Organize hand models and launchers; use linear active joint mapping
This commit is contained in:
+337
@@ -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"<joint\b([^>]*)>(.*?)</joint>", 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'<origin[^>]*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body)
|
||||
lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body)
|
||||
# URDF 常写成 <axis\n xyz="..."/>，不能写死 "axis xyz="
|
||||
axis = re.search(r'<axis[^>]*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'(<joint name="{re.escape(jname)}"[^>]*\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'(<position name="{re.escape(jname)}_pos"[^>]*\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'(<joint name="{re.escape(jname)}"[^>]*\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'<joint name="{j}"[^>]*\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"<joint\b([^>]*)>(.*?)</joint>", 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'<origin[^>]*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body)
|
||||
lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body)
|
||||
axis = re.search(r'<axis[^>]*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'<joint name="{re.escape(name)}"[^>]*>')
|
||||
m = pat.search(xml)
|
||||
if not m:
|
||||
raise SystemExit(f"missing joint {name}")
|
||||
new = (
|
||||
f'<joint name="{name}" pos="0 0 0" axis="{fmt_axis(axis)}" '
|
||||
f'range="{fmt_range(lo, hi)}" actuatorfrcrange="-100 100"/>'
|
||||
)
|
||||
xml = xml[: m.start()] + new + xml[m.end() :]
|
||||
|
||||
for name, (lo, hi, _) in joint_specs.items():
|
||||
pat = re.compile(
|
||||
rf'(<position name="{re.escape(name)}_pos"[^>]*\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'<body name="{re.escape(bname)}"[^>]*>')
|
||||
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'<body name="{bname}" pos="{pos}">'
|
||||
else:
|
||||
quat = "{:.6g} {:.6g} {:.6g} {:.6g}".format(*q)
|
||||
new = f'<body name="{bname}" pos="{pos}" quat="{quat}">'
|
||||
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"
|
||||
Reference in New Issue
Block a user