutil.copy2(urdf_path, out_path.parent / urdf_path.name) + +l20 = parse_joints(urdf_path) +xml = template_path.read_text() +xml = xml.replace('model="linker_hand_l20v101_left"', 'model="linker_hand_l20v101_right"') +joint_specs = {n: (j["lo"], j["hi"], j["axis"]) for n, j in l20.items() if n != "thumb_dip"} + +for name, (lo, hi, axis) in joint_specs.items(): + pat = re.compile(rf']*>') + m = pat.search(xml) + if not m: + raise SystemExit(f"missing joint {name}") + new = ( + f'' + ) + xml = xml[: m.start()] + new + xml[m.end() :] + +for name, (lo, hi, _) in joint_specs.items(): + pat = re.compile( + rf'(]*\bctrlrange=")[^"]+(")' + ) + if not pat.search(xml): + raise SystemExit(f"missing actuator {name}_pos") + xml = pat.sub(rf"\g<1>{lo:g} {hi:g}\2", xml, count=1) + +body_from_joint = { + "thumb_cmc_roll": "thumb_metacarpals_base1", + "thumb_cmc_yaw": "thumb_metacarpals_base2", + "thumb_cmc_pitch": "thumb_metacarpals", + "thumb_mcp": "thumb_proximal", + "thumb_ip": "thumb_distal", + "index_mcp_roll": "index_metacarpals", + "index_mcp_pitch": "index_proximal", + "index_pip": "index_middle", + "index_dip": "index_distal", + "middle_mcp_roll": "middle_metacarpals", + "middle_mcp_pitch": "middle_proximal", + "middle_pip": "middle_middle", + "middle_dip": "middle_distal", + "ring_mcp_roll": "ring_metacarpals", + "ring_mcp_pitch": "ring_proximal", + "ring_pip": "ring_middle", + "ring_dip": "ring_distal", + "pinky_mcp_roll": "pinky_metacarpals", + "pinky_mcp_pitch": "pinky_proximal", + "pinky_pip": "pinky_middle", + "pinky_dip": "pinky_distal", +} + +for jname, bname in body_from_joint.items(): + j = l20[jname] + xyz = j["xyz"] + rpy = j["rpy"] + q = rpy_to_quat(*rpy) + pos = f"{xyz[0]:g} {xyz[1]:g} {xyz[2]:g}" + pat = re.compile(rf']*>') + m = pat.search(xml) + if not m: + raise SystemExit(f"missing body {bname}") + if np.allclose(q, [1, 0, 0, 0], atol=1e-9): + new = f'' + else: + quat = "{:.6g} {:.6g} {:.6g} {:.6g}".format(*q) + new = f'' + xml = xml[: m.start()] + new + xml[m.end() :] + +out_path.write_text(xml) +mujoco.MjModel.from_xml_path(str(out_path)) +print(f"[g20-right-dual] uncalibrated URDF: {urdf_path}") +print(f"[g20-right-dual] uncalibrated meshes: {meshdir} -> {mesh_out}") +print(f"[g20-right-dual] uncalibrated MJCF -> {out_path} (L20v101 template + visual/collision split)") +PY + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true + [[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[g20-right-dual] G20 calibrated xml=$CALIB_XML" +"$ROOT/hands/G20/scripts/run_g20_right_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --node-name g20_calibrated_right \ + --window-title "G20 right 标定 (G20_RIGHT_tag)" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/g20/right/calibrated/joint_state \ + --mapping g20_urdf \ + "${EXTRA[@]}" & +PID_G20=$! + +sleep 1 + +echo "[g20-right-dual] L20 stock xml=$STOCK_XML (L20v101 template, URDF-native mapping)" +"$ROOT/hands/G20/scripts/run_g20_right_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --node-name l20_stock_right \ + --window-title "L20 V10.1 right 未标定" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l20/right/stock/joint_state \ + --mapping l20_urdf \ + "${EXTRA[@]}" & +PID_L20=$! + +echo "[g20-right-dual] both started. cmd topic: /cb_right_hand_control_cmd" +echo "[g20-right-dual] mode: kinematic（运动学硬写，与左手双开一致；稳定跟 0~255）" +echo "[g20-right-dual] 标定 mapping=g20_urdf（仅按URDF，不查JSON）；未标定 mapping=l20_urdf + collision_project=on" +echo "[g20-right-dual] 需要 PD+自碰: ./hands/G20/scripts/run_g20_right_dual_compare.sh --pd-drive" +echo "[g20-right-dual] Ctrl+C stops both." +wait "$PID_G20" "$PID_L20" diff --git a/hands/G20/scripts/run_g20_right_joint_gui.sh b/hands/G20/scripts/run_g20_right_joint_gui.sh new file mode 100755 index 0000000..af5fc9d --- /dev/null +++ b/hands/G20/scripts/run_g20_right_joint_gui.sh @@ -0,0 +1,27 @@ +#!/usr/bin/env bash +# G20 右手关节弧度监视 GUI（默认 6 位小数） +# 订阅 /sim/mujoco/g20/right/joint_state +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +exec python3 -m linker_hand_mujoco_ros2.g20_joint_monitor_gui \ + --topic /sim/mujoco/g20/right/joint_state \ + "$@" diff --git a/hands/G20/scripts/run_g20_right_mujoco_plan.sh b/hands/G20/scripts/run_g20_right_mujoco_plan.sh new file mode 100755 index 0000000..1c1a8fe --- /dev/null +++ b/hands/G20/scripts/run_g20_right_mujoco_plan.sh @@ -0,0 +1,54 @@ +#!/usr/bin/env bash +# MuJoCo G20 右手仿真桥 +# 默认订阅 /cb_right_hand_control_cmd（0~255，与真机 SDK 一致） +# 发布 /sim/mujoco/g20/right/joint_state +# 模型：urdf/G20/linker_hand_g20_right/linker_hand_g20_right.xml +# 默认 1.35× 墙钟 + 关节限速；可用 --speed / --slew-rad-s 再调 +# +# 用法: +# ./hands/G20/scripts/run_g20_right_mujoco_plan.sh +# ./hands/G20/scripts/run_g20_right_mujoco_plan.sh --cmd-topic /g20/cb_right_hand_control_cmd +# 监视关节（另开终端）: +# ./hands/G20/scripts/run_g20_right_joint_gui.sh +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +# 源码优先（含 urdf 资产） +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_right/linker_hand_g20_right.xml" +if [[ ! -f "$XML" ]]; then + echo "[error] missing G20 right MJCF: $XML" >&2 + exit 1 +fi + +echo "[g20-right] xml=$XML" +echo "[g20-right] model=G20_RIGHT_tag" +echo "[g20-right] cmd-topic=/cb_right_hand_control_cmd (override with --cmd-topic)" +echo "[g20-right] sim-state=/sim/mujoco/g20/right/joint_state" + +exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge \ + --xml "$XML" \ + --node-name g20_mujoco_plan_bridge_right \ + --window-title "G20 right" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/g20/right/joint_state \ + --nominal-topic /retarget/g20/right/joint_target_nominal \ + --mapping g20_urdf \ + "$@" diff --git a/hands/L20_V10.1/README.md b/hands/L20_V10.1/README.md new file mode 100644 index 0000000..393f91c --- /dev/null +++ b/hands/L20_V10.1/README.md @@ -0,0 +1,6 @@ +# L20_V10.1 + +[统一入口与映射说明](../README.md) + + +`assets/` 是包内模型链接；`scripts/` 为内部实现及辅助工具。 diff --git a/hands/L20_V10.1/assets b/hands/L20_V10.1/assets new file mode 120000 index 0000000..82afe01 --- /dev/null +++ b/hands/L20_V10.1/assets @@ -0,0 +1 @@ +../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1 \ No newline at end of file diff --git a/hands/L6/README.md b/hands/L6/README.md new file mode 100644 index 0000000..90dfb78 --- /dev/null +++ b/hands/L6/README.md @@ -0,0 +1,10 @@ +# L6 + +[统一入口与映射说明](../README.md) + +- `compare_left.sh` +- `compare_right.sh` +- `run_left.sh` +- `run_right.sh` + +`assets/` 是包内模型链接；`scripts/` 为内部实现及辅助工具。 diff --git a/hands/L6/assets b/hands/L6/assets new file mode 120000 index 0000000..7235f1d --- /dev/null +++ b/hands/L6/assets @@ -0,0 +1 @@ +../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L6 \ No newline at end of file diff --git a/hands/L6/compare_left.sh b/hands/L6/compare_left.sh new file mode 100755 index 0000000..4c82d1b --- /dev/null +++ b/hands/L6/compare_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_l6_left_dual_compare.sh" "$@" diff --git a/hands/L6/compare_right.sh b/hands/L6/compare_right.sh new file mode 100755 index 0000000..2fef244 --- /dev/null +++ b/hands/L6/compare_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_l6_right_dual_compare.sh" "$@" diff --git a/hands/L6/reference/left_calibrated.urdf b/hands/L6/reference/left_calibrated.urdf new file mode 100644 index 0000000..62931e0 --- /dev/null +++ b/hands/L6/reference/left_calibrated.urdf @@ -0,0 +1,956 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0084 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0144 + + + + + + + + + + + + + + + + + + + + + 1.5 + 1.5 + true + + + 1.5 + 1.5 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + diff --git a/hands/L6/reference/left_uncalibrated.urdf b/hands/L6/reference/left_uncalibrated.urdf new file mode 100644 index 0000000..306f89a --- /dev/null +++ b/hands/L6/reference/left_uncalibrated.urdf @@ -0,0 +1,956 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0084 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0144 + + + + + + + + + + + + + + + + + + + + + 1.5 + 1.5 + true + + + 1.5 + 1.5 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + diff --git a/hands/L6/reference/right_calibrated.urdf b/hands/L6/reference/right_calibrated.urdf new file mode 100644 index 0000000..101d033 --- /dev/null +++ b/hands/L6/reference/right_calibrated.urdf @@ -0,0 +1,953 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0084 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0144 + + + + + + + + + + + + + + + + + 1.5 + 1.5 + true + + + 1.5 + 1.5 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + diff --git a/hands/L6/reference/right_uncalibrated.urdf b/hands/L6/reference/right_uncalibrated.urdf new file mode 100644 index 0000000..58b9f81 --- /dev/null +++ b/hands/L6/reference/right_uncalibrated.urdf @@ -0,0 +1,953 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0084 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0082 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 0.0144 + + + + + + + + + + + + + + + + + 1.5 + 1.5 + true + + + 1.5 + 1.5 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + + 1.1 + 1.1 + true + + diff --git a/hands/L6/run_left.sh b/hands/L6/run_left.sh new file mode 100755 index 0000000..734eda1 --- /dev/null +++ b/hands/L6/run_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_l6_left_mujoco_plan.sh" "$@" diff --git a/hands/L6/run_right.sh b/hands/L6/run_right.sh new file mode 100755 index 0000000..4ed4722 --- /dev/null +++ b/hands/L6/run_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_l6_right_mujoco_plan.sh" "$@" diff --git a/hands/L6/scripts/run_l6_left_dual_compare.sh b/hands/L6/scripts/run_l6_left_dual_compare.sh new file mode 100755 index 0000000..19d47bb --- /dev/null +++ b/hands/L6/scripts/run_l6_left_dual_compare.sh @@ -0,0 +1,216 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：L6 v3.1 左手标定 vs 未标定 URDF +# +# 未标定: /home/lxqs/linkerhand-urdf/l6/left +# 标定: /home/lxqs/Linkerbot_URDF/L6/LEFT（直接用 linker_hand_l6v31_left.xml，与单开相同） +# +# 两个窗口共用同一条 6 维 SDK 控制话题（/cb_left_hand_control_cmd）。 +# +# 用法: +# ./hands/L6/scripts/run_l6_left_dual_compare.sh +# ./hands/L6/scripts/run_l6_left_dual_compare.sh --pd-drive +# ./hands/L6/scripts/run_l6_left_dual_compare.sh --cmd-topic /cb_left_hand_control_cmd --speed 1.0 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +URDF_UNCALIBRATED="$ROOT/hands/L6/reference/left_uncalibrated.urdf" +URDF_CALIBRATED="$ROOT/hands/L6/reference/left_calibrated.urdf" +PKG_L6="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_left" +CALIB_XML="$PKG_L6/linker_hand_l6v31_left.xml" +STOCK_XML="$PKG_L6/linker_hand_l6v31_left_stock.xml" + +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$CALIB_XML" ]]; then + echo "[error] missing calibrated MJCF: $CALIB_XML" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +echo "[l6-left-dual] calibrated xml=$CALIB_XML (same as single-run)" +echo "[l6-left-dual] build uncalibrated MJCF from $URDF_UNCALIBRATED" +python3 - "$CALIB_XML" "$URDF_UNCALIBRATED" "$STOCK_XML" <<'PY' +import math +import re +import sys +from pathlib import Path + +template_xml = Path(sys.argv[1]) +urdf_uncal = Path(sys.argv[2]) +out_uncal = Path(sys.argv[3]) + +joint_body = { + "lh_thumb_cmc_roll": "lh_thumb_metacarpals_base1", + "lh_thumb_cmc_pitch": "lh_thumb_metacarpals", +} +MESHDIR_UNCAL = "/home/lxqs/linkerhand-urdf/l6/left/meshes" + + +def parse_urdf_limits(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + jtype_m = re.search(r'type="([^"]+)"', attrs) + if not jtype_m or jtype_m.group(1) != "revolute": + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "rpy": rpy, + } + return joints + + +def rpy_to_quat(r: float, p: float, y: float) -> tuple[float, float, float, float]: + cr, sr = math.cos(r * 0.5), math.sin(r * 0.5) + cp, sp = math.cos(p * 0.5), math.sin(p * 0.5) + cy, sy = math.cos(y * 0.5), math.sin(y * 0.5) + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + yq = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return w, x, yq, z + + +def apply_urdf_to_mjcf(template: str, urdf_path: Path, model_name: str) -> str: + joints = parse_urdf_limits(urdf_path) + xml = template.replace( + 'model="linkerhand_l6v31_left"', + f'model="{model_name}"', + 1, + ) + xml = re.sub( + r'(]*meshdir=")[^"]+(")', + rf"\1{MESHDIR_UNCAL}\2", + xml, + count=1, + ) + + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + pat = rf'(]*\srange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + r, p, y = info["rpy"] + bname = joint_body.get(jname) + if bname and abs(r) + abs(p) + abs(y) > 1e-9: + w, x, yq, z = rpy_to_quat(r, p, y) + quat = f"{w:.9f} {x:.9f} {yq:.9f} {z:.9f}" + bpat = rf'(]*)(>)' + + def add_quat(m, quat=quat): + tag = m.group(1) + if 'quat="' in tag: + tag = re.sub(r'quat="[^"]+"', f'quat="{quat}"', tag, count=1) + else: + tag = tag + f' quat="{quat}"' + return tag + m.group(2) + + xml = re.sub(bpat, add_quat, xml, count=1) + elif bname: + bpat = rf'(]*)\squat="[^"]+"([^>]*>)' + xml = re.sub(bpat, r"\1\2", xml, count=1) + + act_map = { + "lh_thumb_cmc_roll_pos": "lh_thumb_cmc_roll", + "lh_thumb_cmc_pitch_pos": "lh_thumb_cmc_pitch", + "lh_index_mcp_pitch_pos": "lh_index_mcp_pitch", + "lh_middle_mcp_pitch_pos": "lh_middle_mcp_pitch", + "lh_ring_mcp_pitch_pos": "lh_ring_mcp_pitch", + "lh_pinky_mcp_pitch_pos": "lh_pinky_mcp_pitch", + } + for act, jname in act_map.items(): + lo, hi = joints[jname]["lo"], joints[jname]["hi"] + pat = rf'(]*\sctrlrange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + return xml + + +import mujoco + +out_uncal.write_text( + apply_urdf_to_mjcf(template_xml.read_text(), urdf_uncal, "linkerhand_l6v31_left_uncalibrated") +) +mujoco.MjModel.from_xml_path(str(out_uncal)) +print(f"[l6-left-dual] uncalibrated URDF: {urdf_uncal}") +print(f"[l6-left-dual] uncalibrated meshes: {MESHDIR_UNCAL}") +print(f"[l6-left-dual] uncalibrated MJCF -> {out_uncal}") +PY + +echo "[l6-left-dual] calibrated URDF: $URDF_CALIBRATED" +echo "[l6-left-dual] calibrated meshes: $PKG_L6/meshes (package, 标定安装)" + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true + [[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[l6-left-dual] launch uncalibrated window" +"$ROOT/hands/L6/scripts/run_l6_left_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --node-name l6_left_uncalibrated \ + --window-title "L6 left 未标定 (linkerhand-urdf)" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l6/left/uncalibrated/joint_state \ + "${EXTRA[@]}" & +PID_UNCAL=$! + +sleep 1 + +echo "[l6-left-dual] launch calibrated window" +"$ROOT/hands/L6/scripts/run_l6_left_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --node-name l6_left_calibrated \ + --window-title "L6 left 标定 (Linkerbot_URDF)" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l6/left/calibrated/joint_state \ + "${EXTRA[@]}" & +PID_CALIB=$! + +echo "[l6-left-dual] both started. cmd topic: /cb_left_hand_control_cmd" +echo "[l6-left-dual] Ctrl+C stops both." +wait "$PID_UNCAL" "$PID_CALIB" diff --git a/hands/L6/scripts/run_l6_left_mujoco_plan.sh b/hands/L6/scripts/run_l6_left_mujoco_plan.sh new file mode 100755 index 0000000..f16149b --- /dev/null +++ b/hands/L6/scripts/run_l6_left_mujoco_plan.sh @@ -0,0 +1,52 @@ +#!/usr/bin/env bash +# MuJoCo L6 v3.1 左手仿真桥 +# URDF 来源: /home/lxqs/Linkerbot_URDF/L6/LEFT/linkerhand_l6v3.1_left_transferred_from_L6_RIGHT_001.urdf +# 默认订阅 /l6/cb_left_hand_control_cmd（6 维 SDK 0~255） +# 发布 /sim/mujoco/l6/left/joint_state +# +# 用法: +# ./hands/L6/scripts/run_l6_left_mujoco_plan.sh +# ./hands/L6/scripts/run_l6_left_mujoco_plan.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_left/linker_hand_l6v31_left.xml" +URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_left/linkerhand_l6_left.urdf" +if [[ ! -f "$XML" ]]; then + echo "[error] missing L6 left MJCF: $XML" >&2 + exit 1 +fi + +echo "[l6-left] urdf=$URDF" +echo "[l6-left] xml=$XML" +echo "[l6-left] cmd-topic=/l6/cb_left_hand_control_cmd" +echo "[l6-left] sim-state=/sim/mujoco/l6/left/joint_state" +echo "[l6-left] SDK 6ch: pitch, roll, index, middle, ring, pinky" + +exec python3 -m linker_hand_mujoco_ros2.l6_left_plan_bridge \ + --xml "$XML" \ + --node-name l6_mujoco_plan_bridge_left \ + --window-title "L6 v3.1 left" \ + --cmd-topic /l6/cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l6/left/joint_state \ + --nominal-topic /retarget/l6/left/joint_target_nominal \ + --mapping g20_urdf \ + "$@" diff --git a/hands/L6/scripts/run_l6_right_dual_compare.sh b/hands/L6/scripts/run_l6_right_dual_compare.sh new file mode 100755 index 0000000..ccab768 --- /dev/null +++ b/hands/L6/scripts/run_l6_right_dual_compare.sh @@ -0,0 +1,216 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：L6 v3.1 右手标定 vs 未标定 URDF +# +# 未标定: /home/lxqs/linkerhand-urdf/l6/right +# 标定: /home/lxqs/Linkerbot_URDF/L6/RIGHT（直接用 linker_hand_l6v31_right.xml，与单开相同） +# +# 两个窗口共用同一条 6 维 SDK 控制话题（/cb_right_hand_control_cmd）。 +# +# 用法: +# ./hands/L6/scripts/run_l6_right_dual_compare.sh +# ./hands/L6/scripts/run_l6_right_dual_compare.sh --pd-drive +# ./hands/L6/scripts/run_l6_right_dual_compare.sh --cmd-topic /cb_right_hand_control_cmd --speed 1.0 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +URDF_UNCALIBRATED="$ROOT/hands/L6/reference/right_uncalibrated.urdf" +URDF_CALIBRATED="$ROOT/hands/L6/reference/right_calibrated.urdf" +PKG_L6="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_right" +CALIB_XML="$PKG_L6/linker_hand_l6v31_right.xml" +STOCK_XML="$PKG_L6/linker_hand_l6v31_right_stock.xml" + +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$CALIB_XML" ]]; then + echo "[error] missing calibrated MJCF: $CALIB_XML" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +echo "[l6-right-dual] calibrated xml=$CALIB_XML (same as single-run)" +echo "[l6-right-dual] build uncalibrated MJCF from $URDF_UNCALIBRATED" +python3 - "$CALIB_XML" "$URDF_UNCALIBRATED" "$STOCK_XML" <<'PY' +import math +import re +import sys +from pathlib import Path + +template_xml = Path(sys.argv[1]) +urdf_uncal = Path(sys.argv[2]) +out_uncal = Path(sys.argv[3]) + +joint_body = { + "rh_thumb_cmc_roll": "rh_thumb_metacarpals_base1", + "rh_thumb_cmc_pitch": "rh_thumb_metacarpals", +} +MESHDIR_UNCAL = "/home/lxqs/linkerhand-urdf/l6/right/meshes" + + +def parse_urdf_limits(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + jtype_m = re.search(r'type="([^"]+)"', attrs) + if not jtype_m or jtype_m.group(1) != "revolute": + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "rpy": rpy, + } + return joints + + +def rpy_to_quat(r: float, p: float, y: float) -> tuple[float, float, float, float]: + cr, sr = math.cos(r * 0.5), math.sin(r * 0.5) + cp, sp = math.cos(p * 0.5), math.sin(p * 0.5) + cy, sy = math.cos(y * 0.5), math.sin(y * 0.5) + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + yq = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return w, x, yq, z + + +def apply_urdf_to_mjcf(template: str, urdf_path: Path, model_name: str) -> str: + joints = parse_urdf_limits(urdf_path) + xml = template.replace( + 'model="linkerhand_l6v31_right"', + f'model="{model_name}"', + 1, + ) + xml = re.sub( + r'(]*meshdir=")[^"]+(")', + rf"\1{MESHDIR_UNCAL}\2", + xml, + count=1, + ) + + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + pat = rf'(]*\srange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + r, p, y = info["rpy"] + bname = joint_body.get(jname) + if bname and abs(r) + abs(p) + abs(y) > 1e-9: + w, x, yq, z = rpy_to_quat(r, p, y) + quat = f"{w:.9f} {x:.9f} {yq:.9f} {z:.9f}" + bpat = rf'(]*)(>)' + + def add_quat(m, quat=quat): + tag = m.group(1) + if 'quat="' in tag: + tag = re.sub(r'quat="[^"]+"', f'quat="{quat}"', tag, count=1) + else: + tag = tag + f' quat="{quat}"' + return tag + m.group(2) + + xml = re.sub(bpat, add_quat, xml, count=1) + elif bname: + bpat = rf'(]*)\squat="[^"]+"([^>]*>)' + xml = re.sub(bpat, r"\1\2", xml, count=1) + + act_map = { + "rh_thumb_cmc_roll_pos": "rh_thumb_cmc_roll", + "rh_thumb_cmc_pitch_pos": "rh_thumb_cmc_pitch", + "rh_index_mcp_pitch_pos": "rh_index_mcp_pitch", + "rh_middle_mcp_pitch_pos": "rh_middle_mcp_pitch", + "rh_ring_mcp_pitch_pos": "rh_ring_mcp_pitch", + "rh_pinky_mcp_pitch_pos": "rh_pinky_mcp_pitch", + } + for act, jname in act_map.items(): + lo, hi = joints[jname]["lo"], joints[jname]["hi"] + pat = rf'(]*\sctrlrange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + return xml + + +import mujoco + +out_uncal.write_text( + apply_urdf_to_mjcf(template_xml.read_text(), urdf_uncal, "linkerhand_l6v31_right_uncalibrated") +) +mujoco.MjModel.from_xml_path(str(out_uncal)) +print(f"[l6-right-dual] uncalibrated URDF: {urdf_uncal}") +print(f"[l6-right-dual] uncalibrated meshes: {MESHDIR_UNCAL}") +print(f"[l6-right-dual] uncalibrated MJCF -> {out_uncal}") +PY + +echo "[l6-right-dual] calibrated URDF: $URDF_CALIBRATED" +echo "[l6-right-dual] calibrated meshes: $PKG_L6/meshes (package, 标定安装)" + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true + [[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[l6-right-dual] launch uncalibrated window" +"$ROOT/hands/L6/scripts/run_l6_right_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --node-name l6_right_uncalibrated \ + --window-title "L6 right 未标定 (linkerhand-urdf)" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l6/right/uncalibrated/joint_state \ + "${EXTRA[@]}" & +PID_UNCAL=$! + +sleep 1 + +echo "[l6-right-dual] launch calibrated window" +"$ROOT/hands/L6/scripts/run_l6_right_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --node-name l6_right_calibrated \ + --window-title "L6 right 标定 (Linkerbot_URDF)" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l6/right/calibrated/joint_state \ + "${EXTRA[@]}" & +PID_CALIB=$! + +echo "[l6-right-dual] both started. cmd topic: /cb_right_hand_control_cmd" +echo "[l6-right-dual] Ctrl+C stops both." +wait "$PID_UNCAL" "$PID_CALIB" diff --git a/hands/L6/scripts/run_l6_right_mujoco_plan.sh b/hands/L6/scripts/run_l6_right_mujoco_plan.sh new file mode 100755 index 0000000..7bf22d9 --- /dev/null +++ b/hands/L6/scripts/run_l6_right_mujoco_plan.sh @@ -0,0 +1,52 @@ +#!/usr/bin/env bash +# MuJoCo L6 v3.1 右手仿真桥 +# URDF 来源: /home/lxqs/下载/linkerhand_l6v3.1_right_partial_zero_calibrated_L6_RIGHT_001_20260902_142125.urdf +# 默认订阅 /cb_right_hand_control_cmd（6 维 SDK 0~255） +# 发布 /sim/mujoco/l6/right/joint_state +# +# 用法: +# ./hands/L6/scripts/run_l6_right_mujoco_plan.sh +# ./hands/L6/scripts/run_l6_right_mujoco_plan.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_right/linker_hand_l6v31_right.xml" +URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_right/linkerhand_l6_right.urdf" +if [[ ! -f "$XML" ]]; then + echo "[error] missing L6 MJCF: $XML" >&2 + exit 1 +fi + +echo "[l6-right] urdf=$URDF" +echo "[l6-right] xml=$XML" +echo "[l6-right] cmd-topic=/cb_right_hand_control_cmd" +echo "[l6-right] sim-state=/sim/mujoco/l6/right/joint_state" +echo "[l6-right] SDK 6ch: pitch, roll, index, middle, ring, pinky" + +exec python3 -m linker_hand_mujoco_ros2.l6_plan_bridge \ + --xml "$XML" \ + --node-name l6_mujoco_plan_bridge_right \ + --window-title "L6 v3.1 right" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/l6/right/joint_state \ + --nominal-topic /retarget/l6/right/joint_target_nominal \ + --mapping g20_urdf \ + "$@" diff --git a/hands/O12/README.md b/hands/O12/README.md new file mode 100644 index 0000000..1315cdb --- /dev/null +++ b/hands/O12/README.md @@ -0,0 +1,8 @@ +# O12 + +[统一入口与映射说明](../README.md) + +- `compare_right.sh` +- `run_right.sh` + +`assets/` 是包内模型链接；`scripts/` 为内部实现及辅助工具。 diff --git a/hands/O12/assets b/hands/O12/assets new file mode 120000 index 0000000..eb06e61 --- /dev/null +++ b/hands/O12/assets @@ -0,0 +1 @@ +../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12 \ No newline at end of file diff --git a/hands/O12/compare_right.sh b/hands/O12/compare_right.sh new file mode 100755 index 0000000..82dc6ed --- /dev/null +++ b/hands/O12/compare_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o12_right_dual_compare.sh" "$@" diff --git a/hands/O12/run_right.sh b/hands/O12/run_right.sh new file mode 100755 index 0000000..39ff772 --- /dev/null +++ b/hands/O12/run_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o12_right_mujoco_plan.sh" "$@" diff --git a/hands/O12/scripts/run_o12_right_dual_compare.sh b/hands/O12/scripts/run_o12_right_dual_compare.sh new file mode 100755 index 0000000..51c3d65 --- /dev/null +++ b/hands/O12/scripts/run_o12_right_dual_compare.sh @@ -0,0 +1,281 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：O12 右手标定 vs 未标定 URDF +# +# 标定: /home/lxqs/Linkerbot_URDF/012/right/linkerhand_o12_right_biaoding.urdf +# 未标定: /home/lxqs/Linkerbot_URDF/012/right/linkerhand_o12_right.urdf +# +# 启动前各自同步 MJCF（限位/轴/body 零位）；两窗各自用对应 URDF 的限位+mimic 映射。 +# 共用 /o12/right/joint_cmd（12 路 SDK 弧度）。 +# +# 用法: +# ./hands/O12/scripts/run_o12_right_dual_compare.sh +# ./hands/O12/scripts/run_o12_right_dual_compare.sh --no-pd-drive +# ./hands/O12/scripts/run_o12_right_dual_compare.sh --pd-drive --slew-rad-s 4 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +URDF_DIR="${O12_RIGHT_URDF_DIR:-$ROOT/assets/vendor/Linkerbot_URDF/012/right}" +URDF_CALIBRATED="${O12_RIGHT_URDF_CALIBRATED:-$URDF_DIR/linkerhand_o12_right_biaoding.urdf}" +URDF_UNCALIBRATED="${O12_RIGHT_URDF_UNCALIBRATED:-$URDF_DIR/linkerhand_o12_right.urdf}" +MESHDIR="${O12_RIGHT_MESHDIR:-$URDF_DIR/meshes}" + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" +O12_DIR="$PKG_SRC/urdf/O12/linker_hand_o12_right" +TEMPLATE_XML="$O12_DIR/linker_hand_o12_right.xml" +CALIB_XML="$O12_DIR/linker_hand_o12_right.xml" +STOCK_XML="$O12_DIR/linker_hand_o12_right_stock.xml" +CALIB_URDF_PKG="$O12_DIR/linkerhand_o12_right.urdf" +STOCK_URDF_PKG="$O12_DIR/linkerhand_o12_right_stock.urdf" + +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$TEMPLATE_XML" ]]; then + echo "[error] missing O12 MJCF template: $TEMPLATE_XML" >&2 + exit 1 +fi +if [[ ! -d "$MESHDIR" ]]; then + echo "[error] missing meshes: $MESHDIR" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}" + +echo "[o12-right-dual] sync calibrated + uncalibrated MJCF from Linkerbot_URDF" +python3 - "$URDF_CALIBRATED" "$URDF_UNCALIBRATED" "$MESHDIR" "$TEMPLATE_XML" \ + "$CALIB_XML" "$STOCK_XML" "$CALIB_URDF_PKG" "$STOCK_URDF_PKG" <<'PY' +import math +import re +import shutil +import sys +from pathlib import Path + +import mujoco +import numpy as np + +urdf_cal = Path(sys.argv[1]) +urdf_unc = Path(sys.argv[2]) +meshdir = Path(sys.argv[3]) +template_xml = Path(sys.argv[4]) +calib_xml = Path(sys.argv[5]) +stock_xml = Path(sys.argv[6]) +calib_urdf_pkg = Path(sys.argv[7]) +stock_urdf_pkg = Path(sys.argv[8]) + +BODY_FROM_JOINT = { + "thumb_cmc_roll": "thumb_metacarpals_base1", + "thumb_cmc_yaw": "thumb_metacarpals_base2", + "thumb_cmc_pitch": "thumb_metacarpals", + "thumb_mcp": "thumb_proximal", + "thumb_dip": "thumb_distal", + "index_mcp_roll": "index_metacarpals", + "index_mcp_pitch": "index_proximal", + "index_pip": "index_middle", + "index_dip": "index_distal", + "middle_mcp_roll": "middle_metacarpals", + "middle_mcp_pitch": "middle_proximal", + "middle_pip": "middle_middle", + "middle_dip": "middle_distal", + "ring_mcp_pitch": "ring_proximal", + "ring_pip": "ring_middle", + "ring_dip": "ring_distal", + "pinky_mcp_pitch": "pinky_proximal", + "pinky_pip": "pinky_middle", + "pinky_dip": "pinky_distal", +} + + +def rpy_to_quat(roll, pitch, yaw): + cr, sr = np.cos(roll / 2), np.sin(roll / 2) + cp, sp = np.cos(pitch / 2), np.sin(pitch / 2) + cy, sy = np.cos(yaw / 2), np.sin(yaw / 2) + return np.array( + [ + cr * cp * cy + sr * sp * sy, + sr * cp * cy - cr * sp * sy, + cr * sp * cy + sr * cp * sy, + cr * cp * sy - sr * sp * cy, + ] + ) + + +def localize_urdf(src: Path, dst: Path) -> None: + text = src.read_text() + text = re.sub(r"package://[^/]+/meshes/", "meshes/", text) + dst.write_text(text) + + +def parse_urdf(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + if "revolute" not in attrs: + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + axis = re.search(r']*xyz="([^"]+)"', body) + xyz = [float(x) for x in origin.group(1).split()] if origin else [0.0, 0.0, 0.0] + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "xyz": xyz, + "rpy": rpy, + "axis": axis.group(1).strip() if axis else "0 0 1", + } + return joints + + +def apply_urdf_to_mjcf(template: str, joints: dict[str, dict], model_name: str) -> str: + xml = re.sub( + r'model="[^"]+"', + f'model="{model_name}"', + template, + count=1, + ) + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + ax = info["axis"] + jpat = re.compile(rf']*/?>') + m = jpat.search(xml) + if not m: + raise SystemExit(f"missing joint in MJCF: {jname}") + attrs = m.group(0) + # keep damping/frictionloss if present + damp = re.search(r'\bdamping="[^"]+"', attrs) + fric = re.search(r'\bfrictionloss="[^"]+"', attrs) + extra = "" + if damp: + extra += f" {damp.group(0)}" + if fric: + extra += f" {fric.group(0)}" + new = ( + f'' + ) + xml = xml[: m.start()] + new + xml[m.end() :] + + act_pat = re.compile( + rf'(]*\bctrlrange=")[^"]+(")' + ) + if act_pat.search(xml): + xml = act_pat.sub(rf"\g<1>{lo:g} {hi:g}\2", xml, count=1) + + for jname, bname in BODY_FROM_JOINT.items(): + if jname not in joints: + continue + j = joints[jname] + xyz, rpy = j["xyz"], j["rpy"] + q = rpy_to_quat(*rpy) + pos = f"{xyz[0]:g} {xyz[1]:g} {xyz[2]:g}" + m = re.search(rf']*>', xml) + if not m: + raise SystemExit(f"missing body in MJCF: {bname}") + if np.allclose(q, [1, 0, 0, 0], atol=1e-9): + new = f'' + else: + quat = "{:.8g} {:.8g} {:.8g} {:.8g}".format(*q) + new = f'' + xml = xml[: m.start()] + new + xml[m.end() :] + return xml + + +# meshes → 包内（两窗共用） +mesh_out = calib_xml.parent / "meshes" +mesh_out.mkdir(exist_ok=True) +for f in meshdir.glob("*"): + if f.is_file(): + shutil.copy2(f, mesh_out / f.name) + +localize_urdf(urdf_cal, calib_urdf_pkg) +localize_urdf(urdf_unc, stock_urdf_pkg) +shutil.copy2(urdf_cal, calib_urdf_pkg.parent / "linkerhand_o12_right_biaoding.urdf") + +template = template_xml.read_text() +cal_joints = parse_urdf(urdf_cal) +unc_joints = parse_urdf(urdf_unc) + +calib_xml.write_text( + apply_urdf_to_mjcf(template, cal_joints, "linkerhand_o12_right_calibrated") +) +stock_xml.write_text( + apply_urdf_to_mjcf(template, unc_joints, "linkerhand_o12_right_uncalibrated") +) +mujoco.MjModel.from_xml_path(str(calib_xml)) +mujoco.MjModel.from_xml_path(str(stock_xml)) + +print(f"[o12-right-dual] calibrated URDF: {urdf_cal}") +print(f"[o12-right-dual] calibrated MJCF: {calib_xml}") +print(f"[o12-right-dual] uncalibrated URDF: {urdf_unc}") +print(f"[o12-right-dual] uncalibrated MJCF: {stock_xml}") +for j in ("thumb_cmc_roll", "thumb_cmc_yaw", "index_mcp_roll", "index_mcp_pitch"): + c, u = cal_joints[j], unc_joints[j] + print( + f"[o12-right-dual] {j}: cal lim=[{c['lo']:g},{c['hi']:g}] rpy={c['rpy']} | " + f"unc lim=[{u['lo']:g},{u['hi']:g}] rpy={u['rpy']}" + ) +PY + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true + [[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[o12-right-dual] launch calibrated window" +"$ROOT/hands/O12/scripts/run_o12_right_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --o12-urdf "$URDF_CALIBRATED" \ + --node-name o12_right_calibrated \ + --window-title "O12 right 标定 (biaoding)" \ + --cmd-topic /o12/right/joint_cmd \ + --sim-state-topic /sim/mujoco/o12/right/calibrated/joint_states \ + "${EXTRA[@]}" & +PID_CALIB=$! + +sleep 1 + +echo "[o12-right-dual] launch uncalibrated window" +"$ROOT/hands/O12/scripts/run_o12_right_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --o12-urdf "$URDF_UNCALIBRATED" \ + --node-name o12_right_uncalibrated \ + --window-title "O12 right 未标定 (stock)" \ + --cmd-topic /o12/right/joint_cmd \ + --sim-state-topic /sim/mujoco/o12/right/uncalibrated/joint_states \ + "${EXTRA[@]}" & +PID_UNCAL=$! + +echo "[o12-right-dual] both started. shared cmd: /o12/right/joint_cmd (12 rad)" +echo "[o12-right-dual] calibrated: $URDF_CALIBRATED" +echo "[o12-right-dual] uncalibrated: $URDF_UNCALIBRATED" +echo "[o12-right-dual] Ctrl+C stops both." +wait "$PID_CALIB" "$PID_UNCAL" diff --git a/hands/O12/scripts/run_o12_right_mujoco_plan.sh b/hands/O12/scripts/run_o12_right_mujoco_plan.sh new file mode 100755 index 0000000..faa84d2 --- /dev/null +++ b/hands/O12/scripts/run_o12_right_mujoco_plan.sh @@ -0,0 +1,54 @@ +#!/usr/bin/env bash +# MuJoCo O12 T3 右手仿真桥（OmniHand Pro 2025 ROS2 接口） +# URDF 来源: /home/lxqs/下载/linkerhand_o12_t3_right-0703_calibrated_O12_RIGHT_001_REVIEW_ONLY_20260909_112041.urdf +# （包内: urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf） +# 订阅 /o12/right/joint_cmd（12 路弧度） +# 发布 /o12/right/joint_states（12 路弧度） +# +# 用法: +# ./hands/O12/scripts/run_o12_right_mujoco_plan.sh # 默认 --pd-drive（可见接触力，按 F） +# ./hands/O12/scripts/run_o12_right_mujoco_plan.sh --no-pd-drive # 纯 kinematic，最稳 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right.xml" +URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf" +if [[ ! -f "$XML" ]]; then + echo "[error] missing O12 MJCF: $XML" >&2 + exit 1 +fi + +echo "[o12-right] urdf=$URDF" +echo "[o12-right] xml=$XML" +echo "[o12-right] cmd-topic=/o12/right/joint_cmd (12 rad)" +echo "[o12-right] state-topic=/o12/right/joint_states (12 rad)" +echo "[o12-right] default mode=pd-drive (viewer 按 F 看接触力; 默认 slew=4 rad/s 防穿模)" +echo "[o12-right] order (API_CPP_O12): thumb_roll,yaw,pitch,mcp,idx_roll,idx_pitch,idx_pip,mid_roll,mid_pitch,mid_pip,ring,pinky" + +exec python3 -m linker_hand_mujoco_ros2.o12_plan_bridge \ + --xml "$XML" \ + --node-name o12_mujoco_plan_bridge_right \ + --window-title "O12 T3 right" \ + --cmd-topic /o12/right/joint_cmd \ + --sim-state-topic /o12/right/joint_states \ + --no-legacy-sdk \ + --mapping g20_urdf \ + "$@" diff --git a/hands/O30/README.md b/hands/O30/README.md new file mode 100644 index 0000000..78c1494 --- /dev/null +++ b/hands/O30/README.md @@ -0,0 +1,8 @@ +# O30 + +[统一入口与映射说明](../README.md) + +- `run_left.sh` +- `run_right.sh` + +`assets/` 是包内模型链接；`scripts/` 为内部实现及辅助工具。 diff --git a/hands/O30/assets b/hands/O30/assets new file mode 120000 index 0000000..7437f54 --- /dev/null +++ b/hands/O30/assets @@ -0,0 +1 @@ +../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30 \ No newline at end of file diff --git a/hands/O30/legacy/run_o30_right_v5_piecewise.sh b/hands/O30/legacy/run_o30_right_v5_piecewise.sh new file mode 100755 index 0000000..2fa718c --- /dev/null +++ b/hands/O30/legacy/run_o30_right_v5_piecewise.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +# Historical V5 asset only: active piecewise mapping is disabled by current linear policy. +set -euo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_endpoint_calibrated.urdf" +exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/hands/O30/legacy/run_o30_right_v6_linear.sh b/hands/O30/legacy/run_o30_right_v6_linear.sh new file mode 100755 index 0000000..77f04e2 --- /dev/null +++ b/hands/O30/legacy/run_o30_right_v6_linear.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +# Run the preserved V6 pure linear URDF. +set -euo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_linear_calibrated.urdf" +exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/hands/O30/legacy/run_o30_right_v7_linear.sh b/hands/O30/legacy/run_o30_right_v7_linear.sh new file mode 100755 index 0000000..bebfd0e --- /dev/null +++ b/hands/O30/legacy/run_o30_right_v7_linear.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +# Run the preserved V7 pure linear URDF. +set -euo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_two_joint_calibrated.urdf" +exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/hands/O30/legacy/run_o30_right_v8_linear.sh b/hands/O30/legacy/run_o30_right_v8_linear.sh new file mode 100755 index 0000000..6a60358 --- /dev/null +++ b/hands/O30/legacy/run_o30_right_v8_linear.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +# Run the preserved V8 pure linear URDF. +set -euo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_pinky_root_calibrated.urdf" +exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/hands/O30/legacy/run_o30_right_v9_linear.sh b/hands/O30/legacy/run_o30_right_v9_linear.sh new file mode 100755 index 0000000..27b145f --- /dev/null +++ b/hands/O30/legacy/run_o30_right_v9_linear.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +# Run the preserved V9 pure linear URDF. +set -euo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_middle_calibrated.urdf" +exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/hands/O30/release b/hands/O30/release new file mode 120000 index 0000000..c567157 --- /dev/null +++ b/hands/O30/release @@ -0,0 +1 @@ +../../assets/exports/O30_V10_left_right \ No newline at end of file diff --git a/hands/O30/results b/hands/O30/results new file mode 120000 index 0000000..ef16f65 --- /dev/null +++ b/hands/O30/results @@ -0,0 +1 @@ +../../outputs/reports/O30 \ No newline at end of file diff --git a/hands/O30/run_left.sh b/hands/O30/run_left.sh new file mode 100755 index 0000000..8631168 --- /dev/null +++ b/hands/O30/run_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o30_left_mujoco_plan.sh" "$@" diff --git a/hands/O30/run_right.sh b/hands/O30/run_right.sh new file mode 100755 index 0000000..5a4516f --- /dev/null +++ b/hands/O30/run_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o30_right_mujoco_plan.sh" "$@" diff --git a/hands/O30/scripts/run_o30_left_mujoco_plan.sh b/hands/O30/scripts/run_o30_left_mujoco_plan.sh new file mode 100755 index 0000000..40a960b --- /dev/null +++ b/hands/O30/scripts/run_o30_left_mujoco_plan.sh @@ -0,0 +1,292 @@ +#!/usr/bin/env bash +# MuJoCo O30i 左手单窗仿真 +# URDF: exports/O30_V9_left_right/left/linkerhand_o30_left_v9.urdf (V10 right mirrored; existing asset path retained) +# 订阅 /cb_left_hand_control_cmd（20 路 SDK 0～255，按 URDF 限位线性换算） +# 发布 /o30/left/joint_states（20 路弧度） +# +# 用法: +# ./hands/O30/scripts/run_o30_left_mujoco_plan.sh +# ./hands/O30/scripts/run_o30_left_mujoco_plan.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +URDF_SRC="${O30_LEFT_URDF:-$ROOT/assets/exports/O30_V10_left_right/left/linkerhand_o30_left_v10.urdf}" +MESH_SRC="${O30_LEFT_MESHDIR:-$(dirname "$URDF_SRC")/meshes}" +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" +O30_DIR="$PKG_SRC/urdf/O30/linker_hand_o30_left" +XML="$O30_DIR/linker_hand_o30_left.xml" +URDF_PKG="$O30_DIR/linkerhand_o30_left.urdf" + +if [[ ! -f "$URDF_SRC" ]]; then + echo "[error] missing O30 URDF: $URDF_SRC" >&2 + exit 1 +fi +if [[ ! -d "$MESH_SRC" ]]; then + echo "[error] missing O30 meshes: $MESH_SRC" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}" + +echo "[o30-left] sync MJCF from $URDF_SRC" +python3 - "$URDF_SRC" "$MESH_SRC" "$O30_DIR" "$XML" "$URDF_PKG" <<'PY' +import re +import shutil +import sys +from pathlib import Path + +import mujoco + +urdf_src = Path(sys.argv[1]) +mesh_src = Path(sys.argv[2]) +out_dir = Path(sys.argv[3]) +xml_path = Path(sys.argv[4]) +urdf_pkg = Path(sys.argv[5]) + +out_dir.mkdir(parents=True, exist_ok=True) +mesh_out = out_dir / "meshes" +mesh_out.mkdir(exist_ok=True) +for f in mesh_src.iterdir(): + if f.is_file(): + shutil.copy2(f, mesh_out / f.name) + +text = urdf_src.read_text() +text = re.sub(r"package://[^/]+/meshes/", "meshes/", text) +urdf_pkg.write_text(text) + + +def attrs_of(chunk: str) -> dict[str, str]: + return dict(re.findall(r'(\w+)="([^"]*)"', chunk)) + + +def parse_links(urdf: str) -> dict[str, dict]: + links: dict[str, dict] = {} + for m in re.finditer(r']*>(.*?)', urdf, re.S): + name, body = m.group(1), m.group(2) + inertial = re.search(r"(.*?)", body, re.S) + pos = "0 0 0" + mass = "0.01" + fullinertia = "1e-6 1e-6 1e-6 0 0 0" + if inertial: + ib = inertial.group(1) + origin = re.search(r"", ib) + mass_m = re.search(r'', ib) + inertia = re.search(r"", ib) + if origin: + pos = attrs_of(origin.group(1)).get("xyz", pos) + if mass_m: + mass = attrs_of(mass_m.group(1)).get("value", mass) + if inertia: + ia = attrs_of(inertia.group(1)) + fullinertia = " ".join( + ia.get(k, "0") for k in ("ixx", "iyy", "izz", "ixy", "ixz", "iyz") + ) + color = "0.7 0.7 0.7 1" + vis = re.search(r"(.*?)", body, re.S) + if vis: + col = re.search(r'rgba="([^"]+)"', vis.group(1)) + if col: + color = col.group(1) + mesh = None + mesh_m = re.search(r']*)/>', body) + if mesh_m: + fn = attrs_of(mesh_m.group(1)).get("filename", "") + mesh = Path(fn).name + links[name] = { + "pos": pos, + "mass": mass, + "fullinertia": fullinertia, + "color": color, + "mesh": mesh, + } + return links + + +def parse_joints(urdf: str) -> list[dict]: + joints = [] + for m in re.finditer(r"]*)>(.*?)", urdf, re.S): + attrs, body = m.group(1), m.group(2) + name = re.search(r'name="([^"]+)"', attrs) + jtype = re.search(r'type="([^"]+)"', attrs) + if not name or not jtype or jtype.group(1) != "revolute": + continue + origin = re.search(r"", body) + axis = re.search(r"", body) + lim = re.search(r"", body) + parent = re.search(r']*link="([^"]+)"', body) + child = re.search(r']*link="([^"]+)"', body) + oa = attrs_of(origin.group(1)) if origin else {} + la = attrs_of(lim.group(1)) if lim else {} + joints.append( + { + "name": name.group(1), + "xyz": oa.get("xyz", "0 0 0"), + "rpy": oa.get("rpy", "0 0 0"), + "axis": attrs_of(axis.group(1)).get("xyz", "0 0 1") if axis else "0 0 1", + "lo": float(la.get("lower", "0")), + "hi": float(la.get("upper", "0")), + "parent": parent.group(1) if parent else "", + "child": child.group(1) if child else "", + } + ) + return joints + + +def rpy_to_quat(rpy: str) -> str | None: + import math + + r, p, y = [float(x) for x in rpy.split()] + if abs(r) + abs(p) + abs(y) < 1e-12: + return None + cr, sr = math.cos(r / 2), math.sin(r / 2) + cp, sp = math.cos(p / 2), math.sin(p / 2) + cy, sy = math.cos(y / 2), math.sin(y / 2) + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + yq = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return f"{w:.16g} {x:.16g} {yq:.16g} {z:.16g}" + + +links = parse_links(text) +joints = parse_joints(text) +children = {j["parent"]: [] for j in joints} +for j in joints: + children.setdefault(j["parent"], []).append(j) +# keep URDF order +order = [j["name"] for j in joints] +by_parent: dict[str, list[dict]] = {} +for j in joints: + by_parent.setdefault(j["parent"], []).append(j) + +root = "hand_base_link" +meshes = sorted({info["mesh"] for info in links.values() if info["mesh"]}) + +lines = [ + '', + ' ', + ' ") +xml_path.write_text("\n".join(lines) + "\n") +model = mujoco.MjModel.from_xml_path(str(xml_path)) +print(f"[o30-left] wrote {xml_path} njnt={model.njnt} nbody={model.nbody}") +PY + +if [[ "${O30_LEFT_PREPARE_ONLY:-0}" == "1" ]]; then + exit 0 +fi + +echo "[o30-left] urdf=$URDF_PKG" +echo "[o30-left] xml=$XML" +echo "[o30-left] cmd-topic=/cb_left_hand_control_cmd (20 SDK values, 0..255)" +echo "[o30-left] state-topic=/o30/left/joint_states (20 rad)" +echo "[o30-left] SDK order: thumb_roll,thumb_yaw,index_yaw,middle_yaw,ring_yaw,pinky_yaw, thumb_root,index_root,middle_root,ring_root,pinky_root, index_pip,middle_pip,ring_pip,pinky_pip, thumb_tip,index_tip,middle_tip,ring_tip,pinky_tip" +echo "[o30-left] default mode=kinematic; 加 --pd-drive 看接触" + +exec python3 -m linker_hand_mujoco_ros2.o30_left_plan_bridge \ + --xml "$XML" \ + --node-name o30_mujoco_plan_bridge_left \ + --window-title "O30i left V10 mirrored" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /o30/left/joint_states \ + --no-legacy-sdk \ + --mapping g20_urdf \ + "$@" diff --git a/hands/O30/scripts/run_o30_right_mujoco_plan.sh b/hands/O30/scripts/run_o30_right_mujoco_plan.sh new file mode 100755 index 0000000..6b18ccc --- /dev/null +++ b/hands/O30/scripts/run_o30_right_mujoco_plan.sh @@ -0,0 +1,312 @@ +#!/usr/bin/env bash +# MuJoCo O30i 右手单窗仿真（V2_0819） +# 默认使用 V10 纯 URDF：保留对指锚点，调整新零位，保持线性换算。 +# O30_RIGHT_URDF 可覆盖；启动姿态对应第五张照片的零位数组。 +# 订阅 /cb_right_hand_control_cmd（20 维 SDK 0~255，顺序见 linkerhand-o30-ros2 JOINT_MAP） +# 发布 /sim/mujoco/o30/right/joint_state +# +# 用法: +# ./hands/O30/scripts/run_o30_right_mujoco_plan.sh +# ./hands/O30/scripts/run_o30_right_mujoco_plan.sh --pd-drive +# O30_RIGHT_PREPARE_ONLY=1 ./hands/O30/scripts/run_o30_right_mujoco_plan.sh # 只生成/校验模型 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" +O30_DIR="$PKG_SRC/urdf/O30/linker_hand_o30_right" +URDF_SRC="${O30_RIGHT_URDF:-$O30_DIR/linkerhand_o30_right_zero_v10_calibrated.urdf}" +MESH_SRC="${O30_RIGHT_MESHDIR:-$O30_DIR/meshes}" +XML="$O30_DIR/linker_hand_o30_right.xml" +URDF_PKG="$O30_DIR/linkerhand_o30_right.urdf" + +if [[ ! -f "$URDF_SRC" ]]; then + echo "[error] missing O30 right URDF: $URDF_SRC" >&2 + exit 1 +fi +if [[ ! -d "$MESH_SRC" ]]; then + echo "[error] missing O30 right meshes: $MESH_SRC" >&2 + exit 1 +fi + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}" + +echo "[o30-right] sync MJCF from $URDF_SRC" +python3 - "$URDF_SRC" "$MESH_SRC" "$O30_DIR" "$XML" "$URDF_PKG" <<'PY' +import re +import shutil +import sys +import xml.etree.ElementTree as ET +from pathlib import Path + +import mujoco + +urdf_src = Path(sys.argv[1]) +mesh_src = Path(sys.argv[2]) +out_dir = Path(sys.argv[3]) +xml_path = Path(sys.argv[4]) +urdf_pkg = Path(sys.argv[5]) + +out_dir.mkdir(parents=True, exist_ok=True) +mesh_out = out_dir / "meshes" +mesh_out.mkdir(exist_ok=True) +for f in mesh_src.iterdir(): + if f.is_file() and f.resolve() != (mesh_out / f.name).resolve(): + shutil.copy2(f, mesh_out / f.name) + +text = urdf_src.read_text() +text = re.sub(r"package://[^/]+/meshes/", "meshes/", text) +urdf_pkg.write_text(text) + + +def attrs_of(chunk: str) -> dict[str, str]: + return dict(re.findall(r'(\w+)="([^"]*)"', chunk)) + + +def parse_links(urdf: str) -> dict[str, dict]: + links: dict[str, dict] = {} + for m in re.finditer(r']*>(.*?)', urdf, re.S): + name, body = m.group(1), m.group(2) + inertial = re.search(r"(.*?)", body, re.S) + pos = "0 0 0" + mass = "0.01" + fullinertia = "1e-6 1e-6 1e-6 0 0 0" + if inertial: + ib = inertial.group(1) + origin = re.search(r"", ib) + mass_m = re.search(r"", ib) + inertia = re.search(r"", ib) + if origin: + pos = attrs_of(origin.group(1)).get("xyz", pos) + if mass_m: + mass = attrs_of(mass_m.group(1)).get("value", mass) + if inertia: + ia = attrs_of(inertia.group(1)) + fullinertia = " ".join( + ia.get(k, "0") for k in ("ixx", "iyy", "izz", "ixy", "ixz", "iyz") + ) + color = "0.7 0.7 0.7 1" + vis = re.search(r"(.*?)", body, re.S) + if vis: + col = re.search(r'rgba="([^"]+)"', vis.group(1)) + if col: + color = col.group(1) + mesh = None + mesh_scale = None + mesh_m = re.search(r"]*)/>", body) + if mesh_m: + ma = attrs_of(mesh_m.group(1)) + fn = ma.get("filename", "") + mesh = Path(fn).name + mesh_scale = ma.get("scale") + links[name] = { + "pos": pos, + "mass": mass, + "fullinertia": fullinertia, + "color": color, + "mesh": mesh, + "mesh_scale": mesh_scale, + } + return links + + +def parse_joints(urdf: str) -> list[dict]: + joints = [] + for m in re.finditer(r"]*)>(.*?)", urdf, re.S): + attrs, body = m.group(1), m.group(2) + name = re.search(r'name="([^"]+)"', attrs) + jtype = re.search(r'type="([^"]+)"', attrs) + if not name or not jtype or jtype.group(1) != "revolute": + continue + origin = re.search(r"", body) + axis = re.search(r"", body) + lim = re.search(r"", body) + parent = re.search(r']*link="([^"]+)"', body) + child = re.search(r']*link="([^"]+)"', body) + oa = attrs_of(origin.group(1)) if origin else {} + la = attrs_of(lim.group(1)) if lim else {} + joints.append( + { + "name": name.group(1), + "xyz": oa.get("xyz", "0 0 0"), + "rpy": oa.get("rpy", "0 0 0"), + "axis": attrs_of(axis.group(1)).get("xyz", "0 0 1") if axis else "0 0 1", + "lo": float(la.get("lower", "0")), + "hi": float(la.get("upper", "0")), + "parent": parent.group(1) if parent else "", + "child": child.group(1) if child else "", + } + ) + return joints + + +def rpy_to_quat(rpy: str) -> str | None: + import math + + r, p, y = [float(x) for x in rpy.split()] + if abs(r) + abs(p) + abs(y) < 1e-12: + return None + cr, sr = math.cos(r / 2), math.sin(r / 2) + cp, sp = math.cos(p / 2), math.sin(p / 2) + cy, sy = math.cos(y / 2), math.sin(y / 2) + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + yq = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return f"{w:.12g} {x:.12g} {yq:.12g} {z:.12g}" + + +links = parse_links(text) +joints = parse_joints(text) +by_parent: dict[str, list[dict]] = {} +for j in joints: + by_parent.setdefault(j["parent"], []).append(j) + +root = "hand_base_link" +# mesh name -> scale (from first link that uses it) +mesh_scale: dict[str, str | None] = {} +for info in links.values(): + if info["mesh"] and info["mesh"] not in mesh_scale: + mesh_scale[info["mesh"]] = info["mesh_scale"] +meshes = sorted(mesh_scale.keys()) + +lines = [ + '', + ' ', + ' ") +xml_path.write_text("\n".join(lines) + "\n") +model = mujoco.MjModel.from_xml_path(str(xml_path)) +from linker_hand_mujoco_ros2.utils.o30_right_joints import configure_o30_right_limits +configure_o30_right_limits(xml_path) +print(f"[o30-right] wrote {xml_path} njnt={model.njnt} nbody={model.nbody} ngeom={model.ngeom}") +PY + +if [[ "${O30_RIGHT_PREPARE_ONLY:-0}" == "1" ]]; then + exit 0 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u +# Keep this checkout ahead of installed copies after sourcing ROS workspaces. +export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}" + +echo "[o30-right] urdf=$URDF_PKG" +echo "[o30-right] xml=$XML" +echo "[o30-right] cmd-topic=/cb_right_hand_control_cmd (20ch SDK 0~255, JOINT_MAP 顺序)" +echo "[o30-right] state-topic=/sim/mujoco/o30/right/joint_state" +echo "[o30-right] order: thumb_roll,yaw, idx/mid/ring/little_yaw, thumb/idx/mid/ring/little_root1, idx/mid/ring/little_root2, thumb/idx/mid/ring/little_tip" +echo "[o30-right] default mode=kinematic; 加 --pd-drive 看接触" + +exec python3 -m linker_hand_mujoco_ros2.o30_right_plan_bridge \ + --xml "$XML" \ + --node-name o30_mujoco_plan_bridge_right \ + --window-title "O30i right V10 zero calibrated" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/o30/right/joint_state \ + --mapping g20_urdf \ + "$@" diff --git a/hands/O6/README.md b/hands/O6/README.md new file mode 100644 index 0000000..d27796c --- /dev/null +++ b/hands/O6/README.md @@ -0,0 +1,10 @@ +# O6 + +[统一入口与映射说明](../README.md) + +- `compare_left.sh` +- `compare_right.sh` +- `run_left.sh` +- `run_right.sh` + +`assets/` 是包内模型链接；`scripts/` 为内部实现及辅助工具。 diff --git a/hands/O6/assets b/hands/O6/assets new file mode 120000 index 0000000..34ca270 --- /dev/null +++ b/hands/O6/assets @@ -0,0 +1 @@ +../../src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6 \ No newline at end of file diff --git a/hands/O6/compare_left.sh b/hands/O6/compare_left.sh new file mode 100755 index 0000000..a4b4415 --- /dev/null +++ b/hands/O6/compare_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o6_left_dual_compare.sh" "$@" diff --git a/hands/O6/compare_right.sh b/hands/O6/compare_right.sh new file mode 100755 index 0000000..0614112 --- /dev/null +++ b/hands/O6/compare_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o6_right_dual_compare.sh" "$@" diff --git a/hands/O6/reference/left_calibrated.urdf b/hands/O6/reference/left_calibrated.urdf new file mode 100644 index 0000000..c8215e9 --- /dev/null +++ b/hands/O6/reference/left_calibrated.urdf @@ -0,0 +1,666 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hands/O6/reference/left_uncalibrated.urdf b/hands/O6/reference/left_uncalibrated.urdf new file mode 100644 index 0000000..1925ca0 --- /dev/null +++ b/hands/O6/reference/left_uncalibrated.urdf @@ -0,0 +1,666 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hands/O6/reference/right_calibrated.urdf b/hands/O6/reference/right_calibrated.urdf new file mode 100644 index 0000000..cde68ba --- /dev/null +++ b/hands/O6/reference/right_calibrated.urdf @@ -0,0 +1,664 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hands/O6/reference/right_uncalibrated.urdf b/hands/O6/reference/right_uncalibrated.urdf new file mode 100644 index 0000000..8fca23e --- /dev/null +++ b/hands/O6/reference/right_uncalibrated.urdf @@ -0,0 +1,664 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hands/O6/results b/hands/O6/results new file mode 120000 index 0000000..632acb1 --- /dev/null +++ b/hands/O6/results @@ -0,0 +1 @@ +../../outputs/reports/O6 \ No newline at end of file diff --git a/hands/O6/run_left.sh b/hands/O6/run_left.sh new file mode 100755 index 0000000..90a313e --- /dev/null +++ b/hands/O6/run_left.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o6_left_mujoco_plan.sh" "$@" diff --git a/hands/O6/run_right.sh b/hands/O6/run_right.sh new file mode 100755 index 0000000..307967c --- /dev/null +++ b/hands/O6/run_right.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/scripts/run_o6_right_mujoco_plan.sh" "$@" diff --git a/hands/O6/scripts/run_o6_left_dual_compare.sh b/hands/O6/scripts/run_o6_left_dual_compare.sh new file mode 100755 index 0000000..16cfc5a --- /dev/null +++ b/hands/O6/scripts/run_o6_left_dual_compare.sh @@ -0,0 +1,200 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：O6 左手标定 vs 未标定 URDF +# +# 未标定: /home/lxqs/linkerhand-urdf/o6/left +# 标定: /home/lxqs/Linkerbot_URDF/06/LEFT（9/3 版，直接用 linker_hand_o6_left.xml） +# +# 两个窗口共用同一条 6 维 SDK 控制话题（默认 /cb_left_hand_control_cmd）。 +# +# 用法: +# ./hands/O6/scripts/run_o6_left_dual_compare.sh +# ./hands/O6/scripts/run_o6_left_dual_compare.sh --pd-drive +# ./hands/O6/scripts/run_o6_left_dual_compare.sh --cmd-topic /cb_left_hand_control_cmd --speed 1.0 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +URDF_UNCALIBRATED="$ROOT/hands/O6/reference/left_uncalibrated.urdf" +URDF_CALIBRATED="$ROOT/hands/O6/reference/left_calibrated.urdf" +PKG_O6="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left" +# 9/3 标定 MJCF：与 ./hands/O6/scripts/run_o6_left_mujoco_plan.sh 单开完全相同 +CALIB_XML="$PKG_O6/linker_hand_o6_left.xml" +STOCK_XML="$PKG_O6/linker_hand_o6_left_stock.xml" + +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$CALIB_XML" ]]; then + echo "[error] missing calibrated MJCF (9/3): $CALIB_XML" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +echo "[o6-dual] calibrated xml=$CALIB_XML (9/3, same as single-run)" +echo "[o6-dual] build uncalibrated MJCF from $URDF_UNCALIBRATED" +python3 - "$CALIB_XML" "$URDF_UNCALIBRATED" "$STOCK_XML" <<'PY' +import math +import re +import sys +from pathlib import Path + +template_xml = Path(sys.argv[1]) +urdf_uncal = Path(sys.argv[2]) +out_uncal = Path(sys.argv[3]) + +joint_body = {"lh_thumb_cmc_yaw": "lh_thumb_metacarpals_base2"} + + +def parse_urdf_limits(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + jtype_m = re.search(r'type="([^"]+)"', attrs) + if not jtype_m or jtype_m.group(1) != "revolute": + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "rpy": rpy, + } + return joints + + +def apply_urdf_to_mjcf(template: str, urdf_path: Path, model_name: str) -> str: + joints = parse_urdf_limits(urdf_path) + xml = template.replace( + 'model="linkerhand_o6_left"', + f'model="{model_name}"', + 1, + ) + + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + pat = rf'(]*\srange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + r, p, y = info["rpy"] + bname = joint_body.get(jname) + if bname and abs(r) + abs(p) + abs(y) > 1e-9: + w = math.cos(r * 0.5) * math.cos(p * 0.5) * math.cos(y * 0.5) + math.sin( + r * 0.5 + ) * math.sin(p * 0.5) * math.sin(y * 0.5) + x = math.sin(r * 0.5) * math.cos(p * 0.5) * math.cos(y * 0.5) - math.cos( + r * 0.5 + ) * math.sin(p * 0.5) * math.sin(y * 0.5) + yq = math.cos(r * 0.5) * math.sin(p * 0.5) * math.cos(y * 0.5) + math.sin( + r * 0.5 + ) * math.cos(p * 0.5) * math.sin(y * 0.5) + z = math.cos(r * 0.5) * math.cos(p * 0.5) * math.sin(y * 0.5) - math.sin( + r * 0.5 + ) * math.sin(p * 0.5) * math.cos(y * 0.5) + quat = f"{w:.9f} {x:.9f} {yq:.9f} {z:.9f}" + bpat = rf'(]*)(>)' + + def add_quat(m, quat=quat): + tag = m.group(1) + if 'quat="' in tag: + tag = re.sub(r'quat="[^"]+"', f'quat="{quat}"', tag, count=1) + else: + tag = tag + f' quat="{quat}"' + return tag + m.group(2) + + xml = re.sub(bpat, add_quat, xml, count=1) + elif bname: + bpat = rf'(]*)\squat="[^"]+"([^>]*>)' + xml = re.sub(bpat, r"\1\2", xml, count=1) + + act_map = { + "lh_thumb_cmc_yaw_pos": "lh_thumb_cmc_yaw", + "lh_thumb_cmc_pitch_pos": "lh_thumb_cmc_pitch", + "lh_index_mcp_pitch_pos": "lh_index_mcp_pitch", + "lh_middle_mcp_pitch_pos": "lh_middle_mcp_pitch", + "lh_ring_mcp_pitch_pos": "lh_ring_mcp_pitch", + "lh_pinky_mcp_pitch_pos": "lh_pinky_mcp_pitch", + } + for act, jname in act_map.items(): + lo, hi = joints[jname]["lo"], joints[jname]["hi"] + pat = rf'(]*\sctrlrange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + return xml + + +import mujoco + +out_uncal.write_text( + apply_urdf_to_mjcf(template_xml.read_text(), urdf_uncal, "linkerhand_o6_left_uncalibrated") +) +mujoco.MjModel.from_xml_path(str(out_uncal)) +print(f"[o6-dual] uncalibrated MJCF -> {out_uncal}") +PY + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true + [[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[o6-dual] launch uncalibrated window" +"$ROOT/hands/O6/scripts/run_o6_left_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --node-name o6_left_uncalibrated \ + --window-title "O6 left 未标定 (linkerhand-urdf)" \ + --sim-state-topic /sim/mujoco/o6/left/uncalibrated/joint_state \ + "${EXTRA[@]}" & +PID_UNCAL=$! + +sleep 1 + +echo "[o6-dual] launch calibrated window (9/3 MJCF)" +"$ROOT/hands/O6/scripts/run_o6_left_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --node-name o6_left_calibrated \ + --window-title "O6 left 标定 (Linkerbot_URDF 9/3)" \ + --sim-state-topic /sim/mujoco/o6/left/calibrated/joint_state \ + "${EXTRA[@]}" & +PID_CALIB=$! + +echo "[o6-dual] both started. same cmd topic (default /cb_left_hand_control_cmd)." +echo "[o6-dual] Ctrl+C stops both." +wait "$PID_UNCAL" "$PID_CALIB" diff --git a/hands/O6/scripts/run_o6_left_mujoco_plan.sh b/hands/O6/scripts/run_o6_left_mujoco_plan.sh new file mode 100755 index 0000000..827a026 --- /dev/null +++ b/hands/O6/scripts/run_o6_left_mujoco_plan.sh @@ -0,0 +1,52 @@ +#!/usr/bin/env bash +# MuJoCo O6 左手仿真桥 +# URDF/MJCF 来源: /home/lxqs/Linkerbot_URDF/06/LEFT（9/3 标定版） +# 默认订阅 /cb_left_hand_control_cmd（6 维 SDK 0~255） +# 发布 /sim/mujoco/o6/left/joint_state +# +# 用法: +# ./hands/O6/scripts/run_o6_left_mujoco_plan.sh +# ./hands/O6/scripts/run_o6_left_mujoco_plan.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left.xml" +URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linkerhand_o6_left.urdf" +if [[ ! -f "$XML" ]]; then + echo "[error] missing O6 left MJCF: $XML" >&2 + exit 1 +fi + +echo "[o6-left] urdf=$URDF" +echo "[o6-left] xml=$XML" +echo "[o6-left] cmd-topic=/cb_left_hand_control_cmd" +echo "[o6-left] sim-state=/sim/mujoco/o6/left/joint_state" +echo "[o6-left] SDK 6ch: pitch, yaw, index, middle, ring, pinky" + +exec python3 -m linker_hand_mujoco_ros2.o6_left_plan_bridge \ + --xml "$XML" \ + --node-name o6_mujoco_plan_bridge_left \ + --window-title "O6 left" \ + --cmd-topic /cb_left_hand_control_cmd \ + --sim-state-topic /sim/mujoco/o6/left/joint_state \ + --nominal-topic /retarget/o6/left/joint_target_nominal \ + --mapping g20_urdf \ + "$@" diff --git a/hands/O6/scripts/run_o6_right_dual_compare.sh b/hands/O6/scripts/run_o6_right_dual_compare.sh new file mode 100755 index 0000000..7a1c3ec --- /dev/null +++ b/hands/O6/scripts/run_o6_right_dual_compare.sh @@ -0,0 +1,199 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：O6 右手标定 vs 未标定 URDF +# +# 未标定: /home/lxqs/linkerhand-urdf/o6/right +# 标定: /home/lxqs/Linkerbot_URDF/06/RIGHT（直接用 linker_hand_o6_right.xml，与单开相同） +# +# 两个窗口共用同一条 6 维 SDK 控制话题（默认 /cb_right_hand_control_cmd）。 +# +# 用法: +# ./hands/O6/scripts/run_o6_right_dual_compare.sh +# ./hands/O6/scripts/run_o6_right_dual_compare.sh --pd-drive +# ./hands/O6/scripts/run_o6_right_dual_compare.sh --cmd-topic /cb_right_hand_control_cmd --speed 1.0 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +URDF_UNCALIBRATED="$ROOT/hands/O6/reference/right_uncalibrated.urdf" +URDF_CALIBRATED="$ROOT/hands/O6/reference/right_calibrated.urdf" +PKG_O6="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_right" +CALIB_XML="$PKG_O6/linker_hand_o6_right.xml" +STOCK_XML="$PKG_O6/linker_hand_o6_right_stock.xml" + +if [[ ! -f "$URDF_UNCALIBRATED" ]]; then + echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$URDF_CALIBRATED" ]]; then + echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2 + exit 1 +fi +if [[ ! -f "$CALIB_XML" ]]; then + echo "[error] missing calibrated MJCF: $CALIB_XML" >&2 + exit 1 +fi + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +echo "[o6-right-dual] calibrated xml=$CALIB_XML (same as single-run)" +echo "[o6-right-dual] build uncalibrated MJCF from $URDF_UNCALIBRATED" +python3 - "$CALIB_XML" "$URDF_UNCALIBRATED" "$STOCK_XML" <<'PY' +import math +import re +import sys +from pathlib import Path + +template_xml = Path(sys.argv[1]) +urdf_uncal = Path(sys.argv[2]) +out_uncal = Path(sys.argv[3]) + +joint_body = {"rh_thumb_cmc_yaw": "rh_thumb_metacarpals_base2"} + + +def parse_urdf_limits(path: Path) -> dict[str, dict]: + text = path.read_text() + joints: dict[str, dict] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + jtype_m = re.search(r'type="([^"]+)"', attrs) + if not jtype_m or jtype_m.group(1) != "revolute": + continue + origin = re.search(r']*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body) + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0] + joints[name] = { + "lo": float(lim.group(1)), + "hi": float(lim.group(2)), + "rpy": rpy, + } + return joints + + +def rpy_to_quat(r: float, p: float, y: float) -> tuple[float, float, float, float]: + cr, sr = math.cos(r * 0.5), math.sin(r * 0.5) + cp, sp = math.cos(p * 0.5), math.sin(p * 0.5) + cy, sy = math.cos(y * 0.5), math.sin(y * 0.5) + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + yq = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return w, x, yq, z + + +def apply_urdf_to_mjcf(template: str, urdf_path: Path, model_name: str) -> str: + joints = parse_urdf_limits(urdf_path) + xml = template.replace( + 'model="linkerhand_o6_right"', + f'model="{model_name}"', + 1, + ) + + for jname, info in joints.items(): + lo, hi = info["lo"], info["hi"] + pat = rf'(]*\srange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + r, p, y = info["rpy"] + bname = joint_body.get(jname) + if bname and abs(r) + abs(p) + abs(y) > 1e-9: + w, x, yq, z = rpy_to_quat(r, p, y) + quat = f"{w:.9f} {x:.9f} {yq:.9f} {z:.9f}" + bpat = rf'(]*)(>)' + + def add_quat(m, quat=quat): + tag = m.group(1) + if 'quat="' in tag: + tag = re.sub(r'quat="[^"]+"', f'quat="{quat}"', tag, count=1) + else: + tag = tag + f' quat="{quat}"' + return tag + m.group(2) + + xml = re.sub(bpat, add_quat, xml, count=1) + elif bname: + bpat = rf'(]*)\squat="[^"]+"([^>]*>)' + xml = re.sub(bpat, r"\1\2", xml, count=1) + + act_map = { + "rh_thumb_cmc_yaw_pos": "rh_thumb_cmc_yaw", + "rh_thumb_cmc_pitch_pos": "rh_thumb_cmc_pitch", + "rh_index_mcp_pitch_pos": "rh_index_mcp_pitch", + "rh_middle_mcp_pitch_pos": "rh_middle_mcp_pitch", + "rh_ring_mcp_pitch_pos": "rh_ring_mcp_pitch", + "rh_pinky_mcp_pitch_pos": "rh_pinky_mcp_pitch", + } + for act, jname in act_map.items(): + lo, hi = joints[jname]["lo"], joints[jname]["hi"] + pat = rf'(]*\sctrlrange=")([^"]+)(")' + xml = re.sub( + pat, + lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}", + xml, + count=1, + ) + return xml + + +import mujoco + +out_uncal.write_text( + apply_urdf_to_mjcf(template_xml.read_text(), urdf_uncal, "linkerhand_o6_right_uncalibrated") +) +mujoco.MjModel.from_xml_path(str(out_uncal)) +print(f"[o6-right-dual] uncalibrated MJCF -> {out_uncal}") +PY + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true + [[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[o6-right-dual] launch uncalibrated window" +"$ROOT/hands/O6/scripts/run_o6_right_mujoco_plan.sh" \ + --xml "$STOCK_XML" \ + --mapping-urdf "$URDF_UNCALIBRATED" \ + --node-name o6_right_uncalibrated \ + --window-title "O6 right 未标定 (linkerhand-urdf)" \ + --sim-state-topic /sim/mujoco/o6/right/uncalibrated/joint_state \ + "${EXTRA[@]}" & +PID_UNCAL=$! + +sleep 1 + +echo "[o6-right-dual] launch calibrated window" +"$ROOT/hands/O6/scripts/run_o6_right_mujoco_plan.sh" \ + --xml "$CALIB_XML" \ + --mapping-urdf "$URDF_CALIBRATED" \ + --node-name o6_right_calibrated \ + --window-title "O6 right 标定 (Linkerbot_URDF)" \ + --sim-state-topic /sim/mujoco/o6/right/calibrated/joint_state \ + "${EXTRA[@]}" & +PID_CALIB=$! + +echo "[o6-right-dual] both started. same cmd topic (default /cb_right_hand_control_cmd)." +echo "[o6-right-dual] Ctrl+C stops both." +wait "$PID_UNCAL" "$PID_CALIB" diff --git a/hands/O6/scripts/run_o6_right_mujoco_plan.sh b/hands/O6/scripts/run_o6_right_mujoco_plan.sh new file mode 100755 index 0000000..2082a87 --- /dev/null +++ b/hands/O6/scripts/run_o6_right_mujoco_plan.sh @@ -0,0 +1,52 @@ +#!/usr/bin/env bash +# MuJoCo O6 右手仿真桥 +# URDF 来源: /home/lxqs/下载/linkerhand_o6_right_O6_RIGHT_001_partial_zero_calibrated+copy.urdf +# 默认订阅 /cb_right_hand_control_cmd（与 SDK / GUI 一致，6 维 SDK 0~255） +# 发布 /sim/mujoco/o6/right/joint_state +# +# 用法: +# ./hands/O6/scripts/run_o6_right_mujoco_plan.sh +# ./hands/O6/scripts/run_o6_right_mujoco_plan.sh --pd-drive +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_right/linker_hand_o6_right.xml" +URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_right/linkerhand_o6_right.urdf" +if [[ ! -f "$XML" ]]; then + echo "[error] missing O6 MJCF: $XML" >&2 + exit 1 +fi + +echo "[o6-right] urdf=$URDF" +echo "[o6-right] xml=$XML" +echo "[o6-right] cmd-topic=/cb_right_hand_control_cmd" +echo "[o6-right] sim-state=/sim/mujoco/o6/right/joint_state" +echo "[o6-right] SDK 6ch: pitch, yaw, index, middle, ring, pinky" + +exec python3 -m linker_hand_mujoco_ros2.o6_plan_bridge \ + --xml "$XML" \ + --node-name o6_mujoco_plan_bridge_right \ + --window-title "O6 right" \ + --cmd-topic /cb_right_hand_control_cmd \ + --sim-state-topic /sim/mujoco/o6/right/joint_state \ + --nominal-topic /retarget/o6/right/joint_target_nominal \ + --mapping g20_urdf \ + "$@" diff --git a/hands/README.md b/hands/README.md new file mode 100644 index 0000000..5ccf520 --- /dev/null +++ b/hands/README.md @@ -0,0 +1,69 @@ +# 按手型启动 MuJoCo + +这里是新的日常使用入口。根目录统一使用 `run.sh`；旧 `run_*.sh` 已归档到 `archive/launchers/`。URDF、网格不复制成第二份运行资产：各目录的 `assets` 是指向包内原资产的相对符号链接。 + +## 启动 + +在工程根目录执行： + +```bash +./hands/G20/run_left.sh +./hands/G20/run_right.sh +./hands/O6/run_left.sh +./hands/O6/run_right.sh +./hands/L6/run_left.sh +./hands/L6/run_right.sh +./hands/O12/run_right.sh +./hands/O30/run_left.sh +./hands/O30/run_right.sh +``` + +常用双窗入口为各手型的 `compare_left.sh` / `compare_right.sh`。完整实现及关节监视脚本放在各手型 `scripts/` 中。G20/O6/L6 双窗所需原始对照 URDF 已快照到各自 `reference/`，来源和散列见 `reference_sources.json`；这些文件用于配合包内模板生成对照窗口，不是独立网格资产包。G20 的 L20 对照改用包内已有资产，O12 对照改用工程内 `assets/vendor/Linkerbot_URDF/012/right`。O12 当前只有右手入口。 +`hands/L20_V10.1/assets` 是 G20 双窗对照所用的原版 L20 模型。 +O30 V5～V9 旧入口放在 `hands/O30/legacy`；历史 URDF 保留，但历史主动分段映射不再执行。 +`hands/legacy/run_sim.sh` 保留旧 ROS launch 接口；日常使用优先选择上方按手型的桥接器。 + +## 映射规则 + +- 主动关节不查 JSON 角度表，使用实际加载的 URDF 派生 MJCF 关节限位线性换算。通道顺序、正反方向属于 SDK 协议，继续保留。 +- G20/O6/L6/O30 的 SDK 输入仍为 0～255；O12 `/o12/right/joint_cmd` 仍为 12 路 SDK 弧度，不要发送 0～255 数组。 +- 被动关节默认读取对应 URDF 的 `mimic` 比例和偏移。 +- G20 左手默认额外使用 `G20/calibration/left_passive.json`：文件只包含被动关节相对于主关节角度的曲线，没有主动命令查表。缺失时明确提示并回退到 URDF mimic。 +- G20 右手保持默认 URDF 线性 mimic；如需现有右手被动曲线，可以显式指定 `--passive-json`。 +- O30 没有被动关节，保持全主动线性；V10 几何和关节参数未修改。 +- 运行时不再因为导入公共函数而读取 G20 JSON。其余手型不需要 G20 的标定文件。 + +G20 被动曲线开关示例： + +```bash +# 左手全部采用 URDF 线性关系，包括被动关节 +./hands/G20/run_left.sh --passive-json none + +# 右手主动线性，被动使用已有标定联动曲线 +./hands/G20/run_right.sh --passive-json "$PWD/hands/G20/calibration/right_passive.json" +``` + +旧 `--mapping g20_calibrated` 等名称作为兼容别名保留，含义已调整为“主动线性 + 可选被动曲线”，不再代表主动查表。切换后 G20 左手同一 SDK 指令的姿态可能不同于旧标定查表结果。 + +## 资产与配置 + +`assets` 中有历史版本；正常单窗使用所在手型当前 MJCF 和对应的标准 URDF 文件，不按修改时间猜测“最新版本”。O30 当前仍由其启动脚本从指定 V10 URDF 生成模型。 +其他手型现有单窗读取已经生成的 MJCF；修改 URDF 后需同步生成 MJCF，不能只改 URDF 文本就期待已有 XML 自动变化。此次已核对常用 SDK 手型当前 URDF 与 MJCF 关节限位一致。 + +自定义/双窗模型通过 `--mapping-urdf PATH` 明确指定 passive mimic 来源；主动限位始终与实际仿真的模型一致。双窗脚本已传入各自 URDF，避免套用另一窗口的联动比例。O12 旧 `--o12-urdf` 参数继续兼容。 + +被动 JSON 的精简格式为 `schema_version: 1`、`passive_maps`；每个条目包含 `master`、`master_rad`、`passive_rad`。只允许描述 URDF 中的被动关节。旧 JSON 的显式导入仍可用于转换被动联动：其中主关节曲线只用作被动曲线横坐标，绝不用于主动命令映射。 + +## 备份与测试 + +本轮前的启动脚本、Python 驱动及完整包内 URDF/网格保存在： +`archive/backups/before_hand_layout_20260928_102428/`。 +历史测试文件也已保存。备份用于恢复旧行为，不建议与新映射代码混用。 + +```bash +PYTHONDONTWRITEBYTECODE=1 venv/bin/python -B tests/test_hand_mapping_policy.py +source /opt/ros/jazzy/setup.bash +PYTHONPATH="$PWD/venv/lib/python3.12/site-packages:$PYTHONPATH" python3 tools/o30_right_calibration/test_calibration.py +``` + +本轮是驱动与目录整理，不是重新标定真机。没有向真机话题发指令。 diff --git a/run_sim.sh b/hands/legacy/run_sim.sh similarity index 92% rename from run_sim.sh rename to hands/legacy/run_sim.sh index d20207f..2bec037 100755 --- a/run_sim.sh +++ b/hands/legacy/run_sim.sh @@ -2,7 +2,7 @@ # 本机启动左手 O6 MuJoCo 仿真（ROS2 用系统 Python，依赖从 venv/user site 补齐） set -euo pipefail -ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" cd "$ROOT" # ROS2 diff --git a/hands/reference_sources.json b/hands/reference_sources.json new file mode 100644 index 0000000..7f5eebe --- /dev/null +++ b/hands/reference_sources.json @@ -0,0 +1,42 @@ +{ + "hands/O6/reference/left_uncalibrated.urdf": { + "source": "/home/lxqs/linkerhand-urdf/o6/left/linkerhand_o6_left.urdf", + "sha256": "0bc0162a9dc0c2d57f68477a67e5ba88d1baf0b67eb8ad2de8556ed7b62114de" + }, + "hands/O6/reference/left_calibrated.urdf": { + "source": "/home/lxqs/Linkerbot_URDF/06/LEFT/linkerhand_o6_left.urdf", + "sha256": "35b6a350119fc4c8162f8a1c40aa515e6a9f0562e8349cfcc0214c7dd02a884e" + }, + "hands/O6/reference/right_uncalibrated.urdf": { + "source": "/home/lxqs/linkerhand-urdf/o6/right/linkerhand_o6_right.urdf", + "sha256": "8f184faad699fbf771e388f109a4e8793b5cb190c33a87b2eba8491a3a37dd62" + }, + "hands/O6/reference/right_calibrated.urdf": { + "source": "/home/lxqs/Linkerbot_URDF/06/RIGHT/linkerhand_o6_right.urdf", + "sha256": "aa07cb443d085dade54069cd487c3d1bfc4aac9da54f9880adf33c1923a43aaa" + }, + "hands/L6/reference/left_uncalibrated.urdf": { + "source": "/home/lxqs/linkerhand-urdf/l6/left/linkerhand_l6v3.1_left.urdf", + "sha256": "b7d83f5423c64d62c50bf5ca73f96210e2032b9531c816a3955bab7a51d13c54" + }, + "hands/L6/reference/left_calibrated.urdf": { + "source": "/home/lxqs/Linkerbot_URDF/L6/LEFT/linkerhand_l6_left.urdf", + "sha256": "23110486b970604ca6d88bb29a5e6543d3f66361ce528cf767cbe41e6751443c" + }, + "hands/L6/reference/right_uncalibrated.urdf": { + "source": "/home/lxqs/linkerhand-urdf/l6/right/linkerhand_l6v3.1_right.urdf", + "sha256": "298c1fbf5189648911426f530b50bdbeea4830cab9c54e20f46c532485df4666" + }, + "hands/L6/reference/right_calibrated.urdf": { + "source": "/home/lxqs/Linkerbot_URDF/L6/RIGHT/linkerhand_l6_right.urdf", + "sha256": "614fc9df0d44fa0cc66770b0361c5037fc56c4dd5e59176204f9b29dc99b387d" + }, + "hands/G20/reference/left_calibrated.urdf": { + "source": "/home/lxqs/图片/linkerhand_g20_left_tag.urdf", + "sha256": "93ef571430a15a229f221b53c09747c1c94a5c8d228ababd979c717f1d5f1a5a" + }, + "hands/G20/reference/right_calibrated.urdf": { + "source": "/home/lxqs/音乐/linkerhand_G20_RIGHT_tag.urdf", + "sha256": "d46d3ca2f51f8932854f5090d0bf7f813ffa41501f68e534fc4f760e959cb496" + } +} diff --git a/run.sh b/run.sh new file mode 100755 index 0000000..5ceeefd --- /dev/null +++ b/run.sh @@ -0,0 +1,27 @@ +#!/usr/bin/env bash +# Unified MuJoCo launcher. Does not control physical hardware. +set -euo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +usage() { + cat <<'EOF' +用法: ./run.sh <手型> [MuJoCo 参数] + +支持: G20、O6、L6、O30 左右手；O12 右手 +示例: + ./run.sh O30 right + ./run.sh G20 left --pd-drive + ./run.sh G20 left --passive-json none + +双窗对比: ./hands/G20/compare_left.sh +目录说明: README.md +旧根目录脚本已移至 archive/launchers/。 +EOF +} +if [[ $# -eq 0 || ${1:-} == --help || ${1:-} == --list ]]; then usage; exit 0; fi +if [[ $# -lt 2 ]]; then usage >&2; exit 2; fi +model="${1^^}"; side="${2,,}"; shift 2 +case "$model:$side" in + G20:left|G20:right|O6:left|O6:right|L6:left|L6:right|O30:left|O30:right|O12:right) ;; + *) echo "不支持的手型/侧别: $model $side" >&2; usage >&2; exit 2 ;; +esac +exec "$ROOT/hands/$model/run_$side.sh" "$@" diff --git a/run_dual_mujoco_compare.sh b/run_dual_mujoco_compare.sh deleted file mode 100755 index 38159fa..0000000 --- a/run_dual_mujoco_compare.sh +++ /dev/null @@ -1,62 +0,0 @@ -#!/usr/bin/env bash -# 同时开两个 MuJoCo：当前标定 G20 + L20 V10.1 原版 URDF -# 共用同一条 0~255 控制话题（默认 /g20/cb_left_hand_control_cmd） -# -# 用法: -# ./run_dual_mujoco_compare.sh -# ./run_dual_mujoco_compare.sh --cmd-topic /cb_left_hand_control_cmd -# ./run_dual_mujoco_compare.sh --speed 1.0 -set -eo pipefail -ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" -cd "$ROOT" - -PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" -G20_XML="$PKG_SRC/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml" -L20_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml" - -if [[ ! -f "$G20_XML" ]]; then - echo "[error] missing G20 MJCF: $G20_XML" >&2 - exit 1 -fi -if [[ ! -f "$L20_XML" ]]; then - echo "[error] missing L20 MJCF: $L20_XML" >&2 - exit 1 -fi - -EXTRA=("$@") - -cleanup() { - [[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true - [[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true -} -trap cleanup EXIT INT TERM - -echo "[dual] G20 calibrated xml=$G20_XML" -"$ROOT/run_g20_mujoco_plan.sh" \ - --xml "$G20_XML" \ - --node-name g20_calibrated \ - --window-title "G20 calibrated (current)" \ - --sim-state-topic /sim/mujoco/g20/left/joint_state \ - --mapping g20_calibrated \ - "${EXTRA[@]}" & -PID_G20=$! - -# 错开一点，避免两个 GLFW 同时抢显示 -sleep 1 - -echo "[dual] L20 V10.1 stock xml=$L20_XML (URDF-native mapping, no G20 corrections)" -# L20 mesh 弯曲时自碰多，默认 collision_project 会把运动全部打回；对比时关闭。 -"$ROOT/run_g20_mujoco_plan.sh" \ - --xml "$L20_XML" \ - --node-name l20v101_stock \ - --window-title "L20 V10.1 stock (URDF only)" \ - --sim-state-topic /sim/mujoco/l20v101/left/joint_state \ - --mapping l20_urdf \ - --no-collision-project \ - "${EXTRA[@]}" & -PID_L20=$! - -echo "[dual] both started. same cmd topic (default /g20/cb_left_hand_control_cmd)." -echo "[dual] L20: collision_project=off (mesh self-overlap would freeze motion)." -echo "[dual] Ctrl+C stops both." -wait "$PID_G20" "$PID_L20" diff --git a/run_real_middle_record.sh b/run_real_middle_record.sh deleted file mode 100755 index c677559..0000000 --- a/run_real_middle_record.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/usr/bin/env bash -# 已迁移到统一实验脚本（真机 / 仿真同一套发令时序） -exec "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/run_middle_step_experiment.sh" real "$@" diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/g20_plan_bridge.launch.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/g20_plan_bridge.launch.py index 143959b..7adec70 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/g20_plan_bridge.launch.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/g20_plan_bridge.launch.py @@ -5,7 +5,7 @@ from launch_ros.actions import Node def generate_launch_description(): """启动 MuJoCo G20 桥（默认订 /g20/cb_left_hand_control_cmd）。 - 更多参数请用根目录: ./run_g20_mujoco_plan.sh [--speed 0.5] [--plan-nominal] + 更多参数请用根目录: ./hands/G20/scripts/run_g20_mujoco_plan.sh [--speed 0.5] [--plan-nominal] """ return LaunchDescription([ Node( diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/hand_curve_recorder.launch.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/hand_curve_recorder.launch.py index b1017a4..a07630f 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/hand_curve_recorder.launch.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/launch/hand_curve_recorder.launch.py @@ -9,7 +9,7 @@ def generate_launch_description(): DeclareLaunchArgument("hand_type", default_value="left"), DeclareLaunchArgument("channel", default_value="3"), # 中指 DeclareLaunchArgument("label", default_value="run"), # sim / real - DeclareLaunchArgument("output_dir", default_value="reports/hand_curves"), + DeclareLaunchArgument("output_dir", default_value="outputs/reports/hand_curves"), DeclareLaunchArgument("hz", default_value="100.0"), # 话题留空则用 /cb_{hand}_hand_control_cmd 与 /cb_{hand}_hand_state DeclareLaunchArgument("cmd_topic", default_value=""), diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_left_mcp_roll_check.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_left_mcp_roll_check.py new file mode 100644 index 0000000..81f1676 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_left_mcp_roll_check.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""左手四指 mcp_roll 侧摆方向检查：发 SDK 命令并打印映射/仿真关节角。""" + +from __future__ import annotations + +import argparse +import sys +import time + +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import JointState + +from linker_hand_mujoco_ros2.utils.g20_joints import ( + L20_SDK_TO_URDF, + sdk_range_to_full_g20_urdf_positions, +) + +ROLL_CHANNELS: tuple[tuple[int, str], ...] = ( + (6, "index_mcp_roll"), + (7, "middle_mcp_roll"), + (8, "ring_mcp_roll"), + (9, "pinky_mcp_roll"), +) + +TEST_CMDS: tuple[float, ...] = (0.0, 127.5, 255.0) + + +def build_cmd(active_ch: int, active_val: float) -> list[float]: + cmd = [255.0] * 20 + for ch in (6, 7, 8, 9): + cmd[ch] = 127.5 + cmd[active_ch] = active_val + return cmd + + +class McpRollChecker(Node): + def __init__(self, cmd_topic: str, state_topic: str, settle_s: float) -> None: + super().__init__("g20_left_mcp_roll_check") + self._pub = self.create_publisher(JointState, cmd_topic, 10) + self._latest_state: JointState | None = None + self.create_subscription(JointState, state_topic, self._on_state, 10) + self._settle_s = settle_s + self.get_logger().info(f"pub {cmd_topic}, sub {state_topic}") + + def _on_state(self, msg: JointState) -> None: + self._latest_state = msg + + def _wait_state(self, timeout_s: float = 5.0) -> JointState: + end = time.time() + timeout_s + while time.time() < end: + rclpy.spin_once(self, timeout_sec=0.05) + if self._latest_state is not None: + return self._latest_state + raise TimeoutError(f"no joint_state within {timeout_s}s (bridge running?)") + + def _joint_value(self, state: JointState, name: str) -> float | None: + try: + idx = list(state.name).index(name) + except ValueError: + return None + if idx >= len(state.position): + return None + return float(state.position[idx]) + + def _publish_cmd(self, cmd: list[float]) -> None: + msg = JointState() + msg.name = [str(i) for i in range(20)] + msg.position = [float(v) for v in cmd] + self._pub.publish(msg) + + def run(self) -> int: + print("\n=== 左手四指侧摆方向检查 (g20_urdf) ===") + print("URDF 轴: +X | 映射: cmd0→MIN(负), cmd255→MAX(正), 无外部取负") + print("对比 MuJoCo 里手指实际摆动方向与真机是否一致\n") + + self._wait_state() + + for ch, jname in ROLL_CHANNELS: + print(f"--- SDK ch{ch} {jname} ---") + for val in TEST_CMDS: + cmd = build_cmd(ch, val) + expected = sdk_range_to_full_g20_urdf_positions(cmd)[jname] + self._publish_cmd(cmd) + time.sleep(self._settle_s) + rclpy.spin_once(self, timeout_sec=0.05) + state = self._latest_state + actual = self._joint_value(state, jname) if state else None + actual_s = f"{actual:+.4f}" if actual is not None else "n/a" + print( + f" cmd={val:5.1f} expect={expected:+.4f} rad sim={actual_s} rad" + ) + print() + + print("判定:") + print(" cmd 0 时 sim 应为负、cmd 255 时应为正 → 映射与 URDF 一致") + print(" 若 sim 符号对但视觉与真机反 → 需翻转 URDF mcp_roll 轴（像右手那样）") + return 0 + + +def main() -> int: + p = argparse.ArgumentParser(description="G20 left mcp_roll direction check") + p.add_argument("--cmd-topic", default="/cb_left_hand_control_cmd") + p.add_argument("--state-topic", default="/sim/mujoco/g20/left/joint_state") + p.add_argument("--settle-s", type=float, default=0.8, help="每次命令后等待秒数") + args = p.parse_args() + + rclpy.init() + node = McpRollChecker(args.cmd_topic, args.state_topic, args.settle_s) + try: + return node.run() + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py index 41e7115..7d24d06 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py @@ -3,7 +3,7 @@ """MuJoCo G20 左手仿真桥。 默认： - 订阅 /g20/cb_left_hand_control_cmd JointState(position 0~255) + 订阅 /cb_left_hand_control_cmd JointState(position 0~255) 发布 /sim/mujoco/g20/left/joint_state JointState(实际仿真 DOF) 可选 ``--plan-nominal``：订 /retarget/g20/left/joint_target_nominal（弧度按名）。 @@ -33,7 +33,7 @@ DEFAULT_XML = PKG_DIR / "urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml" TOPIC_NOMINAL = "/retarget/g20/left/joint_target_nominal" TOPIC_SIM_STATE = "/sim/mujoco/g20/left/joint_state" -TOPIC_LEGACY_CMD = "/g20/cb_left_hand_control_cmd" +TOPIC_LEGACY_CMD = "/cb_left_hand_control_cmd" TRACK_TOL_RAD = 0.02 WARN_INTERVAL_S = 2.0 @@ -68,7 +68,7 @@ def parse_args() -> argparse.Namespace: "--legacy-sdk", action="store_true", default=True, - help="订 /g20/cb_left_hand_control_cmd（0~255，默认开启）", + help="订 /cb_left_hand_control_cmd（0~255，默认开启）", ) p.add_argument( "--no-legacy-sdk", @@ -121,11 +121,18 @@ def parse_args() -> argparse.Namespace: default="", help="MuJoCo 窗口标题（空则用节点名）", ) + p.add_argument("--mapping-urdf", type=Path, help="URDF supplying passive mimic metadata") + p.add_argument("--passive-json", help="Optional G20 passive coupling JSON, or none; active mapping stays linear") p.add_argument( "--mapping", default="g20_calibrated", - choices=("g20_calibrated", "l20_urdf"), - help="命令映射：g20_calibrated=当前标定/分段；l20_urdf=仅 L20 URDF 限位+线性 mimic", + choices=("g20_calibrated", "g20_calibrated_right", "g20_urdf", "l20_urdf"), + help=( + "所有主动关节均线性；g20_calibrated=左手可选被动JSON；" + "g20_calibrated_right=右手可选被动JSON；" + "g20_urdf=模型限位+URDF mimic（可显式指定被动JSON）；" + "l20_urdf=仅 L20 URDF 限位+线性 mimic" + ), ) return p.parse_args() @@ -194,6 +201,7 @@ class G20PlanBridge: slew_rad_s: float = DEFAULT_SLEW_RAD_S, sim_dt: float = 0.002, mapping: str = "g20_calibrated", + setup_cmd_sub: bool = True, ): from sensor_msgs.msg import JointState @@ -224,11 +232,11 @@ class G20PlanBridge: ) = build_joint_maps(model) validate_model_joint_names(set(self.joint_qpos.keys())) - missing_act = sorted(set(self.joint_qpos) - set(self.act_id)) + self.actuated = g20_actuated_joint_names() + missing_act = sorted(set(self.actuated) - set(self.act_id)) if missing_act: raise RuntimeError(f"MJCF 缺少 position actuator: {missing_act}") - self.actuated = g20_actuated_joint_names() self.ordered_names = sorted(self.joint_qpos.keys()) open_full = self.open_hand_fn() @@ -246,20 +254,23 @@ class G20PlanBridge: self._last_safe_pose: dict[str, float] = dict(self.applied) self.slew_rad_s = old_slew - if legacy_sdk: - self.sub = node.create_subscription( - JointState, cmd_topic, self._on_legacy_cmd, 10 - ) - node.get_logger().info( - f"G20: sub {cmd_topic} (SDK 0~255), mapping={self.mapping}" - ) + if setup_cmd_sub: + if legacy_sdk: + self.sub = node.create_subscription( + JointState, cmd_topic, self._on_legacy_cmd, 10 + ) + node.get_logger().info( + f"G20: sub {cmd_topic} (SDK 0~255), mapping={self.mapping}" + ) + else: + self.sub = node.create_subscription( + JointState, nominal_topic, self._on_nominal, 10 + ) + node.get_logger().info( + f"G20 PLAN: sub {nominal_topic} (rad by name), mapping={self.mapping}" + ) else: - self.sub = node.create_subscription( - JointState, nominal_topic, self._on_nominal, 10 - ) - node.get_logger().info( - f"G20 PLAN: sub {nominal_topic} (rad by name), mapping={self.mapping}" - ) + self.sub = None self.pub = node.create_publisher(JointState, sim_state_topic, 10) self._state_timer = node.create_timer(1.0 / STATE_HZ, self._publish_state) @@ -414,10 +425,16 @@ class G20PlanBridge: else: self._hard_write_applied_unlocked() return + # PD 模式：ctrl 追 goal/applied，不要每步把 applied 拉回 qpos， + # 否则配合 slew 后误差永远 < slew*dt，跟手极慢。 self._ctrl_from_applied_unlocked() + # 无执行器的 mimic 关节（如 L6 DIP）：每步按 applied 写 qpos + for name, val in self.applied.items(): + if name in self.act_id or name not in self.joint_qpos: + continue + self.data.qpos[self.joint_qpos[name]] = val + self.data.qvel[self.joint_dof[name]] = 0.0 mujoco.mj_step(self.model, self.data) - self._sync_applied_from_qpos_unlocked() - def set_nominal_targets(self, positions: dict[str, float]) -> None: self._set_goal_only(positions) @@ -514,6 +531,10 @@ def main(argv: list[str] | None = None) -> int: import mujoco.viewer model = mujoco.MjModel.from_xml_path(str(xml_path)) + from linker_hand_mujoco_ros2.utils.runtime_mapping import configure + mapping_info = configure(model, xml_path, get_mapping_fns, str(args.mapping), + args.mapping_urdf, args.passive_json) + print(f"[mapping] {mapping_info}") data = mujoco.MjData(model) model.opt.disableflags = 0 data.qpos[:] = 0 @@ -543,7 +564,13 @@ def main(argv: list[str] | None = None) -> int: speed = max(1e-6, float(args.speed)) dt = float(model.opt.timestep) # track-test 需瞬达；默认运动学，仅 --pd-drive 开接触驱动 - slew_rad_s = 0.0 if args.track_test else float(args.slew_rad_s) + # PD 模式默认提高 slew，避免参考轨迹本身拖慢跟手 + if args.track_test: + slew_rad_s = 0.0 + elif bool(args.pd_drive) and abs(float(args.slew_rad_s) - DEFAULT_SLEW_RAD_S) < 1e-12: + slew_rad_s = 8.0 + else: + slew_rad_s = float(args.slew_rad_s) rclpy.init() node = Node(str(args.node_name)) @@ -556,10 +583,8 @@ def main(argv: list[str] | None = None) -> int: cmd_topic=args.cmd_topic, sim_state_topic=args.sim_state_topic, use_pd_drive=bool(args.pd_drive) and not bool(args.track_test), - # L20 原版 mesh 在张开侧摆/握拳时易自碰；collision_project 会把 qpos 卡死。 collision_project=(not bool(args.no_collision_project)) - and (not bool(args.track_test)) - and (str(args.mapping) != "l20_urdf"), + and (not bool(args.track_test)), slew_rad_s=slew_rad_s, sim_dt=dt, mapping=str(args.mapping), diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/hand_curve_recorder.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/hand_curve_recorder.py index dce09f5..925c875 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/hand_curve_recorder.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/hand_curve_recorder.py @@ -51,7 +51,7 @@ class HandCurveRecorder(Node): self.declare_parameter("current_topic", "") # 可选 Float32MultiArray；空则用 state.effort self.declare_parameter("n_channels", 6) self.declare_parameter("channel", 3) # 画图关注通道：中指=3 - self.declare_parameter("output_dir", "reports/hand_curves") + self.declare_parameter("output_dir", "outputs/reports/hand_curves") self.declare_parameter("label", "run") # 文件名标签 sim / real / ... self.declare_parameter("hz", 100.0) # 落盘采样率（定时器） self.declare_parameter("use_cmd_as_joint", True) # 无 state 时用 cmd 当 joint 画图 diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/l6_left_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/l6_left_plan_bridge.py new file mode 100644 index 0000000..5ea11f6 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/l6_left_plan_bridge.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo L6 v3.1 左手仿真桥（复用 G20PlanBridge 主循环）。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/L6/linker_hand_l6v31_left/linker_hand_l6v31_left.xml" + +import linker_hand_mujoco_ros2.utils.l6_left_joints as l6j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = "/l6/cb_left_hand_control_cmd" +g20b.TOPIC_SIM_STATE = "/sim/mujoco/l6/left/joint_state" +g20b.TOPIC_NOMINAL = "/retarget/l6/left/joint_target_nominal" +g20b.g20_actuated_joint_names = l6j.l6_left_actuated_joint_names +g20b.g20_required_joint_names = l6j.l6_left_required_joint_names +g20b.validate_model_joint_names = l6j.validate_model_joint_names +g20b.get_mapping_fns = l6j.get_l6_left_mapping_fns + +from linker_hand_mujoco_ros2.g20_plan_bridge import main # noqa: E402 + +if __name__ == "__main__": + argv = sys.argv[1:] + if "--mapping" in argv: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + else: + argv.extend(["--mapping", "g20_urdf"]) + sys.argv = [sys.argv[0], *argv] + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/l6_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/l6_plan_bridge.py new file mode 100644 index 0000000..927604d --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/l6_plan_bridge.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo L6 v3.1 右手仿真桥（复用 G20PlanBridge 主循环）。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/L6/linker_hand_l6v31_right/linker_hand_l6v31_right.xml" + +import linker_hand_mujoco_ros2.utils.l6_joints as l6j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = "/l6/cb_right_hand_control_cmd" +g20b.TOPIC_SIM_STATE = "/sim/mujoco/l6/right/joint_state" +g20b.TOPIC_NOMINAL = "/retarget/l6/right/joint_target_nominal" +g20b.g20_actuated_joint_names = l6j.l6_actuated_joint_names +g20b.g20_required_joint_names = l6j.l6_required_joint_names +g20b.validate_model_joint_names = l6j.validate_model_joint_names +g20b.get_mapping_fns = l6j.get_l6_mapping_fns + +from linker_hand_mujoco_ros2.g20_plan_bridge import main # noqa: E402 + +if __name__ == "__main__": + # argparse 只接受 g20_urdf 等已知项；实际映射已由 get_mapping_fns 替换为 L6 + argv = sys.argv[1:] + if "--mapping" in argv: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + else: + argv.extend(["--mapping", "g20_urdf"]) + sys.argv = [sys.argv[0], *argv] + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o12_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o12_plan_bridge.py new file mode 100644 index 0000000..9772d1d --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o12_plan_bridge.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo O12 T3 右手仿真桥（OmniHand Pro 2025 ROS2 接口）。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/O12/linker_hand_o12_right/linker_hand_o12_right.xml" + +O12_JOINT_CMD_TOPIC = "/o12/right/joint_cmd" +O12_JOINT_STATES_TOPIC = "/o12/right/joint_states" + +import linker_hand_mujoco_ros2.utils.o12_joints as o12j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = O12_JOINT_CMD_TOPIC +g20b.TOPIC_SIM_STATE = O12_JOINT_STATES_TOPIC +g20b.TOPIC_NOMINAL = "/retarget/o12/right/joint_target_nominal" +g20b.g20_actuated_joint_names = o12j.o12_actuated_joint_names +g20b.g20_required_joint_names = o12j.o12_required_joint_names +g20b.validate_model_joint_names = o12j.validate_model_joint_names +g20b.get_mapping_fns = o12j.get_o12_mapping_fns + +# PD 抑振：速度衰减；不再对主动关节 snap（snap 会硬拽穿接触→穿模） +_O12_PD_QVEL_DAMP = 0.35 +# PD 默认限速，给接触力反应时间；0=瞬移目标（更容易穿） +_O12_PD_DEFAULT_SLEW = 4.0 + + +class O12PlanBridge(g20b.G20PlanBridge): + """仅订阅 `/o12//joint_cmd`（12 路弧度），发布 `joint_states`。""" + + def step_simulation_unlocked(self) -> None: + """PD：物理步进保留接触；mimic 按实际主动关节重锁（不按目标硬写）。""" + if self.hard_kinematic: + super().step_simulation_unlocked() + return + import mujoco + + self._slew_applied_unlocked() + self._ctrl_from_applied_unlocked() + # 步进前只把 mimic 锁到「当前主动关节」对应值，避免用目标角硬写远端 + cur_act: dict[str, float] = {} + for name in o12j.O12_ACTUATED_JOINTS: + if name in self.joint_qpos: + cur_act[name] = float(self.data.qpos[self.joint_qpos[name]]) + mimics = o12j.complete_o12_urdf_mimic_positions(cur_act) + for name, val in mimics.items(): + if name in o12j.O12_URDF_MIMIC_OF and name in self.joint_qpos: + self.data.qpos[self.joint_qpos[name]] = float(val) + self.data.qvel[self.joint_dof[name]] = 0.0 + + mujoco.mj_step(self.model, self.data) + self.data.qvel[:] *= _O12_PD_QVEL_DAMP + + # 有接触时把 applied 拉回真实 qpos，避免 PD 目标继续往穿模方向硬推 + if int(self.data.ncon) > 0: + self._sync_applied_from_qpos_unlocked() + + # 步进后再按实际主动角重锁 mimic（仍不 snap 主动关节） + cur_act = {} + for name in o12j.O12_ACTUATED_JOINTS: + if name in self.joint_qpos: + cur_act[name] = float(self.data.qpos[self.joint_qpos[name]]) + mimics = o12j.complete_o12_urdf_mimic_positions(cur_act) + for name, val in mimics.items(): + if name in o12j.O12_URDF_MIMIC_OF and name in self.joint_qpos: + self.data.qpos[self.joint_qpos[name]] = float(val) + self.data.qvel[self.joint_dof[name]] = 0.0 + mujoco.mj_forward(self.model, self.data) + + def __init__(self, node, model, data, **kwargs): + cmd_topic = str(kwargs.pop("cmd_topic", O12_JOINT_CMD_TOPIC)) + sim_state_topic = str(kwargs.pop("sim_state_topic", O12_JOINT_STATES_TOPIC)) + kwargs["legacy_sdk"] = False + kwargs["setup_cmd_sub"] = False + kwargs["cmd_topic"] = cmd_topic + kwargs["sim_state_topic"] = sim_state_topic + super().__init__(node, model, data, **kwargs) + + from sensor_msgs.msg import JointState + + self.sub = node.create_subscription( + JointState, cmd_topic, self._on_joint_cmd, 10 + ) + node.get_logger().info( + f"O12: sub {cmd_topic} only (JointState position[0..11] rad); " + "not joint_current_* / mix_control" + ) + node.get_logger().info( + f"O12: pub {sim_state_topic} (JointState position[0..11] rad)" + ) + node.get_logger().info( + "O12 joint order (API_CPP_O12): " + "thumb_roll,yaw,pitch,mcp,idx_roll,idx_pitch,idx_pip," + "mid_roll,mid_pitch,mid_pip,ring,pinky" + ) + if not self.hard_kinematic: + node.get_logger().info( + "O12 PD: contact enabled (no actuated snap); " + f"qvel_damp={_O12_PD_QVEL_DAMP}, slew={self.slew_rad_s} rad/s" + ) + + def _on_joint_cmd(self, msg) -> None: + if len(msg.position) < 12: + self._warn_missing( + f"joint_cmd expects 12 elements, got {len(msg.position)}" + ) + return + full = o12j.joint_cmd_rad_to_full_positions(list(msg.position[:12])) + self.set_nominal_targets(full) + + def _publish_state(self) -> None: + from sensor_msgs.msg import JointState + from std_msgs.msg import Header + + msg = JointState() + msg.header = Header() + msg.header.stamp = self.node.get_clock().now().to_msg() + names = o12j.o12_actuated_joint_names() + urdf_pos: dict[str, float] = {} + vel = [] + with self.lock: + for name in names: + urdf_pos[name] = float(self.data.qpos[self.joint_qpos[name]]) + vel.append(float(self.data.qvel[self.joint_dof[name]])) + msg.name = names + msg.position = o12j.urdf_positions_to_joint_cmd_rad(urdf_pos) + msg.velocity = vel + self.pub.publish(msg) + + +g20b.G20PlanBridge = O12PlanBridge + + +def _pop_arg(argv: list[str], name: str) -> str | None: + if name in argv: + i = argv.index(name) + if i + 1 >= len(argv): + raise SystemExit(f"{name} requires a value") + val = argv[i + 1] + del argv[i : i + 2] + return val + prefix = name + "=" + for i, a in enumerate(argv): + if a.startswith(prefix): + val = a[len(prefix) :] + del argv[i] + return val + return None + + +def main(argv: list[str] | None = None) -> int: + if argv is None: + argv = sys.argv[1:] + argv = [a for a in argv if a != "--plan-nominal"] + o12_urdf = _pop_arg(argv, "--o12-urdf") + if o12_urdf: + o12j.apply_o12_urdf_calibration(o12_urdf) + argv.extend(["--mapping-urdf", o12_urdf]) + if "--mapping" not in argv: + argv = [*argv, "--mapping", "g20_urdf"] + else: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + if "--no-legacy-sdk" not in argv: + argv = [*argv, "--no-legacy-sdk"] + if "--cmd-topic" not in argv: + argv = [*argv, "--cmd-topic", O12_JOINT_CMD_TOPIC] + if "--sim-state-topic" not in argv: + argv = [*argv, "--sim-state-topic", O12_JOINT_STATES_TOPIC] + if "--node-name" not in argv: + argv = [*argv, "--node-name", "o12_mujoco_plan_bridge_right"] + # O12 mesh 张开位自碰严重；默认关 collision_project + if "--no-collision-project" not in argv and "--collision-project" not in argv: + argv = [*argv, "--no-collision-project"] + # 默认 PD 驱动（可见接触力）；显式 --no-pd-drive 可退回 kinematic + if "--pd-drive" not in argv and "--no-pd-drive" not in argv: + argv = [*argv, "--pd-drive"] + if "--no-pd-drive" in argv: + argv = [a for a in argv if a != "--no-pd-drive"] + # PD 默认限速，避免目标瞬移把指尖拽穿接触 + if "--pd-drive" in argv and not any( + a == "--slew-rad-s" or a.startswith("--slew-rad-s=") for a in argv + ): + argv = [*argv, "--slew-rad-s", str(_O12_PD_DEFAULT_SLEW)] + sys.argv = [sys.argv[0], *argv] + return g20b.main() + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o30_left_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o30_left_plan_bridge.py new file mode 100644 index 0000000..c282893 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o30_left_plan_bridge.py @@ -0,0 +1,117 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo O30i 左手仿真桥。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/O30/linker_hand_o30_left/linker_hand_o30_left.xml" + +O30_JOINT_CMD_TOPIC = "/cb_left_hand_control_cmd" +O30_JOINT_STATES_TOPIC = "/o30/left/joint_states" + +import linker_hand_mujoco_ros2.utils.o30_left_joints as o30j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = O30_JOINT_CMD_TOPIC +g20b.TOPIC_SIM_STATE = O30_JOINT_STATES_TOPIC +g20b.TOPIC_NOMINAL = "/retarget/o30/left/joint_target_nominal" +g20b.g20_actuated_joint_names = o30j.o30_left_actuated_joint_names +g20b.g20_required_joint_names = o30j.o30_left_required_joint_names +g20b.validate_model_joint_names = o30j.validate_model_joint_names +g20b.get_mapping_fns = o30j.get_o30_left_mapping_fns + + +class O30LeftPlanBridge(g20b.G20PlanBridge): + """订阅 `/cb_left_hand_control_cmd`（20 路 SDK 0～255），发布弧度状态。""" + + def __init__(self, node, model, data, **kwargs): + o30j.configure_model_limits(model) + cmd_topic = str(kwargs.pop("cmd_topic", O30_JOINT_CMD_TOPIC)) + sim_state_topic = str(kwargs.pop("sim_state_topic", O30_JOINT_STATES_TOPIC)) + kwargs["legacy_sdk"] = False + kwargs["setup_cmd_sub"] = False + kwargs["cmd_topic"] = cmd_topic + kwargs["sim_state_topic"] = sim_state_topic + super().__init__(node, model, data, **kwargs) + + from sensor_msgs.msg import JointState + + self.sub = node.create_subscription( + JointState, cmd_topic, self._on_joint_cmd, 10 + ) + node.get_logger().info( + f"O30: sub {cmd_topic} (JointState position[0..19] SDK 0..255, linear URDF limits)" + ) + node.get_logger().info(f"O30: pub {sim_state_topic}") + node.get_logger().info( + "O30 SDK order: " + ",".join(o30j.O30_LEFT_SDK_JOINT_ORDER) + ) + + def _on_joint_cmd(self, msg) -> None: + if len(msg.position) != 20: + self._warn_missing( + f"joint_cmd expects 20 elements, got {len(msg.position)}" + ) + return + try: + full = o30j.sdk_to_full_positions(list(msg.position)) + except ValueError as exc: + self._warn_missing(str(exc)) + return + self.set_nominal_targets(full) + + def _publish_state(self) -> None: + from sensor_msgs.msg import JointState + from std_msgs.msg import Header + + msg = JointState() + msg.header = Header() + msg.header.stamp = self.node.get_clock().now().to_msg() + names = o30j.o30_left_actuated_joint_names() + pos = [] + vel = [] + with self.lock: + for name in names: + pos.append(float(self.data.qpos[self.joint_qpos[name]])) + vel.append(float(self.data.qvel[self.joint_dof[name]])) + msg.name = names + msg.position = pos + msg.velocity = vel + self.pub.publish(msg) + + +g20b.G20PlanBridge = O30LeftPlanBridge + + +def main(argv: list[str] | None = None) -> int: + if argv is None: + argv = sys.argv[1:] + argv = [a for a in argv if a != "--plan-nominal"] + if "--mapping" not in argv: + argv = [*argv, "--mapping", "g20_urdf"] + else: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + if "--no-legacy-sdk" not in argv: + argv = [*argv, "--no-legacy-sdk"] + if "--cmd-topic" not in argv: + argv = [*argv, "--cmd-topic", O30_JOINT_CMD_TOPIC] + if "--sim-state-topic" not in argv: + argv = [*argv, "--sim-state-topic", O30_JOINT_STATES_TOPIC] + if "--node-name" not in argv: + argv = [*argv, "--node-name", "o30_mujoco_plan_bridge_left"] + # 张开 mesh 自碰；默认关 collision_project，避免一开就卡住 + if "--no-collision-project" not in argv and "--collision-project" not in argv: + argv = [*argv, "--no-collision-project"] + sys.argv = [sys.argv[0], *argv] + return g20b.main() + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o30_right_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o30_right_plan_bridge.py new file mode 100644 index 0000000..9f53022 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o30_right_plan_bridge.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo O30i 右手仿真桥（V2_0819）。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/O30/linker_hand_o30_right/linker_hand_o30_right.xml" + +import linker_hand_mujoco_ros2.utils.o30_right_joints as o30j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = "/cb_right_hand_control_cmd" +g20b.TOPIC_SIM_STATE = "/sim/mujoco/o30/right/joint_state" +g20b.TOPIC_NOMINAL = "/retarget/o30/right/joint_target_nominal" +g20b.g20_actuated_joint_names = o30j.o30_right_actuated_joint_names +g20b.g20_required_joint_names = o30j.o30_right_required_joint_names +g20b.validate_model_joint_names = o30j.validate_model_joint_names +g20b.get_mapping_fns = o30j.get_o30_right_mapping_fns + + +def main(argv: list[str] | None = None) -> int: + argv = list(sys.argv[1:] if argv is None else argv) + if "--mapping" in argv: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + else: + argv.extend(["--mapping", "g20_urdf"]) + if "--no-collision-project" not in argv and "--collision-project" not in argv: + argv.extend(["--no-collision-project"]) + if "--node-name" not in argv: + argv.extend(["--node-name", "o30_mujoco_plan_bridge_right"]) + if "--cmd-topic" not in argv: + argv.extend(["--cmd-topic", "/cb_right_hand_control_cmd"]) + if "--sim-state-topic" not in argv: + argv.extend(["--sim-state-topic", "/sim/mujoco/o30/right/joint_state"]) + sys.argv = [sys.argv[0], *argv] + args = g20b.parse_args() + o30j.configure_o30_right_limits(args.xml.expanduser().resolve()) + return g20b.main() + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o6_left_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o6_left_plan_bridge.py new file mode 100644 index 0000000..c1faff9 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o6_left_plan_bridge.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo O6 左手仿真桥（复用 G20PlanBridge 主循环）。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/O6/linker_hand_o6_left/linker_hand_o6_left.xml" + +import linker_hand_mujoco_ros2.utils.o6_left_joints as o6j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = "/cb_left_hand_control_cmd" +g20b.TOPIC_SIM_STATE = "/sim/mujoco/o6/left/joint_state" +g20b.TOPIC_NOMINAL = "/retarget/o6/left/joint_target_nominal" +g20b.g20_actuated_joint_names = o6j.o6_left_actuated_joint_names +g20b.g20_required_joint_names = o6j.o6_left_required_joint_names +g20b.validate_model_joint_names = o6j.validate_model_joint_names +g20b.get_mapping_fns = o6j.get_o6_left_mapping_fns + +from linker_hand_mujoco_ros2.g20_plan_bridge import main # noqa: E402 + +if __name__ == "__main__": + argv = sys.argv[1:] + if "--mapping" in argv: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + else: + argv.extend(["--mapping", "g20_urdf"]) + sys.argv = [sys.argv[0], *argv] + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o6_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o6_plan_bridge.py new file mode 100644 index 0000000..1024de4 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/o6_plan_bridge.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""MuJoCo O6 右手仿真桥（复用 G20PlanBridge 主循环）。""" + +from __future__ import annotations + +import sys +from pathlib import Path + +PKG_DIR = Path(__file__).resolve().parent +DEFAULT_XML = PKG_DIR / "urdf/O6/linker_hand_o6_right/linker_hand_o6_right.xml" + +import linker_hand_mujoco_ros2.utils.o6_joints as o6j # noqa: E402 +import linker_hand_mujoco_ros2.g20_plan_bridge as g20b # noqa: E402 + +g20b.DEFAULT_XML = DEFAULT_XML +g20b.TOPIC_LEGACY_CMD = "/cb_right_hand_control_cmd" +g20b.TOPIC_SIM_STATE = "/sim/mujoco/o6/right/joint_state" +g20b.TOPIC_NOMINAL = "/retarget/o6/right/joint_target_nominal" +g20b.g20_actuated_joint_names = o6j.o6_actuated_joint_names +g20b.g20_required_joint_names = o6j.o6_required_joint_names +g20b.validate_model_joint_names = o6j.validate_model_joint_names +g20b.get_mapping_fns = o6j.get_o6_mapping_fns + +from linker_hand_mujoco_ros2.g20_plan_bridge import main # noqa: E402 + +if __name__ == "__main__": + argv = sys.argv[1:] + if "--mapping" in argv: + i = argv.index("--mapping") + if i + 1 < len(argv): + argv[i + 1] = "g20_urdf" + else: + argv.extend(["--mapping", "g20_urdf"]) + sys.argv = [sys.argv[0], *argv] + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json index 84951b7..fd14fdc 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json @@ -1,5 +1,5 @@ { - "schema_version": 3, + "schema_version": 4, "model": "G20", "side": "left", "serial_number": "G20_LEFT_001", @@ -34,4483 +34,4510 @@ "thumb_cmc_pitch": { "motor_index": 0, "angle_rad": [ - 0.82302235, - 0.82060388, - 0.81818543, - 0.81576696, - 0.81220713, - 0.80974383, - 0.80967812, - 0.80587024, - 0.80386004, - 0.80038526, - 0.79607154, - 0.79150025, - 0.78602276, - 0.78257286, - 0.78015088, - 0.77537133, - 0.77318001, - 0.77101047, - 0.77023981, - 0.76630565, - 0.76434103, - 0.76132507, - 0.7583091, - 0.75727862, - 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rpy="0 0 0" /> @@ -512,7 +499,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -640,8 +627,8 @@ @@ -690,7 +677,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -748,7 +735,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -876,8 +863,8 @@ @@ -926,7 +913,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -984,7 +971,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -1112,8 +1099,8 @@ @@ -1162,7 +1149,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -1220,7 +1207,7 @@ type="revolute"> + rpy="0 0 0" /> @@ -1295,4 +1282,4 @@ multiplier="0.89" offset="0" /> - \ No newline at end of file + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_desktop.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_desktop.urdf new file mode 100644 index 0000000..da6bb0d --- /dev/null +++ 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_right/meshes/wrist_ft_link.stl differ diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right.xml new file mode 100644 index 0000000..150741b --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right.xml @@ -0,0 +1,193 @@ + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right_stock.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right_stock.xml new file mode 100644 index 0000000..5e8dcb1 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linker_hand_o12_right_stock.xml @@ -0,0 +1,193 @@ + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf new file mode 100644 index 0000000..54d6c7c --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf @@ -0,0 +1,1234 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right_biaoding.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right_biaoding.urdf new file mode 100644 index 0000000..543f403 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right_biaoding.urdf @@ -0,0 +1,1234 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_t3_right-0703_calibrated_O12_RIGHT_001_20260908_183332.urdf @@ -0,0 +1,1234 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_t3_right-0703_calibrated_O12_RIGHT_001_REVIEW_ONLY_20260908_195044.urdf @@ -0,0 +1,1234 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_endpoint_v5.xml @@ -0,0 +1,224 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_linear_v6.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_linear_v6.xml new file mode 100644 index 0000000..bd3ee6b --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_linear_v6.xml @@ -0,0 +1,216 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_middle_v9.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_middle_v9.xml new file mode 100644 index 0000000..1832101 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_middle_v9.xml @@ -0,0 +1,216 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_pinky_root_v8.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_pinky_root_v8.xml new file mode 100644 index 0000000..94e7a42 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_pinky_root_v8.xml @@ -0,0 +1,216 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_pinky_v4.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_pinky_v4.xml new file mode 100644 index 0000000..4d6653a --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_pinky_v4.xml @@ -0,0 +1,216 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_stock.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_stock.xml new file mode 100644 index 0000000..85047d9 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_stock.xml @@ -0,0 +1,216 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_two_joint_v7.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_two_joint_v7.xml new file mode 100644 index 0000000..a93b3c7 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linker_hand_o30_right_two_joint_v7.xml @@ -0,0 +1,216 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right.urdf new file mode 100644 index 0000000..07328e6 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right.urdf @@ -0,0 +1,605 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_endpoint_calibrated.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_endpoint_calibrated.urdf new file mode 100644 index 0000000..2c29a80 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_endpoint_calibrated.urdf @@ -0,0 +1,613 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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endpoints, not measured angles or confirmed full commands", + "constraints": { + "status": "Provisional endpoint estimates from paired hardware/simulation photographs; full command arrays unknown", + "confirmed": "Hardware and simulation used identical commands. Each tested joint is 255. DIP tests also have the same finger PIP at 255.", + "unconfirmed": "Other channels, camera extrinsics and measured hardware angles are unknown. Test both the previous open command and all-zero background commands; neither is claimed to be the recorded command.", + "angle_estimation": "Visible hardware link directions are approximately perpendicular. Use 90 degrees with an 8-degree estimation uncertainty as a provisional target, not a measured joint angle. No metric image reprojection fit is claimed.", + "constraints": [ + { + "joint": "ring_mcp_pitch", + "hardware_image": 1, + "simulation_image": 2, + "active": [ + "ring_mcp_pitch" + ], + "target_deg": 90, + "uncertainty_deg": 8 + }, + { + "joint": "ring_dip", + "hardware_image": 3, + "simulation_image": 4, + "active": [ + "ring_pip", + "ring_dip" + ], + "target_deg": 90, + "uncertainty_deg": 8 + }, + { + "joint": "pinky_mcp_pitch", + "hardware_image": 5, + "simulation_image": 6, + "active": [ + "pinky_mcp_pitch" + ], + "target_deg": 90, + "uncertainty_deg": 8 + }, + { + "joint": "pinky_pip", + "hardware_image": 7, + "simulation_image": 8, + "active": [ + "pinky_pip" + ], + "target_deg": 90, + "uncertainty_deg": 8 + }, + { + "joint": "pinky_dip", + "hardware_image": 9, + "simulation_image": 10, + "active": [ + "pinky_pip", + "pinky_dip" + ], + "target_deg": 90, + "uncertainty_deg": 8 + }, + { + "joint": "middle_dip", + "hardware_image": 11, + "simulation_image": 12, + "active": [ + "middle_pip", + "middle_dip" + ], + "target_deg": 90, + "uncertainty_deg": 8 + } + ] + }, + "parameterization": "Piecewise linear SDK-to-radian mapping with exact V4 pinch and zero anchors", + "endpoints_rad": [ + 1.5707963267948966, + 1.5707963267948966, + 1.5707963267948966, + 1.5707963267948966, + 1.5707963267948966, + 1.5707963267948966 + ], + "changed_joints": { + "ring_mcp_pitch": { + "previous_endpoint_deg": 102.79841630071306, + "endpoint_deg": 90.0, + "sdk_knots": [ + 0.0, + 140.0, + 255.0 + ], + "urdf_radian_knots": [ + 0.0, + 0.9731395324439215, + 1.5491296448916443 + ] + }, + "ring_dip": { + "previous_endpoint_deg": 68.40470411873692, + "endpoint_deg": 90.0, + "sdk_knots": [ + 0.0, + 61.0, + 255.0 + ], + "urdf_radian_knots": [ + 0.0, + 0.2864448920291765, + 1.5743425811104113 + ] + }, + "pinky_mcp_pitch": { + "previous_endpoint_deg": 116.2011805841604, + "endpoint_deg": 90.0, + "sdk_knots": [ + 0.0, + 166.0, + 255.0 + ], + "urdf_radian_knots": [ + 0.0, + 1.3426100890872157, 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0.0, + 0.0, + 0.0, + 255.0, + 0.0, + 0.0 + ] + } + ] +} diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_linear_calibration.json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_linear_calibration.json new file mode 100644 index 0000000..3a593f7 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_linear_calibration.json @@ -0,0 +1,351 @@ +{ + "status": "Pure-linear compromise; endpoint targets remain provisional photo estimates", + "parameter_vector": [ + -0.07680614007602479, + 0.028360678767211177, + 0.06980636632532093, + -0.02113043573350288, + 0.03170215457701893, + 0.03781112924830448, + -0.0526567226019283, + 0.028491000514787812, + 0.0475693860033035, + 0.025558960200189627, + -0.022042569497603935, + 0.05489321248703041, + 0.013871192580416171, + 0.02205095285469999, + 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a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_multiview_calibration.json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_multiview_calibration.json new file mode 100644 index 0000000..a5cbda6 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_multiview_calibration.json @@ -0,0 +1,4947 @@ +{ + "schema_version": 1, + "status": "13-photo refinement; hardware validation pending", + "stock_urdf_sha256": "fcfe3e5a81d04c0caac8d5d096b10eed8ee559a100707a7c0780735456755123", + "stock_xml_sha256": "f8555c91484947ebf1ba94c8b4341425aa1a1b03f5ce74c5d4472f1e81d097f0", + "samples_sha256": "9c118c16e92e2a5c65adfee347dd5b5e207f7e4c53c2e6e860c7f8c5612d2e8a", + "samples": [ + { + "finger": "index", + "label": "食指捏合", + "command": [ + 55, + 181, + 225, + 176, + 212, + 162, + 135, + 164, + 0, + 0, + 0, + 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_photo_calibration_v2.json new file mode 100644 index 0000000..68b9d89 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_photo_calibration_v2.json @@ -0,0 +1,2897 @@ +{ + "schema_version": 1, + "status": "five-photo fitted candidate; hardware validation pending", + "stock_urdf_sha256": "fcfe3e5a81d04c0caac8d5d096b10eed8ee559a100707a7c0780735456755123", + "stock_xml_sha256": "f8555c91484947ebf1ba94c8b4341425aa1a1b03f5ce74c5d4472f1e81d097f0", + "samples_sha256": "9c118c16e92e2a5c65adfee347dd5b5e207f7e4c53c2e6e860c7f8c5612d2e8a", + "samples": [ + { + "finger": "index", + "label": "食指捏合", + "command": [ + 55, + 181, + 225, + 176, + 212, + 162, + 135, + 164, + 0, + 0, + 0, + 139, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ] + }, + { + "finger": "middle", + "label": "中指捏合", + "command": [ + 137, + 166, + 225, 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_pinch_calibration.json new file mode 100644 index 0000000..bb45560 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_pinch_calibration.json @@ -0,0 +1,377 @@ +{ + "schema_version": 1, + "status": "four-pinch fitted candidate; hardware validation pending", + "stock_urdf_sha256": "fcfe3e5a81d04c0caac8d5d096b10eed8ee559a100707a7c0780735456755123", + "stock_xml_sha256": "f8555c91484947ebf1ba94c8b4341425aa1a1b03f5ce74c5d4472f1e81d097f0", + "samples_sha256": "9c118c16e92e2a5c65adfee347dd5b5e207f7e4c53c2e6e860c7f8c5612d2e8a", + "samples": [ + { + "finger": "index", + "label": "食指捏合", + "command": [ + 55, + 181, + 225, + 176, + 212, + 162, + 135, + 164, + 0, + 0, + 0, + 139, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ] + }, + { + "finger": "middle", + "label": "中指捏合", + "command": [ + 137, + 166, + 225, + 176, 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a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_pinch_calibration_v1.json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_pinch_calibration_v1.json new file mode 100644 index 0000000..bb45560 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/o30_right_pinch_calibration_v1.json @@ -0,0 +1,377 @@ +{ + "schema_version": 1, + "status": "four-pinch fitted candidate; hardware validation pending", + "stock_urdf_sha256": "fcfe3e5a81d04c0caac8d5d096b10eed8ee559a100707a7c0780735456755123", + "stock_xml_sha256": "f8555c91484947ebf1ba94c8b4341425aa1a1b03f5ce74c5d4472f1e81d097f0", + "samples_sha256": "9c118c16e92e2a5c65adfee347dd5b5e207f7e4c53c2e6e860c7f8c5612d2e8a", + "samples": [ + { + "finger": "index", + "label": "食指捏合", + "command": [ + 55, + 181, + 225, + 176, + 212, + 162, + 135, + 164, + 0, + 0, + 0, + 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Only active pinching fingers and thumb are exactly pose-preserved; resting fingers can change. Index DIP zero is frozen because its pinch and zero commands are both 0. Left stays V9." +} diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left.xml index 45b4e90..8b62102 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left.xml +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left.xml @@ -1,157 +1,126 @@ - - - - - - - - - - - - - - - - - + \ No newline at end of file + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left_calibrated.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left_calibrated.xml new file mode 100644 index 0000000..41e7b1b --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left_calibrated.xml @@ -0,0 +1,126 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left_stock.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left_stock.xml new file mode 100644 index 0000000..dd26266 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linker_hand_o6_left_stock.xml @@ -0,0 +1,126 @@ + + + diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linkerhand_o6_left.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linkerhand_o6_left.urdf new file mode 100644 index 0000000..c8215e9 --- /dev/null +++ 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THUMB_IP_MIMIC_MULTIPLIER = 1.02 _G20_CALIB_JSON = ( Path(__file__).resolve().parent.parent - / "urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json" + / "urdf/G20/linker_hand_g20_left/g20_left_passive.json" +) +_G20_RIGHT_CALIB_JSON = ( + Path(__file__).resolve().parent.parent + / "urdf/G20/linker_hand_g20_right/g20_right_passive.json" ) @@ -48,41 +52,87 @@ class PiecewiseMap(NamedTuple): def _load_g20_calibration(path: Path = _G20_CALIB_JSON) -> dict: with path.open("r", encoding="utf-8") as f: data = json.load(f) - if int(data.get("schema_version", 0)) < 3: + schema = int(data.get("schema_version", 0)) + if schema < 3: raise ValueError(f"unsupported calibration schema in {path}") joints = data.get("joints") or {} tables: dict[str, tuple[float, ...]] = {} + passive: set[str] = set() for name, spec in joints.items(): arr = spec.get("angle_rad") if not isinstance(arr, list) or len(arr) != 256: raise ValueError(f"{name}: angle_rad must be length 256") tables[name] = tuple(float(x) for x in arr) + if bool(spec.get("passive")): + passive.add(str(name)) baseline = [float(x) for x in data.get("baseline_command_u8", [255] * 20)] while len(baseline) < 20: baseline.append(255.0) - return {"tables": tables, "baseline": baseline[:20], "path": str(path)} + return { + "tables": tables, + "baseline": baseline[:20], + "path": str(path), + "schema_version": schema, + "passive": frozenset(passive), + } -_G20_CALIB = _load_g20_calibration() -G20_CMD_ANGLE_TABLES: dict[str, tuple[float, ...]] = _G20_CALIB["tables"] -G20_OPEN_CMD: list[float] = list(_G20_CALIB["baseline"]) +# No calibration IO at import. Runtime configuration loads only optional passive curves. +G20_CMD_ANGLE_TABLES = {} +G20_RIGHT_CMD_ANGLE_TABLES = {} +G20_OPEN_CMD = [255.0] * 20 +for _i in (6, 7, 8, 9): + G20_OPEN_CMD[_i] = 127.5 +G20_RIGHT_OPEN_CMD = list(G20_OPEN_CMD) +G20_CALIB_SCHEMA = G20_RIGHT_CALIB_SCHEMA = 4 +G20_PASSIVE_JOINTS = G20_RIGHT_PASSIVE_JOINTS = frozenset() + + +def _passive_table_is_relative( + mimic_name: str, + master_name: str, + *, + tables: dict[str, tuple[float, ...]] | None = None, + schema: int | None = None, +) -> bool: + """schema>=4 被动表已是相对 URDF 角；旧 schema 的 thumb_ip 为累计 tip 投影。""" + schema_v = G20_CALIB_SCHEMA if schema is None else int(schema) + if schema_v >= 4: + return True + if mimic_name != "thumb_ip": + return True + tbl = G20_CMD_ANGLE_TABLES if tables is None else tables + tip = tbl[mimic_name] + mcp = tbl[master_name] + ge = sum(1 for a, b in zip(tip, mcp) if a + 1e-6 >= b) + return not (ge == 256 and max(tip) > max(mcp) + 0.2) def _downsample_passive_map( - master_name: str, mimic_name: str, n_pts: int = 33 + master_name: str, + mimic_name: str, + n_pts: int = 33, + *, + tables: dict[str, tuple[float, ...]] | None = None, + schema: int | None = None, ) -> PiecewiseMap: - """同一命令下的 master/mimic 曲线 → 升序分段表。 + """同一命令下的 master/mimic 曲线 → 升序主被动分段函数。 - thumb_ip 的 JSON 是累计指尖投影角，需减 thumb_mcp 得到相对 URDF 关节角。 + - schema>=4：被动 angle_rad 已是相对 URDF 关节角，直接配对。 + - 旧 schema 的 thumb_ip：JSON 为累计 tip，需 tip-mcp 得到相对角。 """ - master = G20_CMD_ANGLE_TABLES[master_name] - mimic = G20_CMD_ANGLE_TABLES[mimic_name] + tbl = G20_CMD_ANGLE_TABLES if tables is None else tables + master = tbl[master_name] + mimic = tbl[mimic_name] + relative = _passive_table_is_relative( + mimic_name, master_name, tables=tbl, schema=schema + ) pairs: list[tuple[float, float]] = [] last_m: float | None = None for cmd in range(255, -1, -1): m = float(master[cmd]) y = float(mimic[cmd]) - if mimic_name == "thumb_ip": + if not relative: y = max(0.0, y - m) if last_m is None or m > last_m + 1e-9: pairs.append((m, y)) @@ -122,16 +172,13 @@ G20_MIMIC_OF: dict[str, tuple[str, float]] = { "pinky_dip": ("pinky_pip", DIP_MIMIC_MULTIPLIER), } -# 被动关节：标定 JSON 中同命令下的 master/mimic 配对曲线 -G20_PASSIVE_MAPS: dict[str, PiecewiseMap] = { - "thumb_ip": _downsample_passive_map("thumb_mcp", "thumb_ip"), - "index_dip": _downsample_passive_map("index_pip", "index_dip"), - "middle_dip": _downsample_passive_map("middle_pip", "middle_dip"), - "ring_dip": _downsample_passive_map("ring_pip", "ring_dip"), - "pinky_dip": _downsample_passive_map("pinky_pip", "pinky_dip"), -} +# 被动关节：标定 JSON 同命令 master/mimic 配对 → 分段线性函数（非固定 URDF multiplier） +G20_PASSIVE_MAPS: dict[str, PiecewiseMap] = {} +G20_RIGHT_PASSIVE_MAPS: dict[str, PiecewiseMap] = {} -# 四指侧摆相对标定表视觉反向时取负；拇指 cmc_roll 不翻 +# 不再对整表做外部符号修正；仅四指 mcp_roll： +# 当前标定 URDF（thumb_roll_7deg_validation）轴为 +X，未标定 L20 为 -X， +# 查表角度与 L20 线性同号，若不取负则标定窗侧摆视觉与未标定/真机相反。 G20_FLIP_JOINT_SIGN: frozenset[str] = frozenset( { "index_mcp_roll", @@ -140,19 +187,12 @@ G20_FLIP_JOINT_SIGN: frozenset[str] = frozenset( "pinky_mcp_roll", } ) +G20_RIGHT_FLIP_JOINT_SIGN: frozenset[str] = frozenset() -# 由标定表极值导出（供日志/兼容）；实际 0~255 走查表 +# 运行时由模型限位填充（供日志/兼容） G20_L_MIN = [0.0] * 20 G20_L_MAX = [0.0] * 20 -for _sdk_idx, _jname in L20_SDK_TO_URDF.items(): - _arr = G20_CMD_ANGLE_TABLES[_jname] - _lo = float(min(_arr)) - _hi = float(max(_arr)) - if _jname in G20_FLIP_JOINT_SIGN: - _lo, _hi = -_hi, -_lo - G20_L_MIN[_sdk_idx] = _lo - G20_L_MAX[_sdk_idx] = _hi -# 侧摆方向提示：标定表 cmd0=+max、cmd255=-max（不再用线性 DIR） +# 侧摆方向提示：与表一致，不做符号翻转（线性 DIR 仅作兼容提示） G20_L_DIR = [-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1] @@ -194,18 +234,34 @@ def passive_mimic_to_master(mimic_name: str, mimic_value: float) -> float: return _interp_piecewise(float(mimic_value), spec.mimic_pts, spec.master_pts) -def complete_g20_mimic_positions(positions: dict[str, float]) -> dict[str, float]: +def complete_g20_mimic_positions( + positions: dict[str, float], + *, + passive_maps: dict[str, PiecewiseMap] | None = None, +) -> dict[str, float]: """补全缺失的 mimic 关节；已给出的 mimic 值优先保留。""" + maps = G20_PASSIVE_MAPS if passive_maps is None else passive_maps out = dict(positions) - for mimic, spec in G20_PASSIVE_MAPS.items(): + for mimic, (master, ratio, offset) in G20_URDF_MIMIC_OF.items(): + if mimic not in out and master in out: + spec = maps.get(mimic) + out[mimic] = (_interp_piecewise(float(out[master]), spec.master_pts, spec.mimic_pts) + if spec else float(out[master]) * ratio + offset) + for mimic, spec in maps.items(): if mimic in out: continue master = spec.master if master in out: - out[mimic] = passive_master_to_mimic(mimic, float(out[master])) + out[mimic] = _interp_piecewise( + float(out[master]), spec.master_pts, spec.mimic_pts + ) return out +def complete_g20_mimic_positions_right(positions: dict[str, float]) -> dict[str, float]: + return complete_g20_mimic_positions(positions, passive_maps=G20_RIGHT_PASSIVE_MAPS) + + def scale_value(original_value: float, a_min: float, a_max: float, b_min: float, b_max: float) -> float: if a_max == a_min: return b_min @@ -216,24 +272,23 @@ def clamp(value: float, low: float, high: float) -> float: return max(low, min(high, value)) -def g20_cmd_to_joint_angle(joint_name: str, command: float) -> float: - """查标定表：命令 0~255 → 关节弧度（支持小数命令线性插值）。""" - table = G20_CMD_ANGLE_TABLES[joint_name] - cmd = clamp(float(command), 0.0, 255.0) - lo = int(cmd) - if lo >= 255: - angle = float(table[255]) - else: - hi = lo + 1 - frac = cmd - lo - angle = float(table[lo]) * (1.0 - frac) + float(table[hi]) * frac - if joint_name in G20_FLIP_JOINT_SIGN: - angle = -angle - return angle +def g20_cmd_to_joint_angle( + joint_name: str, + command: float, + *, + flip_sign: frozenset[str] | None = None, + tables: dict[str, tuple[float, ...]] | None = None, +) -> float: + """Active joints always use the configured model limits, never JSON tables.""" + index = next(i for i, name in L20_SDK_TO_URDF.items() if name == joint_name) + lo, hi = G20_URDF_L_MIN[index], G20_URDF_L_MAX[index] + if G20_URDF_L_DIR[index] < 0: + lo, hi = hi, lo + return scale_value(clamp(float(command), 0.0, 255.0), 0.0, 255.0, lo, hi) def range_to_arc_g20_left(values: list[float]) -> list[float]: - """SDK 0~255 → 20 维弧度（预留通道 11~14 保持 0）；按标定表查。""" + """SDK 0~255 → 20 维弧度，按实际模型限位线性换算。""" arcs = [0.0] * 20 for sdk_idx, joint_name in L20_SDK_TO_URDF.items(): cmd = values[sdk_idx] if sdk_idx < len(values) else G20_OPEN_CMD[sdk_idx] @@ -241,35 +296,58 @@ def range_to_arc_g20_left(values: list[float]) -> list[float]: return arcs -def sdk_range_to_urdf_positions(values: list[float]) -> dict[str, float]: - """20 维 SDK → URDF 主动关节弧度（标定表直接对应主动关节，不做 tip/DIP 反算）。""" +def sdk_range_to_urdf_positions( + values: list[float], + *, + flip_sign: frozenset[str] | None = None, + tables: dict[str, tuple[float, ...]] | None = None, + open_cmd: list[float] | None = None, +) -> dict[str, float]: + """20 维 SDK → URDF 主动关节弧度（限位线性换算，不查主动标定表）。""" + baseline = G20_OPEN_CMD if open_cmd is None else open_cmd out: dict[str, float] = {} for sdk_idx, short_name in L20_SDK_TO_URDF.items(): - cmd = values[sdk_idx] if sdk_idx < len(values) else G20_OPEN_CMD[sdk_idx] - out[short_name] = g20_cmd_to_joint_angle(short_name, cmd) + cmd = values[sdk_idx] if sdk_idx < len(values) else baseline[sdk_idx] + out[short_name] = g20_cmd_to_joint_angle( + short_name, cmd, flip_sign=flip_sign, tables=tables + ) return out -def sdk_range_to_full_urdf_positions(values: list[float]) -> dict[str, float]: - """主动查标定表；被动：thumb_ip 用相对分段，*_dip 用同命令相对表。""" - out = sdk_range_to_urdf_positions(values) - # thumb_ip JSON 是累计 tip，勿直接写入；用 master→相对 mimic - out["thumb_ip"] = passive_master_to_mimic("thumb_ip", float(out["thumb_mcp"])) - for sdk_idx, dip_name in ( - (16, "index_dip"), - (17, "middle_dip"), - (18, "ring_dip"), - (19, "pinky_dip"), - ): - cmd = values[sdk_idx] if len(values) > sdk_idx else G20_OPEN_CMD[sdk_idx] - out[dip_name] = g20_cmd_to_joint_angle(dip_name, cmd) - return out +def sdk_range_to_full_urdf_positions( + values: list[float], + *, + flip_sign: frozenset[str] | None = None, + tables: dict[str, tuple[float, ...]] | None = None, + open_cmd: list[float] | None = None, + passive_maps: dict[str, PiecewiseMap] | None = None, +) -> dict[str, float]: + """主动按模型限位线性换算；被动可选 JSON 联动。""" + out = sdk_range_to_urdf_positions( + values, flip_sign=flip_sign, tables=tables, open_cmd=open_cmd + ) + return complete_g20_mimic_positions(out, passive_maps=passive_maps) + + +def sdk_range_to_full_urdf_positions_right(values: list[float]) -> dict[str, float]: + """右手：主动线性，被动可选专用 JSON 联动。""" + return sdk_range_to_full_urdf_positions( + values, + flip_sign=G20_RIGHT_FLIP_JOINT_SIGN, + tables=G20_RIGHT_CMD_ANGLE_TABLES, + open_cmd=G20_RIGHT_OPEN_CMD, + passive_maps=G20_RIGHT_PASSIVE_MAPS, + ) def open_hand_positions() -> dict[str, float]: return sdk_range_to_full_urdf_positions(list(G20_OPEN_CMD)) +def open_hand_positions_right() -> dict[str, float]: + return sdk_range_to_full_urdf_positions_right(list(G20_RIGHT_OPEN_CMD)) + + def half_fist_positions() -> dict[str, float]: """半握：主动弯曲通道约中间值，侧摆保持 baseline。""" cmd = list(G20_OPEN_CMD) @@ -278,6 +356,13 @@ def half_fist_positions() -> dict[str, float]: return sdk_range_to_full_urdf_positions(cmd) +def half_fist_positions_right() -> dict[str, float]: + cmd = list(G20_RIGHT_OPEN_CMD) + for i in (0, 1, 2, 3, 4, 15, 16, 17, 18, 19): + cmd[i] = 80.0 + return sdk_range_to_full_urdf_positions_right(cmd) + + # --------------------------------------------------------------------------- # L20 V10.1：严格按 URDF 限位 + 线性 mimic，不做 G20 标定/分段/指尖反算修正 # --------------------------------------------------------------------------- @@ -313,11 +398,13 @@ L20_URDF_L_DIR = [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, -1 def complete_l20_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: """按 L20 URDF 线性 mimic 补全；已给出的 mimic 值优先保留。""" out = dict(positions) - for mimic, (master, ratio) in L20_URDF_MIMIC_OF.items(): + for mimic, spec in L20_URDF_MIMIC_OF.items(): + master, ratio = spec[:2] + offset = spec[2] if len(spec) > 2 else 0.0 if mimic in out: continue if master in out: - out[mimic] = float(out[master]) * float(ratio) + out[mimic] = float(out[master]) * float(ratio) + offset return out @@ -366,21 +453,124 @@ def half_fist_positions_l20_urdf() -> dict[str, float]: return sdk_range_to_full_l20_urdf_positions(cmd) +# --------------------------------------------------------------------------- +# G20：仅按当前右手 URDF 限位 + 线性 mimic（不用标定 JSON 查表/分段） +# --------------------------------------------------------------------------- +G20_URDF_THUMB_IP_MIMIC = 1.03 # URDF: thumb_ip <- thumb_mcp +G20_URDF_DIP_MIMIC = 0.89 # URDF: *_dip <- *_pip + +# (master, multiplier, offset)；数值取自 20260831_144707 +G20_URDF_MIMIC_OF: dict[str, tuple[str, float, float]] = { + "thumb_ip": ("thumb_mcp", G20_URDF_THUMB_IP_MIMIC, 0.027812937511868), + "index_dip": ("index_pip", G20_URDF_DIP_MIMIC, 0.0), + "middle_dip": ("middle_pip", G20_URDF_DIP_MIMIC, 0.0), + "ring_dip": ("ring_pip", G20_URDF_DIP_MIMIC, 0.0), + "pinky_dip": ("pinky_pip", G20_URDF_DIP_MIMIC, 0.0), +} + +# 与 L20_SDK_TO_URDF 通道对齐；数值取自 20260831_144707 +G20_URDF_L_MIN = [ + 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, -0.23, -0.23, -0.23, -0.23, + 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, +] +G20_URDF_L_MAX = [ + 0.83, 1.22, 1.22, 1.22, 1.22, + 1.39, 0.23, 0.23, 0.23, 0.23, + 1.57, 0.0, 0.0, 0.0, 0.0, + 1.22299715, 1.75, 1.75, 1.75, 1.75, +] +# 弯曲/拇指：0→MAX、255→MIN。 +# 四指侧摆 6..9：不做外部取负，严格跟 URDF 轴正向线性： +# cmd0 → MIN(lower)、cmd255 → MAX(upper)。 +# 若视觉与真机反向，应改 URDF/MJCF 的 mcp_roll 轴符号，而不是改这里。 +# 左手 mcp_roll=+X；右手 mcp_roll=-X（与左手镜像）。 +G20_URDF_L_DIR = [-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1] + + +def complete_g20_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + return complete_g20_mimic_positions(positions) + + +def range_to_arc_g20_urdf(values: list[float]) -> list[float]: + arcs = [0.0] * 20 + for i in range(20): + if 11 <= i <= 14: + continue + val = clamp(values[i] if i < len(values) else 0.0, 0.0, 255.0) + if G20_URDF_L_DIR[i] == -1: + arcs[i] = scale_value(val, 0.0, 255.0, G20_URDF_L_MAX[i], G20_URDF_L_MIN[i]) + else: + arcs[i] = scale_value(val, 0.0, 255.0, G20_URDF_L_MIN[i], G20_URDF_L_MAX[i]) + return arcs + + +def sdk_range_to_g20_urdf_positions(values: list[float]) -> dict[str, float]: + arcs = range_to_arc_g20_urdf(values) + out: dict[str, float] = {} + for sdk_idx, short_name in L20_SDK_TO_URDF.items(): + out[short_name] = float(arcs[sdk_idx]) + return out + + +def sdk_range_to_full_g20_urdf_positions(values: list[float]) -> dict[str, float]: + return complete_g20_urdf_mimic_positions(sdk_range_to_g20_urdf_positions(values)) + + +def open_hand_positions_g20_urdf() -> dict[str, float]: + cmd = [255.0] * 20 + for i in (6, 7, 8, 9): + cmd[i] = 127.5 + return sdk_range_to_full_g20_urdf_positions(cmd) + + +def half_fist_positions_g20_urdf() -> dict[str, float]: + cmd = [255.0] * 20 + for i in (6, 7, 8, 9): + cmd[i] = 127.5 + for i in (0, 1, 2, 3, 4, 15, 16, 17, 18, 19): + cmd[i] = 80.0 + return sdk_range_to_full_g20_urdf_positions(cmd) + + def get_mapping_fns(profile: str): """返回 (sdk_to_full, complete_mimic, open_hand, half_fist)。""" p = str(profile).strip().lower() - if p in ("l20_urdf", "l20", "urdf"): + if p in ("l20_urdf", "l20"): return ( sdk_range_to_full_l20_urdf_positions, complete_l20_urdf_mimic_positions, open_hand_positions_l20_urdf, half_fist_positions_l20_urdf, ) - if p in ("g20", "g20_calibrated", "calibrated"): + if p in ("g20_urdf", "urdf_g20"): + return ( + sdk_range_to_full_g20_urdf_positions, + complete_g20_urdf_mimic_positions, + open_hand_positions_g20_urdf, + half_fist_positions_g20_urdf, + ) + if p in ("g20_right", "g20_calibrated_right", "calibrated_right"): + return ( + sdk_range_to_full_urdf_positions_right, + complete_g20_mimic_positions_right, + open_hand_positions_right, + half_fist_positions_right, + ) + if p in ("g20", "g20_calibrated", "calibrated", "g20_left", "g20_calibrated_left"): return ( sdk_range_to_full_urdf_positions, complete_g20_mimic_positions, open_hand_positions, half_fist_positions, ) + # 兼容旧别名 urdf → L20（双窗对比脚本仍用） + if p in ("urdf",): + return ( + sdk_range_to_full_l20_urdf_positions, + complete_l20_urdf_mimic_positions, + open_hand_positions_l20_urdf, + half_fist_positions_l20_urdf, + ) raise ValueError(f"unknown mapping profile: {profile}") diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/l6_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/l6_joints.py new file mode 100644 index 0000000..6027fdd --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/l6_joints.py @@ -0,0 +1,103 @@ +# SPDX-License-Identifier: Apache-2.0 +"""L6 v3.1 右手：SDK 6 通道 ↔ URDF 关节（限位 + 线性 mimic）。""" + +from __future__ import annotations + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp, scale_value + +# SDK 通道顺序与 linker_hand_l6_can / rs485 JOINT_NAMES 一致： +# pitch, yaw/roll, index, middle, ring, pinky +L6_SDK_TO_URDF: dict[int, str] = { + 0: "rh_thumb_cmc_pitch", + 1: "rh_thumb_cmc_roll", + 2: "rh_index_mcp_pitch", + 3: "rh_middle_mcp_pitch", + 4: "rh_ring_mcp_pitch", + 5: "rh_pinky_mcp_pitch", +} + +L6_URDF_MIMIC_OF: dict[str, tuple[str, float, float]] = { + "rh_thumb_dip": ("rh_thumb_cmc_pitch", 0.88524192477979, 0.0), + "rh_index_dip": ("rh_index_mcp_pitch", 0.923280528556446, 0.0), + "rh_middle_dip": ("rh_middle_mcp_pitch", 0.923280528556446, 0.0), + "rh_pinky_dip": ("rh_pinky_mcp_pitch", 0.923280528556446, 0.0), + "rh_ring_dip": ("rh_ring_mcp_pitch", 0.923280528556446, 0.0), +} + +# 取自 linkerhand_l6v3.1_right_partial_zero_calibrated_L6_RIGHT_001_20260902_142125.urdf +L6_URDF_L_MIN = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +L6_URDF_L_MAX = [0.65673088, 1.12177324, 1.23208487, 1.23208487, 1.23208487, 1.23208487] +# 弯曲/侧摆：cmd0→MAX、cmd255→MIN +L6_URDF_L_DIR = [-1, -1, -1, -1, -1, -1] + +L6_ACTUATED_JOINTS: tuple[str, ...] = tuple(L6_SDK_TO_URDF[i] for i in range(6)) +L6_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset( + set(L6_ACTUATED_JOINTS) | set(L6_URDF_MIMIC_OF.keys()) +) + + +def l6_actuated_joint_names() -> list[str]: + return list(L6_ACTUATED_JOINTS) + + +def l6_required_joint_names() -> frozenset[str]: + return L6_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(L6_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 L6 关节: {missing}") + + +def complete_l6_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + out = dict(positions) + for mimic, (master, ratio, offset) in L6_URDF_MIMIC_OF.items(): + if mimic in out: + continue + if master in out: + out[mimic] = float(out[master]) * float(ratio) + float(offset) + return out + + +def range_to_arc_l6_urdf(values: list[float]) -> list[float]: + arcs = [0.0] * 6 + for i in range(6): + val = clamp(values[i] if i < len(values) else 255.0, 0.0, 255.0) + if L6_URDF_L_DIR[i] == -1: + arcs[i] = scale_value(val, 0.0, 255.0, L6_URDF_L_MAX[i], L6_URDF_L_MIN[i]) + else: + arcs[i] = scale_value(val, 0.0, 255.0, L6_URDF_L_MIN[i], L6_URDF_L_MAX[i]) + return arcs + + +def sdk_range_to_l6_urdf_positions(values: list[float]) -> dict[str, float]: + arcs = range_to_arc_l6_urdf(values) + return {L6_SDK_TO_URDF[i]: float(arcs[i]) for i in range(6)} + + +def sdk_range_to_full_l6_urdf_positions(values: list[float]) -> dict[str, float]: + return complete_l6_urdf_mimic_positions(sdk_range_to_l6_urdf_positions(values)) + + +def open_hand_positions_l6_urdf() -> dict[str, float]: + return sdk_range_to_full_l6_urdf_positions([255.0] * 6) + + +def half_fist_positions_l6_urdf() -> dict[str, float]: + cmd = [255.0] * 6 + cmd[0] = 80.0 + for i in (2, 3, 4, 5): + cmd[i] = 80.0 + return sdk_range_to_full_l6_urdf_positions(cmd) + + +def get_l6_mapping_fns(profile: str = "l6_urdf"): + """返回 (sdk_to_full, complete_mimic, open_hand, half_fist)。""" + _ = profile + return ( + sdk_range_to_full_l6_urdf_positions, + complete_l6_urdf_mimic_positions, + open_hand_positions_l6_urdf, + half_fist_positions_l6_urdf, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/l6_left_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/l6_left_joints.py new file mode 100644 index 0000000..181694d --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/l6_left_joints.py @@ -0,0 +1,100 @@ +# SPDX-License-Identifier: Apache-2.0 +"""L6 v3.1 左手：SDK 6 通道 ↔ URDF 关节（限位 + 线性 mimic）。""" + +from __future__ import annotations + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp, scale_value + +# SDK 通道顺序与右手一致：pitch, roll, index, middle, ring, pinky +L6_LEFT_SDK_TO_URDF: dict[int, str] = { + 0: "lh_thumb_cmc_pitch", + 1: "lh_thumb_cmc_roll", + 2: "lh_index_mcp_pitch", + 3: "lh_middle_mcp_pitch", + 4: "lh_ring_mcp_pitch", + 5: "lh_pinky_mcp_pitch", +} + +L6_LEFT_URDF_MIMIC_OF: dict[str, tuple[str, float, float]] = { + "lh_thumb_dip": ("lh_thumb_cmc_pitch", 0.88524192477979, 0.0), + "lh_index_dip": ("lh_index_mcp_pitch", 0.923280528556446, 0.0), + "lh_middle_dip": ("lh_middle_mcp_pitch", 0.923280528556446, 0.0), + "lh_pinky_dip": ("lh_pinky_mcp_pitch", 0.923280528556446, 0.0), + "lh_ring_dip": ("lh_ring_mcp_pitch", 0.923280528556446, 0.0), +} + +# 取自 linkerhand_l6v3.1_left_transferred_from_L6_RIGHT_001.urdf +L6_LEFT_URDF_L_MIN = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +L6_LEFT_URDF_L_MAX = [0.65673088, 1.12177324, 1.23208487, 1.23208487, 1.23208487, 1.23208487] +L6_LEFT_URDF_L_DIR = [-1, -1, -1, -1, -1, -1] + +L6_LEFT_ACTUATED_JOINTS: tuple[str, ...] = tuple(L6_LEFT_SDK_TO_URDF[i] for i in range(6)) +L6_LEFT_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset( + set(L6_LEFT_ACTUATED_JOINTS) | set(L6_LEFT_URDF_MIMIC_OF.keys()) +) + + +def l6_left_actuated_joint_names() -> list[str]: + return list(L6_LEFT_ACTUATED_JOINTS) + + +def l6_left_required_joint_names() -> frozenset[str]: + return L6_LEFT_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(L6_LEFT_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 L6 左手关节: {missing}") + + +def complete_l6_left_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + out = dict(positions) + for mimic, (master, ratio, offset) in L6_LEFT_URDF_MIMIC_OF.items(): + if mimic in out: + continue + if master in out: + out[mimic] = float(out[master]) * float(ratio) + float(offset) + return out + + +def range_to_arc_l6_left_urdf(values: list[float]) -> list[float]: + arcs = [0.0] * 6 + for i in range(6): + val = clamp(values[i] if i < len(values) else 255.0, 0.0, 255.0) + if L6_LEFT_URDF_L_DIR[i] == -1: + arcs[i] = scale_value(val, 0.0, 255.0, L6_LEFT_URDF_L_MAX[i], L6_LEFT_URDF_L_MIN[i]) + else: + arcs[i] = scale_value(val, 0.0, 255.0, L6_LEFT_URDF_L_MIN[i], L6_LEFT_URDF_L_MAX[i]) + return arcs + + +def sdk_range_to_l6_left_urdf_positions(values: list[float]) -> dict[str, float]: + arcs = range_to_arc_l6_left_urdf(values) + return {L6_LEFT_SDK_TO_URDF[i]: float(arcs[i]) for i in range(6)} + + +def sdk_range_to_full_l6_left_urdf_positions(values: list[float]) -> dict[str, float]: + return complete_l6_left_urdf_mimic_positions(sdk_range_to_l6_left_urdf_positions(values)) + + +def open_hand_positions_l6_left_urdf() -> dict[str, float]: + return sdk_range_to_full_l6_left_urdf_positions([255.0] * 6) + + +def half_fist_positions_l6_left_urdf() -> dict[str, float]: + cmd = [255.0] * 6 + cmd[0] = 80.0 + for i in (2, 3, 4, 5): + cmd[i] = 80.0 + return sdk_range_to_full_l6_left_urdf_positions(cmd) + + +def get_l6_left_mapping_fns(profile: str = "l6_urdf"): + _ = profile + return ( + sdk_range_to_full_l6_left_urdf_positions, + complete_l6_left_urdf_mimic_positions, + open_hand_positions_l6_left_urdf, + half_fist_positions_l6_left_urdf, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/mapping.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/mapping.py index 6816d1c..6e23b06 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/mapping.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/mapping.py @@ -11,19 +11,19 @@ O6_JOINT_MAP = { 0: 1, 1: 0, 2: 0, 3: 2, 4: 2, 5: 3, 6: 3, 7: 4, 8: 4, 9: 5, 10: 5 } O6_JOINT_ARC = [ - (0, 1.36), (0, 0.58), (0, 1.08), - (0, 1.60), (0, 1.43), - (0, 1.60), (0, 1.43), - (0, 1.60), (0, 1.43), - (0, 1.60), (0, 1.43), + (0, 1.2431454), (0, 0.588901345), (0, 1.16064834), + (0, 1.609333425), (0, 1.49597186651782), + (0, 1.609333425), (0, 1.49597186651782), + (0, 1.609333425), (0, 1.49597186651782), + (0, 1.609333425), (0, 1.49597186651782), ] # mimic: (slave_actuator_idx, master_actuator_idx, ratio) O6_MIMIC = [ - (2, 1, 1.86), # thumb_ip <- thumb_cmc_pitch - (4, 3, 0.89), # index_dip <- index_mcp - (6, 5, 0.89), - (8, 7, 0.89), - (10, 9, 0.89), + (2, 1, 1.96832996705076), # thumb_ip <- thumb_cmc_pitch + (4, 3, 0.904318245922221), # index_dip <- index_mcp + (6, 5, 0.904318245922221), + (8, 7, 0.904318245922221), + (10, 9, 0.904318245922221), ] # /--------------------------------------------------------------- @@ -73,7 +73,7 @@ L21_JOINT_ARC = [(-0.18, 0.18),(0, 1.57),(0, 1.57),(-0.18, 0.18),(0, 1.57),(0, 1 #--------------------------------------------------------------------------------------------------- # L6 L l6_l_min = [0, 0, 0, 0, 0, 0] -l6_l_max = [1.54, 1.52, 1.57, 1.57, 1.57, 1.57] +l6_l_max = [0.65673088, 1.12177324, 1.23208487, 1.23208487, 1.23208487, 1.23208487] l6_l_derict = [-1, -1, -1, -1, -1, -1] # L6 R l6_r_min = [0, 0, 0, 0, 0, 0] @@ -85,7 +85,7 @@ o6_l_max = [0.58, 1.30, 1.60, 1.60, 1.60, 1.60] o6_l_derict = [-1, -1, -1, -1, -1, -1] # O6 R o6_r_min = [0, 0, 0, 0, 0, 0] -o6_r_max = [0.58, 1.36, 1.60, 1.60, 1.60, 1.60] +o6_r_max = [0.588901345, 1.2431454, 1.609333425, 1.609333425, 1.609333425, 1.609333425] o6_r_derict = [-1, -1, -1, -1, -1, -1] #--------------------------------------------------------------------------------------------------- # L7 L OK diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o12_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o12_joints.py new file mode 100644 index 0000000..22073a4 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o12_joints.py @@ -0,0 +1,268 @@ +# SPDX-License-Identifier: Apache-2.0 +"""O12 T3 右手：OmniHand ROS2 12 DOF（弧度）↔ Linker URDF 关节 + 线性 mimic。 + +官方顺序见 Agibot `API_CPP_O12.md` → Joint Angle I/O Order (Right Hand)， +ROS2 `joint_cmd` / `joint_states` 的 position[0..11] 与该表 index 1..12 一致。 +""" + +from __future__ import annotations + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp + +# position[0..11]：官方 SDK / ROS2 主动关节顺序（右手 index 1..12） +# SDK 名 → 本仓库 URDF 关节名 +O12_ROS_JOINT_ORDER: tuple[str, ...] = ( + "thumb_cmc_roll", # 1 R_thumb_roll_joint + "thumb_cmc_yaw", # 2 R_thumb_abad_joint + "thumb_cmc_pitch", # 3 R_thumb_mcp_joint + "thumb_mcp", # 4 R_thumb_pip_joint + "index_mcp_roll", # 5 R_index_abad_joint + "index_mcp_pitch", # 6 R_index_mcp_joint + "index_pip", # 7 R_index_pip_joint + "middle_mcp_roll", # 8 R_middle_abad_joint + "middle_mcp_pitch", # 9 R_middle_mcp_joint + "middle_pip", # 10 R_middle_pip_joint + "ring_mcp_pitch", # 11 R_ring_mcp_joint + "pinky_mcp_pitch", # 12 R_pinky_mcp_joint +) + +O12_SDK_TO_URDF: dict[int, str] = { + i: name for i, name in enumerate(O12_ROS_JOINT_ORDER) +} + +# 官方 SDK 限位（弧度，右手）— API_CPP_O12.md +O12_SDK_LIMITS: dict[str, tuple[float, float]] = { + "thumb_cmc_roll": (0.0, 0.9424777960769379), + "thumb_cmc_yaw": (-1.387536755335492, 0.0), + "thumb_cmc_pitch": (-0.8272860654453121, 0.0), + "thumb_mcp": (-1.2915436464758039, 0.0), + "index_mcp_roll": (-0.2617993877991494, 0.2617993877991494), + "index_mcp_pitch": (0.0, 1.3526301702956054), + "index_pip": (0.0, 1.530653753999027), + "middle_mcp_roll": (-0.2617993877991494, 0.2617993877991494), + "middle_mcp_pitch": (0.0, 1.3578661580515883), + "middle_pip": (0.0, 1.8151424220741028), + "ring_mcp_pitch": (0.0, 1.53588974175501), + "pinky_mcp_pitch": (0.0, 1.53588974175501), +} + +# Linker URDF 限位（下载 REVIEW_ONLY_20260909_112041） +O12_URDF_LIMITS: dict[str, tuple[float, float]] = { + "thumb_cmc_roll": (0, 0.718778), + "thumb_cmc_yaw": (0, 0.977717), + "thumb_cmc_pitch": (0, 0.58833), + "thumb_mcp": (0, 1.1863), + "index_mcp_roll": (-0.211716, 0.244067), + "index_mcp_pitch": (0, 1.28817), + "index_pip": (0, 1.64061), + "middle_mcp_roll": (-0.236358, 0.224622), + "middle_mcp_pitch": (0, 1.31096), + "middle_pip": (0, 1.60666), + "ring_mcp_pitch": (0, 1.38), + "pinky_mcp_pitch": (0, 1.46229), +} + +# 取自 linkerhand_o12_right.urdf（REVIEW_ONLY_20260909_112041） +O12_URDF_MIMIC_OF: dict[str, tuple[str, float, float]] = { + "middle_dip": ("middle_pip", 0.814631, 0.0), + "index_dip": ("index_pip", 0.796018, 0.0), + "thumb_dip": ("thumb_mcp", 1.10209, 0.0), + "pinky_pip": ("pinky_mcp_pitch", 1.05131, 0.0), + "pinky_dip": ("pinky_pip", 0.852, 0.0), + "ring_pip": ("ring_mcp_pitch", 1.125, 0.0), + "ring_dip": ("ring_pip", 0.83, 0.0), +} + +O12_ACTUATED_JOINTS: tuple[str, ...] = O12_ROS_JOINT_ORDER +O12_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset( + set(O12_ACTUATED_JOINTS) | set(O12_URDF_MIMIC_OF.keys()) +) +# Linker URDF 四指侧摆轴与官方 SDK abad 正方向相反（右手实测） +O12_SDK_ROLL_SIGN_FLIP: frozenset[str] = frozenset( + {"index_mcp_roll", "middle_mcp_roll"} +) + + +def o12_actuated_joint_names() -> list[str]: + return list(O12_ACTUATED_JOINTS) + + +def o12_required_joint_names() -> frozenset[str]: + return O12_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(O12_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 O12 关节: {missing}") + + +def _sdk_neg_flex_to_urdf(sdk: float, sdk_lo: float, urdf_hi: float) -> float: + """SDK 伸=0、屈<0 → URDF 伸=0、屈>0。""" + span = -sdk_lo + if span <= 0.0: + return float(sdk) + t = clamp((0.0 - float(sdk)) / span, 0.0, 1.0) + return t * float(urdf_hi) + + +def _urdf_neg_flex_to_sdk(urdf: float, sdk_lo: float, urdf_hi: float) -> float: + span = -sdk_lo + if urdf_hi <= 0.0 or span <= 0.0: + return float(urdf) + t = clamp(float(urdf) / float(urdf_hi), 0.0, 1.0) + return t * sdk_lo + + +def _sdk_pos_flex_to_urdf(sdk: float, sdk_hi: float, urdf_hi: float) -> float: + if sdk_hi <= 0.0: + return float(sdk) + t = clamp(float(sdk) / float(sdk_hi), 0.0, 1.0) + return t * float(urdf_hi) + + +def _urdf_pos_flex_to_sdk(urdf: float, sdk_hi: float, urdf_hi: float) -> float: + if urdf_hi <= 0.0: + return float(urdf) + t = clamp(float(urdf) / float(urdf_hi), 0.0, 1.0) + return t * float(sdk_hi) + + +def sdk_rad_to_urdf_rad(joint: str, sdk: float) -> float: + """官方 ROS2/SDK 弧度 → MuJoCo URDF 关节弧度。""" + sdk_lo, sdk_hi = O12_SDK_LIMITS[joint] + urdf_lo, urdf_hi = O12_URDF_LIMITS[joint] + sdk = float(sdk) + if sdk_hi <= 0.0 and sdk_lo < 0.0: + return _sdk_neg_flex_to_urdf(sdk, sdk_lo, urdf_hi) + if sdk_lo >= 0.0 and sdk_hi > 0.0: + return _sdk_pos_flex_to_urdf(sdk, sdk_hi, urdf_hi) + urdf = clamp(sdk, urdf_lo, urdf_hi) + if joint in O12_SDK_ROLL_SIGN_FLIP: + urdf = -urdf + return clamp(urdf, urdf_lo, urdf_hi) + + +def urdf_rad_to_sdk_rad(joint: str, urdf: float) -> float: + """MuJoCo URDF 关节弧度 → 官方 ROS2/SDK 弧度。""" + sdk_lo, sdk_hi = O12_SDK_LIMITS[joint] + urdf_lo, urdf_hi = O12_URDF_LIMITS[joint] + urdf = float(urdf) + if sdk_hi <= 0.0 and sdk_lo < 0.0: + return _urdf_neg_flex_to_sdk(urdf, sdk_lo, urdf_hi) + if sdk_lo >= 0.0 and sdk_hi > 0.0: + return _urdf_pos_flex_to_sdk(urdf, sdk_hi, urdf_hi) + sdk = clamp(urdf, sdk_lo, sdk_hi) + if joint in O12_SDK_ROLL_SIGN_FLIP: + sdk = -sdk + return clamp(sdk, sdk_lo, sdk_hi) + + +def complete_o12_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + out = dict(positions) + for _ in range(len(O12_URDF_MIMIC_OF) + 1): + changed = False + for mimic, (master, ratio, offset) in O12_URDF_MIMIC_OF.items(): + if mimic in out: + continue + if master in out: + out[mimic] = float(out[master]) * float(ratio) + float(offset) + changed = True + if not changed: + break + return out + + +def joint_cmd_rad_to_full_positions(values: list[float]) -> dict[str, float]: + """`/o12//joint_cmd`：position[0..11] 官方 SDK 弧度 → 全 URDF 关节（含 mimic）。""" + positions = { + O12_ROS_JOINT_ORDER[i]: sdk_rad_to_urdf_rad( + O12_ROS_JOINT_ORDER[i], + float(values[i] if i < len(values) else 0.0), + ) + for i in range(12) + } + return complete_o12_urdf_mimic_positions(positions) + + +def urdf_positions_to_joint_cmd_rad(positions: dict[str, float]) -> list[float]: + """URDF 主动关节 → 官方 12 路 SDK 弧度（用于 joint_states 回读）。""" + return [ + urdf_rad_to_sdk_rad(name, float(positions.get(name, 0.0))) + for name in O12_ROS_JOINT_ORDER + ] + + +def open_hand_positions_o12_urdf() -> dict[str, float]: + """张开：官方 joint_cmd 全零 → URDF。""" + return joint_cmd_rad_to_full_positions([0.0] * 12) + + +def half_fist_positions_o12_urdf() -> dict[str, float]: + """半握：官方 SDK 弧度示例。""" + cmd = [0.0] * 12 + cmd[2] = -0.45 # thumb_cmc_pitch + cmd[3] = -0.65 # thumb_mcp + cmd[5] = 0.85 # index_mcp_pitch + cmd[6] = 0.90 # index_pip + cmd[8] = 0.85 # middle_mcp_pitch + cmd[9] = 0.90 # middle_pip + cmd[10] = 0.85 # ring_mcp_pitch + cmd[11] = 0.85 # pinky_mcp_pitch + return joint_cmd_rad_to_full_positions(cmd) + + +def parse_o12_urdf_limits_and_mimics( + urdf_path: str | Path, +) -> tuple[dict[str, tuple[float, float]], dict[str, tuple[str, float, float]]]: + """从 O12 URDF 解析主动关节限位与 mimic（供双开标定/未标定各自映射）。""" + import re + from pathlib import Path as _Path + + text = _Path(urdf_path).read_text() + limits: dict[str, tuple[float, float]] = {} + mimics: dict[str, tuple[str, float, float]] = {} + for m in re.finditer(r"]*)>(.*?)", text, re.S): + attrs, body = m.group(1), m.group(2) + name_m = re.search(r'name="([^"]+)"', attrs) + if not name_m: + continue + name = name_m.group(1) + if "revolute" not in attrs: + continue + lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body) + mimic = re.search(r"", body) + if lim and name in O12_ACTUATED_JOINTS: + limits[name] = (float(lim.group(1)), float(lim.group(2))) + if mimic: + ma = dict(re.findall(r'(\w+)="([^"]*)"', mimic.group(1))) + if "joint" in ma: + mimics[name] = ( + ma["joint"], + float(ma.get("multiplier", "1")), + float(ma.get("offset", "0")), + ) + missing = [n for n in O12_ACTUATED_JOINTS if n not in limits] + if missing: + raise RuntimeError(f"URDF 缺少主动关节限位: {missing} ({urdf_path})") + return limits, mimics + + +def apply_o12_urdf_calibration(urdf_path: str | Path) -> None: + """用指定 URDF 覆盖模块级 O12_URDF_LIMITS / O12_URDF_MIMIC_OF。""" + limits, mimics = parse_o12_urdf_limits_and_mimics(urdf_path) + O12_URDF_LIMITS.clear() + O12_URDF_LIMITS.update(limits) + O12_URDF_MIMIC_OF.clear() + O12_URDF_MIMIC_OF.update(mimics) + + +def get_o12_mapping_fns(profile: str = "o12_urdf"): + """返回 (cmd_to_full, complete_mimic, open_hand, half_fist)。""" + _ = profile + return ( + joint_cmd_rad_to_full_positions, + complete_o12_urdf_mimic_positions, + open_hand_positions_o12_urdf, + half_fist_positions_o12_urdf, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o30_left_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o30_left_joints.py new file mode 100644 index 0000000..9029fb9 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o30_left_joints.py @@ -0,0 +1,150 @@ +# SPDX-License-Identifier: Apache-2.0 +"""O30i 左手：外部 SDK 0～255 线性换算；内部目标与状态使用弧度。 + +顺序与 SolidWorks 导出的 controller_joint_names 一致 +（空的第 0 项已去掉）。 +""" + +from __future__ import annotations + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp + +O30_LEFT_SDK_JOINT_ORDER: tuple[str, ...] = ( + "thumb_cmc_roll", "thumb_cmc_yaw", "index_mcp_roll", "middle_mcp_roll", + "ring_mcp_roll", "pinky_mcp_roll", "thumb_mcp", "index_mcp_pitch", + "middle_mcp_pitch", "ring_mcp_pitch", "pinky_mcp_pitch", "index_pip", + "middle_pip", "ring_pip", "pinky_pip", "thumb_ip", "index_dip", + "middle_dip", "ring_dip", "pinky_dip", +) + + +def sdk_to_full_positions(values: list[float]) -> dict[str, float]: + """20 SDK channels, 0..255, linearly mapped to the loaded URDF limits.""" + import math + if len(values) != 20 or not all(math.isfinite(float(v)) for v in values): + raise ValueError('O30 left SDK command requires 20 finite values') + result = {} + for name, value in zip(O30_LEFT_SDK_JOINT_ORDER, values): + lo, hi = O30_LEFT_URDF_LIMITS[name] + result[name] = lo + (hi - lo) * clamp(float(value), 0.0, 255.0) / 255.0 + return result + +# 内部弧度/状态顺序（外部命令使用上方 SDK 顺序） +O30_LEFT_JOINT_ORDER: tuple[str, ...] = ( + "thumb_cmc_roll", + "thumb_cmc_yaw", + "thumb_mcp", + "thumb_ip", + "index_mcp_roll", + "index_mcp_pitch", + "index_pip", + "index_dip", + "middle_mcp_roll", + "middle_mcp_pitch", + "middle_pip", + "middle_dip", + "ring_mcp_roll", + "ring_mcp_pitch", + "ring_pip", + "ring_dip", + "pinky_mcp_roll", + "pinky_mcp_pitch", + "pinky_pip", + "pinky_dip", +) + +# linkerhand_O30i_left-0803.urdf +O30_LEFT_URDF_LIMITS: dict[str, tuple[float, float]] = { + "thumb_cmc_roll": (0.0, 0.5731), + "thumb_cmc_yaw": (0.0, 1.9268), + "thumb_mcp": (0.0, 1.5194), + "thumb_ip": (0.0, 1.5910), + "index_mcp_roll": (-0.3741, 0.03711), + "index_mcp_pitch": (0.0, 1.5050), + "index_pip": (0.0, 1.5765), + "index_dip": (0.0, 1.5016), + "middle_mcp_roll": (-0.4906, 0.05418), + "middle_mcp_pitch": (0.0, 1.6159), + "middle_pip": (0.0, 1.5783), + "middle_dip": (0.0, 1.5207), + "ring_mcp_roll": (-0.1371, 0.18823), + "ring_mcp_pitch": (0.0, 1.6596), + "ring_pip": (0.0, 1.5009), + "ring_dip": (0.0, 1.4986), + "pinky_mcp_roll": (-0.1835, 0.2810), + "pinky_mcp_pitch": (0.0, 1.6152), + "pinky_pip": (0.0, 1.4858), + "pinky_dip": (0.0, 1.5549), +} + +O30_LEFT_ACTUATED_JOINTS: tuple[str, ...] = O30_LEFT_JOINT_ORDER +O30_LEFT_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset(O30_LEFT_ACTUATED_JOINTS) + + +def configure_model_limits(model) -> None: + """Use the loaded asset's limits; no SDK lookup or piecewise mapping.""" + import math + limits = {} + for name in O30_LEFT_JOINT_ORDER: + joint = model.joint(name) + lo, hi = map(float, model.jnt_range[joint.id]) + if not model.jnt_limited[joint.id] or not (math.isfinite(lo) and math.isfinite(hi) and lo < hi): + raise ValueError(f'Invalid O30 left joint limits: {name}') + limits[name] = (lo, hi) + O30_LEFT_URDF_LIMITS.clear() + O30_LEFT_URDF_LIMITS.update(limits) + + +def o30_left_actuated_joint_names() -> list[str]: + return list(O30_LEFT_ACTUATED_JOINTS) + + +def o30_left_required_joint_names() -> frozenset[str]: + return O30_LEFT_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(O30_LEFT_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 O30 关节: {missing}") + + +def joint_cmd_rad_to_full_positions(values: list[float]) -> dict[str, float]: + """内部按手指分组的弧度目标裁剪（无 mimic）。""" + out: dict[str, float] = {} + for i, name in enumerate(O30_LEFT_JOINT_ORDER): + lo, hi = O30_LEFT_URDF_LIMITS[name] + raw = float(values[i] if i < len(values) else 0.0) + out[name] = clamp(raw, lo, hi) + return out + + +def urdf_positions_to_joint_cmd_rad(positions: dict[str, float]) -> list[float]: + return [float(positions.get(name, 0.0)) for name in O30_LEFT_JOINT_ORDER] + + +def complete_o30_left_positions(positions: dict[str, float]) -> dict[str, float]: + return dict(positions) + + +def open_hand_positions_o30_left() -> dict[str, float]: + return sdk_to_full_positions([0, 0, 255, 197, 110, 28, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) + + +def half_fist_positions_o30_left() -> dict[str, float]: + cmd = [0.0] * 20 + for i, name in enumerate(O30_LEFT_JOINT_ORDER): + if name.endswith(("_pitch", "_pip", "_dip", "_mcp", "_ip")): + lo, hi = O30_LEFT_URDF_LIMITS[name] + cmd[i] = lo + 0.45 * (hi - lo) + return joint_cmd_rad_to_full_positions(cmd) + + +def get_o30_left_mapping_fns(profile: str = "o30_urdf"): + _ = profile + return ( + joint_cmd_rad_to_full_positions, + complete_o30_left_positions, + open_hand_positions_o30_left, + half_fist_positions_o30_left, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o30_right_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o30_right_joints.py new file mode 100644 index 0000000..194a583 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o30_right_joints.py @@ -0,0 +1,209 @@ +# SPDX-License-Identifier: Apache-2.0 +"""O30i 右手 V2：`/cb_right_hand_control_cmd` 20 路 0~255 ↔ URDF。 + +顺序与 linkerhand-o30-ros2 SDK `JOINT_MAP` / README 第 4 节一致 +（按关节类型分组，不是按手指把四节排在一起）： + +| idx | SDK 名 | URDF 关节 | +|-----|--------|-----------| +| 0 | thumb_roll | thumb_cmc_roll | +| 1 | thumb_yaw | thumb_cmc_yaw | +| 2 | index_yaw | index_mcp_roll | +| 3 | middle_yaw | middle_mcp_roll | +| 4 | ring_yaw | ring_mcp_roll | +| 5 | little_yaw | pinky_mcp_roll | +| 6 | thumb_root1 | thumb_mcp | +| 7 | index_root1 | index_mcp_pitch | +| 8 | middle_root1 | middle_mcp_pitch | +| 9 | ring_root1 | ring_mcp_pitch | +| 10 | little_root1 | pinky_mcp_pitch | +| 11 | index_root2 | index_pip | +| 12 | middle_root2 | middle_pip | +| 13 | ring_root2 | ring_pip | +| 14 | little_root2 | pinky_pip | +| 15 | thumb_tip | thumb_ip | +| 16 | index_tip | index_dip | +| 17 | middle_tip | middle_dip | +| 18 | ring_tip | ring_dip | +| 19 | little_tip | pinky_dip | + +方向与 GUI `o30_r_derict` 一致：0→URDF lower（伸直），255→URDF upper（弯曲）。 +启动时从实际加载的 MJCF 读取限位和可选的分段 SDK 映射； +校准零位写在 URDF joint origin 中。旧模型没有映射时仍使用线性映射。 +下方常量仅作为未配置模型时的原始 V2 默认值。 +""" + +from __future__ import annotations + +from pathlib import Path +import math +from bisect import bisect_right +import xml.etree.ElementTree as ET + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp, scale_value + +# position[0..19]：SDK 名 → URDF 关节 +O30_RIGHT_SDK_TO_URDF: tuple[str, ...] = ( + "thumb_cmc_roll", + "thumb_cmc_yaw", + "index_mcp_roll", + "middle_mcp_roll", + "ring_mcp_roll", + "pinky_mcp_roll", + "thumb_mcp", + "index_mcp_pitch", + "middle_mcp_pitch", + "ring_mcp_pitch", + "pinky_mcp_pitch", + "index_pip", + "middle_pip", + "ring_pip", + "pinky_pip", + "thumb_ip", + "index_dip", + "middle_dip", + "ring_dip", + "pinky_dip", +) + +O30_RIGHT_SDK_NAMES: tuple[str, ...] = ( + "thumb_roll", + "thumb_yaw", + "index_yaw", + "middle_yaw", + "ring_yaw", + "little_yaw", + "thumb_root1", + "index_root1", + "middle_root1", + "ring_root1", + "little_root1", + "index_root2", + "middle_root2", + "ring_root2", + "little_root2", + "thumb_tip", + "index_tip", + "middle_tip", + "ring_tip", + "little_tip", +) + +# linkerhand_O30i_right-V2_0819.urdf +O30_RIGHT_URDF_LIMITS: dict[str, tuple[float, float]] = { + "thumb_cmc_roll": (0.0, 0.6311), + "thumb_cmc_yaw": (0.0, 1.8718), + "thumb_mcp": (0.0, 1.8337), + "thumb_ip": (0.0, 1.5912), + "index_mcp_roll": (-0.3970, 0.0203), + "index_mcp_pitch": (0.0, 1.8381), + "index_pip": (0.0, 1.5958), + "index_dip": (0.0, 1.5967), + "middle_mcp_roll": (-0.4265, 0.1521), + "middle_mcp_pitch": (0.0, 1.8159), + "middle_pip": (0.0, 1.5658), + "middle_dip": (0.0, 1.5851), + "ring_mcp_roll": (-0.2288, 0.3049), + "ring_mcp_pitch": (0.0, 1.8145), + "ring_pip": (0.0, 1.4911), + "ring_dip": (0.0, 1.5391), + "pinky_mcp_roll": (-0.0548, 0.3874), + "pinky_mcp_pitch": (0.0, 1.8241), + "pinky_pip": (0.0, 1.5123), + "pinky_dip": (0.0, 1.5897), +} + + +O30_RIGHT_SDK_KNOTS: dict[str, tuple[tuple[float, float], ...]] = {} + + +def configure_o30_right_limits(xml_path: str | Path) -> None: + """Read SDK endpoints and optional piecewise knots from the actual MJCF. + + Zero corrections live in the URDF joint origins; travel lives in joint + ranges. Custom numeric knots retain calibrated intermediate commands. + Do not apply calibration offsets a second time in the SDK mapping. + Validate everything before replacing the active limits. + """ + root = ET.parse(xml_path).getroot() + joints = {j.get("name"): j for j in root.findall(".//worldbody//joint")} + limits = {} + for name in O30_RIGHT_SDK_TO_URDF: + joint = joints.get(name) + if joint is None: + raise ValueError(f"O30 right MJCF missing joint: {name}") + bounds = tuple(float(v) for v in joint.get("range", "").split()) + if len(bounds) != 2 or not all(math.isfinite(v) for v in bounds): + raise ValueError(f"Invalid O30 right joint range: {name}: {bounds}") + if bounds[0] >= bounds[1]: + raise ValueError(f"Non-increasing O30 right joint range: {name}") + limits[name] = bounds + # Historical embedded active knots are no longer applied. All active joints are linear. + knots = {} + O30_RIGHT_URDF_LIMITS.update(limits) + O30_RIGHT_SDK_KNOTS.clear() + O30_RIGHT_SDK_KNOTS.update(knots) + +# 用户在 2026-09-22 提供的最新正面/侧面真机零位照片对应的指令。 +# 启动时使用同一参考姿态，不能用旧 GUI 的张开预设替代。 +O30_RIGHT_OPEN_CMD: tuple[float, ...] = ( + 0, 0, 255, 197, 110, 28, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, +) + +O30_RIGHT_ACTUATED_JOINTS: tuple[str, ...] = O30_RIGHT_SDK_TO_URDF +O30_RIGHT_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset(O30_RIGHT_ACTUATED_JOINTS) + + +def o30_right_actuated_joint_names() -> list[str]: + return list(O30_RIGHT_ACTUATED_JOINTS) + + +def o30_right_required_joint_names() -> frozenset[str]: + return O30_RIGHT_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(O30_RIGHT_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 O30 右手关节: {missing}") + + +def complete_o30_right_positions(positions: dict[str, float]) -> dict[str, float]: + return dict(positions) + + +def sdk_range_to_full_o30_right_urdf_positions(values: list[float]) -> dict[str, float]: + """20 路 0~255（SDK 分组顺序）→ URDF 弧度。0=伸直端，255=弯曲端。""" + out: dict[str, float] = {} + for i, name in enumerate(O30_RIGHT_SDK_TO_URDF): + lo, hi = O30_RIGHT_URDF_LIMITS[name] + val = clamp(values[i] if i < len(values) else 0.0, 0.0, 255.0) + points = O30_RIGHT_SDK_KNOTS.get(name) + if points: + k = min(max(bisect_right([p[0] for p in points], val)-1, 0), len(points)-2) + (x0,y0),(x1,y1) = points[k:k+2] + out[name] = y0+(y1-y0)*(val-x0)/(x1-x0) + else: + out[name] = float(scale_value(val, 0.0, 255.0, lo, hi)) + return out + + +def open_hand_positions_o30_right() -> dict[str, float]: + return sdk_range_to_full_o30_right_urdf_positions(list(O30_RIGHT_OPEN_CMD)) + + +def half_fist_positions_o30_right() -> dict[str, float]: + # GUI 预设「握拳」 + cmd = [0, 198, 255, 212, 212, 162, 50, 232, 255, 255, 255, 255, 252, 255, 249, 255, 255, 255, 255, 255] + return sdk_range_to_full_o30_right_urdf_positions(cmd) + + +def get_o30_right_mapping_fns(profile: str = "o30_urdf"): + """返回 (sdk_to_full, complete_mimic, open_hand, half_fist)。""" + _ = profile + return ( + sdk_range_to_full_o30_right_urdf_positions, + complete_o30_right_positions, + open_hand_positions_o30_right, + half_fist_positions_o30_right, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o6_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o6_joints.py new file mode 100644 index 0000000..697aa62 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o6_joints.py @@ -0,0 +1,102 @@ +# SPDX-License-Identifier: Apache-2.0 +"""O6 右手：SDK 6 通道 ↔ URDF 关节（限位 + 线性 mimic）。""" + +from __future__ import annotations + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp, scale_value + +# SDK 通道顺序与 linker_hand_o6_can 一致；通道1 为 cmc_yaw +O6_SDK_TO_URDF: dict[int, str] = { + 0: "rh_thumb_cmc_pitch", + 1: "rh_thumb_cmc_yaw", + 2: "rh_index_mcp_pitch", + 3: "rh_middle_mcp_pitch", + 4: "rh_ring_mcp_pitch", + 5: "rh_pinky_mcp_pitch", +} + +O6_URDF_MIMIC_OF: dict[str, tuple[str, float, float]] = { + "rh_thumb_ip": ("rh_thumb_cmc_pitch", 1.96832996705076, 0.0), + "rh_index_dip": ("rh_index_mcp_pitch", 0.904318245922221, 0.0), + "rh_middle_dip": ("rh_middle_mcp_pitch", 0.904318245922221, 0.0), + "rh_ring_dip": ("rh_ring_mcp_pitch", 0.904318245922221, 0.0), + "rh_pinky_dip": ("rh_pinky_mcp_pitch", 0.904318245922221, 0.0), +} + +# 取自 linkerhand_o6_right_O6_RIGHT_001_partial_zero_calibrated.urdf +O6_URDF_L_MIN = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +O6_URDF_L_MAX = [0.588901345, 1.2431454, 1.609333425, 1.609333425, 1.609333425, 1.609333425] +# 弯曲/侧摆：cmd0→MAX、cmd255→MIN +O6_URDF_L_DIR = [-1, -1, -1, -1, -1, -1] + +O6_ACTUATED_JOINTS: tuple[str, ...] = tuple(O6_SDK_TO_URDF[i] for i in range(6)) +O6_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset( + set(O6_ACTUATED_JOINTS) | set(O6_URDF_MIMIC_OF.keys()) +) + + +def o6_actuated_joint_names() -> list[str]: + return list(O6_ACTUATED_JOINTS) + + +def o6_required_joint_names() -> frozenset[str]: + return O6_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(O6_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 O6 关节: {missing}") + + +def complete_o6_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + out = dict(positions) + for mimic, (master, ratio, offset) in O6_URDF_MIMIC_OF.items(): + if mimic in out: + continue + if master in out: + out[mimic] = float(out[master]) * float(ratio) + float(offset) + return out + + +def range_to_arc_o6_urdf(values: list[float]) -> list[float]: + arcs = [0.0] * 6 + for i in range(6): + val = clamp(values[i] if i < len(values) else 255.0, 0.0, 255.0) + if O6_URDF_L_DIR[i] == -1: + arcs[i] = scale_value(val, 0.0, 255.0, O6_URDF_L_MAX[i], O6_URDF_L_MIN[i]) + else: + arcs[i] = scale_value(val, 0.0, 255.0, O6_URDF_L_MIN[i], O6_URDF_L_MAX[i]) + return arcs + + +def sdk_range_to_o6_urdf_positions(values: list[float]) -> dict[str, float]: + arcs = range_to_arc_o6_urdf(values) + return {O6_SDK_TO_URDF[i]: float(arcs[i]) for i in range(6)} + + +def sdk_range_to_full_o6_urdf_positions(values: list[float]) -> dict[str, float]: + return complete_o6_urdf_mimic_positions(sdk_range_to_o6_urdf_positions(values)) + + +def open_hand_positions_o6_urdf() -> dict[str, float]: + return sdk_range_to_full_o6_urdf_positions([255.0] * 6) + + +def half_fist_positions_o6_urdf() -> dict[str, float]: + cmd = [255.0] * 6 + cmd[0] = 80.0 + for i in (2, 3, 4, 5): + cmd[i] = 80.0 + return sdk_range_to_full_o6_urdf_positions(cmd) + + +def get_o6_mapping_fns(profile: str = "o6_urdf"): + """返回 (sdk_to_full, complete_mimic, open_hand, half_fist)。""" + _ = profile + return ( + sdk_range_to_full_o6_urdf_positions, + complete_o6_urdf_mimic_positions, + open_hand_positions_o6_urdf, + half_fist_positions_o6_urdf, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o6_left_joints.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o6_left_joints.py new file mode 100644 index 0000000..c5174de --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/o6_left_joints.py @@ -0,0 +1,100 @@ +# SPDX-License-Identifier: Apache-2.0 +"""O6 左手：SDK 6 通道 ↔ URDF 关节（限位 + 线性 mimic）。""" + +from __future__ import annotations + +from linker_hand_mujoco_ros2.utils.g20_joints import clamp, scale_value + +# SDK 通道顺序与右手一致；通道1 为 cmc_yaw +O6_LEFT_SDK_TO_URDF: dict[int, str] = { + 0: "lh_thumb_cmc_pitch", + 1: "lh_thumb_cmc_yaw", + 2: "lh_index_mcp_pitch", + 3: "lh_middle_mcp_pitch", + 4: "lh_ring_mcp_pitch", + 5: "lh_pinky_mcp_pitch", +} + +O6_LEFT_URDF_MIMIC_OF: dict[str, tuple[str, float, float]] = { + "lh_thumb_ip": ("lh_thumb_cmc_pitch", 1.96832996705076, 0.0), + "lh_index_dip": ("lh_index_mcp_pitch", 0.904318245922221, 0.0), + "lh_middle_dip": ("lh_middle_mcp_pitch", 0.904318245922221, 0.0), + "lh_ring_dip": ("lh_ring_mcp_pitch", 0.904318245922221, 0.0), + "lh_pinky_dip": ("lh_pinky_mcp_pitch", 0.904318245922221, 0.0), +} + +# 取自 /home/lxqs/Linkerbot_URDF/06/LEFT/linkerhand_o6_left.urdf（9/3 标定版） +O6_LEFT_URDF_L_MIN = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +O6_LEFT_URDF_L_MAX = [0.588901345, 1.2431454, 1.609333425, 1.609333425, 1.609333425, 1.609333425] +O6_LEFT_URDF_L_DIR = [-1, -1, -1, -1, -1, -1] + +O6_LEFT_ACTUATED_JOINTS: tuple[str, ...] = tuple(O6_LEFT_SDK_TO_URDF[i] for i in range(6)) +O6_LEFT_ALL_REVOLUTE_JOINTS: frozenset[str] = frozenset( + set(O6_LEFT_ACTUATED_JOINTS) | set(O6_LEFT_URDF_MIMIC_OF.keys()) +) + + +def o6_left_actuated_joint_names() -> list[str]: + return list(O6_LEFT_ACTUATED_JOINTS) + + +def o6_left_required_joint_names() -> frozenset[str]: + return O6_LEFT_ALL_REVOLUTE_JOINTS + + +def validate_model_joint_names(joint_names: set[str]) -> None: + missing = sorted(O6_LEFT_ALL_REVOLUTE_JOINTS - joint_names) + if missing: + raise RuntimeError(f"MJCF 缺少 O6 左手关节: {missing}") + + +def complete_o6_left_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + out = dict(positions) + for mimic, (master, ratio, offset) in O6_LEFT_URDF_MIMIC_OF.items(): + if mimic in out: + continue + if master in out: + out[mimic] = float(out[master]) * float(ratio) + float(offset) + return out + + +def range_to_arc_o6_left_urdf(values: list[float]) -> list[float]: + arcs = [0.0] * 6 + for i in range(6): + val = clamp(values[i] if i < len(values) else 255.0, 0.0, 255.0) + if O6_LEFT_URDF_L_DIR[i] == -1: + arcs[i] = scale_value(val, 0.0, 255.0, O6_LEFT_URDF_L_MAX[i], O6_LEFT_URDF_L_MIN[i]) + else: + arcs[i] = scale_value(val, 0.0, 255.0, O6_LEFT_URDF_L_MIN[i], O6_LEFT_URDF_L_MAX[i]) + return arcs + + +def sdk_range_to_o6_left_urdf_positions(values: list[float]) -> dict[str, float]: + arcs = range_to_arc_o6_left_urdf(values) + return {O6_LEFT_SDK_TO_URDF[i]: float(arcs[i]) for i in range(6)} + + +def sdk_range_to_full_o6_left_urdf_positions(values: list[float]) -> dict[str, float]: + return complete_o6_left_urdf_mimic_positions(sdk_range_to_o6_left_urdf_positions(values)) + + +def open_hand_positions_o6_left_urdf() -> dict[str, float]: + return sdk_range_to_full_o6_left_urdf_positions([255.0] * 6) + + +def half_fist_positions_o6_left_urdf() -> dict[str, float]: + cmd = [255.0] * 6 + cmd[0] = 80.0 + for i in (2, 3, 4, 5): + cmd[i] = 80.0 + return sdk_range_to_full_o6_left_urdf_positions(cmd) + + +def get_o6_left_mapping_fns(profile: str = "o6_urdf"): + _ = profile + return ( + sdk_range_to_full_o6_left_urdf_positions, + complete_o6_left_urdf_mimic_positions, + open_hand_positions_o6_left_urdf, + half_fist_positions_o6_left_urdf, + ) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/runtime_mapping.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/runtime_mapping.py new file mode 100644 index 0000000..f6917f2 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/runtime_mapping.py @@ -0,0 +1,147 @@ +"""Configure linear active mappings from the loaded URDF-derived MuJoCo asset. + +Only G20 passive master->mimic curves may use optional calibration JSON. +No IO occurs during import. SDK channel order/direction remains protocol metadata. +""" +from __future__ import annotations +import importlib +import json +import math +from pathlib import Path +import warnings +import xml.etree.ElementTree as ET + + +def resolve_urdf(xml_path, explicit=None): + if explicit: + path = Path(explicit).expanduser().resolve() + if not path.is_file(): + raise FileNotFoundError(path) + return path + xml = Path(xml_path) + stems = [xml.stem, xml.stem.replace('linker_hand_', 'linkerhand_')] + if 'l6v31' in xml.stem: + stems.insert(0, xml.stem.replace('linker_hand_', 'linkerhand_').replace('l6v31', 'l6')) + for stem in stems: + path = xml.with_name(stem + '.urdf') + if path.is_file(): + return path + raise ValueError(f'Cannot determine URDF for {xml}; pass --mapping-urdf PATH') + + +def read_mimics(path, model): + available = {model.joint(i).name for i in range(model.njnt)} + def name(s): + return 'thumb_ip' if s == 'thumb_dip' and s not in available and 'thumb_ip' in available else s + result = {} + for joint in ET.parse(path).getroot().findall('joint'): + mimic = joint.find('mimic') + if mimic is None: + continue + child, master = name(joint.get('name')), name(mimic.get('joint')) + if child not in available or master not in available: + raise ValueError(f'URDF mimic absent in model: {child} <- {master}') + ratio, offset = float(mimic.get('multiplier', '1')), float(mimic.get('offset', '0')) + if not all(map(math.isfinite, (ratio, offset))): + raise ValueError(f'Invalid mimic: {child}') + result[child] = (master, ratio, offset) + return result + + +def passive_maps(path, mimics, g20): + """Legacy master tables are only x-coordinates for passive coupling, never commands.""" + data = json.loads(Path(path).read_text()) + if 'passive_maps' in data: + if int(data.get('schema_version', 0)) != 1: + raise ValueError(f'Unsupported passive-map schema: {path}') + result = {} + for slave, spec in data['passive_maps'].items(): + if slave not in mimics or spec['master'] != mimics[slave][0]: + raise ValueError(f'JSON may only describe URDF passive joints: {slave}') + xs, ys = tuple(map(float, spec['master_rad'])), tuple(map(float, spec['passive_rad'])) + if len(xs) < 2 or len(xs) != len(ys) or not all(map(math.isfinite, xs + ys)) or any(b <= a for a,b in zip(xs,xs[1:])): + raise ValueError(f'Invalid passive curve: {slave}') + result[slave] = g20.PiecewiseMap(spec['master'], xs, ys) + return result + schema = int(data.get('schema_version', 0)) + if schema < 3: + raise ValueError(f'Unsupported passive calibration schema: {path}') + joints = data.get('joints', {}) + result = {} + for slave, (master, _, _) in mimics.items(): + if slave not in joints: + continue # URDF mimic remains the fallback for missing passive curves. + tables = {} + for key in (slave, master): + values = joints.get(key, {}).get('angle_rad') + if not isinstance(values, list) or len(values) != 256: + raise ValueError(f'Passive curve {slave} needs 256 samples for {key}') + tables[key] = tuple(float(x) for x in values) + if not all(map(math.isfinite, tables[key])): + raise ValueError(f'Non-finite passive curve: {key}') + result[slave] = g20._downsample_passive_map(master, slave, tables=tables, schema=schema) + return result + + +def configure(model, xml_path, factory, profile, urdf_path=None, passive_json=None): + module = importlib.import_module(factory.__module__) + short = module.__name__.rsplit('.', 1)[-1] + # O30 has no passive joints; keep its exact SDK protocol, erase historical knots. + if short == 'o30_right_joints': + module.configure_o30_right_limits(xml_path) + module.O30_RIGHT_SDK_KNOTS.clear() + if passive_json not in (None, 'none'): + raise ValueError('O30 has no passive JSON mapping') + return dict(active='model limits, linear', passive='none') + if short == 'o30_left_joints': + module.configure_model_limits(model) + if passive_json not in (None, 'none'): + raise ValueError('O30 has no passive JSON mapping') + return dict(active='model limits, linear', passive='none') + urdf = resolve_urdf(xml_path, urdf_path) + mimics = read_mimics(urdf, model) + def bounds(name): + joint = model.joint(name) + lo, hi = map(float, model.jnt_range[joint.id]) + if not model.jnt_limited[joint.id] or not all(map(math.isfinite, (lo, hi))) or lo >= hi: + raise ValueError(f'Invalid active joint limits: {name}') + return lo, hi + if short == 'g20_joints': + l20 = profile in ('l20_urdf', 'l20', 'urdf') + prefix = 'L20_URDF' if l20 else 'G20_URDF' + for i, name in module.L20_SDK_TO_URDF.items(): + lo, hi = bounds(name) + getattr(module, prefix + '_L_MIN')[i] = lo + getattr(module, prefix + '_L_MAX')[i] = hi + module.G20_L_MIN[i], module.G20_L_MAX[i] = lo, hi + target = getattr(module, prefix + '_MIMIC_OF'); target.clear(); target.update(mimics) + module.G20_PASSIVE_MAPS.clear(); module.G20_RIGHT_PASSIVE_MAPS.clear() + chosen = None + if passive_json and passive_json != 'none': + if l20: + raise ValueError('L20 uses URDF mimic only; do not attach G20 calibration') + chosen = Path(passive_json).expanduser() + if not chosen.is_file(): + raise FileNotFoundError(chosen) + elif passive_json is None and profile in ('g20', 'g20_calibrated', 'calibrated', 'g20_left', 'g20_calibrated_left', 'g20_right', 'g20_calibrated_right', 'calibrated_right'): + chosen = module._G20_RIGHT_CALIB_JSON if 'right' in profile else module._G20_CALIB_JSON + if not chosen.is_file(): + warnings.warn(f'Optional passive JSON absent: {chosen}; using URDF mimic') + chosen = None + if chosen: + maps = passive_maps(chosen, mimics, module) + module.G20_PASSIVE_MAPS.update(maps); module.G20_RIGHT_PASSIVE_MAPS.update(maps) + return dict(urdf=str(urdf), active='model limits, linear', passive=str(chosen) if chosen else 'URDF mimic') + if short == 'o12_joints': + module.O12_URDF_LIMITS.update({name: bounds(name) for name in module.O12_ACTUATED_JOINTS}) + module.O12_URDF_MIMIC_OF.clear(); module.O12_URDF_MIMIC_OF.update(mimics) + else: + prefix = {'o6_joints':'O6','o6_left_joints':'O6_LEFT','l6_joints':'L6','l6_left_joints':'L6_LEFT'}[short] + for i, name in getattr(module, prefix + '_SDK_TO_URDF').items(): + lo, hi = bounds(name) + getattr(module, prefix + '_URDF_L_MIN')[i] = lo + getattr(module, prefix + '_URDF_L_MAX')[i] = hi + target = getattr(module, prefix + '_URDF_MIMIC_OF');target.clear();target.update(mimics) + if passive_json not in (None, 'none'): + raise ValueError(f'{short}: no passive JSON schema configured; use URDF mimic') + return dict(urdf=str(urdf), active='model limits, linear', passive='URDF mimic') diff --git a/tests/test_hand_mapping_policy.py b/tests/test_hand_mapping_policy.py new file mode 100644 index 0000000..fc9efba --- /dev/null +++ b/tests/test_hand_mapping_policy.py @@ -0,0 +1,105 @@ +"""Regression: linear active mapping, optional passive-only JSON and no import IO.""" +import importlib +import json +import os +from pathlib import Path +import subprocess +import sys +import tempfile +import unittest +import numpy as np +import mujoco +ROOT=Path(__file__).resolve().parents[1] +sys.path.insert(0,str(ROOT/'src/linkerhand-sim/linker_hand_mujoco_ros2')) +from linker_hand_mujoco_ros2.utils.runtime_mapping import configure +ASSETS=ROOT/'src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf' +CASES=[ + ('g20_joints','get_mapping_fns','g20_calibrated','G20/linker_hand_g20_left/linker_hand_g20_left.xml','L20_SDK_TO_URDF','G20_URDF_L_DIR'), + ('g20_joints','get_mapping_fns','g20_urdf','G20/linker_hand_g20_right/linker_hand_g20_right.xml','L20_SDK_TO_URDF','G20_URDF_L_DIR'), + ('o6_joints','get_o6_mapping_fns','g20_urdf','O6/linker_hand_o6_right/linker_hand_o6_right.xml','O6_SDK_TO_URDF','O6_URDF_L_DIR'), + ('o6_left_joints','get_o6_left_mapping_fns','g20_urdf','O6/linker_hand_o6_left/linker_hand_o6_left.xml','O6_LEFT_SDK_TO_URDF','O6_LEFT_URDF_L_DIR'), + ('l6_joints','get_l6_mapping_fns','g20_urdf','L6/linker_hand_l6v31_right/linker_hand_l6v31_right.xml','L6_SDK_TO_URDF','L6_URDF_L_DIR'), + ('l6_left_joints','get_l6_left_mapping_fns','g20_urdf','L6/linker_hand_l6v31_left/linker_hand_l6v31_left.xml','L6_LEFT_SDK_TO_URDF','L6_LEFT_URDF_L_DIR'), + ('o30_right_joints','get_o30_right_mapping_fns','g20_urdf','O30/linker_hand_o30_right/linker_hand_o30_right.xml','O30_RIGHT_SDK_TO_URDF',None), + ('o30_left_joints','get_o30_left_mapping_fns','g20_urdf','O30/linker_hand_o30_left/linker_hand_o30_left.xml','O30_LEFT_SDK_JOINT_ORDER',None), +] + +def setup_case(case): + mod,fn,profile,relative,channels,direction=case + module=importlib.import_module('linker_hand_mujoco_ros2.utils.'+mod) + xml=ASSETS/relative;model=mujoco.MjModel.from_xml_path(str(xml));factory=getattr(module,fn) + configure(model,xml,factory,profile) + return module,model,xml,factory + +class Policy(unittest.TestCase): + def test_active_endpoints_and_intermediate_values_all_sdk_hands(self): + for case in CASES: + with self.subTest(case=case[0:3]): + module,model,xml,factory=setup_case(case) + channels=getattr(module,case[4]);channels=channels if isinstance(channels,dict) else dict(enumerate(channels)) + direction=getattr(module,case[5]) if case[5] else [1]*20 + convert=module.sdk_to_full_positions if case[0]=='o30_left_joints' else factory(case[2])[0] + for u in [0,17,64,127.5,128,201,255]: + pose=convert([u]*(max(channels)+1)) + for i,name in channels.items(): + lo,hi=model.jnt_range[model.joint(name).id];fraction=u/255 if direction[i]>0 else 1-u/255 + self.assertAlmostEqual(pose[name],lo+(hi-lo)*fraction,places=11) + def test_json_active_curve_changes_cannot_change_active_output(self): + case=CASES[0];module,model,xml,factory=setup_case(case) + before=factory(case[2])[0]([80.0]*20) + data=json.loads(module._G20_CALIB_JSON.with_name('g20_left_G20_LEFT_001_calibration.json').read_text()) + # Even master curves may only affect passive coupling, never active targets. + for name in module.L20_SDK_TO_URDF.values(): + data['joints'][name]['angle_rad']=[x*.7 for x in data['joints'][name]['angle_rad']] + with tempfile.TemporaryDirectory() as tmp: + p=Path(tmp)/'passive.json';p.write_text(json.dumps(data)) + configure(model,xml,factory,case[2],passive_json=p) + after=factory(case[2])[0]([80.0]*20) + for name in module.L20_SDK_TO_URDF.values():self.assertEqual(before[name],after[name]) + self.assertTrue(any(abs(before[k]-after[k])>1e-6 for k in module.G20_MIMIC_JOINT_NAMES)) + def test_passive_none_uses_urdf_and_does_not_read_json(self): + module,model,xml,factory=setup_case(CASES[0]) + configure(model,xml,factory,'g20_calibrated',passive_json='none') + result=factory('g20_calibrated')[0]([100.0]*20) + for slave,(master,ratio,offset) in module.G20_URDF_MIMIC_OF.items(): + self.assertAlmostEqual(result[slave],result[master]*ratio+offset) + def test_missing_optional_passive_file_falls_back(self): + module,model,xml,factory=setup_case(CASES[0]) + saved=module._G20_CALIB_JSON + try: + with tempfile.TemporaryDirectory() as tmp: + module._G20_CALIB_JSON=Path(tmp)/'absent.json' + with self.assertWarns(UserWarning): + info=configure(model,xml,factory,'g20_calibrated') + self.assertEqual(info['passive'],'URDF mimic') + self.assertEqual(module.G20_PASSIVE_MAPS,{}) + finally:module._G20_CALIB_JSON=saved + + def test_live_model_range_replaces_copied_constants(self): + module,model,xml,factory=setup_case(CASES[2]) + name='rh_index_mcp_pitch';model.jnt_range[model.joint(name).id]=[.2,.8] + configure(model,xml,factory,'g20_urdf') + self.assertAlmostEqual(factory('g20_urdf')[0]([127.5]*6)[name],.5) + def test_o12_rad_endpoints_use_loaded_model(self): + module=importlib.import_module('linker_hand_mujoco_ros2.utils.o12_joints') + xml=ASSETS/'O12/linker_hand_o12_right/linker_hand_o12_right.xml';model=mujoco.MjModel.from_xml_path(str(xml)) + configure(model,xml,module.get_o12_mapping_fns,'g20_urdf') + for name in module.O12_ACTUATED_JOINTS: + self.assertEqual(module.O12_URDF_LIMITS[name],tuple(model.jnt_range[model.joint(name).id])) + lo,hi=module.O12_SDK_LIMITS[name] + vals=[module.sdk_rad_to_urdf_rad(name,x) for x in [lo,(lo+hi)/2,hi]] + # Existing SDK protocol clipping/sign conventions remain; all values finite. + self.assertTrue(np.isfinite(vals).all()) + def test_all_bridge_imports_succeed_with_json_reads_forbidden(self): + code='''import sys,importlib +sys.path.insert(0,sys.argv[1]) +def audit(event,args): + if event=='open' and str(args[0]).endswith('.json'):raise RuntimeError('Unexpected JSON read: '+str(args[0])) +sys.addaudithook(audit) +importlib.import_module('linker_hand_mujoco_ros2.'+sys.argv[2]) +''' + for name in ['g20_plan_bridge','o6_plan_bridge','o6_left_plan_bridge','l6_plan_bridge','l6_left_plan_bridge','o12_plan_bridge','o30_right_plan_bridge','o30_left_plan_bridge']: + r=subprocess.run([sys.executable,'-B','-c',code,str(ROOT/'src/linkerhand-sim/linker_hand_mujoco_ros2'),name],capture_output=True,text=True) + self.assertEqual(r.returncode,0,r.stderr) + +if __name__=='__main__':unittest.main() diff --git a/run_middle_step_experiment.sh b/tools/experiments/run_middle_step_experiment.sh similarity index 58% rename from run_middle_step_experiment.sh rename to tools/experiments/run_middle_step_experiment.sh index 081eb1d..ff6a2c2 100755 --- a/run_middle_step_experiment.sh +++ b/tools/experiments/run_middle_step_experiment.sh @@ -1,7 +1,7 @@ #!/usr/bin/env bash # 快捷入口：O6 中指 step 实验（真机 / 仿真 / 对比） set -eo pipefail -ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-31}" export ROS_LOCALHOST_ONLY=0 @@ -13,9 +13,9 @@ MODE="${1:-}" if [[ -z "$MODE" ]]; then cat <<'EOF' 用法: - ./run_middle_step_experiment.sh real # 真机实验（需 can0 + SDK） - ./run_middle_step_experiment.sh sim # 仿真实验（MuJoCo） - ./run_middle_step_experiment.sh compare # 对比图（需先 real + sim） + ./tools/experiments/run_middle_step_experiment.sh real # 真机实验（需 can0 + SDK） + ./tools/experiments/run_middle_step_experiment.sh sim # 仿真实验（MuJoCo） + ./tools/experiments/run_middle_step_experiment.sh compare # 对比图（需先 real + sim） 时序（两边相同）: 3s 张开 → 3s 握紧 → 3s 张开 → 2s 余量 EOF diff --git a/tools/friction_id/sweep_index_plot.py b/tools/friction_id/sweep_index_plot.py index 287281a..ac635a3 100644 --- a/tools/friction_id/sweep_index_plot.py +++ b/tools/friction_id/sweep_index_plot.py @@ -76,7 +76,7 @@ def main(): cfg = FINGER_CFG[args.finger] if args.out is None: - args.out = ROOT / f"reports/O6_{args.finger}_sweep" + args.out = ROOT / f"outputs/reports/O6_{args.finger}_sweep" if args.hand == "right": args.xml = ( diff --git a/tools/hand_curve_recorder_standalone.py b/tools/hand_curve_recorder_standalone.py index 739a6ae..c22e906 100755 --- a/tools/hand_curve_recorder_standalone.py +++ b/tools/hand_curve_recorder_standalone.py @@ -104,7 +104,7 @@ def main(): parser.add_argument("--label", default="run", help="sim / real / ...") parser.add_argument("--hz", type=float, default=100.0) parser.add_argument("--n", type=int, default=6) - parser.add_argument("--out", default="reports/hand_curves") + parser.add_argument("--out", default="outputs/reports/hand_curves") parser.add_argument("--cmd-topic", default="", help="空则 /cb_{hand}_hand_control_cmd") parser.add_argument("--state-topic", default="", help="空则 /cb_{hand}_hand_state") parser.add_argument( diff --git a/run_real_hand.sh b/tools/hardware/run_real_hand.sh similarity index 91% rename from run_real_hand.sh rename to tools/hardware/run_real_hand.sh index 98607e9..66a6e19 100755 --- a/run_real_hand.sh +++ b/tools/hardware/run_real_hand.sh @@ -1,7 +1,7 @@ #!/usr/bin/env bash # 启动真机 LinkerHand ROS2 SDK（O6 左手 / can0） set -eo pipefail -WS="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/linker_hand_ros2_sdk_ws" +WS="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)/linker_hand_ros2_sdk_ws" # ROS setup.bash 会引用未定义变量，不能开 nounset (-u) set +u diff --git a/tools/hardware/run_real_middle_record.sh b/tools/hardware/run_real_middle_record.sh new file mode 100755 index 0000000..8a4c4b5 --- /dev/null +++ b/tools/hardware/run_real_middle_record.sh @@ -0,0 +1,3 @@ +#!/usr/bin/env bash +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)" +exec "$ROOT/tools/experiments/run_middle_step_experiment.sh" real "$@" diff --git a/tools/o30_mirror/build.py b/tools/o30_mirror/build.py new file mode 100644 index 0000000..2210b08 --- /dev/null +++ b/tools/o30_mirror/build.py @@ -0,0 +1,98 @@ +"""Mirror calibrated O30 V10; retain existing V9 filenames for compatibility.""" +from pathlib import Path +import hashlib +import json +import shutil +import struct +import xml.etree.ElementTree as ET + +import numpy as np + +ROOT = Path(__file__).resolve().parents[2] +MODEL = ROOT / 'src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30' +SOURCE = MODEL / 'linker_hand_o30_right/linkerhand_o30_right_zero_v10_calibrated.urdf' +OUTPUT = ROOT / 'assets/exports/O30_V10_left_right' +RIGHT = OUTPUT / 'right/linkerhand_o30_right_v10.urdf' +LEFT = OUTPUT / 'left/linkerhand_o30_left_v10.urdf' + + +def mirror_stl(source, target): + raw = source.read_bytes() + count = struct.unpack_from(' 1e-6] + lengths = np.linspace(.028, .043, 50) if self.thumb else np.linspace(.009, .020, 50) + length, lateral = np.meshgrid(lengths, np.linspace(-.004, .004, 25)) + length, lateral = length.ravel(), lateral.ravel() + surface = np.min(-(length[:, None]*eq[:, length_axis] + + lateral[:, None]*eq[:, lateral_axis] + eq[:, 3]) + / eq[:, normal_axis], axis=1) + self.center = .036 if self.thumb else .016 + u, v = (length-self.center)/.01, lateral/.01 + basis = np.array([u**i*v**j for i, j in self.terms]).T + self.coef = np.linalg.lstsq(basis, surface, rcond=None)[0] + self.approximation_error_mm = float(np.max(abs(basis @ self.coef-surface))*1000) + + def point_normal(self, length, lateral): + u, v = (length-self.center)/.01, lateral/.01 + height = sum(c*u**i*v**j for c, (i, j) in zip(self.coef, self.terms)) + dl = sum(c*i*u**(i-1)*v**j for c, (i, j) in zip(self.coef, self.terms) if i)/.01 + ds = sum(c*j*u**i*v**(j-1) for c, (i, j) in zip(self.coef, self.terms) if j)/.01 + if self.thumb: + point, normal = np.array([lateral, length, height]), np.array([-ds, -dl, 1.]) + else: + point, normal = np.array([height, lateral, length]), np.array([1., -ds, -dl]) + return point, normal/np.linalg.norm(normal) + + +class Calibration: + def __init__(self): + self.samples = json.loads(SAMPLES.read_text())['samples'] + self.commands = np.array([s['command'] for s in self.samples], dtype=float) + if self.commands.shape != (len(self.samples), 20) or not np.all( + np.isfinite(self.commands) & (self.commands >= 0) & (self.commands <= 255)): + raise ValueError('Samples must contain 20 finite SDK values in [0, 255]') + if any(s['finger'] not in FINGERS[1:] for s in self.samples): + raise ValueError('Unknown opposing finger') + self.n = len(self.samples) + self.model = mujoco.MjModel.from_xml_path(str(STOCK_XML)) + self.data = mujoco.MjData(self.model) + self.ids = np.array([self.model.joint(n).id for n in NAMES]) + self.adr = self.model.jnt_qposadr[self.ids] + self.limits = self.model.jnt_range[self.ids].copy() + self.lo = self.limits[:, 0] + self.span = self.limits[:, 1]-self.lo + self.pads = {f: PadSurface(f) for f in FINGERS} + self.bodies = {f: self.model.body(f+'_distal').id for f in FINGERS} + self.geoms = {f: next(g for g in range(self.model.ngeom) + if self.model.geom_bodyid[g] == self.bodies[f] + and self.model.geom_group[g] == 3) for f in FINGERS} + categories = ('hand', *FINGERS) + self.geom_categories = [next((i for i, f in enumerate(categories) + if self.model.body(self.model.geom_bodyid[g]).name.startswith(f)), 0) + for g in range(self.model.ngeom)] + self.pairs = [(i, j) for i in range(6) for j in range(i+1, 6)] + self.pair_index = {p: i for i, p in enumerate(self.pairs)} + self.evaluations = 0 + + def initial(self): + return np.r_[np.zeros(40), np.full(self.n, .036), np.full(self.n, .016), np.zeros(2*self.n)] + + def bounds(self): + return (np.r_[np.full(20, -.4), np.full(20, -.5), np.full(self.n, .028), + np.full(self.n, .009), np.full(2*self.n, -.004)], + np.r_[np.full(20, .4), np.full(20, .5), np.full(self.n, .043), + np.full(self.n, .020), np.full(2*self.n, .004)]) + + def positions(self, x, command): + return self.lo+x[:20]+self.span*(1+x[20:40])*np.asarray(command)/255 + + def set_pose(self, x, command): + self.data.qpos[self.adr] = self.positions(x, command) + mujoco.mj_forward(self.model, self.data) + + def world_pad(self, x, i, finger): + thumb = finger == 'thumb' + length = x[40+i+(0 if thumb else self.n)] + lateral = x[40+2*self.n+i+(0 if thumb else self.n)] + point, normal = self.pads[finger].point_normal(length, lateral) + b = self.bodies[finger] + rotation = self.data.xmat[b].reshape(3, 3) + return self.data.xpos[b]+rotation@point, rotation@normal + + def inter_finger_penetrations(self): + depths = np.zeros(len(self.pairs)) + for contact in self.data.contact: + a, b = sorted([self.geom_categories[contact.geom1], self.geom_categories[contact.geom2]]) + if a != b: + k = self.pair_index[a, b] + depths[k] = max(depths[k], -contact.dist) + return depths + + def residual(self, x): + residual = [] + for i, sample in enumerate(self.samples): + self.set_pose(x, sample['command']) + thumb, tn = self.world_pad(x, i, 'thumb') + finger, fn = self.world_pad(x, i, sample['finger']) + residual.extend((thumb-finger)/.0005) + residual.extend((tn+fn)/.08) + residual.extend(np.maximum(self.inter_finger_penetrations()-.00005, 0)/.00015) + self.set_pose(x, O30_RIGHT_OPEN_CMD) + residual.extend(np.maximum(self.inter_finger_penetrations()-.00005, 0)/.00015) + # Regularization selects small changes; it is not additional measured data. + residual.extend(x[:20]/.175*.6) + residual.extend(x[20:40]/.25*.6) + residual.extend((x[40:40+self.n]-.036)/.008*.3) + residual.extend((x[40+self.n:40+2*self.n]-.016)/.006*.3) + residual.extend(x[40+2*self.n:]/.004*.3) + self.evaluations += 1 + return np.array(residual) + + def metrics(self, x, pose_x=None): + rows = [] + for i, sample in enumerate(self.samples): + self.set_pose(x if pose_x is None else pose_x, sample['command']) + thumb, tn = self.world_pad(x, i, 'thumb') + finger, fn = self.world_pad(x, i, sample['finger']) + ft = np.zeros(6) + gap = mujoco.mj_geomDistance(self.model, self.data, self.geoms['thumb'], + self.geoms[sample['finger']], .2, ft) + rows.append(dict(finger=sample['finger'], label=sample['label'], + mesh_gap_mm=float(gap*1000), + pad_point_error_mm=float(np.linalg.norm(thumb-finger)*1000), + pad_opposition_error_deg=float(np.degrees(np.arccos(np.clip(-tn@fn, -1, 1)))), + max_penetration_mm=float(max([0.] + [-c.dist*1000 for c in self.data.contact])))) + return rows + + def fit(self, starts, max_nfev, warm_start=None): + rng = np.random.default_rng(20260921) + best = None + for i in range(starts): + x = self.initial() if warm_start is None else warm_start.copy() + if i: + x[:40] += rng.normal(0, .02, 40) + low, high = self.bounds() + result = least_squares(self.residual, np.clip(x, low+1e-10, high-1e-10), + bounds=(low, high), max_nfev=max_nfev, ftol=1e-6, + diff_step=1e-4, x_scale='jac') + print(f'fit {i+1}/{starts}: cost={result.cost:.6f}, nfev={result.nfev}, ' + f'evaluations={self.evaluations}', flush=True) + if best is None or result.cost < best.cost: + best = result + return best + + +def check_metrics(rows): + for row in rows: + if (abs(row['mesh_gap_mm']) > .2 or row['pad_point_error_mm'] > .5 + or row['pad_opposition_error_deg'] > 5 or row['max_penetration_mm'] > .2): + raise RuntimeError(f'Pinch validation failed: {row}') + + +def export_urdf(cal, x): + tree = ET.parse(STOCK_URDF) + joints = {j.get('name'): j for j in tree.getroot().findall('joint')} + for i, name in enumerate(NAMES): + joint = joints[name] + origin = joint.find('origin') + rpy = np.fromstring(origin.get('rpy', '0 0 0'), sep=' ') + axis = np.fromstring(joint.find('axis').get('xyz'), sep=' ') + axis /= np.linalg.norm(axis) + rotation = Rotation.from_euler('xyz', rpy)*Rotation.from_rotvec(axis*x[i]) + origin.set('rpy', ' '.join(f'{v:.12g}' for v in rotation.as_euler('xyz'))) + joint.find('limit').set('upper', f'{cal.lo[i]+cal.span[i]*(1+x[20+i]):.12g}') + tree.getroot().insert(0, ET.Comment( + ' Four-pinch fitted candidate, 2026-09-21. Joint origin = stock origin * ' + 'axis_rotation(zero_offset); SDK 0..255 maps to limit lower..upper. ' + 'Offsets are already baked in; do not apply twice. Not a measured full-range calibration. ')) + ET.indent(tree, space=' ') + tree.write(CAL_URDF, encoding='utf-8', xml_declaration=True) + + +def save_solution(cal, x, fit_info): + rows = cal.metrics(x) + check_metrics(rows) + export_urdf(cal, x) + info = dict(schema_version=1, status='four-pinch fitted candidate; hardware validation pending', + stock_urdf_sha256=sha256(STOCK_URDF), stock_xml_sha256=sha256(STOCK_XML), + samples_sha256=sha256(SAMPLES), samples=cal.samples, + method='Bounded regularized nonlinear least squares using MuJoCo forward kinematics/contact', + limitations='Four contacts do not uniquely identify 20 joint zero offsets and 20 travels. ' + 'Pad coordinates are fitted nuisance parameters, not measured. ' + 'No full-travel, unseen-pose, hardware, or PD dynamics validation.', + parameter_vector=x.tolist(), optimizer=fit_info, + pad_surface_approximation_error_mm={f: p.approximation_error_mm for f, p in cal.pads.items()}, + joints={name: dict(zero_offset_rad=float(x[i]), travel_scale=float(1+x[20+i]), + sdk0_angle_in_calibrated_urdf_rad=float(cal.lo[i]), + sdk255_angle_in_calibrated_urdf_rad=float(cal.lo[i]+cal.span[i]*(1+x[20+i]))) + for i, name in enumerate(NAMES)}, + baseline=cal.metrics(x, np.zeros_like(x)), fitted=rows) + CAL_JSON.write_text(json.dumps(info, indent=2, ensure_ascii=False)+'\n') + return info + + +def load_solution(): + info = json.loads(CAL_JSON.read_text()) + for key, path in [('stock_urdf_sha256', STOCK_URDF), ('stock_xml_sha256', STOCK_XML), ('samples_sha256', SAMPLES)]: + if info[key] != sha256(path): + raise ValueError(f'Calibration input changed: {path}; refit before checking') + return info, np.array(info['parameter_vector']) + + +def validate_live(cal, x): + """Check actual generated model and its SDK mapping, including random commands.""" + from linker_hand_mujoco_ros2.utils.o30_right_joints import ( + configure_o30_right_limits, sdk_range_to_full_o30_right_urdf_positions, + ) + live = mujoco.MjModel.from_xml_path(str(LIVE_XML)) + data = mujoco.MjData(live) + configure_o30_right_limits(LIVE_XML) + rng = np.random.default_rng(30) + commands = [*cal.commands, O30_RIGHT_OPEN_CMD, np.zeros(20), np.full(20, 255), *rng.uniform(0, 255, (30, 20))] + max_error = 0. + for command in commands: + cal.set_pose(x, command) + mapping = sdk_range_to_full_o30_right_urdf_positions(list(command)) + for name, value in mapping.items(): + jid = live.joint(name).id + if not live.jnt_range[jid, 0]-1e-12 <= value <= live.jnt_range[jid, 1]+1e-12: + raise AssertionError(f'Mapping exceeds joint range: {name}') + data.qpos[live.jnt_qposadr[jid]] = value + mujoco.mj_forward(live, data) + for bid in range(1, cal.model.nbody): + name = cal.model.body(bid).name + other = live.body(name).id + error = np.linalg.norm(data.xpos[other]-cal.data.xpos[bid]) + max_error = max(max_error, float(error)) + if error > 2e-7 or np.max(abs(data.xmat[other]-cal.data.xmat[bid])) > 2e-6: + raise AssertionError(f'Export/mapping mismatch for {name}: {error} m') + # Evaluate actual compiled MJCF, rather than only trusting the optimized source. + rows = [] + for sample in cal.samples: + mapping = sdk_range_to_full_o30_right_urdf_positions(sample['command']) + for name, value in mapping.items(): + data.qpos[live.jnt_qposadr[live.joint(name).id]] = value + mujoco.mj_forward(live, data) + def geom(f): + return next(g for g in range(live.ngeom) + if live.geom_group[g] == 3 and live.geom_bodyid[g] == live.body(f+'_distal').id) + gap = mujoco.mj_geomDistance(live, data, geom('thumb'), geom(sample['finger']), .2, np.zeros(6)) + penetration = max([0.] + [-c.dist for c in data.contact]) + if abs(gap) > .0002 or penetration > .0002: + raise AssertionError(f'Actual model collision check failed: {sample["finger"]}') + rows.append(dict(finger=sample['finger'], mesh_gap_mm=gap*1000, max_penetration_mm=penetration*1000)) + check_metrics(cal.metrics(x)) + return dict(tested_commands=len(commands), max_export_position_error_m=max_error, actual_mjcf=rows) + + +def render(cal, x): + from PIL import Image, ImageDraw, ImageFont + REPORT_DIR.mkdir(parents=True, exist_ok=True) + cal.model.vis.global_.offwidth = 600 + cal.model.vis.global_.offheight = 600 + renderer = mujoco.Renderer(cal.model, 600, 600) + sheet = Image.new('RGB', (600*cal.n, 1280), '#f1f5f9') + draw = ImageDraw.Draw(sheet) + font = ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf', 20) + for row in range(2): + for i, sample in enumerate(cal.samples): + cal.set_pose(np.zeros_like(x) if row == 0 else x, sample['command']) + camera = mujoco.MjvCamera() + camera.lookat[:] = [.045, 0, .10] + camera.distance, camera.azimuth, camera.elevation = .29, 215, -15 + renderer.update_scene(cal.data, camera=camera) + sheet.paste(Image.fromarray(renderer.render()), (600*i, 640*row+40)) + draw.text((600*i+16, 640*row+10), ('Before' if row == 0 else 'After')+' / '+sample['finger'], + fill='#172033', font=font) + renderer.close() + path = REPORT_DIR / 'before_after.png' + sheet.save(path) + print(path) + + +def preview(finger, stock=False): + import time + import mujoco.viewer + from linker_hand_mujoco_ros2.utils.o30_right_joints import configure_o30_right_limits, sdk_range_to_full_o30_right_urdf_positions + path = STOCK_XML if stock else LIVE_XML + configure_o30_right_limits(path) + model = mujoco.MjModel.from_xml_path(str(path)) + data = mujoco.MjData(model) + command = next(s['command'] for s in json.loads(SAMPLES.read_text())['samples'] if s['finger'] == finger) + for name, value in sdk_range_to_full_o30_right_urdf_positions(command).items(): + data.qpos[model.jnt_qposadr[model.joint(name).id]] = value + mujoco.mj_forward(model, data) + with mujoco.viewer.launch_passive(model, data) as viewer: + viewer.cam.lookat[:] = [.045, 0, .10] + viewer.cam.distance, viewer.cam.azimuth, viewer.cam.elevation = .29, 215, -15 + while viewer.is_running(): + viewer.sync() + time.sleep(.02) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--fit', action='store_true') + parser.add_argument('--check', action='store_true') + parser.add_argument('--render', action='store_true') + parser.add_argument('--starts', type=int, default=3) + parser.add_argument('--max-nfev', type=int, default=300) + parser.add_argument('--preview', choices=FINGERS[1:]) + parser.add_argument('--stock', action='store_true', help='Use original model for --preview') + args = parser.parse_args() + if args.preview: + preview(args.preview, args.stock) + return + if not (args.fit or args.check or args.render): + parser.error('Choose --fit, --check, --render, or --preview') + if args.starts < 1 or args.max_nfev < 1: + parser.error('--starts and --max-nfev must be positive') + cal = Calibration() + if args.fit: + warm = None + if CAL_JSON.exists(): + try: + _, warm = load_solution() + except ValueError: + pass + result = cal.fit(args.starts, args.max_nfev, warm) + x = result.x + info = save_solution(cal, x, dict(cost=float(result.cost), success=bool(result.success), + message=result.message, nfev=result.nfev, evaluations=cal.evaluations, + seed=20260921, starts=args.starts, max_nfev=args.max_nfev)) + print(f'Exported {CAL_URDF}\nRegenerate MJCF with O30_RIGHT_PREPARE_ONLY=1 ./hands/O30/scripts/run_o30_right_mujoco_plan.sh') + else: + info, x = load_solution() + if args.check: + info['live_validation'] = validate_live(cal, x) + REPORT_DIR.mkdir(parents=True, exist_ok=True) + (REPORT_DIR/'validation.json').write_text(json.dumps(info, indent=2, ensure_ascii=False)+'\n') + print(json.dumps(info['live_validation'], indent=2)) + if args.render: + render(cal, x) + + +if __name__ == '__main__': + main() diff --git a/tools/o30_right_calibration/endpoint_constraints.json b/tools/o30_right_calibration/endpoint_constraints.json new file mode 100644 index 0000000..14cafff --- /dev/null +++ b/tools/o30_right_calibration/endpoint_constraints.json @@ -0,0 +1,14 @@ +{ + "status": "Provisional endpoint estimates from paired hardware/simulation photographs; full command arrays unknown", + "confirmed": "Hardware and simulation used identical commands. Each tested joint is 255. DIP tests also have the same finger PIP at 255.", + "unconfirmed": "Other channels, camera extrinsics and measured hardware angles are unknown. Test both the previous open command and all-zero background commands; neither is claimed to be the recorded command.", + "angle_estimation": "Visible hardware link directions are approximately perpendicular. Use 90 degrees with an 8-degree estimation uncertainty as a provisional target, not a measured joint angle. No metric image reprojection fit is claimed.", + "constraints": [ + {"joint":"ring_mcp_pitch","hardware_image":1,"simulation_image":2,"active":["ring_mcp_pitch"],"target_deg":90,"uncertainty_deg":8}, + {"joint":"ring_dip","hardware_image":3,"simulation_image":4,"active":["ring_pip","ring_dip"],"target_deg":90,"uncertainty_deg":8}, + {"joint":"pinky_mcp_pitch","hardware_image":5,"simulation_image":6,"active":["pinky_mcp_pitch"],"target_deg":90,"uncertainty_deg":8}, + {"joint":"pinky_pip","hardware_image":7,"simulation_image":8,"active":["pinky_pip"],"target_deg":90,"uncertainty_deg":8}, + {"joint":"pinky_dip","hardware_image":9,"simulation_image":10,"active":["pinky_pip","pinky_dip"],"target_deg":90,"uncertainty_deg":8}, + {"joint":"middle_dip","hardware_image":11,"simulation_image":12,"active":["middle_pip","middle_dip"],"target_deg":90,"uncertainty_deg":8} + ] +} diff --git a/tools/o30_right_calibration/fit_endpoints.py b/tools/o30_right_calibration/fit_endpoints.py new file mode 100644 index 0000000..b0e534a --- /dev/null +++ b/tools/o30_right_calibration/fit_endpoints.py @@ -0,0 +1,227 @@ +#!/usr/bin/env python3 +"""Provisional single-joint endpoint fitting, preserving V4 pinch/zero anchors exactly.""" +import argparse +import json +import os +from pathlib import Path +import sys +import xml.etree.ElementTree as ET +if '--render' in sys.argv: + os.environ.setdefault('MUJOCO_GL','egl') +import numpy as np +from scipy.optimize import least_squares +import fit_pinky as v4 +base=v4.base +CONFIG=Path(__file__).with_name('endpoint_constraints.json') +OUTPUT=base.MODEL_DIR/'linkerhand_o30_right_endpoint_calibrated.urdf' +PARAMETERS=base.MODEL_DIR/'o30_right_endpoint_calibration.json' +REPORT=base.ROOT/'outputs/reports/O30/o30_right_endpoint_calibration' + + +class EndpointFit: + def __init__(self): + source=v4.PinkyFit() + self.previous,self.q=v4.load(source) + self.cal=source.cal + self.config=json.loads(CONFIG.read_text()) + self.constraints=self.config['constraints'] + self.names=[row['joint'] for row in self.constraints] + self.indices=np.array([base.NAMES.index(n) for n in self.names]) + self.offsets=self.q[:20].copy() + tree=ET.parse(v4.OUTPUT) + self.limits=np.array([[float(tree.getroot().find(f"joint[@name='{name}']/limit").get(key)) + for key in ['lower','upper']] for name in base.NAMES]) + self.span=self.limits[:,1]-self.limits[:,0] + self.targets=np.deg2rad([row['target_deg'] for row in self.constraints]) + self.sigma=np.deg2rad([row['uncertainty_deg'] for row in self.constraints]) + self.old_endpoints=self.limits[self.indices,1]+self.offsets[self.indices] + # All existing measured pinch commands and the measured zero are protected. + self.anchors=[np.unique([0.,*[cmd[i] for cmd in self.cal.commands],self.cal.zero_command[i]]) + for i in self.indices] + if any(a[-1]>=255 for a in self.anchors): + raise ValueError('An existing pinch already constrains 255; endpoint needs a joint refit') + self.scenarios=[] + for background in ['measured_zero','all_zero']: + for row in self.constraints: + command=self.cal.zero_command.copy() if background=='measured_zero' else np.zeros(20) + for name in row['active']: command[base.NAMES.index(name)]=255 + self.scenarios.append(dict(background=background,joint=row['joint'],command=command)) + self.baseline_penetration=np.array([self.penetration(self.positions(s['command'])) for s in self.scenarios]) + self.evaluations=0 + + def positions(self,command,endpoints=None): + cmd=np.clip(np.asarray(command,dtype=float),0,255) + q=self.limits[:,0]+self.span*cmd/255+self.offsets + if endpoints is not None: + for j,i in enumerate(self.indices): + x=np.r_[self.anchors[j],255.] + y=np.r_[self.limits[i,0]+self.span[i]*self.anchors[j]/255+self.offsets[i],endpoints[j]] + q[i]=np.interp(cmd[i],x,y) + return q + + def set_pose(self,positions): + self.cal.data.qpos[self.cal.adr]=positions + base.mujoco.mj_forward(self.cal.model,self.cal.data) + + def penetration(self,positions): + self.set_pose(positions) + return max([0.]+[-c.dist for c in self.cal.data.contact]) + + def residual(self,endpoints): + self.evaluations+=1 + depths=np.array([self.penetration(self.positions(s['command'],endpoints)) for s in self.scenarios]) + return np.r_[(endpoints-self.targets)/self.sigma, + np.maximum(depths-self.baseline_penetration-.0002,0)/.0002] + + def fit(self): + # Several endpoint hypotheses, then local refinement using MuJoCo collisions. + history=[];best=None + for start in [self.targets,self.targets-np.deg2rad(5),self.targets+np.deg2rad(5)]: + result=least_squares(self.residual,start,bounds=(self.targets-self.sigma,self.targets+self.sigma), + max_nfev=120,diff_step=1e-5,ftol=1e-10,xtol=1e-10,gtol=1e-10) + history.append(dict(cost=float(result.cost),nfev=result.nfev,endpoints_deg=np.rad2deg(result.x).tolist())) + if best is None or result.cost1e-12: + raise AssertionError('An existing pinch/zero joint angle changed') + for j,i in enumerate(self.indices): + last=self.limits[i,0]+self.span[i]*self.anchors[j][-1]/255+self.offsets[i] + if endpoints[j]<=last:raise AssertionError('Non-monotone endpoint') + + def export(self,endpoints,history): + self.check_anchors(endpoints) + tree=ET.parse(v4.OUTPUT);root=tree.getroot() + extension=ET.SubElement(root,'o30_sdk_mapping',version='1',interpolation='linear') + changed={} + for j,(name,i) in enumerate(zip(self.names,self.indices)): + upper=endpoints[j]-self.offsets[i] + root.find(f"joint[@name='{name}']/limit").set('upper',format(upper,'.16g')) + xs=np.r_[self.anchors[j],255.] + ys=np.r_[self.limits[i,0]+self.span[i]*self.anchors[j]/255,upper] + ET.SubElement(extension,'map',joint=name,sdk=' '.join(format(x,'.16g') for x in xs), + radians=' '.join(format(y,'.16g') for y in ys)) + changed[name]=dict(previous_endpoint_deg=float(np.rad2deg(self.old_endpoints[j])), + endpoint_deg=float(np.rad2deg(endpoints[j])),sdk_knots=xs.tolist(), + urdf_radian_knots=ys.tolist()) + ET.indent(tree,space=' ');tree.write(OUTPUT,encoding='utf-8',xml_declaration=True) + info=dict(status='Provisional photo-estimated endpoints, not measured angles or confirmed full commands', + constraints=self.config,parameterization='Piecewise linear SDK-to-radian mapping with exact V4 pinch and zero anchors', + endpoints_rad=endpoints.tolist(),changed_joints=changed,history=history,evaluations=self.evaluations, + hashes={str(p.relative_to(base.ROOT)):base.sha256(p) for p in [CONFIG,v4.OUTPUT,v4.PARAMETERS,base.STOCK_XML,base.SAMPLES]}, + output_sha256=base.sha256(OUTPUT), + hypotheses=[dict(background=s['background'],joint=s['joint'],command=s['command'].tolist()) for s in self.scenarios]) + PARAMETERS.write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + return info + + def load(self): + info=json.loads(PARAMETERS.read_text()) + for path,digest in info['hashes'].items(): + if base.sha256(base.ROOT/path)!=digest:raise ValueError(f'Calibration input changed: {path}') + if base.sha256(OUTPUT)!=info['output_sha256']:raise ValueError('Output URDF changed') + endpoints=np.array(info['endpoints_rad']);self.check_anchors(endpoints) + return info,endpoints + + def validate(self,endpoints): + from linker_hand_mujoco_ros2.utils import o30_right_joints as mapping + mapping.configure_o30_right_limits(base.LIVE_XML) + if set(mapping.O30_RIGHT_SDK_KNOTS)!=set(self.names):raise AssertionError('Model did not load six nonlinear mappings') + model=base.mujoco.MjModel.from_xml_path(str(base.LIVE_XML));data=base.mujoco.MjData(model) + commands=[*self.cal.commands,self.cal.zero_command,*[s['command'] for s in self.scenarios], + np.zeros(20),np.full(20,255),*np.random.default_rng(305).uniform(0,255,(30,20))] + error=0.;contact=[];scenarios=[] + for k,cmd in enumerate(commands): + self.set_pose(self.positions(cmd,endpoints)) + mapped=mapping.sdk_range_to_full_o30_right_urdf_positions(list(cmd)) + for name,value in mapped.items(): + jid=model.joint(name).id;data.qpos[model.jnt_qposadr[jid]]=value + if not model.jnt_range[jid,0]-1e-10<=value<=model.jnt_range[jid,1]+1e-10: + raise AssertionError('Mapped value outside model limits') + base.mujoco.mj_forward(model,data) + for bid in range(1,self.cal.model.nbody): + other=model.body(self.cal.model.body(bid).name).id + diff=float(np.linalg.norm(data.xpos[other]-self.cal.data.xpos[bid]));error=max(error,diff) + if diff>2e-7 or np.max(abs(data.xmat[other]-self.cal.data.xmat[bid]))>2e-6: + raise AssertionError('Actual exported kinematics mismatch') + depth=max([0.]+[-c.dist for c in data.contact])*1000 + if k<4: + f=self.cal.samples[k]['finger'] + def geom(finger):return next(g for g in range(model.ngeom) if model.geom_group[g]==3 and model.geom_bodyid[g]==model.body(finger+'_distal').id) + gap=base.mujoco.mj_geomDistance(model,data,geom('thumb'),geom(f),.2,np.zeros(6))*1000 + if abs(gap)>.2 or depth>.2:raise AssertionError('Pinch contact regression') + contact.append(dict(finger=f,mesh_gap_mm=float(gap),max_penetration_mm=float(depth))) + elif k==4: + if depth>.2:raise AssertionError('Zero collision regression') + elif k<17: + old=self.baseline_penetration[k-5]*1000 + scenarios.append(dict(joint=self.scenarios[k-5]['joint'],background=self.scenarios[k-5]['background'], + previous_penetration_mm=float(old),penetration_mm=float(depth))) + if depth>old+.3:raise AssertionError('Endpoint collision regression') + # Dense commands verify monotonic interpolation, bounds and exact anchors. + mapped=np.array([list(mapping.sdk_range_to_full_o30_right_urdf_positions([u]*20).values()) + for u in np.linspace(0,255,1021)]) + if np.any(np.diff(mapped,axis=0)<-1e-12):raise AssertionError('Non-monotone SDK mapping') + self.check_anchors(endpoints) + return dict(tested_commands=len(commands),dense_mapping_commands=1021,max_export_position_error_m=error, + pinch_and_zero_angles_preserved=True,pinches=contact,endpoint_hypotheses=scenarios) + + def render(self,endpoints): + from PIL import Image,ImageDraw,ImageFont + REPORT.mkdir(parents=True,exist_ok=True) + model=self.cal.model;model.vis.global_.offwidth=480;model.vis.global_.offheight=600 + for g in range(model.ngeom): + if model.geom_group[g]==2:model.geom_rgba[g]=[.48,.50,.52,1] if model.body(model.geom_bodyid[g]).name.endswith('_distal') else [.68,.70,.72,1] + font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',16) + with base.mujoco.Renderer(model,600,480) as renderer: + for bg in ['measured_zero','all_zero']: + sheet=Image.new('RGB',(480*6,640*2),'#f1f5f9');draw=ImageDraw.Draw(sheet) + for row,ep in enumerate([None,endpoints]): + for col,scenario in enumerate([s for s in self.scenarios if s['background']==bg]): + self.set_pose(self.positions(scenario['command'],ep)) + camera=base.mujoco.MjvCamera();camera.lookat[:]=[.04,0,.10] + camera.distance=.32;camera.azimuth=90;camera.elevation=-5 + renderer.update_scene(self.cal.data,camera=camera) + sheet.paste(Image.fromarray(renderer.render()),(480*col,640*row+40)) + draw.text((480*col+8,640*row+10),('V4' if row==0 else 'V5 provisional')+' / '+scenario['joint'],font=font,fill='#172033') + sheet.save(REPORT/f'{bg}_comparison.png');print(REPORT/f'{bg}_comparison.png') + + +def main(): + parser=argparse.ArgumentParser(description=__doc__) + for flag in ['fit','check','render']:parser.add_argument('--'+flag,action='store_true') + parser.add_argument('--preview',choices=['ring_mcp_pitch','ring_dip','pinky_mcp_pitch','pinky_pip','pinky_dip','middle_dip']) + parser.add_argument('--background',choices=['measured_zero','all_zero'],default='measured_zero') + args=parser.parse_args() + if not any([args.fit,args.check,args.render,args.preview]):parser.error('Choose an action') + fit=EndpointFit() + if args.preview: + import time + import mujoco.viewer + from linker_hand_mujoco_ros2.utils import o30_right_joints as mapping + mapping.configure_o30_right_limits(base.LIVE_XML) + model=base.mujoco.MjModel.from_xml_path(str(base.LIVE_XML));data=base.mujoco.MjData(model) + command=next(s['command'] for s in fit.scenarios if s['joint']==args.preview and s['background']==args.background) + for name,value in mapping.sdk_range_to_full_o30_right_urdf_positions(list(command)).items(): + data.qpos[model.jnt_qposadr[model.joint(name).id]]=value + base.mujoco.mj_forward(model,data) + print('Background hypothesis:',args.background,'command:',command.tolist()) + with mujoco.viewer.launch_passive(model,data) as viewer: + viewer.cam.lookat[:]=[.04,0,.10];viewer.cam.distance=.32 + viewer.cam.azimuth=90;viewer.cam.elevation=-5 + while viewer.is_running():viewer.sync();time.sleep(.02) + return + if args.fit: + endpoints,history=fit.fit();info=fit.export(endpoints,history) + print(json.dumps(info['changed_joints'],indent=2));print('Regenerate launcher XML before --check.') + else:info,endpoints=fit.load() + if args.check: + info['validation']=fit.validate(endpoints);REPORT.mkdir(parents=True,exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + print(json.dumps(info['validation'],indent=2)) + if args.render:fit.render(endpoints) + + +if __name__=='__main__':main() diff --git a/tools/o30_right_calibration/fit_linear.py b/tools/o30_right_calibration/fit_linear.py new file mode 100644 index 0000000..766f581 --- /dev/null +++ b/tools/o30_right_calibration/fit_linear.py @@ -0,0 +1,283 @@ +#!/usr/bin/env python3 +"""Portable pure-URDF linear calibration: compromise endpoints, zero and pinch shape.""" +import argparse +import json +import os +from pathlib import Path +import sys +import xml.etree.ElementTree as ET +if '--render' in sys.argv: + os.environ.setdefault('MUJOCO_GL','egl') +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation +import fit_endpoints as endpoints +base=endpoints.base +OUTPUT=base.MODEL_DIR/'linkerhand_o30_right_linear_calibrated.urdf' +PARAMETERS=base.MODEL_DIR/'o30_right_linear_calibration.json' +REPORT=base.ROOT/'outputs/reports/O30/o30_right_linear_calibration' + + +class LinearCalibration: + def __init__(self): + self.source=endpoints.EndpointFit() + self.cal=self.source.cal + self.previous=self.source.q.copy() + self.old_zero=self.cal.positions(self.previous,self.cal.zero_command) + self.old_poses=np.array([self.cal.positions(self.previous,cmd) for cmd in self.cal.commands]) + self.photo_parameters=np.array(json.loads(endpoints.v4.multi.OUTPUT_JSON.read_text())['camera_parameters']) + self.pinky=endpoints.v4.PinkyFit() + self.pinky_camera=np.array(self.source.previous['camera']) + self.evaluations=0 + self.contact_sigma=.002 + + def unpack(self,vector): + q=self.previous.copy();q[:40]=vector + return q + + def contacts(self,q): + result=[] + for sample in self.cal.samples: + self.cal.set_pose(q,sample['command']) + closest=np.zeros(6) + gap=base.mujoco.mj_geomDistance(self.cal.model,self.cal.data,self.cal.geoms['thumb'], + self.cal.geoms[sample['finger']],.2,closest) + local={} + for k,finger in enumerate(['thumb',sample['finger']]): + bid=self.cal.bodies[finger] + local[finger]=self.cal.data.xmat[bid].reshape(3,3).T@(closest[3*k:3*k+3]-self.cal.data.xpos[bid]) + result.append(dict(finger=sample['finger'],mesh_gap_mm=float(gap*1000), + penetration_mm=float(max([0.]+[-ct.dist for ct in self.cal.data.contact])*1000), + local_contact_m={name:value.tolist() for name,value in local.items()})) + return result + + def residual(self,vector): + self.evaluations+=1;q=self.unpack(vector);res=[] + for k,sample in enumerate(self.cal.samples): + self.cal.set_pose(q,sample['command']);closest=np.zeros(6) + gap=base.mujoco.mj_geomDistance(self.cal.model,self.cal.data,self.cal.geoms['thumb'], + self.cal.geoms[sample['finger']],.2,closest) + res.append(gap/self.contact_sigma) + res.extend(np.maximum(self.cal.inter_finger_penetrations()-.00003,0)/self.contact_sigma) + for j,finger in enumerate(['thumb',sample['finger']]): + bid=self.cal.bodies[finger] + p=self.cal.data.xmat[bid].reshape(3,3).T@(closest[3*j:3*j+3]-self.cal.data.xpos[bid]) + region=([max(0,-.003-p[0]),max(0,.009-p[2]),max(0,p[2]-.025),max(0,abs(p[1])-.006)] if j else + [max(0,.027-p[1]),max(0,p[1]-.046),max(0,-.001-p[2]),max(0,abs(p[0])-.008)]) + res.extend(np.array(region)/.0003) + res.extend((self.cal.positions(q,sample['command'])-self.old_poses[k])/np.deg2rad(15)) + res.extend((self.cal.positions(q,self.cal.zero_command)-self.old_zero)/np.deg2rad(2)) + res.extend((self.cal.positions(q,np.full(20,255))[self.source.indices]-self.source.targets)/np.deg2rad(3)) + res.extend(np.array(self.cal.photo_residual(q,self.photo_parameters))*.15) + res.extend(((self.pinky.project(q,self.pinky_camera)-self.pinky.obs)/self.pinky.sigma[:,None]).ravel()*.15) + res.extend((vector[20:40]-self.previous[20:40])/.5*.3) + self.cal.set_pose(q,self.cal.zero_command) + res.extend(np.maximum(self.cal.inter_finger_penetrations()-.00003,0)/.0001) + return np.array(res) + + def score(self,q): + self.cal.set_pose(q,self.cal.zero_command) + zero_penetration=max([0.]+[-ct.dist for ct in self.cal.data.contact])*1000 + zero_delta=np.rad2deg(self.cal.positions(q,self.cal.zero_command)-self.old_zero) + pose_delta=np.rad2deg(np.array([self.cal.positions(q,cmd) for cmd in self.cal.commands])-self.old_poses) + return dict(contacts=self.contacts(q),zero_penetration_mm=float(zero_penetration), + max_zero_change_deg=float(np.max(abs(zero_delta))), + zero_changes_deg=dict(zip(base.NAMES,zero_delta.tolist())), + max_pinch_joint_change_deg=float(np.max(abs(pose_delta))), + pinch_joint_changes_deg={s['finger']:dict(zip(base.NAMES,row.tolist())) for s,row in zip(self.cal.samples,pose_delta)}, + endpoints_deg=dict(zip(self.source.names,np.rad2deg(self.cal.positions(q,np.full(20,255))[self.source.indices]).tolist()))) + + def accept(self,q): + score=self.score(q) + if score['max_zero_change_deg']>3 or score['zero_penetration_mm']>.2: + raise ValueError('Zero pose regressed beyond tolerance') + if score['max_pinch_joint_change_deg']>22:raise ValueError('Pinch shape changed too much') + if max(abs(value-90) for value in score['endpoints_deg'].values())>8: + raise ValueError('Endpoint outside photo-estimate tolerance') + for row in score['contacts']: + if abs(row['mesh_gap_mm'])>.2 or row['penetration_mm']>.2: + raise ValueError('Pinch contact/collision tolerance exceeded') + thumb=row['local_contact_m']['thumb'];finger=row['local_contact_m'][row['finger']] + if not (.026<=thumb[1]<=.047 and thumb[2]>=-.0015 and abs(thumb[0])<=.009 and + finger[0]>=-.004 and .008<=finger[2]<=.026 and abs(finger[1])<=.007): + raise ValueError('Contact outside near-tip region') + return score + + def fit(self,starts=3): + low=np.r_[np.maximum(self.previous[:20]-.12,-.4),np.maximum(self.previous[20:40]-.6,-.7)] + high=np.r_[np.minimum(self.previous[:20]+.12,.4),np.minimum(self.previous[20:40]+.6,.7)] + best=None;history=[];rng=np.random.default_rng(306) + for attempt in range(starts): + start=self.previous[:40].copy() + start[20+self.source.indices]=(self.source.targets-self.cal.lo[self.source.indices]-start[self.source.indices])/self.cal.span[self.source.indices]-1 + if attempt:start+=rng.normal(0,.012,40) + for self.contact_sigma in [.002,.0005,.00015,.00005]: + result=least_squares(self.residual,np.clip(start,low+1e-9,high-1e-9),bounds=(low,high), + max_nfev=200,diff_step=1e-4,ftol=1e-8,xtol=1e-10,x_scale='jac') + start=result.x + row=dict(start=attempt+1,contact_sigma_m=self.contact_sigma,cost=float(result.cost),nfev=result.nfev) + history.append(row);print(json.dumps(row),flush=True) + q=self.unpack(result.x) + try: self.accept(q);accepted=True + except ValueError as exc:accepted=False;history[-1]['rejection']=str(exc) + history[-1]['accepted']=accepted + if accepted and (best is None or result.cost1e-10:raise AssertionError('Runtime differs from generic linear consumer') + data.qpos[model.jnt_qposadr[model.joint(name).id]]=angle + native_data.qpos[native.jnt_qposadr[native.joint(name).id]]=angle + base.mujoco.mj_forward(model,data) + base.mujoco.mj_forward(native,native_data) + for bid in range(1,native.nbody): + other=model.body(native.body(bid).name).id + delta=float(np.linalg.norm(native_data.xpos[bid]-data.xpos[other]));native_error=max(native_error,delta) + if delta>2e-8 or np.max(abs(native_data.xmat[bid]-data.xmat[other]))>2e-8: + raise AssertionError('Native URDF load differs from runtime') + transforms=portable_fk(generic_angles) + for name,transform in transforms.items(): + bid=model.body(name).id + delta=float(np.linalg.norm(transform[:3,3]-data.xpos[bid]));portable_error=max(portable_error,delta) + if delta>2e-8 or np.max(abs(transform[:3,:3]-data.xmat[bid].reshape(3,3)))>2e-8: + raise AssertionError('Standard URDF kinematics differs from runtime') + for bid in range(1,self.cal.model.nbody): + other=model.body(self.cal.model.body(bid).name).id + delta=float(np.linalg.norm(data.xpos[other]-self.cal.data.xpos[bid]));max_error=max(max_error,delta) + if delta>2e-7 or np.max(abs(data.xmat[other]-self.cal.data.xmat[bid]))>2e-6: + raise AssertionError('Export kinematics mismatch') + if 5<=k<17: + s=self.source.scenarios[k-5] + scenarios.append(dict(joint=s['joint'],background=s['background'], + penetration_mm=float(max([0.]+[-ct.dist for ct in data.contact])*1000))) + self.accept(q) + return dict(tested_commands=len(commands),generic_linear_consumer_matches=True,custom_mapping_absent=True, + max_export_position_error_m=max_error,independent_urdf_fk_error_m=portable_error, + native_urdf_load_error_m=native_error,endpoint_scenarios=scenarios) + + def render(self,q): + from PIL import Image,ImageDraw,ImageFont + REPORT.mkdir(parents=True,exist_ok=True) + model=self.cal.model;model.vis.global_.offwidth=480;model.vis.global_.offheight=600 + for g in range(model.ngeom): + if model.geom_group[g]==2:model.geom_rgba[g]=[.48,.50,.52,1] if model.body(model.geom_bodyid[g]).name.endswith('_distal') else [.68,.70,.72,1] + font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',16) + with base.mujoco.Renderer(model,600,480) as renderer: + groups=[('pinches_left',[(s['finger'],s['command']) for s in self.cal.samples]+[('zero',self.cal.zero_command)],90), + ('pinches_front',[(s['finger'],s['command']) for s in self.cal.samples]+[('zero',self.cal.zero_command)],175), + ('endpoints',[(s['joint'],s['command']) for s in self.source.scenarios if s['background']=='measured_zero'],90)] + for group,poses,azimuth in groups: + sheet=Image.new('RGB',(480*len(poses),1280),'#f1f5f9');draw=ImageDraw.Draw(sheet) + for row in range(2): + for col,(name,cmd) in enumerate(poses): + if row:self.cal.set_pose(q,cmd) + else: + # V5 equals V4 at the pinches/zero; endpoints use V5's actual piecewise mapping. + position=self.source.positions(cmd,self.source.targets) + self.cal.data.qpos[self.cal.adr]=position;base.mujoco.mj_forward(model,self.cal.data) + camera=base.mujoco.MjvCamera();camera.lookat[:]=[.04,0,.1] + camera.distance=.38 if azimuth==175 else .32;camera.azimuth=azimuth;camera.elevation=-5 + renderer.update_scene(self.cal.data,camera=camera) + sheet.paste(Image.fromarray(renderer.render()),(480*col,640*row+40)) + draw.text((480*col+8,640*row+10),('V5 piecewise' if row==0 else 'V6 linear')+' / '+name,font=font,fill='#172033') + sheet.save(REPORT/f'{group}.png');print(REPORT/f'{group}.png') + + +def main(): + parser=argparse.ArgumentParser(description=__doc__) + for flag in ['fit','check','render']:parser.add_argument('--'+flag,action='store_true') + parser.add_argument('--starts',type=int,default=3) + args=parser.parse_args() + if not any([args.fit,args.check,args.render]):parser.error('Choose an action') + if args.starts<1:parser.error('Starts must be positive') + fit=LinearCalibration() + if args.fit:q,history=fit.fit(args.starts);info=fit.save(q,history) + else:info,q=fit.load() + if args.check: + info['validation']=fit.validate(q);REPORT.mkdir(parents=True,exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + print(json.dumps(info['validation'],indent=2)) + if args.render:fit.render(q) + + +if __name__=='__main__':main() diff --git a/tools/o30_right_calibration/fit_middle.py b/tools/o30_right_calibration/fit_middle.py new file mode 100644 index 0000000..300c199 --- /dev/null +++ b/tools/o30_right_calibration/fit_middle.py @@ -0,0 +1,148 @@ +#!/usr/bin/env python3 +"""V9: fit corrected middle pinch (SDK middle_pip=216); only middle_pip upper changes.""" +import argparse,json,os +import xml.etree.ElementTree as ET +from pathlib import Path +import numpy as np +from scipy.optimize import brentq +import fit_pinky_root as v8 +v7=v8.v7 +base=v7.base +OUTPUT=base.MODEL_DIR/'linkerhand_o30_right_middle_calibrated.urdf' +PARAMETERS=base.MODEL_DIR/'o30_right_middle_calibration.json' +SAMPLES=Path(__file__).with_name('samples_v9.json') +REPORT=base.ROOT/'outputs/reports/O30/o30_right_middle_calibration' +JOINT='middle_pip' + + +def setup(): + fit,reference=v8.setup();_,q=v8.load(reference) + fit.cal.samples=json.loads(SAMPLES.read_text())['samples'] + fit.cal.commands=np.array([s['command'] for s in fit.cal.samples],dtype=float) + return fit,q + + +def fit_root(fit,old): + c=fit.cal;cmd=c.commands[1];positions=c.positions(old,cmd);start=positions[12];evaluations=0 + def distance(angle): + nonlocal evaluations + evaluations+=1;p=positions.copy();p[12]=angle;c.data.qpos[c.adr]=p + base.mujoco.mj_forward(c.model,c.data) + return base.mujoco.mj_geomDistance(c.model,c.data,c.geoms['thumb'],c.geoms['middle'],.2,np.zeros(6)) + # Keep 0.02 mm separation: within the existing 0.2 mm contact tolerance, avoiding penetration. + target=.00002 + grid=start+np.deg2rad(np.linspace(-15,15,121));values=[distance(x)-target for x in grid] + roots=[] + for a,b,fa,fb in zip(grid[:-1],grid[1:],values[:-1],values[1:]): + if fa*fb<0:roots.append(brentq(lambda x:distance(x)-target,a,b,xtol=1e-12)) + for angle in sorted(roots,key=lambda x:abs(x-start)): + q=old.copy();q[32]=(angle-c.lo[12]-q[12])/(c.span[12]*cmd[12]/255)-1 + row=fit.contacts(q)[1];p=row['local_contact_m']['middle'];t=row['local_contact_m']['thumb'] + if (abs(row['mesh_gap_mm'])<=.2 and row['penetration_mm']<=.2 and p[0]>=-.004 + and .014<=p[2]<=.025 and abs(p[1])<=.006 and .027<=t[1]<=.046 and t[2]>=-.001): + return q,dict(evaluations=evaluations,target_gap_mm=target*1000, + before_pinch_angle_deg=float(np.rad2deg(start)),after_pinch_angle_deg=float(np.rad2deg(angle))) + raise RuntimeError('No near-tip contact found by moving this joint alone') + + +def save(fit,old,q,search): + tree=ET.parse(v8.OUTPUT);root=tree.getroot() + upper=fit.cal.lo[12]+fit.cal.span[12]*(1+q[32]) + root.find(f"joint[@name='{JOINT}']/limit").set('upper',format(upper,'.16g')) + ET.indent(tree,space=' ');tree.write(OUTPUT,encoding='utf-8',xml_declaration=True) + info=dict(status='Middle pinch restored at corrected command; only one URDF limit upper changed',parameter_vector=q.tolist(), + search=search,command=fit.cal.commands[1].tolist(),baseline_contacts=fit.contacts(old),contacts=fit.contacts(q), + previous_endpoint_deg=float(np.rad2deg(fit.cal.positions(old,np.full(20,255))[12])), + endpoint_deg=float(np.rad2deg(fit.cal.positions(q,np.full(20,255))[12])), + inputs={str(p.relative_to(base.ROOT)):base.sha256(p) for p in [v8.OUTPUT,v8.PARAMETERS,SAMPLES]}, + output_sha256=base.sha256(OUTPUT), + limitations='Simulation contact fit at the original command; hardware/full-stroke correspondence is not newly measured.') + PARAMETERS.write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n');return info + + +def load(old): + info=json.loads(PARAMETERS.read_text()) + for p,h in info['inputs'].items(): + if base.sha256(base.ROOT/p)!=h:raise ValueError('Reference changed: '+p) + if base.sha256(OUTPUT)!=info['output_sha256']:raise ValueError('Output changed') + q=np.array(info['parameter_vector']);mask=np.ones(56,dtype=bool);mask[32]=False + if not np.array_equal(q[mask],old[mask]):raise AssertionError('Unexpected parameter change') + return info,q + + +def validate(fit,old,q): + from linker_hand_mujoco_ros2.utils import o30_right_joints as mapping + mapping.configure_o30_right_limits(base.LIVE_XML) + if mapping.O30_RIGHT_SDK_KNOTS:raise AssertionError('Nonlinear mapping present') + original=ET.parse(v8.OUTPUT).getroot();urdf=ET.parse(OUTPUT).getroot() + comparison=ET.fromstring(ET.tostring(urdf)) + comparison.find(f"joint[@name='{JOINT}']/limit").set('upper',original.find(f"joint[@name='{JOINT}']/limit").get('upper')) + def canonical(e):return e.tag,sorted(e.attrib.items()),(e.text or '').strip(),[canonical(x) for x in e] + if canonical(original)!=canonical(comparison):raise AssertionError('Change outside single allowed limit') + c=fit.cal + for cmd in [c.commands[0],c.commands[2],c.commands[3],c.zero_command,*v7.review.COMMANDS]: + if not np.array_equal(c.positions(old,cmd),c.positions(q,cmd)):raise AssertionError('Protected pose changed') + live=base.mujoco.MjModel.from_xml_path(str(base.LIVE_XML));ld=base.mujoco.MjData(live) + native=base.mujoco.MjModel.from_xml_path(str(OUTPUT));nd=base.mujoco.MjData(native) + commands=[*c.commands,c.zero_command,*v7.review.COMMANDS,np.zeros(20),np.full(20,255), + *np.random.default_rng(308).uniform(0,255,(30,20))] + maximum=0.;rows=[] + for k,cmd in enumerate(commands): + mapped=mapping.sdk_range_to_full_o30_right_urdf_positions(list(cmd)) + for i,name in enumerate(base.NAMES): + limit=urdf.find(f"joint[@name='{name}']/limit");lo,hi=float(limit.get('lower')),float(limit.get('upper')) + angle=lo+(hi-lo)*float(np.clip(cmd[i],0,255))/255 + if abs(angle-mapped[name])>1e-10:raise AssertionError('Not standard linear mapping') + for model,data in [(live,ld),(native,nd)]:data.qpos[model.jnt_qposadr[model.joint(name).id]]=angle + base.mujoco.mj_forward(live,ld);base.mujoco.mj_forward(native,nd) + for bid in range(1,native.nbody): + other=live.body(native.body(bid).name).id + err=float(np.linalg.norm(nd.xpos[bid]-ld.xpos[other]));maximum=max(maximum,err) + if err>2e-8 or np.max(abs(nd.xmat[bid]-ld.xmat[other]))>2e-8:raise AssertionError('Native URDF mismatch') + if k<4: + finger=c.samples[k]['finger'] + def geom(n):return next(g for g in range(live.ngeom) if live.geom_group[g]==3 and live.geom_bodyid[g]==live.body(n+'_distal').id) + gap=base.mujoco.mj_geomDistance(live,ld,geom('thumb'),geom(finger),.2,np.zeros(6))*1000 + penetration=max([0.]+[-ct.dist*1000 for ct in ld.contact]) + if abs(gap)>.2 or penetration>.2:raise AssertionError('Pinch contact failure') + rows.append(dict(finger=finger,gap_mm=float(gap),penetration_mm=float(penetration))) + return dict(tested_commands=len(commands),only_middle_pip_upper_changed=True,other_19_joints_unchanged=True, + zero_other_three_pinches_and_two_latest_tests_unchanged=True,no_piecewise_mapping=True, + native_urdf_error_m=maximum,actual_contacts=rows) + + +def render(fit,old,q): + from PIL import Image,ImageDraw,ImageFont + REPORT.mkdir(parents=True,exist_ok=True);c=fit.cal;m=c.model + m.vis.global_.offwidth=600;m.vis.global_.offheight=720 + for g in range(m.ngeom): + if m.geom_group[g]==2:m.geom_rgba[g]=[.48,.50,.52,1] if m.body(m.geom_bodyid[g]).name.endswith('_distal') else [.68,.70,.72,1] + font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',20) + sheet=Image.new('RGB',(1200,1520),'#eef2f6');draw=ImageDraw.Draw(sheet) + with base.mujoco.Renderer(m,720,600) as r: + for row,parameters in enumerate([old,q]): + for col,azimuth in enumerate([90,175]): + c.set_pose(parameters,c.commands[1]);camera=base.mujoco.MjvCamera() + camera.lookat[:]=[.045,0,.10];camera.distance=.32;camera.azimuth=azimuth;camera.elevation=-5 + r.update_scene(c.data,camera=camera) + sheet.paste(Image.fromarray(r.render()),(600*col,760*row+40)) + draw.text((600*col+10,760*row+10),('V8 / middle SDK 216' if row==0 else 'V9 / middle SDK 216')+(' / left' if col==0 else ' / front'),font=font,fill='#172033') + sheet.save(REPORT/'comparison.png') + + +def main(): + p=argparse.ArgumentParser(description=__doc__) + for flag in ['fit','check','render']:p.add_argument('--'+flag,action='store_true') + a=p.parse_args() + if not any([a.fit,a.check,a.render]):p.error('Choose an action') + fit,old=setup() + if a.fit:q,search=fit_root(fit,old);info=save(fit,old,q,search);print(json.dumps(search,indent=2)) + else:info,q=load(old) + if a.check: + info['validation']=validate(fit,old,q);REPORT.mkdir(parents=True,exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + print(json.dumps(info['validation'],indent=2)) + if a.render:render(fit,old,q) + + +if __name__=='__main__':main() diff --git a/tools/o30_right_calibration/fit_multiview.py b/tools/o30_right_calibration/fit_multiview.py new file mode 100644 index 0000000..b550798 --- /dev/null +++ b/tools/o30_right_calibration/fit_multiview.py @@ -0,0 +1,335 @@ +#!/usr/bin/env python3 +"""Refine the accepted five-photo O30 calibration with eight side views. + +One joint calibration is shared by all poses/views. Image landmarks are manual +estimates, and camera poses are nuisance parameters, not measured extrinsics. +""" +from __future__ import annotations + +import argparse +import json +import os +from pathlib import Path +import sys +import xml.etree.ElementTree as ET + +if '--render' in sys.argv: + os.environ.setdefault('MUJOCO_GL', 'egl') + +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation +import fit_photos as photo + +base = photo.base +SIDE = Path(__file__).with_name('side_landmarks.json') +PREVIOUS = base.MODEL_DIR / 'o30_right_photo_calibration_v2.json' +OUTPUT_JSON = base.MODEL_DIR / 'o30_right_multiview_calibration.json' +OUTPUT_URDF = base.MODEL_DIR / 'linkerhand_o30_right_multiview_calibrated.urdf' +REPORT = base.ROOT / 'outputs/reports/O30/o30_right_multiview_calibration' +JOINT_PAD_COUNT = 56 + + +class MultiviewCalibration(photo.PhotoCalibration): + def __init__(self): + super().__init__() + self.previous = json.loads(PREVIOUS.read_text()) + self.v2 = np.array(self.previous['parameter_vector']) + self.side_annotations = json.loads(SIDE.read_text()) + if self.side_annotations['image_size'] != [self.width, self.height]: + raise ValueError('Side annotations must use the same pixel coordinate size') + sides = self.side_annotations['photos'] + expected = [f'{view}_{finger}' for view in ['left', 'right'] for finger in base.FINGERS[1:]] + if [p['name'] for p in sides] != expected: + raise ValueError('Incorrect side-photo order') + landmarks = {name: (int(self.model.jnt_bodyid[self.model.joint(name).id]), np.zeros(3)) + for name in base.NAMES} + # Reuse the exact visible tip definition used by the original photos. + for old in self.photos: + for k, point in enumerate(old['points']): + if point[0].endswith('_tip'): + i = self.photos.index(old) + landmarks[point[0]] = (self.photo_data[i][0][k], self.photo_data[i][1][k]) + for side in sides: + self.photo_commands.append(next(s['command'] for s in self.samples if s['finger'] == side['pose'])) + points = side['points'] + body = np.array([landmarks[p[0]][0] for p in points]) + local = np.array([landmarks[p[0]][1] for p in points]) + observed = np.array([p[1:3] for p in points], dtype=float) + sigma = np.array([p[3] for p in points], dtype=float) + if not np.all(np.isfinite(observed)) or np.any(sigma <= 0): + raise ValueError('Invalid side annotations') + self.photo_data.append((body, local, observed, sigma)) + self.photos.extend(sides) + self.view_count = len(self.photos) + + def camera_bounds(self): + return (np.r_[np.tile([-6, -6, -6, -.3, -.2, .2], self.view_count), np.log(500)], + np.r_[np.tile([6, 6, 6, .3, .3, 1.5], self.view_count), np.log(2000)]) + + def camera_initial(self, q): + focal = self.previous['photo_fit']['focal_px'] + cameras = list(np.array(self.previous['camera_parameters'][:30]).reshape(5, 6)) + for i, side in enumerate(self.photos[5:], 5): + rotation = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]]) if side['view'] == 'left' else np.array( + [[-1, 0, 0], [0, 0, -1], [0, -1, 0]]) + world = self.world_points(i, q) + _, _, observed, sigma = self.photo_data[i] + best = None + for yaw in [-.25, 0, .25]: + rv = (Rotation.from_matrix(rotation)*Rotation.from_euler('z', yaw)).as_rotvec() + result = least_squares( + lambda v: ((self.project(world, v, focal)-observed)/sigma[:, None]).ravel(), + np.r_[rv, 0, .08, .4], max_nfev=200, + bounds=([-6, -6, -6, -.3, -.2, .2], [6, 6, 6, .3, .3, 1.5])) + if best is None or result.cost < best.cost: + best = result + cameras.append(best.x) + return np.r_[np.array(cameras).ravel(), np.log(focal)] + + def photo_residual(self, q, cameras): + poses, focal = cameras[:-1].reshape(self.view_count, 6), np.exp(cameras[-1]) + residual = [] + for i in range(self.view_count): + _, _, observed, sigma = self.photo_data[i] + predicted = self.project(self.world_points(i, q), poses[i], focal) + residual.extend(self.robust_photo_residual((predicted-observed)/sigma[:, None]).ravel()) + residual.append((cameras[-1]-np.log(self.previous['photo_fit']['focal_px']))/.35) + return residual + + def joint_residual(self, vector): + q = vector[:JOINT_PAD_COUNT] + residual = list(base.Calibration.residual(self, q)) + residual.extend(self.photo_residual(q, vector[JOINT_PAD_COUNT:])) + # Stay near the accepted V2, rather than refitting from a different hand. + residual.extend((q[:20]-self.v2[:20])/.087*.6) + residual.extend((q[20:40]-self.v2[20:40])/.2*.6) + for i in range(4): + self.set_pose(q, self.commands[i]) + _, tn = self.world_pad(q, i, 'thumb') + _, fn = self.world_pad(q, i, self.samples[i]['finger']) + residual.extend((tn+fn)/.065) + sigma = np.full(20, 3.) + sigma[[0, 1, 6, 15]] = 5. + residual.extend(self.positions(q, self.zero_command)/np.deg2rad(sigma)) + return np.array(residual) + + def metrics_photos(self, q, cameras): + poses, focal = cameras[:-1].reshape(self.view_count, 6), np.exp(cameras[-1]) + groups = {k: [] for k in ['all', 'front', 'side', 'side_motors', 'side_pip_dip_ip']} + rows = [] + for i, image in enumerate(self.photos): + _, _, observed, sigma = self.photo_data[i] + predicted = self.project(self.world_points(i, q), poses[i], focal) + error = np.linalg.norm(predicted-observed, axis=1) + groups['all'].extend(error) + groups['front' if i < 5 else 'side'].extend(error) + details = [] + for point, obs, pred, s, e in zip(image['points'], observed, predicted, sigma, error): + name = point[0] + if i >= 5: + target = image['pose'] + if name in [target+'_mcp_pitch', target+'_pip', target+'_dip', 'thumb_mcp', 'thumb_ip']: + groups['side_motors'].append(e) + if name in [target+'_pip', target+'_dip', 'thumb_ip']: + groups['side_pip_dip_ip'].append(e) + details.append(dict(name=name, observed_px=obs.tolist(), predicted_px=pred.tolist(), + sigma_px=float(s), error_px=float(e))) + rows.append(dict(photo=image['name'], points=len(error), rms_px=float(np.sqrt(np.mean(error**2))), + points_detail=details)) + return dict(focal_px=float(focal), photos=rows, + **{key+'_rms_px': float(np.sqrt(np.mean(np.array(values)**2))) for key, values in groups.items()}) + + def accept(self, q, camera, reference): + base.check_metrics(self.metrics(q)) + self.set_pose(q, self.zero_command) + if max([0.] + [-c.dist for c in self.data.contact]) > .0002: + raise RuntimeError('Zero pose collision regression') + score = self.metrics_photos(q, camera) + if score['front_rms_px'] > reference['front_rms_px']+2.5: + raise RuntimeError('Original front-view fit regressed beyond tolerance') + if score['photos'][4]['rms_px'] > reference['photos'][4]['rms_px']+1.5: + raise RuntimeError('Zero photo regressed beyond tolerance') + if score['side_pip_dip_ip_rms_px'] >= reference['side_pip_dip_ip_rms_px']: + raise RuntimeError('Visible side-view intermediate hinges did not improve') + max_change = max(float(np.max(abs(self.positions(q, command)-self.positions(self.v2, command)))) + for command in self.photo_commands[:5]) + if max_change > np.deg2rad(18): + raise RuntimeError('Too large a joint-pose change from the accepted V2') + return score + + def search(self, initial, starts, max_nfev): + initial_camera = self.camera_initial(self.v2) + reference_camera = self.fit_cameras(self.v2, initial_camera) + reference = self.metrics_photos(self.v2, reference_camera) + if initial is None: + initial = np.r_[self.v2, reference_camera] + low, high = self.bounds() + # Explicit trust region as well as soft regularization around V2. + low[:20] = np.maximum(low[:20], self.v2[:20]-np.deg2rad(8)) + high[:20] = np.minimum(high[:20], self.v2[:20]+np.deg2rad(8)) + low[20:40] = np.maximum(low[20:40], self.v2[20:40]-.3) + high[20:40] = np.minimum(high[20:40], self.v2[20:40]+.3) + clow, chigh = self.camera_bounds() + bounds = np.r_[low, clow], np.r_[high, chigh] + rng, best, history = np.random.default_rng(20260922), None, [] + for attempt in range(starts): + start = initial.copy() if best is None else best.x.copy() + if attempt: + start[:40] += rng.normal(0, .018, 40) + result = least_squares(self.joint_residual, np.clip(start, bounds[0]+1e-10, bounds[1]-1e-10), + bounds=bounds, max_nfev=max_nfev, diff_step=1e-4, x_scale='jac', + ftol=1e-7, xtol=1e-9) + reason = '' + try: + score = self.accept(result.x[:JOINT_PAD_COUNT], result.x[JOINT_PAD_COUNT:], reference) + accepted = True + except RuntimeError as exc: + accepted, reason, score = False, str(exc), None + history.append(dict(start=attempt+1, cost=float(result.cost), nfev=result.nfev, + success=bool(result.success), accepted=accepted, reason=reason, + message=result.message, score=None if score is None else { + k: v for k, v in score.items() if k.endswith('_rms_px')})) + print(json.dumps(history[-1]), flush=True) + if accepted and (best is None or result.cost < best.cost): + best = result + if best is None: + raise RuntimeError('No refinement passed acceptance; V2 remains available') + return best.x, history, reference_camera, reference + + +def provenance(): + return {'stock_urdf_sha256': base.STOCK_URDF, 'stock_xml_sha256': base.STOCK_XML, + 'samples_sha256': base.SAMPLES, 'annotations_sha256': photo.ANNOTATIONS, + 'side_annotations_sha256': SIDE, 'v2_sha256': PREVIOUS} + + +def save(cal, vector, history, reference_camera, reference): + q, camera = vector[:56], vector[56:] + score = cal.accept(q, camera, reference) + base.CAL_URDF, base.CAL_JSON = OUTPUT_URDF, OUTPUT_JSON + info = base.save_solution(cal, q, dict(history=history, objective_evaluations=cal.evaluations, + seed=20260922, method='Bounded multistart photogeometric refinement')) + tree = ET.parse(OUTPUT_URDF) + for link in tree.getroot().findall('link'): + color = link.find('visual/material/color') + if color is not None: + color.set('rgba', '0.48 0.50 0.52 1' if link.get('name', '').endswith('_distal') else '0.68 0.70 0.72 1') + tree.getroot().insert(0, ET.Comment(' Multiview refinement of V2; offsets in joint origins, travels in limits. See o30_right_multiview_calibration.json. ')) + ET.indent(tree, space=' ') + tree.write(OUTPUT_URDF, encoding='utf-8', xml_declaration=True) + info.update({key: base.sha256(path) for key, path in provenance().items()}) + info.update(status='13-photo refinement; hardware validation pending', + method='MuJoCo contact and manual image landmark fitting, with shared joint calibration and per-view cameras', + limitations='Manually estimated 2-D landmarks, unknown cameras and lens distortion. ' + 'Image residual is training fit, not measured 3-D accuracy. ' + 'Full stroke, unseen poses and hardware dynamics remain unvalidated.', + calibrated_urdf_sha256=base.sha256(OUTPUT_URDF), + zero_command=cal.zero_command.tolist(), camera_parameters=camera.tolist(), + baseline_camera_parameters=reference_camera.tolist(), previous_v2=reference, photo_fit=score, + pose_changes_deg={cal.photos[i]['name']: dict(zip(base.NAMES, np.rad2deg( + cal.positions(q, cmd)-cal.positions(cal.v2, cmd)).tolist())) + for i, cmd in enumerate(cal.photo_commands[:5])}) + OUTPUT_JSON.write_text(json.dumps(info, indent=2, ensure_ascii=False)+'\n') + return info + + +def load(cal): + info = json.loads(OUTPUT_JSON.read_text()) + for key, path in {**provenance(), 'calibrated_urdf_sha256': OUTPUT_URDF}.items(): + if info[key] != base.sha256(path): + raise ValueError(f'Calibration input/output changed: {path}') + vector = np.r_[info['parameter_vector'], info['camera_parameters']] + if vector.shape != (56+6*cal.view_count+1,) or not np.all(np.isfinite(vector)): + raise ValueError('Invalid calibration vector') + if info['zero_command'] != cal.zero_command.tolist(): + raise ValueError('Zero command changed') + cal.accept(vector[:56], vector[56:], info['previous_v2']) + return info, vector + + +def render(cal, vector): + from PIL import Image, ImageDraw, ImageFont + REPORT.mkdir(parents=True, exist_ok=True) + model, data = cal.model, cal.data + model.vis.global_.offwidth, model.vis.global_.offheight = cal.width, cal.height + for g in range(model.ngeom): + if model.geom_group[g] == 2: + model.geom_rgba[g] = [.48, .50, .52, 1] if model.body(model.geom_bodyid[g]).name.endswith('_distal') else [.68, .70, .72, 1] + cameras, focal = vector[56:-1].reshape(cal.view_count, 6), np.exp(vector[-1]) + font = ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf', 19) + row_height = cal.height+40 + with base.mujoco.Renderer(model, cal.height, cal.width) as renderer: + for group, indices in [('front_zero', range(5)), ('left', range(5, 9)), ('right', range(9, 13))]: + sheet = Image.new('RGB', (cal.width*len(indices), row_height*2), '#f1f5f9') + header = ImageDraw.Draw(sheet) + for row, q in enumerate([cal.v2, vector[:56]]): + for col, i in enumerate(indices): + cal.set_pose(q, cal.photo_commands[i]) + renderer.update_scene(data) + rotation = Rotation.from_rotvec(cameras[i, :3]).as_matrix() + eye = -rotation.T@cameras[i, 3:] + forward, up = rotation.T@np.array([0, 0, 1]), rotation.T@np.array([0, -1, 0]) + for camera in renderer.scene.camera: + camera.pos[:], camera.forward[:], camera.up[:] = eye, forward, up + camera.frustum_near, camera.frustum_far = .01, 5. + camera.frustum_top = .01*cal.height/2/focal + camera.frustum_bottom = -camera.frustum_top + camera.frustum_center = 0 + camera.frustum_width = .01*cal.width/2/focal + for light in renderer.scene.lights[:renderer.scene.nlight]: + light.pos[:], light.dir[:] = eye, forward + light.ambient[:], light.diffuse[:] = [.25]*3, [.65]*3 + image = Image.fromarray(renderer.render()) + sheet.paste(image, (col*cal.width, row*row_height+40)) + header.text((col*cal.width+12, row*row_height+10), + f'V{row+2} / {cal.photos[i]["name"]}', fill='#172033', font=font) + if row == 1: + image.save(REPORT/f'{cal.photos[i]["name"]}_pose.png') + draw = ImageDraw.Draw(image) + predicted = cal.project(cal.world_points(i, q), cameras[i], focal) + for observed, point in zip(cal.photo_data[i][2], predicted): + draw.line([tuple(observed), tuple(point)], fill='yellow', width=2) + draw.ellipse([observed[0]-4, observed[1]-4, observed[0]+4, observed[1]+4], outline='cyan', width=2) + draw.ellipse([point[0]-2, point[1]-2, point[0]+2, point[1]+2], fill='red') + draw.text((10, 8), 'Cyan: manual photo points / red: model', fill='white', font=font) + image.save(REPORT/f'{cal.photos[i]["name"]}_landmarks.png') + sheet.save(REPORT/f'{group}_comparison.png') + print(REPORT/f'{group}_comparison.png') + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--fit', action='store_true') + parser.add_argument('--check', action='store_true') + parser.add_argument('--render', action='store_true') + parser.add_argument('--starts', type=int, default=4) + parser.add_argument('--max-nfev', type=int, default=180) + parser.add_argument('--preview', choices=['index', 'middle', 'ring', 'pinky', 'zero']) + args = parser.parse_args() + if not any([args.fit, args.check, args.render, args.preview]): + parser.error('Choose --fit, --check, --render or --preview') + if args.starts < 1 or args.max_nfev < 1: + parser.error('Optimization budgets must be positive') + cal = MultiviewCalibration() + if args.preview: + photo.preview(cal, args.preview) + return + if args.fit: + initial = load(cal)[1] if OUTPUT_JSON.exists() else None + vector, history, reference_camera, reference = cal.search(initial, args.starts, args.max_nfev) + info = save(cal, vector, history, reference_camera, reference) + print('Exported URDF; regenerate with O30_RIGHT_PREPARE_ONLY=1 ./hands/O30/scripts/run_o30_right_mujoco_plan.sh before --check') + else: + info, vector = load(cal) + if args.check: + info['live_validation'] = photo.validate(cal, vector) + REPORT.mkdir(parents=True, exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info, indent=2, ensure_ascii=False)+'\n') + print(json.dumps(info['live_validation'], indent=2)) + if args.render: + render(cal, vector) + + +if __name__ == '__main__': + main() diff --git a/tools/o30_right_calibration/fit_photos.py b/tools/o30_right_calibration/fit_photos.py new file mode 100644 index 0000000..8a67353 --- /dev/null +++ b/tools/o30_right_calibration/fit_photos.py @@ -0,0 +1,349 @@ +#!/usr/bin/env python3 +"""Jointly fit zero/travel and uncalibrated cameras to five annotated real photos. + +The photo coordinates are manual estimates with uncertainty, not measured 3-D +poses. Four contact constraints still use actual MuJoCo forward kinematics. +""" +from __future__ import annotations + +import argparse +import json +import os +from pathlib import Path +import sys +import xml.etree.ElementTree as ET + +if '--render' in sys.argv: + os.environ.setdefault('MUJOCO_GL', 'egl') + +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation +import calibrate as base + +ANNOTATIONS = Path(__file__).with_name('photo_landmarks.json') +V1_JSON = base.MODEL_DIR / 'o30_right_pinch_calibration_v1.json' +PHOTO_JSON = base.MODEL_DIR / 'o30_right_photo_calibration.json' +PHOTO_URDF = base.MODEL_DIR / 'linkerhand_o30_right_photo_calibrated.urdf' +REPORT = base.ROOT / 'outputs/reports/O30/o30_right_photo_calibration' +BASE_COUNT = 56 # 40 shared joint parameters + 4*4 pad contact coordinates + + +class PhotoCalibration(base.Calibration): + def __init__(self): + super().__init__() + self.annotations = json.loads(ANNOTATIONS.read_text()) + self.zero_command = np.array(self.annotations['zero_command'], dtype=float) + self.photos = self.annotations['photos'] + if self.n != 4 or [p['name'] for p in self.photos] != ['index', 'middle', 'ring', 'pinky', 'zero']: + raise ValueError('Expected four ordered pinches and one zero photo') + if self.zero_command.shape != (20,) or not np.all(np.isfinite(self.zero_command)): + raise ValueError('Invalid zero command') + if not np.all((self.zero_command >= 0) & (self.zero_command <= 255)): + raise ValueError('Zero command outside SDK range') + self.photo_commands = [*self.commands, self.zero_command] + self.width, self.height = self.annotations['image_size'] + self.center = np.array([self.width/2, self.height/2]) + landmarks = {name: (int(self.model.jnt_bodyid[self.model.joint(name).id]), np.zeros(3)) + for name in base.NAMES} + for finger in base.FINGERS: + raw = (base.MODEL_DIR/'meshes'/f'{finger}_distal.STL').read_bytes() + dtype = np.dtype([('normal', ' vertices[:, axis].max()-.0005].mean(0) + landmarks[finger+'_tip'] = (self.model.body(finger+'_distal').id, tip) + self.photo_data = [] + for photo in self.photos: + points = photo['points'] + body = np.array([landmarks[p[0]][0] for p in points]) + local = np.array([landmarks[p[0]][1] for p in points]) + uv = np.array([p[1:3] for p in points], dtype=float) + sigma = np.array([p[3] for p in points], dtype=float) + if np.any(sigma <= 0) or not np.all(np.isfinite(uv)): + raise ValueError('Invalid photo annotations') + self.photo_data.append((body, local, uv, sigma)) + self.v1 = np.array(json.loads(V1_JSON.read_text())['parameter_vector']) + + def world_points(self, photo_index, q): + self.data.qpos[self.adr] = self.positions(q, self.photo_commands[photo_index]) + base.mujoco.mj_kinematics(self.model, self.data) + body, local, _, _ = self.photo_data[photo_index] + return self.data.xpos[body] + np.einsum('ijk,ik->ij', self.data.xmat[body].reshape(-1, 3, 3), local) + + def project(self, world, camera, focal): + point = world @ Rotation.from_rotvec(camera[:3]).as_matrix().T + camera[3:] + return point[:, :2]/point[:, 2, None]*focal+self.center + + @staticmethod + def robust_photo_residual(error): + # Reduce the influence of occlusion and uncertain manually picked centres. + return error/(1+(error/3)**2)**.25 + + def camera_initial(self, q): + rotation = Rotation.from_matrix(np.array([[0, 1, 0], [0, 0, -1], [-1, 0, 0]])).as_rotvec() + cameras = [] + for i in range(5): + world = self.world_points(i, q) + _, _, observed, sigma = self.photo_data[i] + result = least_squares(lambda v: ((self.project(world, v, 1000)-observed)/sigma[:, None]).ravel(), + np.r_[rotation, 0, .08, .5], max_nfev=100) + cameras.append(result.x) + return np.r_[np.array(cameras).ravel(), np.log(1000)] + + def camera_bounds(self): + return (np.r_[np.tile([-6, -6, -6, -.3, -.2, .2], 5), np.log(500)], + np.r_[np.tile([6, 6, 6, .3, .3, 1.5], 5), np.log(2000)]) + + def photo_residual(self, q, camera_parameters): + cameras = camera_parameters[:30].reshape(5, 6) + focal = np.exp(camera_parameters[-1]) + out = [] + for i in range(5): + uv = self.project(self.world_points(i, q), cameras[i], focal) + _, _, observed, sigma = self.photo_data[i] + out.extend(self.robust_photo_residual((uv-observed)/sigma[:, None]).ravel()) + out.append((camera_parameters[-1]-np.log(1000))/.35) + return out + + def joint_residual(self, v): + q = v[:BASE_COUNT] + out = list(super().residual(q)) + # Slightly strengthen opposing-pad orientation after adding noisy photos. + for i in range(4): + self.set_pose(q, self.commands[i]) + _, thumb = self.world_pad(q, i, 'thumb') + _, finger = self.world_pad(q, i, self.samples[i]['finger']) + out.extend((thumb+finger)/.065) + out.extend(self.photo_residual(q, v[BASE_COUNT:])) + # Weak anatomical prior from the straight zero photo, not measured angles. + sigma_degrees = np.full(20, 3.) + sigma_degrees[[0, 1, 6, 15]] = 5. + out.extend(self.positions(q, self.zero_command)/np.deg2rad(sigma_degrees)) + return np.array(out) + + def fit_cameras(self, q, initial=None): + initial = self.camera_initial(q) if initial is None else initial + return least_squares(lambda v: self.photo_residual(q, v), initial, + bounds=self.camera_bounds(), max_nfev=300, x_scale='jac').x + + def photo_metrics(self, q, camera_parameters): + cameras = camera_parameters[:30].reshape(5, 6) + focal = np.exp(camera_parameters[-1]) + result, all_errors = [], [] + for i in range(5): + uv = self.project(self.world_points(i, q), cameras[i], focal) + _, _, observed, sigma = self.photo_data[i] + errors = np.linalg.norm(uv-observed, axis=1) + all_errors.extend(errors) + result.append(dict(photo=self.photos[i]['name'], points=len(errors), + rms_px=float(np.sqrt(np.mean(errors**2))), + points_detail=[dict(name=p[0], observed_px=obs.tolist(), predicted_px=pred.tolist(), + sigma_px=float(s), error_px=float(e)) + for p, obs, pred, s, e in zip(self.photos[i]['points'], observed, uv, sigma, errors)])) + return dict(aggregate_rms_px=float(np.sqrt(np.mean(np.array(all_errors)**2))), + focal_px=float(focal), photos=result) + + def fit_photos(self, initial, starts, max_nfev): + rng = np.random.default_rng(20260921) + low, high = self.bounds() + clow, chigh = self.camera_bounds() + bounds = np.r_[low, clow], np.r_[high, chigh] + best, history = None, [] + for i in range(starts): + start = initial.copy() if best is None else best.x.copy() + if i: + start[:40] += rng.normal(0, .025, 40) + result = least_squares(self.joint_residual, np.clip(start, bounds[0]+1e-10, bounds[1]-1e-10), + bounds=bounds, max_nfev=max_nfev, x_scale='jac', diff_step=1e-4, + ftol=1e-7, xtol=1e-9) + rows = self.metrics(result.x[:BASE_COUNT]) + try: + base.check_metrics(rows) + accepted = True + except RuntimeError: + accepted = False + history.append(dict(start=i+1, cost=float(result.cost), nfev=result.nfev, + accepted=accepted, success=bool(result.success), message=result.message)) + print(json.dumps(history[-1]), flush=True) + if accepted and (best is None or result.cost < best.cost): + best = result + if best is None: + raise RuntimeError('No candidate passed contact acceptance; existing model was not replaced') + return best, history + + +def save(cal, vector, history): + q = vector[:BASE_COUNT] + base.CAL_URDF, base.CAL_JSON = PHOTO_URDF, PHOTO_JSON + info = base.save_solution(cal, q, dict(method='Joint bounded photogeometric fitting', history=history, + objective_evaluations=cal.evaluations, seed=20260921)) + # Silver housing and grey pads match the photos; this does not change physics. + tree = ET.parse(PHOTO_URDF) + for link in tree.getroot().findall('link'): + color = link.find('visual/material/color') + if color is not None: + color.set('rgba', '0.48 0.50 0.52 1' if link.get('name', '').endswith('_distal') else '0.68 0.70 0.72 1') + tree.getroot().insert(0, ET.Comment( + ' Photo/zero fitted candidate, 2026-09-21. Zero offsets are baked into ' + 'joint origins; SDK 0..255 maps to limit lower..upper. ' + 'See o30_right_photo_calibration.json; not a measured full-stroke calibration. ')) + ET.indent(tree, space=' ') + tree.write(PHOTO_URDF, encoding='utf-8', xml_declaration=True) + baseline_cameras = cal.fit_cameras(cal.v1) + info.update(status='five-photo fitted candidate; hardware validation pending', + method='MuJoCo contact constraints plus manual 2-D landmark reprojection, jointly optimized with cameras', + limitations='Single-view photographs with manually estimated landmarks and unknown lens/camera pose. ' + 'Small image residual does not establish unique 3-D angles or real-world accuracy. ' + 'Full stroke, unseen poses, and PD dynamics remain unmeasured.', + annotations_sha256=base.sha256(ANNOTATIONS), v1_sha256=base.sha256(V1_JSON), + calibrated_urdf_sha256=base.sha256(PHOTO_URDF), + zero_command=cal.zero_command.tolist(), camera_parameters=vector[BASE_COUNT:].tolist(), + baseline_camera_parameters=baseline_cameras.tolist(), + previous_v1=cal.photo_metrics(cal.v1, baseline_cameras), + photo_fit=cal.photo_metrics(q, vector[BASE_COUNT:]), + zero_model_angles_deg=dict(zip(base.NAMES, np.rad2deg(cal.positions(q, cal.zero_command)).tolist())), + travel_bounds_hit=[base.NAMES[i] for i in range(20) if abs(abs(q[20+i])-.5) < 1e-4]) + PHOTO_JSON.write_text(json.dumps(info, indent=2, ensure_ascii=False)+'\n') + return info + + +def load(cal): + info = json.loads(PHOTO_JSON.read_text()) + for key, path in [('stock_urdf_sha256', base.STOCK_URDF), ('stock_xml_sha256', base.STOCK_XML), + ('samples_sha256', base.SAMPLES), ('annotations_sha256', ANNOTATIONS), ('v1_sha256', V1_JSON)]: + if info[key] != base.sha256(path): + raise ValueError(f'Calibration input changed: {path}') + if 'calibrated_urdf_sha256' in info and info['calibrated_urdf_sha256'] != base.sha256(PHOTO_URDF): + raise ValueError('Calibrated URDF was edited after fitting') + if info['zero_command'] != cal.zero_command.tolist(): + raise ValueError('Zero command changed') + return info, np.r_[info['parameter_vector'], info['camera_parameters']] + + +def validate(cal, vector): + q = vector[:BASE_COUNT] + result = base.validate_live(cal, q) + cal.set_pose(q, cal.zero_command) + zero_penetration = max([0.] + [-c.dist for c in cal.data.contact])*1000 + if zero_penetration > .2: + raise AssertionError(f'Zero pose penetration {zero_penetration} mm') + result['zero_penetration_mm'] = float(zero_penetration) + result['zero_command'] = cal.zero_command.tolist() + return result + + +def render(cal, vector): + from PIL import Image, ImageDraw, ImageFont + REPORT.mkdir(parents=True, exist_ok=True) + model, data = cal.model, cal.data + model.vis.global_.offwidth, model.vis.global_.offheight = cal.width, cal.height + # Neutral materials for both rows keep the pose comparison fair. + for g in range(model.ngeom): + if model.geom_group[g] == 2: + name = model.body(model.geom_bodyid[g]).name + model.geom_rgba[g] = [.48, .50, .52, 1] if name.endswith('_distal') else [.68, .70, .72, 1] + renderer = base.mujoco.Renderer(model, cal.height, cal.width) + cameras, focal = vector[BASE_COUNT:BASE_COUNT+30].reshape(5, 6), np.exp(vector[-1]) + font = ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf', 19) + row_height = cal.height+50 + sheet = Image.new('RGB', (cal.width*5, row_height*2), '#f1f5f9') + header = ImageDraw.Draw(sheet) + for row, parameters in enumerate([cal.v1, vector[:BASE_COUNT]]): + for i in range(5): + cal.set_pose(parameters, cal.photo_commands[i]) + renderer.update_scene(data) + rotation = Rotation.from_rotvec(cameras[i, :3]).as_matrix() + eye = -rotation.T@cameras[i, 3:] + forward, up = rotation.T@np.array([0, 0, 1]), rotation.T@np.array([0, -1, 0]) + for camera in renderer.scene.camera: + camera.pos[:], camera.forward[:], camera.up[:] = eye, forward, up + camera.frustum_near, camera.frustum_far = .01, 5. + camera.frustum_top = .01*cal.height/2/focal + camera.frustum_bottom = -camera.frustum_top + camera.frustum_center = 0 + camera.frustum_width = .01*cal.width/2/focal # MuJoCo GL half-width + for light in renderer.scene.lights[:renderer.scene.nlight]: + light.pos[:], light.dir[:] = eye, forward + light.ambient[:] = [.25, .25, .25] + light.diffuse[:] = [.65, .65, .65] + image = Image.fromarray(renderer.render()) + sheet.paste(image, (i*cal.width, row*row_height+50)) + header.text((i*cal.width+14, row*row_height+16), + ('Previous contact fit' if row == 0 else 'Photo + zero fit')+' / '+cal.photos[i]['name'], + fill='#172033', font=font) + if row == 1: + image.save(REPORT/f'{cal.photos[i]["name"]}_pose.png') + overlay = image.copy() + draw = ImageDraw.Draw(overlay) + predicted = cal.project(cal.world_points(i, parameters), cameras[i], focal) + for observed, point in zip(cal.photo_data[i][2], predicted): + draw.line([tuple(observed), tuple(point)], fill='#fbbf24', width=2) + draw.ellipse([observed[0]-4, observed[1]-4, observed[0]+4, observed[1]+4], outline='#22d3ee', width=2) + draw.ellipse([point[0]-2, point[1]-2, point[0]+2, point[1]+2], fill='#f87171') + draw.text((10, 8), 'Cyan: manual photo points / red: model', fill='white', font=font) + overlay.save(REPORT/f'{cal.photos[i]["name"]}_landmarks.png') + renderer.close() + sheet.save(REPORT/'photo_fit_comparison.png') + print(REPORT/'photo_fit_comparison.png') + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--fit', action='store_true') + parser.add_argument('--check', action='store_true') + parser.add_argument('--render', action='store_true') + parser.add_argument('--starts', type=int, default=3) + parser.add_argument('--max-nfev', type=int, default=250) + parser.add_argument('--preview', choices=['index', 'middle', 'ring', 'pinky', 'zero']) + args = parser.parse_args() + cal = PhotoCalibration() + if args.preview: + preview(cal, args.preview) + return + if not (args.fit or args.check or args.render): + parser.error('Choose --fit, --check, --render or --preview') + if args.starts < 1 or args.max_nfev < 1: + parser.error('Optimization budgets must be positive') + if args.fit: + if PHOTO_JSON.exists(): + _, initial = load(cal) + else: + initial = np.r_[cal.v1, cal.camera_initial(cal.v1)] + best, history = cal.fit_photos(initial, args.starts, args.max_nfev) + vector = best.x + info = save(cal, vector, history) + print('Exported photo URDF. Regenerate with O30_RIGHT_PREPARE_ONLY=1 ./hands/O30/scripts/run_o30_right_mujoco_plan.sh') + else: + info, vector = load(cal) + if args.check: + info['live_validation'] = validate(cal, vector) + REPORT.mkdir(parents=True, exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info, indent=2, ensure_ascii=False)+'\n') + print(json.dumps(info['live_validation'], indent=2)) + if args.render: + render(cal, vector) + + +def preview(cal, name): + import time + import mujoco.viewer + from linker_hand_mujoco_ros2.utils import o30_right_joints as mapping + mapping.configure_o30_right_limits(base.LIVE_XML) + model = base.mujoco.MjModel.from_xml_path(str(base.LIVE_XML)) + data = base.mujoco.MjData(model) + command = cal.zero_command if name == 'zero' else next(s['command'] for s in cal.samples if s['finger'] == name) + for joint, value in mapping.sdk_range_to_full_o30_right_urdf_positions(list(command)).items(): + data.qpos[model.jnt_qposadr[model.joint(joint).id]] = value + base.mujoco.mj_forward(model, data) + with mujoco.viewer.launch_passive(model, data) as viewer: + viewer.cam.lookat[:] = [.045, 0, .10] + viewer.cam.distance, viewer.cam.azimuth, viewer.cam.elevation = .3, 175, -15 + while viewer.is_running(): + viewer.sync() + time.sleep(.02) + + +if __name__ == '__main__': + main() diff --git a/tools/o30_right_calibration/fit_pinky.py b/tools/o30_right_calibration/fit_pinky.py new file mode 100644 index 0000000..1943bc7 --- /dev/null +++ b/tools/o30_right_calibration/fit_pinky.py @@ -0,0 +1,298 @@ +#!/usr/bin/env python3 +"""Pinky-only refinement of V3: three flexion travels, fixed zeros and other joints.""" +import argparse +import json +import os +from pathlib import Path +import sys +import xml.etree.ElementTree as ET +if '--render' in sys.argv: + os.environ.setdefault('MUJOCO_GL', 'egl') +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation +import fit_multiview as multi +base = multi.base +HERE = Path(__file__).resolve().parent +ANNOTATIONS = HERE/'pinky_landmarks.json' +OUTPUT = base.MODEL_DIR/'linkerhand_o30_right_pinky_calibrated.urdf' +PARAMETERS = base.MODEL_DIR/'o30_right_pinky_calibration.json' +REPORT = base.ROOT/'outputs/reports/O30/o30_right_pinky_refinement' +JOINTS = ['pinky_mcp_pitch', 'pinky_pip', 'pinky_dip'] + + +class PinkyFit: + def __init__(self): + self.cal = multi.MultiviewCalibration() + self.previous, _ = multi.load(self.cal) + self.q0 = np.array(self.previous['parameter_vector']) + self.annotation = json.loads(ANNOTATIONS.read_text()) + self.command = np.array(self.annotation['command']) + if not np.array_equal(self.command, self.cal.commands[3]): + raise ValueError('Pinky command changed') + self.width, self.height = self.annotation['image_size'] + self.center = np.array([self.width/2, self.height/2]) + self.names = [p[0] for p in self.annotation['points']] + self.obs = np.array([p[1:3] for p in self.annotation['points']], dtype=float) + self.sigma = np.array([p[3] for p in self.annotation['points']], dtype=float) + self.bids = np.array([self.cal.model.jnt_bodyid[self.cal.model.joint(n).id] for n in self.names]) + self.indices = np.array([20+base.NAMES.index(n) for n in JOINTS]) + self.count = 0 + + def unpack(self, v): + q = self.q0.copy() + q[self.indices] = v[:3] + return q + + def project(self, q, camera): + self.cal.set_pose(q, self.command) + points = self.cal.data.xpos[self.bids]@Rotation.from_rotvec(camera[:3]).as_matrix().T+camera[3:6] + return points[:, :2]/points[:, 2, None]*np.exp(camera[6])+self.center + + def contact(self, q): + c = self.cal + c.set_pose(q, self.command) + closest = np.zeros(6) + gap = base.mujoco.mj_geomDistance(c.model, c.data, c.geoms['thumb'], c.geoms['pinky'], .2, closest) + local = {} + for i, finger in enumerate(['thumb', 'pinky']): + bid = c.bodies[finger] + local[finger] = c.data.xmat[bid].reshape(3, 3).T@(closest[3*i:3*i+3]-c.data.xpos[bid]) + penetration = max([0.] + [-contact.dist for contact in c.data.contact]) + return gap, penetration, local + + def camera_fit(self): + # Fit unchanged anatomy and fixed MCP origin first, excluding the two target hinges. + initial = np.r_[self.previous['camera_parameters'][48:54], np.log(2000)] + self.camera_bounds = ([-6,-6,-6,-.3,-.3,.15,np.log(1200)], + [6,6,6,.3,.3,2,np.log(8000)]) + result = least_squares(lambda v: np.r_[ + ((self.project(self.q0, v)[:6]-self.obs[:6])/self.sigma[:6,None]).ravel(), + (v[6]-np.log(2500))/.5], initial, bounds=self.camera_bounds, max_nfev=400) + return result.x + + def residual(self, v): + self.count += 1 + q = self.unpack(v) + gap, penetration, local = self.contact(q) + p, t = local['pinky'], local['thumb'] + # Rounded fingertip pad region. Prevent an apparent fit through contact on the back or housing. + region = np.array([max(0., -.002-p[0]), max(0., .014-p[2]), max(0., p[2]-.024), + max(0., abs(p[1])-.006), max(0., .028-t[1]), max(0., t[1]-.046), + max(0., -t[2]), max(0., abs(t[0])-.008)]) + uv = self.project(q, v[3:]) + return np.r_[gap/.00005, max(0., penetration-.00003)/.00005, + region/.0001, ((uv-self.obs)/self.sigma[:,None]).ravel()*3, + (v[-1]-self.camera0[-1])/.15, (v[:3]-self.q0[self.indices])/.6*.3] + + def assess(self, q, camera): + gap, penetration, local = self.contact(q) + uv = self.project(q, camera) + error = np.linalg.norm(uv-self.obs, axis=1) + # Fair pose comparison: same camera for V3 and candidate; also report V3's anchor-fit camera. + old_same = np.linalg.norm(self.project(self.q0, camera)-self.obs, axis=1) + old_anchor = np.linalg.norm(self.project(self.q0, self.camera0)-self.obs, axis=1) + return dict(mesh_gap_mm=float(gap*1000), max_penetration_mm=float(penetration*1000), + closest_points_local_m={k:v.tolist() for k,v in local.items()}, + hinge_rms_px=float(np.sqrt(np.mean(error[6:]**2))), + previous_same_camera_hinge_rms_px=float(np.sqrt(np.mean(old_same[6:]**2))), + previous_anchor_camera_hinge_rms_px=float(np.sqrt(np.mean(old_anchor[6:]**2))), + anchors_rms_px=float(np.sqrt(np.mean(error[:6]**2))), + previous_anchor_rms_px=float(np.sqrt(np.mean(old_anchor[:6]**2))), + points=[dict(name=n, observed_px=o.tolist(), predicted_px=p.tolist(), error_px=float(e)) + for n,o,p,e in zip(self.names,self.obs,uv,error)]) + + def accept(self, q, camera): + result = self.assess(q, camera) + p, t = result['closest_points_local_m']['pinky'], result['closest_points_local_m']['thumb'] + if abs(result['mesh_gap_mm']) > .2 or result['max_penetration_mm'] > .2: + raise ValueError('Contact/collision tolerance exceeded') + if not (p[0] >= -.003 and .014 <= p[2] <= .024 and abs(p[1]) <= .006 and + .028 <= t[1] <= .046 and t[2] >= 0 and abs(t[0]) <= .008): + raise ValueError('Contact outside fingertip pad region') + if result['hinge_rms_px'] >= min(result['previous_same_camera_hinge_rms_px'],result['previous_anchor_camera_hinge_rms_px']): + raise ValueError('Target hinges did not improve') + if result['anchors_rms_px'] > result['previous_anchor_rms_px']+10: + raise ValueError('Camera fit compromised unchanged anatomy') + untouched = np.ones(56,dtype=bool);untouched[self.indices]=False + if not np.array_equal(q[untouched],self.q0[untouched]): + raise ValueError('Unexpected parameter change') + for command in [*self.cal.commands[:3],self.cal.zero_command]: + if not np.array_equal(self.cal.positions(q,command),self.cal.positions(self.q0,command)): + raise ValueError('Other pinch or zero pose changed') + return result + + def fit(self, starts, max_nfev): + self.camera0 = self.camera_fit() + low = np.r_[np.full(3,-.5),self.camera_bounds[0]] + high = np.r_[np.full(3,.5),self.camera_bounds[1]] + initial = np.r_[self.q0[self.indices],self.camera0] + rng = np.random.default_rng(3004) + best, history = None, [] + for i in range(starts): + start = initial.copy() if best is None else best.x.copy() + if i: start[:3] += rng.normal(0,.05,3) + result = least_squares(self.residual,np.clip(start,low+1e-9,high-1e-9),bounds=(low,high), + max_nfev=max_nfev,diff_step=1e-4,ftol=1e-9,xtol=1e-10) + try: + score=self.accept(self.unpack(result.x),result.x[3:]); accepted=True;reason='' + except ValueError as exc: + accepted=False;score=None;reason=str(exc) + row=dict(start=i+1,cost=float(result.cost),nfev=result.nfev,accepted=accepted,reason=reason,score=score) + history.append(row) + print(json.dumps({k:v for k,v in row.items() if k!='score'}),flush=True) + if accepted and (best is None or result.cost2e-7 or np.max(abs(data.xmat[other]-c.data.xmat[bid]))>2e-6: + raise AssertionError('Exported model differs from optimized kinematics') + if k<5: + penetration=max([0.]+[-ct.dist for ct in data.contact])*1000 + if penetration>.2: raise AssertionError('Known pose penetration') + if k<4: + finger=c.samples[k]['finger'] + def geom(f): + return next(g for g in range(model.ngeom) if model.geom_group[g]==3 and model.geom_bodyid[g]==model.body(f+'_distal').id) + gap=base.mujoco.mj_geomDistance(model,data,geom('thumb'),geom(finger),.2,np.zeros(6))*1000 + if abs(gap)>.2: raise AssertionError('Known pose contact gap') + rows.append(dict(finger=finger,mesh_gap_mm=float(gap),max_penetration_mm=float(penetration))) + else: zero_penetration=penetration + # Structural guarantee: only three limit upper values differ from accepted V3. + previous=ET.parse(multi.OUTPUT_URDF).getroot();current=ET.parse(OUTPUT).getroot() + for name in JOINTS: + old=previous.find(f"joint[@name='{name}']/limit") + current.find(f"joint[@name='{name}']/limit").set('upper',old.get('upper')) + def structure(element): + # Ignore pretty-print whitespace, but compare every element and attribute. + return (element.tag, sorted(element.attrib.items()), (element.text or '').strip(), + [structure(child) for child in element]) + if structure(previous)!=structure(current): raise AssertionError('Unexpected URDF structural change') + return dict(tested_commands=len(commands),max_export_position_error_m=max_error,actual_mjcf=rows, + zero_penetration_mm=float(zero_penetration),other_three_pinches_and_zero_exactly_preserved=True, + only_three_urdf_limit_upper_values_changed=True) + + +def render(fit,q,camera): + from PIL import Image,ImageDraw,ImageFont + c=fit.cal;REPORT.mkdir(parents=True,exist_ok=True) + width,height=700,724 + c.model.vis.global_.offwidth=width;c.model.vis.global_.offheight=height + for g in range(c.model.ngeom): + if c.model.geom_group[g]==2: + c.model.geom_rgba[g]=[.48,.50,.52,1] if c.model.body(c.model.geom_bodyid[g]).name.endswith('_distal') else [.68,.70,.72,1] + rotation=Rotation.from_rotvec(camera[:3]).as_matrix();eye=-rotation.T@camera[3:6] + forward=rotation.T@np.array([0,0,1]);up=rotation.T@np.array([0,-1,0]);focal=np.exp(camera[6])/2 + font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',19) + # Wider framing than the input photo to keep the complete contact region visible. + margin=100 + c.model.vis.global_.offwidth=width+2*margin + sheet=Image.new('RGB',((width+2*margin)*2,height+40),'#f1f5f9') + with base.mujoco.Renderer(c.model,height,width+2*margin) as renderer: + for col,parameters in enumerate([fit.q0,q]): + c.set_pose(parameters,fit.command);renderer.update_scene(c.data) + for cam in renderer.scene.camera: + cam.pos[:]=eye;cam.forward[:]=forward;cam.up[:]=up + cam.frustum_near=.01;cam.frustum_far=5.;cam.frustum_top=.01*height/2/focal + cam.frustum_bottom=-cam.frustum_top;cam.frustum_center=0;cam.frustum_width=.01*(width+2*margin)/2/focal + for light in renderer.scene.lights[:renderer.scene.nlight]: + light.pos[:]=eye;light.dir[:]=forward;light.ambient[:]=[.25]*3;light.diffuse[:]=[.65]*3 + image=Image.fromarray(renderer.render());sheet.paste(image,(col*(width+2*margin),40)) + ImageDraw.Draw(sheet).text((col*(width+2*margin)+12,10),'V3 before' if col==0 else 'V4 pinky-only',font=font,fill='#172033') + image.save(REPORT/('before.png' if col==0 else 'after.png')) + if col: + draw=ImageDraw.Draw(image) + for obs,pred in zip(fit.obs,fit.project(q,camera)): + a=obs/2+[margin,0];b=pred/2+[margin,0] + draw.line([tuple(a),tuple(b)],fill='yellow',width=2) + draw.ellipse([a[0]-4,a[1]-4,a[0]+4,a[1]+4],outline='cyan',width=2) + draw.ellipse([b[0]-3,b[1]-3,b[0]+3,b[1]+3],fill='red') + draw.text((10,10),'Cyan: manual photo points / red: model',font=font,fill='white') + image.save(REPORT/'landmarks.png') + sheet.save(REPORT/'comparison.png') + print(REPORT/'comparison.png') + + +def main(): + parser=argparse.ArgumentParser(description=__doc__) + parser.add_argument('--fit',action='store_true');parser.add_argument('--check',action='store_true') + parser.add_argument('--render',action='store_true');parser.add_argument('--starts',type=int,default=6) + parser.add_argument('--max-nfev',type=int,default=350) + parser.add_argument('--preview',choices=['index','middle','ring','pinky','zero']) + args=parser.parse_args() + if not any([args.fit,args.check,args.render,args.preview]): parser.error('Choose an action') + if args.starts<1 or args.max_nfev<1: parser.error('Budgets must be positive') + fit=PinkyFit() + if args.preview: + multi.photo.preview(fit.cal,args.preview);return + if args.fit: + vector,history=fit.fit(args.starts,args.max_nfev);info,q=save(fit,vector,history) + print(json.dumps(info['changed_joints'],indent=2)) + print('Exported. Regenerate launcher model before --check.') + else: info,q=load(fit) + if args.check: + info['live_validation']=validate(fit,q);REPORT.mkdir(parents=True,exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + print(json.dumps(info['live_validation'],indent=2)) + if args.render: render(fit,q,np.array(info['camera'])) + + +if __name__=='__main__': main() diff --git a/tools/o30_right_calibration/fit_pinky_root.py b/tools/o30_right_calibration/fit_pinky_root.py new file mode 100644 index 0000000..d41a041 --- /dev/null +++ b/tools/o30_right_calibration/fit_pinky_root.py @@ -0,0 +1,144 @@ +#!/usr/bin/env python3 +"""V8: restore pinky pinch by changing only pinky_mcp_pitch upper limit.""" +import argparse,json,os +import xml.etree.ElementTree as ET +from pathlib import Path +import numpy as np +from scipy.optimize import brentq +import fit_two_joints as v7 +base=v7.base +OUTPUT=base.MODEL_DIR/'linkerhand_o30_right_pinky_root_calibrated.urdf' +PARAMETERS=base.MODEL_DIR/'o30_right_pinky_root_calibration.json' +REPORT=base.ROOT/'outputs/reports/O30/o30_right_pinky_root_calibration' +JOINT='pinky_mcp_pitch' + + +def setup(): + fit,reference,_=v7.build();_,q=v7.load(fit,reference) + return fit,q + + +def fit_root(fit,old): + c=fit.cal;cmd=c.commands[3];positions=c.positions(old,cmd);start=positions[10];evaluations=0 + def distance(angle): + nonlocal evaluations + evaluations+=1;p=positions.copy();p[10]=angle;c.data.qpos[c.adr]=p + base.mujoco.mj_forward(c.model,c.data) + return base.mujoco.mj_geomDistance(c.model,c.data,c.geoms['thumb'],c.geoms['pinky'],.2,np.zeros(6)) + # Keep 0.02 mm separation: within the existing 0.2 mm contact tolerance, avoiding penetration. + target=.00002 + grid=start+np.deg2rad(np.linspace(-15,15,121));values=[distance(x)-target for x in grid] + roots=[] + for a,b,fa,fb in zip(grid[:-1],grid[1:],values[:-1],values[1:]): + if fa*fb<0:roots.append(brentq(lambda x:distance(x)-target,a,b,xtol=1e-12)) + for angle in sorted(roots,key=lambda x:abs(x-start)): + q=old.copy();q[30]=(angle-c.lo[10]-q[10])/(c.span[10]*cmd[10]/255)-1 + row=fit.contacts(q)[3];p=row['local_contact_m']['pinky'];t=row['local_contact_m']['thumb'] + if (abs(row['mesh_gap_mm'])<=.2 and row['penetration_mm']<=.2 and p[0]>=-.004 + and .014<=p[2]<=.025 and abs(p[1])<=.006 and .027<=t[1]<=.046 and t[2]>=-.001): + return q,dict(evaluations=evaluations,target_gap_mm=target*1000, + before_pinch_angle_deg=float(np.rad2deg(start)),after_pinch_angle_deg=float(np.rad2deg(angle))) + raise RuntimeError('No near-tip contact found by moving this joint alone') + + +def save(fit,old,q,search): + tree=ET.parse(v7.OUTPUT);root=tree.getroot() + upper=fit.cal.lo[10]+fit.cal.span[10]*(1+q[30]) + root.find(f"joint[@name='{JOINT}']/limit").set('upper',format(upper,'.16g')) + ET.indent(tree,space=' ');tree.write(OUTPUT,encoding='utf-8',xml_declaration=True) + info=dict(status='Pinky pinch restored; only one URDF limit upper changed',parameter_vector=q.tolist(), + search=search,command=fit.cal.commands[3].tolist(),baseline_contacts=fit.contacts(old),contacts=fit.contacts(q), + previous_endpoint_deg=float(np.rad2deg(fit.cal.positions(old,np.full(20,255))[10])), + endpoint_deg=float(np.rad2deg(fit.cal.positions(q,np.full(20,255))[10])), + inputs={str(p.relative_to(base.ROOT)):base.sha256(p) for p in [v7.OUTPUT,v7.PARAMETERS,base.SAMPLES]}, + output_sha256=base.sha256(OUTPUT), + limitations='Simulation contact fit at the original command; hardware/full-stroke correspondence is not newly measured.') + PARAMETERS.write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n');return info + + +def load(old): + info=json.loads(PARAMETERS.read_text()) + for p,h in info['inputs'].items(): + if base.sha256(base.ROOT/p)!=h:raise ValueError('Reference changed: '+p) + if base.sha256(OUTPUT)!=info['output_sha256']:raise ValueError('Output changed') + q=np.array(info['parameter_vector']);mask=np.ones(56,dtype=bool);mask[30]=False + if not np.array_equal(q[mask],old[mask]):raise AssertionError('Unexpected parameter change') + return info,q + + +def validate(fit,old,q): + from linker_hand_mujoco_ros2.utils import o30_right_joints as mapping + mapping.configure_o30_right_limits(base.LIVE_XML) + if mapping.O30_RIGHT_SDK_KNOTS:raise AssertionError('Nonlinear mapping present') + original=ET.parse(v7.OUTPUT).getroot();urdf=ET.parse(OUTPUT).getroot() + comparison=ET.fromstring(ET.tostring(urdf)) + comparison.find(f"joint[@name='{JOINT}']/limit").set('upper',original.find(f"joint[@name='{JOINT}']/limit").get('upper')) + def canonical(e):return e.tag,sorted(e.attrib.items()),(e.text or '').strip(),[canonical(x) for x in e] + if canonical(original)!=canonical(comparison):raise AssertionError('Change outside single allowed limit') + c=fit.cal + for cmd in [*c.commands[:3],c.zero_command,*v7.review.COMMANDS]: + if not np.array_equal(c.positions(old,cmd),c.positions(q,cmd)):raise AssertionError('Protected pose changed') + live=base.mujoco.MjModel.from_xml_path(str(base.LIVE_XML));ld=base.mujoco.MjData(live) + native=base.mujoco.MjModel.from_xml_path(str(OUTPUT));nd=base.mujoco.MjData(native) + commands=[*c.commands,c.zero_command,*v7.review.COMMANDS,np.zeros(20),np.full(20,255), + *np.random.default_rng(308).uniform(0,255,(30,20))] + maximum=0.;rows=[] + for k,cmd in enumerate(commands): + mapped=mapping.sdk_range_to_full_o30_right_urdf_positions(list(cmd)) + for i,name in enumerate(base.NAMES): + limit=urdf.find(f"joint[@name='{name}']/limit");lo,hi=float(limit.get('lower')),float(limit.get('upper')) + angle=lo+(hi-lo)*float(np.clip(cmd[i],0,255))/255 + if abs(angle-mapped[name])>1e-10:raise AssertionError('Not standard linear mapping') + for model,data in [(live,ld),(native,nd)]:data.qpos[model.jnt_qposadr[model.joint(name).id]]=angle + base.mujoco.mj_forward(live,ld);base.mujoco.mj_forward(native,nd) + for bid in range(1,native.nbody): + other=live.body(native.body(bid).name).id + err=float(np.linalg.norm(nd.xpos[bid]-ld.xpos[other]));maximum=max(maximum,err) + if err>2e-8 or np.max(abs(nd.xmat[bid]-ld.xmat[other]))>2e-8:raise AssertionError('Native URDF mismatch') + if k<4: + finger=c.samples[k]['finger'] + def geom(n):return next(g for g in range(live.ngeom) if live.geom_group[g]==3 and live.geom_bodyid[g]==live.body(n+'_distal').id) + gap=base.mujoco.mj_geomDistance(live,ld,geom('thumb'),geom(finger),.2,np.zeros(6))*1000 + penetration=max([0.]+[-ct.dist*1000 for ct in ld.contact]) + if abs(gap)>.2 or penetration>.2:raise AssertionError('Pinch contact failure') + rows.append(dict(finger=finger,gap_mm=float(gap),penetration_mm=float(penetration))) + return dict(tested_commands=len(commands),only_pinky_root_upper_changed=True,other_19_joints_unchanged=True, + zero_first_three_pinches_and_two_latest_tests_unchanged=True,no_piecewise_mapping=True, + native_urdf_error_m=maximum,actual_contacts=rows) + + +def render(fit,old,q): + from PIL import Image,ImageDraw,ImageFont + REPORT.mkdir(parents=True,exist_ok=True);c=fit.cal;m=c.model + m.vis.global_.offwidth=600;m.vis.global_.offheight=720 + for g in range(m.ngeom): + if m.geom_group[g]==2:m.geom_rgba[g]=[.48,.50,.52,1] if m.body(m.geom_bodyid[g]).name.endswith('_distal') else [.68,.70,.72,1] + font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',20) + sheet=Image.new('RGB',(1200,1520),'#eef2f6');draw=ImageDraw.Draw(sheet) + with base.mujoco.Renderer(m,720,600) as r: + for row,parameters in enumerate([old,q]): + for col,azimuth in enumerate([90,175]): + c.set_pose(parameters,c.commands[3]);camera=base.mujoco.MjvCamera() + camera.lookat[:]=[.045,0,.10];camera.distance=.32;camera.azimuth=azimuth;camera.elevation=-5 + r.update_scene(c.data,camera=camera) + sheet.paste(Image.fromarray(r.render()),(600*col,760*row+40)) + draw.text((600*col+10,760*row+10),('V7 before' if row==0 else 'V8 pinky root only')+(' / left' if col==0 else ' / front'),font=font,fill='#172033') + sheet.save(REPORT/'comparison.png') + + +def main(): + p=argparse.ArgumentParser(description=__doc__) + for flag in ['fit','check','render']:p.add_argument('--'+flag,action='store_true') + a=p.parse_args() + if not any([a.fit,a.check,a.render]):p.error('Choose an action') + fit,old=setup() + if a.fit:q,search=fit_root(fit,old);info=save(fit,old,q,search);print(json.dumps(search,indent=2)) + else:info,q=load(old) + if a.check: + info['validation']=validate(fit,old,q);REPORT.mkdir(parents=True,exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + print(json.dumps(info['validation'],indent=2)) + if a.render:render(fit,old,q) + + +if __name__=='__main__':main() diff --git a/tools/o30_right_calibration/fit_two_joints.py b/tools/o30_right_calibration/fit_two_joints.py new file mode 100644 index 0000000..711e8ca --- /dev/null +++ b/tools/o30_right_calibration/fit_two_joints.py @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 +"""V7: only middle MCP pitch and thumb IP; ordinary linear URDF limits.""" +import argparse +import json +import os +import xml.etree.ElementTree as ET +from pathlib import Path +import numpy as np +import two_joint_review as review +linear=review.linear +base=linear.base +OUTPUT=base.MODEL_DIR/'linkerhand_o30_right_two_joint_calibrated.urdf' +PARAMETERS=base.MODEL_DIR/'o30_right_two_joint_calibration.json' +REPORT=base.ROOT/'outputs/reports/O30/o30_right_two_joint_calibration' +SELECTED=['middle_mcp_pitch','thumb_ip'] + + +def build(): + fit=linear.LinearCalibration();_,old=fit.load();c=fit.cal;q=old.copy() + target=np.deg2rad(90.) + anchor=c.positions(old,c.commands[1])[8];fraction=78/255 + zero=(anchor-fraction*target)/(1-fraction) + q[8]=zero-c.lo[8];q[28]=(target-zero)/c.span[8]-1 + q[35]=(target-c.lo[15]-q[15])/c.span[15]-1 + return fit,old,q + + +def save(fit,old,q): + review.export(q,old,SELECTED,OUTPUT) + info=dict(status='Two selected joint correction; thumb endpoint prioritized over old pinky pinch by user', + method='Analytical linear fit: middle command 78 retained with new 255 endpoint; thumb zero retained with new 255 endpoint', + limitations='90-degree targets are visual estimates from supplied photos, not measured angles. ' + 'Old pinky pinch is allowed to change; no other joint parameters may change.', + inputs={str(p.relative_to(base.ROOT)):base.sha256(p) for p in [linear.OUTPUT,linear.PARAMETERS,base.STOCK_URDF,base.SAMPLES]}, + output_sha256=base.sha256(OUTPUT),parameter_vector=q.tolist(),confirmed_commands=review.COMMANDS, + changed_joints=SELECTED,baseline_contacts=fit.contacts(old),contacts=fit.contacts(q), + endpoints_deg={name:dict(before=float(np.rad2deg(fit.cal.positions(old,np.full(20,255))[base.NAMES.index(name)])), + after=float(np.rad2deg(fit.cal.positions(q,np.full(20,255))[base.NAMES.index(name)]))) for name in SELECTED}, + middle_zero_deg=float(np.rad2deg(fit.cal.positions(q,np.zeros(20))[8])), + previous_middle_zero_deg=float(np.rad2deg(fit.cal.positions(old,np.zeros(20))[8]))) + PARAMETERS.write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + return info + + +def load(fit,old): + info=json.loads(PARAMETERS.read_text()) + for p,digest in info['inputs'].items(): + if base.sha256(base.ROOT/p)!=digest:raise ValueError('Reference changed: '+p) + if base.sha256(OUTPUT)!=info['output_sha256']:raise ValueError('V7 URDF edited after calibration') + q=np.array(info['parameter_vector']);unchanged=np.ones(56,dtype=bool);unchanged[[8,28,35]]=False + if not np.array_equal(q[unchanged],old[unchanged]):raise AssertionError('Unexpected parameter change') + return info,q + + +def validate(fit,old,q): + from linker_hand_mujoco_ros2.utils import o30_right_joints as mapping + mapping.configure_o30_right_limits(base.LIVE_XML) + if mapping.O30_RIGHT_SDK_KNOTS:raise AssertionError('Piecewise mapping must not be used') + urdf=ET.parse(OUTPUT).getroot();original=ET.parse(linear.OUTPUT).getroot() + def structure(e):return e.tag,sorted(e.attrib.items()),(e.text or '').strip(),[structure(child) for child in e] + adjusted=ET.fromstring(ET.tostring(urdf)) + for name in SELECTED: + for tag in ['origin','limit']: + a=adjusted.find(f"joint[@name='{name}']/{tag}");b=original.find(f"joint[@name='{name}']/{tag}") + a.attrib.clear();a.attrib.update(b.attrib) + if structure(adjusted)!=structure(original):raise AssertionError('Other URDF parameters changed') + live=base.mujoco.MjModel.from_xml_path(str(base.LIVE_XML));ld=base.mujoco.MjData(live) + native=base.mujoco.MjModel.from_xml_path(str(OUTPUT));nd=base.mujoco.MjData(native) + c=fit.cal + commands=[*review.COMMANDS,*c.commands,c.zero_command,np.zeros(20),np.full(20,255), + *np.random.default_rng(307).uniform(0,255,(30,20))] + max_native=max_export=0.;test_penetrations=[] + for k,cmd in enumerate(commands): + mapped=mapping.sdk_range_to_full_o30_right_urdf_positions(list(cmd)) + c.set_pose(q,cmd) + for i,name in enumerate(base.NAMES): + limit=urdf.find(f"joint[@name='{name}']/limit");low,high=float(limit.get('lower')),float(limit.get('upper')) + angle=low+(high-low)*float(np.clip(cmd[i],0,255))/255 + if abs(angle-mapped[name])>1e-10:raise AssertionError('Runtime is not standard linear') + for model,data in [(live,ld),(native,nd)]:data.qpos[model.jnt_qposadr[model.joint(name).id]]=angle + base.mujoco.mj_forward(live,ld);base.mujoco.mj_forward(native,nd) + for bid in range(1,native.nbody): + name=native.body(bid).name;liveid=live.body(name).id;stockid=c.model.body(name).id + en=float(np.linalg.norm(nd.xpos[bid]-ld.xpos[liveid]));ee=float(np.linalg.norm(nd.xpos[bid]-c.data.xpos[stockid])) + max_native=max(max_native,en);max_export=max(max_export,ee) + if en>2e-8 or ee>2e-7 or np.max(abs(nd.xmat[bid]-ld.xmat[liveid]))>2e-8: + raise AssertionError('Native/compiled URDF pose mismatch') + penetration=max([0.]+[-ct.dist*1000 for ct in ld.contact]) + if k<2 or k==6: + c.set_pose(old,cmd) + baseline=max([0.]+[-ct.dist*1000 for ct in c.data.contact]) + test_penetrations.append(dict(test=k,previous_penetration_mm=float(baseline),penetration_mm=float(penetration))) + # Exact supplied commands already have a V6 palm/thumb-proximal collision. + # Those geometries and joints are frozen; reject new/worsened penetration. + if penetration>baseline+.0001:raise AssertionError('New test pose or zero collision regression') + # Former middle pinch is retained exactly at its measured command 78. + if abs(c.positions(q,c.commands[1])[8]-c.positions(old,c.commands[1])[8])>1e-12: + raise AssertionError('Middle 78 anchor changed') + contacts=fit.contacts(q) + for row in contacts[:3]: + if abs(row['mesh_gap_mm'])>.2 or row['penetration_mm']>.2:raise AssertionError('Unexpected first-three pinch regression') + # Pinky gap is explicitly accepted and reported, not silently treated as contact. + return dict(tested_commands=len(commands),other_18_joint_parameters_unchanged=True,no_piecewise_mapping=True, + native_urdf_error_m=max_native,export_error_m=max_export,test_pose_penetrations=test_penetrations, + middle_78_anchor_preserved=True,contacts=contacts) + + +def render(): + # Review rendering loads the same native pure URDF and same two supplied commands. + review.main() + from PIL import Image,ImageDraw,ImageFont + REPORT.mkdir(parents=True,exist_ok=True) + source=review.REPORT/'comparison.png';image=Image.open(source) + draw=ImageDraw.Draw(image);font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',20) + draw.rectangle((0,760,1199,799),fill='#eef2f6') + draw.text((10,770),'V7 / middle root 255',font=font,fill='#172033') + draw.text((610,770),'V7 / thumb tip 255',font=font,fill='#172033') + image.save(REPORT/'comparison.png') + + +def main(): + parser=argparse.ArgumentParser(description=__doc__) + for flag in ['fit','check','render']:parser.add_argument('--'+flag,action='store_true') + args=parser.parse_args() + if not any([args.fit,args.check,args.render]):parser.error('Choose an action') + fit,old,computed=build() + if args.fit:info=save(fit,old,computed);q=computed + else:info,q=load(fit,old) + if args.check: + info['validation']=validate(fit,old,q);REPORT.mkdir(parents=True,exist_ok=True) + (REPORT/'validation.json').write_text(json.dumps(info,indent=2,ensure_ascii=False)+'\n') + print(json.dumps(info['validation'],indent=2)) + if args.render:render() + + +if __name__=='__main__':main() diff --git a/tools/o30_right_calibration/fit_zero_v10.py b/tools/o30_right_calibration/fit_zero_v10.py new file mode 100644 index 0000000..96237a1 --- /dev/null +++ b/tools/o30_right_calibration/fit_zero_v10.py @@ -0,0 +1,172 @@ +#!/usr/bin/env python3 +"""V10 constrained zero refinement, with exact active-pinch pose anchors. + +The photographs suggest straight, nearly parallel fingers; zero-degree targets +are a geometric prior, not calibrated image measurements. Sweep bounded changes +and reject any contact, endpoint or measured-pose regression beyond stated gates. +""" +import argparse,json,os +os.environ.setdefault('MUJOCO_GL','egl') +from pathlib import Path +import xml.etree.ElementTree as ET +import numpy as np +from scipy.spatial.transform import Rotation +import fit_middle as v9 +base=v9.base +OUTPUT=base.MODEL_DIR/'linkerhand_o30_right_zero_v10_calibrated.urdf' +PARAMETERS=base.MODEL_DIR/'o30_right_zero_v10_calibration.json' +REPORT=base.ROOT/'outputs/reports/O30/o30_right_zero_v10_calibration' +ZERO=np.array([0,0,255,197,110,28,0,0,0,0,0,0,0,0,0,0,0,0,0,0],dtype=float) +SELECTED={2:0,3:1,4:2,5:3,7:0,11:0} +GROUPS=[[0,1,6,15],[2,7,11,16],[3,8,12,17],[4,9,13,18],[5,10,14,19]] +PROTECTED_ENDPOINTS=[8,9,10,12,14,15,17,18,19] + + +def setup(): + fit,previous=v9.setup();_,old=v9.load(previous) + return fit,old + + +def anchored_candidate(c,old,fraction): + q=old.copy();oldzero=c.positions(old,ZERO) + for i,k in SELECTED.items(): + u=c.commands[k][i]/255;z=ZERO[i]/255 + anchor=c.positions(old,c.commands[k])[i];target=oldzero[i]*(1-fraction) + span=(anchor-target)/(u-z) + q[i]=target-z*span-c.lo[i];q[20+i]=span/c.span[i]-1 + return q + + +def score(fit,old,q): + c=fit.cal;contacts=fit.contacts(q) + for row in contacts: + assert abs(row['mesh_gap_mm'])<.2 and row['penetration_mm']<.2 + for k,cmd in enumerate(c.commands): + indices=GROUPS[0]+GROUPS[k+1] + assert np.max(abs(c.positions(q,cmd)[indices]-c.positions(old,cmd)[indices]))<1e-12 + ep=np.full(20,255.) + assert np.array_equal(c.positions(q,ep)[PROTECTED_ENDPOINTS],c.positions(old,ep)[PROTECTED_ENDPOINTS]) + c.set_pose(q,ZERO);penetration=max([0.]+[-ct.dist*1000 for ct in c.data.contact]);assert penetration<.2 + measured=[] + for cmd,finger in zip(v9.v7.review.COMMANDS,['middle','thumb']): + points=[] + for parameters in [old,q]: + c.set_pose(parameters,cmd) + ids=[b for b in range(c.model.nbody) if c.model.body(b).name.startswith(finger+'_')] + points.append(c.data.xpos[ids].copy()) + change=float(np.max(np.linalg.norm(points[1]-points[0],axis=1))*1000) + assert change<.5 + measured.append(dict(finger=finger,max_body_origin_change_mm=change)) + angles=np.rad2deg(c.positions(q,ZERO)) + return dict(contacts=contacts,zero_penetration_mm=penetration, + zero_selected_rms_deg=float(np.sqrt(np.mean(angles[list(SELECTED)]**2))), + zero_angles_deg=dict(zip(base.NAMES,angles.tolist())),measured_single_joint_pose_changes=measured, + protected_endpoints_deg={base.NAMES[i]:float(np.rad2deg(c.positions(q,ep)[i])) for i in PROTECTED_ENDPOINTS}) + + +def fit_zero(fit,old): + history=[];best=None + for fraction in np.linspace(0,1,21): + q=anchored_candidate(fit.cal,old,fraction) + try: + metrics=score(fit,old,q) + history.append(dict(fraction=float(fraction),accepted=True,rms_deg=metrics['zero_selected_rms_deg'])) + if best is None or metrics['zero_selected_rms_deg']