Add G20 left-hand MuJoCo PLAN bridge, assets, and docs.
Bring in kinematic hard-write control with mesh-convex collision projection, SDK mapping aligned to Isaac, launch/run scripts, and implementation/tech writeups.
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# G20 左手 · Isaac Sim 仿真实现说明
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本文记录 **Isaac G20 PLAN 名义弧度桥** 从 URDF 到 USD、再到可跑仿真的完整实现过程，以及相对原始 URDF / 自动转换结果的全部具体改动。
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- **函数调用与逐步逻辑**：见 [`G20_Isaac_技术详解.md`](./G20_Isaac_技术详解.md)（推荐先读此文理解代码）
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- **MuJoCo 对照**：[`G20_MuJoCo_实现说明.md`](./G20_MuJoCo_实现说明.md) / [`G20_MuJoCo_技术详解.md`](./G20_MuJoCo_技术详解.md)
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---
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## 1. 目标与数据流
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### 1.1 目标
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- 在 Isaac Sim / PhysX 中仿真 LinkerHand G20 **左手**。
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- 默认兼容真机 SDK 话题：`/g20/cb_left_hand_control_cmd`（0~255）。
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- 可选 PLAN 名义弧度话题（按关节名）。
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- 关节名、映射、mimic、拇指上限 **1.47**、对比视角与 MuJoCo 桥对齐。
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- 默认 **位置硬写**（`set_dof_positions`），可选 `--pd-drive`。
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### 1.2 端到端数据流
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```text
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/g20/cb_left_hand_control_cmd (默认，0~255)
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或 /retarget/g20/left/joint_target_nominal (--plan-nominal)
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或 /cb_left_hand_control_cmd (--legacy-sdk，旧无前缀)
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│
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▼
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joint_mapping.py
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· range_to_arc / sdk_range_to_*（hand="G20", side="left"）
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· SDK15：thumb_mcp = arc/1.02
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· SDK16..19：*_pip = arc/0.89
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· complete_g20_mimic_positions
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│
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▼
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isaac_g20_plan_bridge.py
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· Articulation 硬写 set_dof_positions（默认）
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或 set_dof_position_targets（--pd-drive）
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· 每 render 帧内 phys_per_render 次物理步进（默认 16）
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│
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▼
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/sim/isaac/g20/left/joint_state
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+ Omniverse 透视相机（COMPARE_*）
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```
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---
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## 2. 关键文件路径
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| 角色 | 绝对路径 |
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|------|----------|
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| 启动脚本 | `/home/lxqs/isaacsim/linkerhand/run_g20_plan.sh` |
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| 桥主程序 | `/home/lxqs/isaacsim/linkerhand/isaac_g20_plan_bridge.py` |
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| 关节映射 | `/home/lxqs/isaacsim/linkerhand/joint_mapping.py` |
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| 源 URDF | `/home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left.urdf` |
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| 网格 | `/home/lxqs/isaacsim/linkerhand/urdf/g20/left/meshes/*.STL` |
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| 默认 USD 根 | `/home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/linkerhand_g20_left.usda` |
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| Isaac Python | `$ISAAC_SIM_DIR/python.sh`（默认 `/home/lxqs/isaacsim/_build/linux-x86_64/release/python.sh`） |
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**旁路（非 PLAN 桥，勿混淆）：**
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- `linker_hand_dual_sim.py` + `run_sim.sh`：另一套双端/稳定性仿真，默认 PD 参数不同。
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---
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## 3. 从 URDF 到 USD
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### 3.1 URDF 来源
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- SolidWorks → URDF Exporter 导出的 G20 左手。
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- 与 MuJoCo 仓内 URDF/网格同源；网格与 MuJoCo 侧 **MD5 一致**。
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- 当前仅有 **左手** USD；无 G20 右手资产。
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### 3.2 URDF 上我们改过什么
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| 改动项 | 具体内容 |
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|--------|----------|
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| `thumb_cmc_roll` 上限 | `upper="1.47"`（rad）；注释/映射写明相对原 **1.4** 试调 |
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| mimic（URDF 内保留） | `thumb_ip` ← `thumb_mcp` × **1.02**；四指 `*_dip` ← `*_pip` × **0.89** |
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| 其余限位 | 与 MuJoCo 侧同一套（见 MuJoCo 文档关节表） |
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Isaac 侧 Physics USD 中对应角度上限：
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- `physics:upperLimit = 84.22480`（度）= **1.47 rad**（`payloads/Physics/physics.usda` 中 `thumb_cmc_roll`）。
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### 3.3 转换方式（重要）
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**运行时不导入 URDF。**
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桥内 `_load_g20()` 使用：
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```text
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stage_utils.add_reference_to_stage(usd_path=默认 .usda)
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```
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挂的是 **预烘焙 USD**。根层标注：
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```text
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creator = "URDF USD Converter v0.1.3"
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```
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即离线用 Isaac / URDF→USD 转换器生成，再经手改 Physics / 碰撞实例后定稿。
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### 3.4 USD 资源树（转换产物结构）
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```text
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linkerhand_g20_left.usda # 根；默认 Physics variant = "physx"
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└── payloads/
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base.usda
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robot.usda
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geometries.usd / materials.usda
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instances.usda # 碰撞实例（convexHull + 选择性开关）
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Physics/
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physics.usda # 关节限位等
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physx.usda # PhysX articulation / 自碰等
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mujoco.usda # 转换器附带的 Mjc 层（桥走 physx）
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hand_body_limits.usda # 刚体线/角速度与阻尼限制
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```
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桥启动时显式：`set_prim_variants(..., [("Physics", "physx")])`。
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### 3.5 相对「纯 URDF→USD」我们改过的 Physics / 碰撞
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#### A. 自碰与求解器（`physx.usda`）
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| 项 | 值 |
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|----|-----|
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| `physxArticulation:enabledSelfCollisions` | **1**（开） |
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| solver 位置/速度迭代 | **32 / 4** |
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| `sleepThreshold` | **0.005** |
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| 关节 `maxJointVelocity` | **171.887** |
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| 关节 `armature` | **0.05** |
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#### B. 刚体限速（`hand_body_limits.usda`）
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各 link 大致：
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- `maxLinearVelocity = 3.0`
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- `maxAngularVelocity = 360.0`
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- linear/angular damping **6.0**
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目的：降低 PD 握拳等场景下爆炸/乱飞。
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#### C. 选择性碰撞（`instances.usda`）——核心手改
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碰撞近似：`physics:approximation = "convexHull"`，`purpose = "guide"`。
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注释写明策略：**掌心 + 指尖开碰撞；近端/中节多数关掉**，避免张开姿态假嵌入、以及 PD 握拳末端爆炸。
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| 碰撞 | 典型 link（`physics:collisionEnabled`） |
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|------|------------------------------------------|
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| **ON (=1)** | `hand_base_link`（掌心）、`thumb_distal`、`index_distal`、`middle_distal`、`pinky_distal`（`ring_distal` 复用 index 远端实例，同样 ON） |
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| **OFF (=0)** | CMC/掌骨近端、四指 `proximal`/`middle`、拇指 shaft 等 |
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接触偏移示例：`contactOffset = 0.001`，`restOffset = -0.0005`。
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说明：这与 MuJoCo 的「胶囊 + exclude + 投影」是 **不同手段**；Isaac 默认硬写时 PhysX 接触 **不能** 像 MuJoCo `collision_project` 那样在写位置前把姿态投影回去，硬写仍可能视觉穿模。
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#### D. 运行时补丁（桥代码，非 USD 文件）
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| 函数/常量 | 具体行为 |
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|-----------|----------|
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| `_patch_joint_max_forces` | RevoluteJoint angular drive `maxForce` 若 **< 8.0** 则抬到 **8.0** |
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| `_fix_base_to_world` | 钉住 `hand_base_link`（改 `root_joint` 或建 `WorldFixedJoint`） |
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| 安装位姿 | `/World/G20Hand` 位置 **`[0.0, 0.45, 0.70]`**（`HAND_MOUNT_Y/Z`） |
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| 自碰 API | 默认跟随 USD 开自碰；`--no-self-collision` 时 `set_enabled_self_collisions(False)` |
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---
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## 4. 关节映射 `joint_mapping.py`
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与 MuJoCo `g20_joints.py` 的 G20 左手数值 **一致**（同一套 SDK 表 / MIN/MAX/DIR / OPEN / mimic / SDK15–19 规则）。
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### 4.1 SDK → 关节
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| SDK | 关节 |
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|-----|------|
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| 0 | `thumb_cmc_pitch` |
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| 1–4 | `index/middle/ring/pinky_mcp_pitch` |
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| 5 | `thumb_cmc_roll` |
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| 6–9 | `index/middle/ring/pinky_mcp_roll` |
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| 10 | `thumb_cmc_yaw` |
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| 11–14 | 预留 |
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| 15 | `thumb_mcp` ← 写入 `arc/1.02` |
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| 16–19 | `*_pip` ← 写入 `arc/0.89` |
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### 4.2 我们写入/试调过的表项
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```text
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# 通道5 注释：试调 1.47（原 1.4）
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G20_L_MAX[5] = 1.47
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# 左手侧摆 6..9：与 L20_L_DIR 不同，强制为 +1
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G20_L_DIR = [-1×6, 1,1,1,1, -1, 0×4, -1×5]
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DIP_MIMIC_MULTIPLIER = 0.89
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THUMB_IP_MIMIC_MULTIPLIER = 1.02
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```
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张开预设 `G20_OPEN_CMD` 与 MuJoCo 相同：
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```text
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[255×6, 193, 148, 105, 42, 245, 255×4, 255×5]
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```
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主动 16 关节 / 从动 5 关节（mimic）划分与 MuJoCo 一致。
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---
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## 5. 桥节点 `isaac_g20_plan_bridge.py` 做了哪些事
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### 5.1 话题
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| 模式 | 订阅 | 发布 |
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|------|------|------|
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| 默认 | `/g20/cb_left_hand_control_cmd` | `/sim/isaac/g20/left/joint_state` |
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| `--plan-nominal` | `/retarget/g20/left/joint_target_nominal` | 同上 |
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| `--legacy-sdk` | `/cb_left_hand_control_cmd` | 同上 |
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- 消息类型：`sensor_msgs/JointState`。
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- cmd：优先按 `name` 映射到 SDK 索引；否则按下标。
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- 发布：仿真 DOF 名 + 弧度（及 velocity）。
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- `TOPIC_LEGACY_STATE = /cb_left_hand_state` 已定义，但当前 **未实际发布**（`legacy_pub` 恒为 `None`）。
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ROS2 节点名：`isaac_g20_plan_bridge`；启用扩展：`isaacsim.ros2.bridge`。
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### 5.2 写关节方式
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| 模式 | API | 细节 |
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|------|-----|------|
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| **默认硬写** | `set_dof_positions` + `set_dof_velocities(0)` | 写 **全关节含 mimic**；gains 全 0，避免与硬写冲突；物理步进后常再钉一次 |
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| **`--pd-drive`** | `set_dof_position_targets` | **仅主动关节**；mimic gains=0；拇指四关节 stiff/damp/effort ≈ **10/3/6**，其余 ≈ **15/2.5/8** |
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其它：
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- 物理 `dt = 1/120`；默认 `phys_per_render = 16`。
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- slew：`--slew-rad`，单位是 **rad / 物理步**，默认 **`0.0`（瞬达）**（与 MuJoCo 的 rad/s 不同）。
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- 限位边距：`LIMIT_MARGIN_RAD = 0.05`。
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- `--hand-gravity`：仅 PD 模式下有意义。
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- 检测到 NaN/Inf → 复位到张开位姿。
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### 5.3 对比视角（与 MuJoCo 对齐）
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| 常量 | 值 |
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|------|-----|
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| `COMPARE_LOOKAT_LOCAL` | `(0.04, -0.04, 0.12)` |
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| `COMPARE_DISTANCE` | `0.50` |
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| `COMPARE_ELEVATION_DEG` | `-12.0` |
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| 方位 | 相机从 **+X** 看向 lookat（等价 MuJoCo `azimuth=180`） |
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| 手世界原点 | `(0, HAND_MOUNT_Y, HAND_MOUNT_Z) = (0, 0.45, 0.70)` |
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| 相机 prim | `/OmniverseKit_Persp` |
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### 5.4 CLI 开关一览
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`--headless`、`--g20-usd`、`--plan-nominal`、`--legacy-sdk`、`--pd-drive`、`--hand-gravity`、`--no-self-collision`、`--slew-rad`、`--phys-per-render`、`--track-test`、`--cmd-topic`、`--nominal-topic`、`--sim-state-topic`、`--max-steps`
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**没有** MuJoCo 那套 `--no-collision-project`（Isaac 侧无同款投影算法）。
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### 5.5 相对「只加载 URDF 默认导入」桥层额外保证
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1. 固定使用预烘焙 USD + PhysX variant。
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2. 基座钉世界，手抬离地面安装。
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3. 驱动 maxForce 下限补丁。
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4. 默认硬写零增益；PD 模式单独设拇指/四指增益。
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5. 自碰默认 ON，可用 CLI 关。
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6. ROS2 话题与 MuJoCo/真机协议对齐（状态话题前缀不同：`/sim/isaac/...`）。
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---
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## 6. 如何启动
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```bash
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/home/lxqs/isaacsim/linkerhand/run_g20_plan.sh
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```
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脚本等价于：
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```bash
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"$ISAAC_SIM_DIR/python.sh" /home/lxqs/isaacsim/linkerhand/isaac_g20_plan_bridge.py "$@"
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```
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常用：
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```bash
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./run_g20_plan.sh --plan-nominal
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./run_g20_plan.sh --pd-drive
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./run_g20_plan.sh --no-self-collision
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./run_g20_plan.sh --headless --track-test
|
||||||
|
./run_g20_plan.sh --slew-rad 0.02 --phys-per-render 8
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 7. 与 MuJoCo 实现的差异（必须分清）
|
||||||
|
|
||||||
|
| 项 | Isaac（本文） | MuJoCo |
|
||||||
|
|----|---------------|--------|
|
||||||
|
| 模型 | 预烘焙 **USD** | **MJCF** |
|
||||||
|
| 运行时是否读 URDF | **否** | 否（读 MJCF；MJCF 由 URDF 转出） |
|
||||||
|
| 状态话题 | `/sim/isaac/g20/left/joint_state` | `/sim/mujoco/g20/left/joint_state` |
|
||||||
|
| 默认驱动 | `set_dof_positions` 硬写 | `qpos` 硬写 + `mj_forward` |
|
||||||
|
| 可选 PD | PhysX angular drive | MJCF `<position>` + `mj_step` |
|
||||||
|
| **collision project** | **无** | **有**（默认开） |
|
||||||
|
| 防穿模资产手段 | `instances.usda` 选择性 collider + 自碰 | visual/capsule 分层 + 28 条 exclude |
|
||||||
|
| slew | rad/**物理步**，默认 0 | rad/**秒**，默认 5.0；另有墙钟 `speed=1.35` |
|
||||||
|
| 手位姿 | 世界 `(0, 0.45, 0.70)` | 世界原点 |
|
||||||
|
| 映射 | `joint_mapping.py` | `g20_joints.py`（G20 left 同数值） |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 8. 改动 chronologically（便于对照）
|
||||||
|
|
||||||
|
1. URDF + meshes 入库；离线 **URDF USD Converter v0.1.3** → `linkerhand_g20_left.usda`。
|
||||||
|
2. 手改 Physics：自碰、求解器、armature、body limits。
|
||||||
|
3. 手改 `instances.usda`：只开掌心 + 指尖等 collider。
|
||||||
|
4. `thumb_cmc_roll` 上限改为 **1.47**（URDF + Physics 度制上限 + `G20_L_MAX`）。
|
||||||
|
5. 实现 `isaac_g20_plan_bridge.py`：硬写默认、可选 PD、钉基座、maxForce 补丁、安装偏置。
|
||||||
|
6. 话题对齐 `/g20/cb_left_hand_control_cmd`；状态发 `/sim/isaac/...`。
|
||||||
|
7. 视角 `COMPARE_*` 与 MuJoCo 对齐（+X 看掌心）。
|
||||||
|
8. SDK15–19 除 mimic 与 MuJoCo/真机语义对齐（写进 `joint_mapping.py`）。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 9. 已知限制
|
||||||
|
|
||||||
|
1. 默认硬写下，PhysX 接触 **推不开** 被写死的 DOF；穿模缓解主要靠选择性碰撞几何，**没有** MuJoCo 式投影。
|
||||||
|
2. 近端/中节碰撞多为 OFF：邻指中段穿模可能检不出。
|
||||||
|
3. 凸包近似与视觉 mesh 非凸外形不一致。
|
||||||
|
4. 仅左手 G20 USD。
|
||||||
|
5. `dual_sim` 与 PLAN 桥参数不同，联调时不要混用入口脚本。
|
||||||
@@ -0,0 +1,499 @@
|
|||||||
|
# G20 左手 · Isaac Sim 技术详解
|
||||||
|
|
||||||
|
|
||||||
|
资产路径、URDF→USD 改动清单见 [`G20_Isaac_实现说明.md`](./G20_Isaac_实现说明.md)。
|
||||||
|
MuJoCo 对照：[`G20_MuJoCo_技术详解.md`](./G20_MuJoCo_技术详解.md)。
|
||||||
|
|
||||||
|
主文件：
|
||||||
|
|
||||||
|
| 角色 | 路径 |
|
||||||
|
|------|------|
|
||||||
|
| 桥主程序 | `/home/lxqs/isaacsim/linkerhand/isaac_g20_plan_bridge.py` |
|
||||||
|
| 关节映射 | `/home/lxqs/isaacsim/linkerhand/joint_mapping.py` |
|
||||||
|
| 启动脚本 | `/home/lxqs/isaacsim/linkerhand/run_g20_plan.sh` |
|
||||||
|
| 默认 USD | `.../urdf/g20/left/linkerhand_g20_left/linkerhand_g20_left.usda` |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 1. 总体结构：单线程循环（与 MuJoCo 不同）
|
||||||
|
|
||||||
|
Isaac 桥**没有**单独的 ROS daemon 线程，也**没有** `threading.Lock`。
|
||||||
|
主循环里每个物理步先 `rclpy.spin_once`，再写关节、再 `SimulationManager.step()`。
|
||||||
|
|
||||||
|
```text
|
||||||
|
┌─────────────────────────────────────────────────────────────┐
|
||||||
|
│ 模块加载期（import 顶层） │
|
||||||
|
│ parse_args() │
|
||||||
|
│ SimulationApp(...) # 必须最早启动 Isaac │
|
||||||
|
│ enable_extension(ros2.bridge) │
|
||||||
|
│ import joint_mapping / rclpy │
|
||||||
|
├─────────────────────────────────────────────────────────────┤
|
||||||
|
│ main() 初始化 │
|
||||||
|
│ create_new_stage / GroundPlane / DistantLight │
|
||||||
|
│ _load_g20(usd) → Articulation │
|
||||||
|
│ _fix_base_to_world / set_dof_gains / 自碰 │
|
||||||
|
│ G20PlanBridge(...) │
|
||||||
|
│ apply_targets() 初始 snap 到 open │
|
||||||
|
├─────────────────────────────────────────────────────────────┤
|
||||||
|
│ 主循环（每 render 帧内跑 phys_per_render 次物理步） │
|
||||||
|
│ for _ in range(phys_per_render): │
|
||||||
|
│ rclpy.spin_once(node) # 处理回调 → 改 goal │
|
||||||
|
│ bridge.apply_targets() # slew → 写 Articulation │
|
||||||
|
│ SimulationManager.step() # PhysX 一步 │
|
||||||
|
│ recover_if_invalid() │
|
||||||
|
│ bridge.publish_state() │
|
||||||
|
│ if 位置硬写: apply_targets() 再钉一次 │
|
||||||
|
│ RenderingManager.render() │
|
||||||
|
│ simulation_app.update() │
|
||||||
|
└─────────────────────────────────────────────────────────────┘
|
||||||
|
```
|
||||||
|
|
||||||
|
**核心状态变量（`G20PlanBridge`）：**
|
||||||
|
|
||||||
|
| 变量 | 类型 | 含义 |
|
||||||
|
|------|------|------|
|
||||||
|
| `goal` | `dict[str, float]` | 最新目标关节角（弧度，含 mimic） |
|
||||||
|
| `applied` | `dict[str, float]` | 本步实际写入的角（slew 后） |
|
||||||
|
| `targets` | 同 `applied` | 别名，历史兼容 |
|
||||||
|
| `track_nominal` | `dict[str, float] \| None` | 主动关节目标，供 `tracking_error()` |
|
||||||
|
| `dof_index` | `dict[str, int]` | 关节名 → Articulation DOF 下标 |
|
||||||
|
| `use_physics_drive` | `bool` | True=`--pd-drive`；False=位置硬写 |
|
||||||
|
|
||||||
|
**与 MuJoCo 的关键差异：**
|
||||||
|
|
||||||
|
| 项 | Isaac | MuJoCo |
|
||||||
|
|----|-------|--------|
|
||||||
|
| 线程模型 | 单线程 `spin_once` + 物理循环 | ROS daemon + 主仿真线程 + Lock |
|
||||||
|
| 防穿模 | USD 选择性 collider + 自碰 | `collision_project` + `mj_forward` |
|
||||||
|
| slew 单位 | **rad / 物理步**，默认 **0**（瞬达） | **rad / 秒**，默认 **5.0** |
|
||||||
|
| 写关节 API | `set_dof_positions` / `set_dof_position_targets` | `data.qpos` + `mj_forward` |
|
||||||
|
| 物理步进 | 每 render 默认 16 次 `SimulationManager.step` | 硬写模式不 `mj_step` |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 2. 程序入口与加载顺序（很重要）
|
||||||
|
|
||||||
|
入口：`./run_g20_plan.sh` → `$ISAAC_SIM_DIR/python.sh isaac_g20_plan_bridge.py`。
|
||||||
|
|
||||||
|
### 2.1 为何 `parse_args` + `SimulationApp` 在顶层？
|
||||||
|
|
||||||
|
```text
|
||||||
|
# 文件顶层执行顺序（main 之前）
|
||||||
|
parse_args() # ① 先解析，因为 SimulationApp 要 headless
|
||||||
|
SimulationApp({"headless": ...}) # ② 启动 Omniverse / PhysX 运行时
|
||||||
|
... import isaacsim.* ...
|
||||||
|
from joint_mapping import ...
|
||||||
|
enable_extension("isaacsim.ros2.bridge")
|
||||||
|
simulation_app.update()
|
||||||
|
import rclpy ...
|
||||||
|
```
|
||||||
|
|
||||||
|
Isaac 要求：**先有 `SimulationApp`，才能 import 多数 isaacsim 模块**。
|
||||||
|
因此参数解析不能放在 `main()` 里才做；顶层 `args = parse_args()` 是刻意的。
|
||||||
|
|
||||||
|
`_normalize_argv`：把 `-pd-drive` 这类单横杠改成 `--pd-drive`，避免被 argparse 拆成 `-p -d ...`。
|
||||||
|
|
||||||
|
### 2.2 `main()` 调用链
|
||||||
|
|
||||||
|
```text
|
||||||
|
main()
|
||||||
|
├── stage_utils.create_new_stage()
|
||||||
|
├── GroundPlane / DistantLight
|
||||||
|
├── _compare_camera_eye_target() → set_camera_view(...)
|
||||||
|
├── hand_path = _load_g20(args.g20_usd)
|
||||||
|
│ ├── define_prim("/World/G20Hand")
|
||||||
|
│ ├── XformPrim(..., positions=[[0, 0.45, 0.70]])
|
||||||
|
│ ├── add_reference_to_stage(usd → .../hand)
|
||||||
|
│ ├── set_prim_variants(Physics=physx)
|
||||||
|
│ └── _patch_joint_max_forces(hand_path)
|
||||||
|
├── SimulationManager.set_physics_dt(1/120)
|
||||||
|
├── play → update → _fix_base_to_world → stop → play
|
||||||
|
├── art = Articulation(hand_path)
|
||||||
|
├── art.set_enabled_self_collisions(...)
|
||||||
|
├── art.set_link_enabled_gravities(...)
|
||||||
|
├── set_dof_gains / set_dof_max_efforts # 见 §5
|
||||||
|
├── rclpy.init(); Node("isaac_g20_plan_bridge")
|
||||||
|
├── G20PlanBridge(...)
|
||||||
|
├── slew=0; apply_targets(); 恢复 slew # 初始 snap open
|
||||||
|
└── while simulation_app.is_running():
|
||||||
|
for _ in range(phys_per_render): # 默认 16
|
||||||
|
spin_once → apply_targets → step → publish → [再钉]
|
||||||
|
render + update
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 3. 场景加载相关函数
|
||||||
|
|
||||||
|
### 3.1 `_load_g20(usd_path) → hand_path`
|
||||||
|
|
||||||
|
```python
|
||||||
|
mount = "/World/G20Hand"
|
||||||
|
stage_utils.define_prim(mount, "Xform")
|
||||||
|
XformPrim(mount, positions=[[0.0, HAND_MOUNT_Y, HAND_MOUNT_Z]], ...)
|
||||||
|
hand_path = f"{mount}/hand"
|
||||||
|
stage_utils.add_reference_to_stage(usd_path=..., path=hand_path)
|
||||||
|
prim_utils.set_prim_variants(hand_path, variants=[("Physics", "physx")])
|
||||||
|
_patch_joint_max_forces(hand_path)
|
||||||
|
return hand_path
|
||||||
|
```
|
||||||
|
|
||||||
|
要点：
|
||||||
|
|
||||||
|
1. **运行时不读 URDF**，只挂预烘焙 USD。
|
||||||
|
2. 手装在世界坐标 `(0, 0.45, 0.70)`，离地，避免和地面穿插。
|
||||||
|
3. Physics variant 强制 `physx`（USD 里还有 mujoco/newton 等层）。
|
||||||
|
|
||||||
|
### 3.2 `_patch_joint_max_forces(hand_path, max_force=8.0)`
|
||||||
|
|
||||||
|
遍历手下面所有 `UsdPhysics.RevoluteJoint`，取 angular DriveAPI：
|
||||||
|
|
||||||
|
```python
|
||||||
|
if maxForce < 8.0:
|
||||||
|
attr.Set(8.0)
|
||||||
|
```
|
||||||
|
|
||||||
|
防止某些关节 drive 力矩上限太小，PD 跟不上。
|
||||||
|
|
||||||
|
### 3.3 `_fix_base_to_world(hand_path)`
|
||||||
|
|
||||||
|
钉住掌心，手不会掉下去：
|
||||||
|
|
||||||
|
1. 在手 prim 树里找 `hand_base_link`（或 `base_link` / `palm`）RigidBody。
|
||||||
|
2. 若已有合法 `root_joint`：改 `LocalPos0/Rot0` 对齐当前世界位姿，Body1=base，Body0=世界。
|
||||||
|
3. 否则新建 `{hand_path}/WorldFixedJoint`（`UsdPhysics.FixedJoint`）。
|
||||||
|
|
||||||
|
调用时机：`play → update → fix → stop → play`，让 PhysX 在重建 articulation 前把固定关节写进 stage。
|
||||||
|
|
||||||
|
### 3.4 `_compare_camera_eye_target()`
|
||||||
|
|
||||||
|
与 MuJoCo `COMPARE_*` 对齐：
|
||||||
|
|
||||||
|
```python
|
||||||
|
target = hand_origin + COMPARE_LOOKAT_LOCAL # (0.04,-0.04,0.12) 相对手
|
||||||
|
eye.x = target.x + distance * cos(elev) # 从 +X 看
|
||||||
|
eye.z = target.z - distance * sin(elev) # elev=-12° 略俯视
|
||||||
|
```
|
||||||
|
|
||||||
|
`set_camera_view(eye, target, "/OmniverseKit_Persp")`；play/stop 后会再设一次，防止 viewport 被重置。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 4. 映射层：`joint_mapping.py` 函数说明
|
||||||
|
|
||||||
|
与 MuJoCo `g20_joints.py` **数值一致**，但 API 多了 `hand`/`side` 参数（同一文件还服务 O6/L20）。
|
||||||
|
|
||||||
|
### 4.1 Legacy 0~255 调用链
|
||||||
|
|
||||||
|
```text
|
||||||
|
_on_cmd_u8(msg)
|
||||||
|
vals = [255]*20
|
||||||
|
优先按 msg.name → L20_SDK_TO_URDF 反查 SDK 索引填 vals
|
||||||
|
否则按下标填 vals[:20]
|
||||||
|
sdk_range_to_full_urdf_positions(vals, "G20", "left")
|
||||||
|
├── sdk_range_to_urdf_positions(...)
|
||||||
|
│ ├── range_to_arc(vals, "G20", "left")
|
||||||
|
│ └── SDK15: thumb_mcp = arc/1.02
|
||||||
|
│ SDK16..19: *_pip = arc/0.89
|
||||||
|
└── 补全 dip/ip（函数内部直接写，不等价于再调 complete_*，结果相同）
|
||||||
|
set_nominal_targets(full)
|
||||||
|
└── goal = complete_g20_mimic_positions(positions)
|
||||||
|
```
|
||||||
|
|
||||||
|
### 4.2 `range_to_arc(values, hand, side)`
|
||||||
|
|
||||||
|
```python
|
||||||
|
j_min, j_max, j_dir = _tables("G20", "left") # → G20_L_MIN/MAX/DIR
|
||||||
|
for i in 0..19:
|
||||||
|
if 11 <= i <= 14: continue
|
||||||
|
if j_dir[i] == -1:
|
||||||
|
arcs[i] = lerp(val, 0, 255, j_max[i], j_min[i])
|
||||||
|
else:
|
||||||
|
arcs[i] = lerp(val, 0, 255, j_min[i], j_max[i]) # 侧摆 6..9
|
||||||
|
```
|
||||||
|
|
||||||
|
### 4.3 `sdk_range_to_urdf_positions` vs `sdk_range_to_full_urdf_positions`
|
||||||
|
|
||||||
|
| 函数 | 输出 |
|
||||||
|
|------|------|
|
||||||
|
| `sdk_range_to_urdf_positions` | 仅主动 16 关节（已做 SDK15/16~19 除 mimic） |
|
||||||
|
| `sdk_range_to_full_urdf_positions` | 主动 + 软件解析的 `thumb_ip` / `*_dip` |
|
||||||
|
|
||||||
|
Isaac **硬写模式**写全关节（含 mimic）；**PD 模式**只写主动关节，mimic 交给 PhysX USD mimic。
|
||||||
|
|
||||||
|
### 4.4 `complete_g20_mimic_positions`
|
||||||
|
|
||||||
|
与 MuJoCo 相同：`thumb_ip = thumb_mcp * 1.02`，`*_dip = *_pip * 0.89`；已有 mimic 值不覆盖。
|
||||||
|
|
||||||
|
### 4.5 `open_hand_command("G20")`
|
||||||
|
|
||||||
|
返回 `G20_OPEN_CMD`（float 列表），与 MuJoCo `G20_OPEN_CMD` 同值。
|
||||||
|
|
||||||
|
### 4.6 PLAN 名义路径
|
||||||
|
|
||||||
|
```text
|
||||||
|
_on_nominal(msg)
|
||||||
|
incoming = {name: position}
|
||||||
|
缺主动关节 → 与旧 goal 合并
|
||||||
|
goal = complete_g20_mimic_positions(merged)
|
||||||
|
track_nominal = {主动关节: goal[...]}
|
||||||
|
```
|
||||||
|
|
||||||
|
注意：Isaac 回调里**直接改 `self.goal`**，没有 MuJoCo 的 `_set_goal_only` + Lock；因为主循环同线程 `spin_once`，不存在并发写 Articulation。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 5. 驱动模式：`set_dof_gains` 与 `apply_targets`
|
||||||
|
|
||||||
|
### 5.1 初始化时增益怎么设（`main` 里）
|
||||||
|
|
||||||
|
**默认位置硬写：**
|
||||||
|
|
||||||
|
```python
|
||||||
|
art.set_dof_gains(stiffnesses=zeros(n), dampings=zeros(n))
|
||||||
|
```
|
||||||
|
|
||||||
|
零增益，避免 PD 与 `set_dof_positions` 抢控制。
|
||||||
|
|
||||||
|
**`--pd-drive`：**
|
||||||
|
|
||||||
|
```python
|
||||||
|
# 主动关节
|
||||||
|
拇指四关节: stiff/damp/effort = 10 / 3 / 6
|
||||||
|
其余主动: stiff/damp/effort = 15 / 2.5 / 8
|
||||||
|
art.set_dof_gains(...); art.set_dof_max_efforts(...)
|
||||||
|
|
||||||
|
# mimic 关节强制 0 增益 —— 否则与 PhysX mimic 冲突 → Invalid PhysX transform
|
||||||
|
art.set_dof_gains(0, 0, dof_indices=mimic_idx)
|
||||||
|
```
|
||||||
|
|
||||||
|
`--hand-gravity` 仅在 PD 下生效：`set_link_enabled_gravities(True)`。
|
||||||
|
|
||||||
|
### 5.2 `apply_targets()` — 每物理步的核心
|
||||||
|
|
||||||
|
```python
|
||||||
|
def apply_targets(self):
|
||||||
|
self._slew_applied_toward_goal() # goal → applied
|
||||||
|
|
||||||
|
if use_physics_drive:
|
||||||
|
name_iter = (n for n in applied if n in actuated) # 只主动
|
||||||
|
else:
|
||||||
|
name_iter = applied.keys() # 含 mimic
|
||||||
|
|
||||||
|
positions = [...]
|
||||||
|
if use_physics_drive:
|
||||||
|
art.set_dof_position_targets(positions, dof_indices=indices)
|
||||||
|
else:
|
||||||
|
art.set_dof_positions(positions, dof_indices=indices)
|
||||||
|
art.set_dof_velocities(zeros(...), dof_indices=indices)
|
||||||
|
```
|
||||||
|
|
||||||
|
| 模式 | API | 写哪些关节 |
|
||||||
|
|------|-----|------------|
|
||||||
|
| 位置硬写（默认） | `set_dof_positions` + `set_dof_velocities(0)` | 全部（含软件算好的 mimic） |
|
||||||
|
| PD | `set_dof_position_targets` | 仅主动 16 个 |
|
||||||
|
|
||||||
|
### 5.3 `_slew_applied_toward_goal()`
|
||||||
|
|
||||||
|
```python
|
||||||
|
max_step = self.slew_rad # 默认 0 → 每步直达 goal
|
||||||
|
margin = LIMIT_MARGIN_RAD # 0.05，离限位留边
|
||||||
|
for name, g in goal.items():
|
||||||
|
g = clip(g, lo+margin, hi-margin)
|
||||||
|
if max_step <= 0:
|
||||||
|
applied[name] = g
|
||||||
|
else:
|
||||||
|
applied[name] = a ± min(|g-a|, max_step)
|
||||||
|
applied = complete_g20_mimic_positions(applied)
|
||||||
|
```
|
||||||
|
|
||||||
|
单位是 **每物理步弧度**，不是每秒。
|
||||||
|
物理 dt=1/120，默认每 render 16 步 → 墙钟约 16/120 ≈ 0.133 s 一帧渲染。
|
||||||
|
|
||||||
|
### 5.4 为何硬写后还要「再钉一次」？
|
||||||
|
|
||||||
|
主循环：
|
||||||
|
|
||||||
|
```python
|
||||||
|
bridge.apply_targets()
|
||||||
|
SimulationManager.step() # PhysX 可能轻微挪动 DOF
|
||||||
|
bridge.publish_state()
|
||||||
|
if not use_pd:
|
||||||
|
bridge.apply_targets() # 再钉回 applied
|
||||||
|
```
|
||||||
|
|
||||||
|
接触/积分会让硬写姿态漂移；步进后再写一遍，保证跟指令贴。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 6. 异常恢复与状态发布
|
||||||
|
|
||||||
|
### 6.1 `recover_if_invalid()`
|
||||||
|
|
||||||
|
```python
|
||||||
|
pos = art.get_dof_positions()
|
||||||
|
if not all finite:
|
||||||
|
goal = applied = open_full
|
||||||
|
set_dof_positions(open)
|
||||||
|
return True
|
||||||
|
```
|
||||||
|
|
||||||
|
PD 爆炸或数值坏掉时复位张开姿态。
|
||||||
|
|
||||||
|
### 6.2 `publish_state()`
|
||||||
|
|
||||||
|
每物理步调用（不是独立 50Hz 定时器）：
|
||||||
|
|
||||||
|
```python
|
||||||
|
pos = art.get_dof_positions()
|
||||||
|
vel = art.get_dof_velocities() # 失败则填 0
|
||||||
|
pub → /sim/isaac/g20/left/joint_state
|
||||||
|
```
|
||||||
|
|
||||||
|
`legacy_pub` 恒为 `None`，不会发 `/cb_left_hand_state`；
|
||||||
|
`urdf_positions_to_sdk_range` 已实现，预留反算 0~255。
|
||||||
|
|
||||||
|
### 6.3 `tracking_error()`
|
||||||
|
|
||||||
|
对 `track_nominal` 里每个主动关节：`|q_sim - q_nominal|`，返回 `(max, mean)`。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 7. 自碰与防穿模（Isaac 怎么做）
|
||||||
|
|
||||||
|
**没有** MuJoCo 的 `collision_project`。手段是：
|
||||||
|
|
||||||
|
1. **USD `instances.usda`**：选择性开碰撞（掌心 + 指尖 ON，近端/中节多数 OFF）。
|
||||||
|
2. **`physx.usda`**：`enabledSelfCollisions = 1`。
|
||||||
|
3. **运行时**：`art.set_enabled_self_collisions([True])`（`--no-self-collision` 关）。
|
||||||
|
|
||||||
|
因此：
|
||||||
|
|
||||||
|
- 硬写时 PhysX **推不开** 被写死的 DOF → 仍可能视觉穿模。
|
||||||
|
- PD 模式下接触力可挡一部分，但跟手变差。
|
||||||
|
- 这与 MuJoCo「硬写前投影」是不同哲学。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 8. 完整时序例子：收到半握命令后的一物理步
|
||||||
|
|
||||||
|
假设默认硬写、`slew_rad=0`。
|
||||||
|
|
||||||
|
```text
|
||||||
|
1. rclpy.spin_once
|
||||||
|
→ _on_cmd_u8 → sdk_range_to_full_urdf_positions
|
||||||
|
→ set_nominal_targets → goal = 半握全关节弧度
|
||||||
|
|
||||||
|
2. apply_targets()
|
||||||
|
→ _slew_applied_toward_goal: applied = goal（瞬达）
|
||||||
|
→ set_dof_positions(全部关节含 mimic)
|
||||||
|
→ set_dof_velocities(0)
|
||||||
|
|
||||||
|
3. SimulationManager.step()
|
||||||
|
→ PhysX 积分（硬写下姿态应贴近刚写的值）
|
||||||
|
|
||||||
|
4. recover_if_invalid() # 通常 False
|
||||||
|
|
||||||
|
5. publish_state()
|
||||||
|
→ 读 get_dof_positions → 发 /sim/isaac/...
|
||||||
|
|
||||||
|
6. apply_targets() 再钉一次（硬写模式）
|
||||||
|
```
|
||||||
|
|
||||||
|
若 `slew_rad=0.02`：每物理步每个关节最多走 0.02 rad，需多步才到 goal。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 9. `--track-test` 路径
|
||||||
|
|
||||||
|
```text
|
||||||
|
max_steps 默认 480（若未指定）
|
||||||
|
每 160 物理步切换一次目标：
|
||||||
|
phase 偶: open_hand_command("G20")
|
||||||
|
phase 奇: [80.0]*20
|
||||||
|
set_nominal_targets(sdk_range_to_full_urdf_positions(...))
|
||||||
|
|
||||||
|
循环结束后再 settle 240 步:
|
||||||
|
apply_targets + SimulationManager.step
|
||||||
|
|
||||||
|
tracking_error() → max <= 0.02 → PASS，否则 exit 2
|
||||||
|
```
|
||||||
|
|
||||||
|
与 MuJoCo track-test（open→半握、关投影、slew=0）流程类似，但步进计数和切换方式不同。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 10. 常用 Isaac / PhysX API 速查（本工程用到的）
|
||||||
|
|
||||||
|
| API | 用途 |
|
||||||
|
|-----|------|
|
||||||
|
| `SimulationApp` | 启动 Isaac 运行时 |
|
||||||
|
| `stage_utils.add_reference_to_stage` | 挂 USD |
|
||||||
|
| `prim_utils.set_prim_variants` | 选 Physics=physx |
|
||||||
|
| `Articulation(path)` | 包装手的 DOF |
|
||||||
|
| `set_dof_positions` / `set_dof_position_targets` | 硬写 / PD 目标 |
|
||||||
|
| `set_dof_gains` / `set_dof_max_efforts` | PD 参数 |
|
||||||
|
| `set_enabled_self_collisions` | 自碰开关 |
|
||||||
|
| `get_dof_positions` / `get_dof_velocities` / `get_dof_limits` | 读状态 |
|
||||||
|
| `SimulationManager.set_physics_dt` / `step` | 物理节拍 |
|
||||||
|
| `RenderingManager.render` | 渲染一帧 |
|
||||||
|
| `set_camera_view` | 对比视角 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 11. CLI 模式对照
|
||||||
|
|
||||||
|
| 参数 | 效果 |
|
||||||
|
|------|------|
|
||||||
|
| （默认） | 订 `/g20/cb_left_hand_control_cmd`，位置硬写，slew=0，自碰 ON |
|
||||||
|
| `--plan-nominal` | 订名义弧度话题，`use_cmd_u8=False` |
|
||||||
|
| `--legacy-sdk` | 订 `/cb_left_hand_control_cmd` |
|
||||||
|
| `--pd-drive` | `set_dof_position_targets` + 主动关节增益 |
|
||||||
|
| `--hand-gravity` | 仅 PD 下开手部重力 |
|
||||||
|
| `--no-self-collision` | 关自碰（会穿模） |
|
||||||
|
| `--slew-rad N` | 每物理步最多转 N rad |
|
||||||
|
| `--phys-per-render N` | 每渲染帧物理步数（默认 16） |
|
||||||
|
| `--track-test` | 内置跟踪验收 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 12. 改代码时最常动的位置
|
||||||
|
|
||||||
|
| 需求 | 改哪里 |
|
||||||
|
|------|--------|
|
||||||
|
| SDK→弧度、mimic、OPEN_CMD | `joint_mapping.py` |
|
||||||
|
| 默认硬写/PD 增益、拇指特殊增益 | `isaac_g20_plan_bridge.py` 顶部常量 + `main` 里 `set_dof_gains` |
|
||||||
|
| slew / 物理步 / 安装高度 | `DEFAULT_SLEW_RAD` / `DEFAULT_PHYS_PER_RENDER` / `HAND_MOUNT_*` |
|
||||||
|
| 相机 | `COMPARE_*` + `_compare_camera_eye_target` |
|
||||||
|
| 碰撞谁开谁关 | USD `payloads/instances.usda` |
|
||||||
|
| 自碰/求解器 | USD `payloads/Physics/physx.usda` |
|
||||||
|
| 话题名 | `TOPIC_*` 或 CLI |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 13. 与 MuJoCo 技术详解的对照表
|
||||||
|
|
||||||
|
| 概念 | Isaac 函数/位置 | MuJoCo 函数/位置 |
|
||||||
|
|------|-----------------|------------------|
|
||||||
|
| 映射入口 | `joint_mapping.sdk_range_to_full_urdf_positions` | `g20_joints.sdk_range_to_full_urdf_positions` |
|
||||||
|
| 收命令 | `_on_cmd_u8` / `_on_nominal` | `_on_legacy_cmd` / `_on_nominal` |
|
||||||
|
| 更新目标 | `set_nominal_targets` / 直接改 `goal` | `_set_goal_only`（持锁） |
|
||||||
|
| 限速 | `_slew_applied_toward_goal`（rad/步） | `_slew_applied_unlocked`（rad/s） |
|
||||||
|
| 写入仿真 | `apply_targets` → `set_dof_*` | `_hard_write_pose_unlocked` → `mj_forward` |
|
||||||
|
| 防穿模 | USD collider + 自碰（无投影） | `_project_applied_no_penetration_unlocked` |
|
||||||
|
| 物理步进 | `SimulationManager.step` | 硬写不 step；PD 用 `mj_step` |
|
||||||
|
| 发状态 | 每物理步 `publish_state` | 50Hz timer `_publish_state` |
|
||||||
|
| 状态话题 | `/sim/isaac/g20/left/joint_state` | `/sim/mujoco/g20/left/joint_state` |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 14. 读代码建议顺序
|
||||||
|
|
||||||
|
1. `run_g20_plan.sh` → 确认用的是哪份 `python.sh`
|
||||||
|
2. 文件顶层：`parse_args` → `SimulationApp` → import
|
||||||
|
3. `main()` 前半：`_load_g20` → `_fix_base` → gains
|
||||||
|
4. `G20PlanBridge.__init__` + `_on_cmd_u8`
|
||||||
|
5. `apply_targets` + 主循环里「写→step→再钉」
|
||||||
|
6. 需要改防穿模时去看 USD `instances.usda`，而不是在桥里找 project 函数
|
||||||
|
|
||||||
|
资产与改动清单仍见 [`G20_Isaac_实现说明.md`](./G20_Isaac_实现说明.md)。
|
||||||
@@ -0,0 +1,362 @@
|
|||||||
|
# G20 左手 · MuJoCo 仿真实现说明
|
||||||
|
|
||||||
|
本文记录 **MuJoCo G20 PLAN 名义弧度桥** 从 URDF 到可跑仿真的完整实现过程，以及相对原始 URDF 的全部具体改动。
|
||||||
|
|
||||||
|
- **函数调用与逐步逻辑**：见 [`G20_MuJoCo_技术详解.md`](./G20_MuJoCo_技术详解.md)（推荐先读此文理解代码）
|
||||||
|
- **Isaac 对照**：[`G20_Isaac_实现说明.md`](./G20_Isaac_实现说明.md)
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 1. 目标与数据流
|
||||||
|
|
||||||
|
### 1.1 目标
|
||||||
|
|
||||||
|
- 在 MuJoCo 中仿真 LinkerHand G20 **左手**。
|
||||||
|
- 默认兼容真机 SDK 话题协议：`sensor_msgs/JointState`，`position` 为 **0~255**。
|
||||||
|
- 可选订阅 PLAN 名义弧度（按关节名）。
|
||||||
|
- 关节名、0~255→弧度映射、mimic、拇指限位、对比视角与 Isaac 侧对齐。
|
||||||
|
- 默认 **运动学硬写** `qpos`（跟手紧）；用碰撞投影减轻穿模，而不是改成默认 PD。
|
||||||
|
|
||||||
|
### 1.2 端到端数据流
|
||||||
|
|
||||||
|
```text
|
||||||
|
/g20/cb_left_hand_control_cmd (默认，0~255)
|
||||||
|
或 /retarget/g20/left/joint_target_nominal (--plan-nominal，弧度+关节名)
|
||||||
|
│
|
||||||
|
▼
|
||||||
|
utils/g20_joints.py
|
||||||
|
· range_to_arc_g20_left / sdk_range_to_urdf_positions
|
||||||
|
· SDK15：thumb_mcp = arc/1.02
|
||||||
|
· SDK16..19：*_pip = arc/0.89
|
||||||
|
· complete_g20_mimic_positions（dip/ip）
|
||||||
|
│
|
||||||
|
▼
|
||||||
|
g20_plan_bridge.py
|
||||||
|
· ROS 回调只写 goal（不碰 MjData）
|
||||||
|
· 仿真线程：slew → [collision_project] → 硬写 qpos/ctrl + mj_forward
|
||||||
|
│
|
||||||
|
▼
|
||||||
|
/sim/mujoco/g20/left/joint_state @ 50 Hz
|
||||||
|
+ MuJoCo viewer（可选）
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 2. 关键文件路径
|
||||||
|
|
||||||
|
| 角色 | 绝对路径 |
|
||||||
|
|------|----------|
|
||||||
|
| 启动脚本 | `/home/lxqs/linker_hand_mujoco_ros2/run_g20_mujoco_plan.sh` |
|
||||||
|
| 桥主程序 | `.../linker_hand_mujoco_ros2/g20_plan_bridge.py` |
|
||||||
|
| 关节映射 | `.../linker_hand_mujoco_ros2/utils/g20_joints.py` |
|
||||||
|
| Launch | `.../launch/g20_plan_bridge.launch.py` |
|
||||||
|
| URDF | `.../urdf/G20/linker_hand_g20_left/linkerhand_g20_left.urdf` |
|
||||||
|
| MJCF | `.../urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml` |
|
||||||
|
| 网格 | `.../urdf/G20/linker_hand_g20_left/meshes/*.STL`（22 个） |
|
||||||
|
| entry_point | `setup.py` → `g20_plan_bridge=linker_hand_mujoco_ros2.g20_plan_bridge:main` |
|
||||||
|
|
||||||
|
包根目录：
|
||||||
|
`/home/lxqs/linker_hand_mujoco_ros2/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/`
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 3. 从 URDF 到 MJCF
|
||||||
|
|
||||||
|
### 3.1 URDF 来源
|
||||||
|
|
||||||
|
1. 原始模型由 **SolidWorks → URDF Exporter** 导出（URDF 头注释：Commit `1.6.0-4-g7f85cfe`）。
|
||||||
|
2. 本仓库资产来自 retarget 工程拷贝（非运行时自动下载），与 Isaac 侧网格 **MD5 一致**（22/22）。
|
||||||
|
3. 入库后的 URDF 文件名：`linkerhand_g20_left.urdf`。
|
||||||
|
|
||||||
|
### 3.2 URDF 上我们改过什么
|
||||||
|
|
||||||
|
相对更早的 G20 URDF（历史上限曾为 `thumb_cmc_roll` **1.4**），当前仓库 URDF **已写入**：
|
||||||
|
|
||||||
|
| 改动项 | 具体内容 |
|
||||||
|
|--------|----------|
|
||||||
|
| `thumb_cmc_roll` 上限 | `upper="1.47"`（rad）；与映射表 `G20_L_MAX[5]=1.47`、Isaac 同步试调 |
|
||||||
|
| mimic（保留自原 URDF） | `thumb_ip` ← `thumb_mcp` × **1.02**；四指 `*_dip` ← `*_pip` × **0.89** |
|
||||||
|
| 其它关节限位 | 与 Isaac URDF 一致（见下表），未再改数值 |
|
||||||
|
|
||||||
|
**当前 URDF 关节限位（rad，与 MJCF `range` / actuator `ctrlrange` 一致）：**
|
||||||
|
|
||||||
|
| 关节 | lower | upper |
|
||||||
|
|------|-------|-------|
|
||||||
|
| `thumb_cmc_roll` | 0 | **1.47** |
|
||||||
|
| `thumb_cmc_yaw` | 0 | 1.57 |
|
||||||
|
| `thumb_cmc_pitch` | 0 | 0.84 |
|
||||||
|
| `thumb_mcp` | 0 | 1.26 |
|
||||||
|
| `thumb_ip` | 0 | 1.29 |
|
||||||
|
| 四指 `*_mcp_roll` | -0.23 | 0.23 |
|
||||||
|
| 四指 `*_mcp_pitch` | 0 | 1.22 |
|
||||||
|
| 四指 `*_pip` | 0 | 1.74 |
|
||||||
|
| 四指 `*_dip` | 0 | 1.55 |
|
||||||
|
|
||||||
|
说明：MuJoCo **不读取** URDF 的 `<mimic>`。mimic 在 Python 里用 `complete_g20_mimic_positions` 补全后硬写进 `qpos`。
|
||||||
|
|
||||||
|
### 3.3 转换步骤（URDF → MJCF）
|
||||||
|
|
||||||
|
仓库内 **没有** 保留可一键重跑的转换脚本；实际流程是：
|
||||||
|
|
||||||
|
1. **初转**：用 MuJoCo `MjSpec.from_file(urdf)` 编译得到骨架 MJCF（关节树、mesh、惯性）。
|
||||||
|
2. **手改定稿** 为当前 `linker_hand_g20_left.xml`（下列改动全部是相对「纯 URDF 导入结果」的人工修改）。
|
||||||
|
|
||||||
|
### 3.4 MJCF 相对 URDF / 纯导入结果的全部改动清单
|
||||||
|
|
||||||
|
#### A. 仿真选项与默认参数
|
||||||
|
|
||||||
|
| 项 | 写入值 |
|
||||||
|
|----|--------|
|
||||||
|
| `compiler` | `angle="radian" meshdir="meshes" balanceinertia="true"` |
|
||||||
|
| `option` | `timestep="0.002"`，`gravity="0 0 -9.81"`，`integrator="implicitfast"` |
|
||||||
|
| 默认 joint | `damping="0.15"`，`armature="0.01"` |
|
||||||
|
| 默认 position 执行器 | `kp="200"`，`kv="8"`，`forcelimited="true"`，`forcerange="-8 8"` |
|
||||||
|
|
||||||
|
#### B. 显示 / 碰撞分层（相对 URDF「全身 mesh 碰撞」）
|
||||||
|
|
||||||
|
| 类型 | 改动 |
|
||||||
|
|------|------|
|
||||||
|
| `class="visual"` | `type="mesh"`，`contype="0"`，`conaffinity="0"`，`group="2"` → **只显示，不参与碰撞** |
|
||||||
|
| 碰撞体 | **同视觉 STL 的凸包 mesh**（`type="mesh"` + `class="collision"`）：掌心 + 拇指三段 + 四指近/中/远节；比 AABB 更贴外形 |
|
||||||
|
| collision 默认 | `margin="0.0005"`，`friction="1 0.5 0.01"`，`solref="0.004 1"`，`solimp="0.9 0.95 0.001"` |
|
||||||
|
|
||||||
|
**当前碰撞体（与视觉共用同一 `meshes/*.STL`，MuJoCo 按凸包做碰撞）：**
|
||||||
|
|
||||||
|
| body | 类型 | 说明 |
|
||||||
|
|------|------|------|
|
||||||
|
| `hand_base` | mesh 凸包 | `hand_base_link.STL` |
|
||||||
|
| `thumb_metacarpals` / `thumb_proximal` / `thumb_distal` | mesh 凸包 | 同名 STL |
|
||||||
|
| 四指 `*_proximal` / `*_middle` / `*_distal` | mesh 凸包 | 同名 STL |
|
||||||
|
| 掌骨 metacarpals、拇指 base1/base2 | 无碰撞 geom | 仅 visual；与掌心假重叠靠 `exclude` |
|
||||||
|
|
||||||
|
说明：MuJoCo 对 mesh 碰撞使用 **凸包**，不能还原 STL 凹坑，但整体轮廓远比 AABB/手写胶囊贴近视觉；张开/半握无假碰，握拳可检出指尖↔掌心穿透。
|
||||||
|
|
||||||
|
#### C. `<contact><exclude>`（共 28 条）
|
||||||
|
|
||||||
|
用途：排除 **mesh/几何本就嵌套** 造成的假碰撞（张开姿态假重叠）。
|
||||||
|
|
||||||
|
- 掌心 `hand_base` ↔ 拇指 base1/base2/metacarpals、四指 metacarpals/proximal
|
||||||
|
- 拇指链相邻 / 隔代相邻
|
||||||
|
- 四指各自 metacarpals–proximal、proximal–middle、middle–distal
|
||||||
|
|
||||||
|
未 exclude 的对（如指尖↔掌心、邻指远端）仍可产生接触，供投影使用。
|
||||||
|
|
||||||
|
#### D. 执行器
|
||||||
|
|
||||||
|
- 为 **全部 21 个 hinge**（含 5 个 mimic 关节）各加一个 `<position name="*_pos" joint="...">`。
|
||||||
|
- `thumb_cmc_roll` 的 `ctrlrange="0.0 1.47"`（与 URDF 上限一致）。
|
||||||
|
- 默认硬写模式下主要靠写 `qpos`；`--pd-drive` 时才真正用这些执行器做 `mj_step`。
|
||||||
|
|
||||||
|
#### E. 命名差异
|
||||||
|
|
||||||
|
| URDF | MJCF |
|
||||||
|
|------|------|
|
||||||
|
| `<robot name="...">` | `<mujoco model="linker_hand_g20_left">` |
|
||||||
|
| link `hand_base_link` | body 名 `hand_base`（geom 仍引用 mesh `hand_base_link`） |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 4. 关节映射 `g20_joints.py`（相对 SDK / Isaac）
|
||||||
|
|
||||||
|
文件：`utils/g20_joints.py`。声明与 Isaac `joint_mapping.py` 的 G20 左手表对齐。
|
||||||
|
|
||||||
|
### 4.1 SDK 通道 → URDF 关节名
|
||||||
|
|
||||||
|
| SDK 索引 | 关节名 |
|
||||||
|
|----------|--------|
|
||||||
|
| 0 | `thumb_cmc_pitch` |
|
||||||
|
| 1–4 | `index/middle/ring/pinky_mcp_pitch` |
|
||||||
|
| 5 | `thumb_cmc_roll` |
|
||||||
|
| 6–9 | `index/middle/ring/pinky_mcp_roll` |
|
||||||
|
| 10 | `thumb_cmc_yaw` |
|
||||||
|
| 11–14 | **预留**（转换时跳过） |
|
||||||
|
| 15 | `thumb_mcp`（见 4.3） |
|
||||||
|
| 16–19 | `index/middle/ring/pinky_pip`（见 4.3） |
|
||||||
|
|
||||||
|
### 4.2 线性插值表（我们写入的数值）
|
||||||
|
|
||||||
|
```text
|
||||||
|
G20_L_MIN = [0,0,0,0,0, 0.0, -0.23,-0.23,-0.23,-0.23, 0.0, 0×4, 0×5]
|
||||||
|
G20_L_MAX = [0.84, 1.22×4, 1.47, 0.23×4, 1.57, 0×4, 1.29, 1.55×4]
|
||||||
|
G20_L_DIR = [-1×6, +1,+1,+1,+1, -1, 0×4, -1×5]
|
||||||
|
```
|
||||||
|
|
||||||
|
含义：
|
||||||
|
|
||||||
|
- `DIR == -1`：SDK `0 → MAX`，`255 → MIN`（多数弯曲通道）。
|
||||||
|
- `DIR == +1`（仅侧摆 6..9）：SDK `0 → MIN`，`255 → MAX`（左手侧摆与 retarget/`g20_mapping` 一致）。
|
||||||
|
- 通道 5 上限 **1.47**（相对历史 1.4 的试调，已写进 URDF/MJCF/Isaac）。
|
||||||
|
|
||||||
|
### 4.3 SDK 15–19 的「除 mimic」规则（与 Isaac 相同，必须写清）
|
||||||
|
|
||||||
|
SDK 通道语义不是「直接写主动关节弧度」，而是电机/指尖弧度空间：
|
||||||
|
|
||||||
|
| SDK | 先算出的弧度 `arc` | 写入主动关节 |
|
||||||
|
|-----|-------------------|--------------|
|
||||||
|
| 15 | 按 `G20_L_*` 插值得到 | `thumb_mcp = arc / 1.02` |
|
||||||
|
| 16–19 | 同上 | `*_pip = arc / 0.89` |
|
||||||
|
|
||||||
|
然后再：
|
||||||
|
|
||||||
|
- `thumb_ip = thumb_mcp * 1.02`
|
||||||
|
- `*_dip = *_pip * 0.89`
|
||||||
|
|
||||||
|
若漏掉「除 mimic」，DIP/IP 会整体偏大，表现为关节对不上 Isaac。
|
||||||
|
|
||||||
|
### 4.4 张开预设
|
||||||
|
|
||||||
|
```text
|
||||||
|
G20_OPEN_CMD = [
|
||||||
|
255,255,255,255,255,255,
|
||||||
|
193,148,105,42, # 四指侧摆
|
||||||
|
245, # thumb_cmc_yaw
|
||||||
|
255,255,255,255, # 预留
|
||||||
|
255,255,255,255,255 # 15..19
|
||||||
|
]
|
||||||
|
```
|
||||||
|
|
||||||
|
`open_hand_positions()` / `half_fist_positions()` 基于此生成测试姿态。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 5. 桥节点 `g20_plan_bridge.py` 做了哪些事
|
||||||
|
|
||||||
|
### 5.1 话题
|
||||||
|
|
||||||
|
| 方向 | 默认话题 | 内容 |
|
||||||
|
|------|----------|------|
|
||||||
|
| 订阅（默认） | `/g20/cb_left_hand_control_cmd` | `position` 0~255，取前 20，不足补 255 |
|
||||||
|
| 订阅（`--plan-nominal`） | `/retarget/g20/left/joint_target_nominal` | 按关节名弧度 |
|
||||||
|
| 发布 | `/sim/mujoco/g20/left/joint_state` | 全部 hinge 的 name/position/velocity，50 Hz |
|
||||||
|
|
||||||
|
### 5.2 默认驱动：运动学硬写
|
||||||
|
|
||||||
|
- **默认**（无 `--pd-drive`）：把 `applied` 写入 `data.qpos` 与对应 `ctrl`，`qvel=0`，调用 `mj_forward`；**不调用** `mj_step`。
|
||||||
|
- **`--pd-drive`**：写 `ctrl` → `mj_step` → 用真实 `qpos` 回写 `applied`（跟手变差，接触可挡，一般不作为默认）。
|
||||||
|
|
||||||
|
### 5.3 速度相关默认值（相对「瞬移」做过的调参）
|
||||||
|
|
||||||
|
| 常量 | 值 | 含义 |
|
||||||
|
|------|-----|------|
|
||||||
|
| `DEFAULT_SPEED` | `1.35` | 相对墙钟倍率 |
|
||||||
|
| `DEFAULT_SLEW_RAD_S` | `5.0` | 关节逼近 goal 的最大角速度 (rad/s)；`0` = 瞬移 |
|
||||||
|
| `sim_dt` | `0.002`（来自 MJCF） | 每步最大转角 ≈ `5.0 * 0.002 = 0.01` rad |
|
||||||
|
|
||||||
|
### 5.4 防穿模：`collision_project`（硬写专用，默认开）
|
||||||
|
|
||||||
|
相对早期实现，做过这些关键修正：
|
||||||
|
|
||||||
|
| 版本问题 | 改动 |
|
||||||
|
|----------|------|
|
||||||
|
| 仅靠 STL 自碰 | 改为 visual（不碰）+ **同 STL 凸包 collision** |
|
||||||
|
| 「相对上一帧更深才算穿」 | 改为 **绝对** 判据：`min(contact.dist) < -5e-4` 即穿 |
|
||||||
|
| 关节空间整体二分 | 拇指撞掌心会拖死四指 → 改为 **按主动关节、Δq 从大到小** 逐关节接受或二分 |
|
||||||
|
| 仍穿模 | 回退 `_last_safe_pose` |
|
||||||
|
|
||||||
|
开关：
|
||||||
|
|
||||||
|
- 默认：开（且仅在硬写模式生效）
|
||||||
|
- `--no-collision-project`：关
|
||||||
|
- `--track-test`：强制关投影，且 `slew=0`，方便验收跟手误差 ≤ 0.02 rad
|
||||||
|
|
||||||
|
常量：`PENETRATION_TOL_M = 5e-4`，`COLLISION_PROJECT_ITERS = 12`。
|
||||||
|
|
||||||
|
### 5.5 线程安全（修过闪退）
|
||||||
|
|
||||||
|
- `threading.Lock` 保护 `MjData`。
|
||||||
|
- ROS 回调 **只** 更新 `goal` / `track_nominal`（`_set_goal_only`），**禁止**在回调里碰 `MjData`。
|
||||||
|
- 主循环持锁调用 `step_simulation_unlocked()`；发 state 时持锁读 `qpos/qvel`。
|
||||||
|
|
||||||
|
### 5.6 对比视角（与 Isaac 对齐）
|
||||||
|
|
||||||
|
| 常量 | 值 |
|
||||||
|
|------|-----|
|
||||||
|
| `COMPARE_LOOKAT` | `(0.04, -0.04, 0.12)` |
|
||||||
|
| `COMPARE_DISTANCE` | `0.50` |
|
||||||
|
| `COMPARE_AZIMUTH` | `180.0`（从 +X 看向掌心） |
|
||||||
|
| `COMPARE_ELEVATION` | `-12.0` |
|
||||||
|
|
||||||
|
手模型放在世界原点；Isaac 手有安装偏置，但 lookat 本地坐标与 elevation/distance 相同。
|
||||||
|
|
||||||
|
### 5.7 启动时校验
|
||||||
|
|
||||||
|
- 用 `G20_ALL_JOINT_NAMES` 检查 MJCF 是否缺关节；缺则 **直接退出**。
|
||||||
|
- 缺 position actuator 也会报错退出。
|
||||||
|
|
||||||
|
### 5.8 其它明确改动
|
||||||
|
|
||||||
|
- **不** import 真机包 `linker_hand_ros2_sdk`（只兼容同话题协议）。
|
||||||
|
- **不** 写死 `ROS_DOMAIN_ID`（启动脚本里曾有过，已去掉）。
|
||||||
|
- 退出用 `os._exit`，规避 rclpy/mujoco 析构 abort。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 6. 如何启动
|
||||||
|
|
||||||
|
```bash
|
||||||
|
cd /home/lxqs/linker_hand_mujoco_ros2
|
||||||
|
./run_g20_mujoco_plan.sh
|
||||||
|
```
|
||||||
|
|
||||||
|
脚本会：`source /opt/ros/jazzy` → 可选 `install/setup.bash` → 把 `venv` site-packages 与包源码加入 `PYTHONPATH` →
|
||||||
|
`python3 -m linker_hand_mujoco_ros2.g20_plan_bridge`。
|
||||||
|
|
||||||
|
常用参数：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
./run_g20_mujoco_plan.sh --plan-nominal
|
||||||
|
./run_g20_mujoco_plan.sh --pd-drive
|
||||||
|
./run_g20_mujoco_plan.sh --no-collision-project
|
||||||
|
./run_g20_mujoco_plan.sh --speed 0.5 --slew-rad-s 3
|
||||||
|
./run_g20_mujoco_plan.sh --headless --track-test --max-steps 800
|
||||||
|
```
|
||||||
|
|
||||||
|
Launch（无参数透传，调参请用 shell）：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
ros2 launch linker_hand_mujoco_ros2 g20_plan_bridge.launch.py
|
||||||
|
```
|
||||||
|
|
||||||
|
测试半握示例：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
ros2 topic pub -r 20 /g20/cb_left_hand_control_cmd sensor_msgs/msg/JointState \
|
||||||
|
"{position: [80,80,80,80,80,255,193,148,105,42,245,255,255,255,255,80,80,80,80,80]}"
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 7. 已知限制（实现层面）
|
||||||
|
|
||||||
|
1. 硬写 + 投影 **不是** 真接触动力学；碰到凸包后关节会停在接触边界，不会「挤过去」。
|
||||||
|
2. 碰撞是 **凸包**，凹进去的视觉细节不会产生接触；比 AABB 贴，但仍可能与非凸视觉有细微差别。
|
||||||
|
3. 大量 `exclude` 关掉了掌心–近端假碰；真实可碰区域依赖开启碰撞的那些 link。
|
||||||
|
4. mimic 只在软件层保证；物理引擎内无 URDF mimic 约束。
|
||||||
|
5. 仅左手 G20；右手未做。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 8. 改动 chronologically（便于对照 Git / 联调）
|
||||||
|
|
||||||
|
1. 拷贝 G20 URDF + meshes，生成带 position actuator 的 MJCF。
|
||||||
|
2. 实现 `g20_joints.py`（对齐 Isaac；含 SDK15–19 除 mimic）。
|
||||||
|
3. 实现桥：名校验、订 nominal / legacy、发 `/sim/mujoco/...`。
|
||||||
|
4. 修回调碰 `MjData` 导致的闪退 → 回调只改 goal。
|
||||||
|
5. 话题改为 `/g20/cb_left_hand_control_cmd`；去掉脚本里 DOMAIN。
|
||||||
|
6. 调 `speed` / `slew` 到当前默认。
|
||||||
|
7. 拇指 `max=1.47` 写入映射 + URDF/MJCF。
|
||||||
|
8. 视角 `COMPARE_*` 与 Isaac 对齐。
|
||||||
|
9. 默认保持硬写；加碰撞投影；后改为绝对穿透 + **mesh 凸包碰撞** + 按关节投影。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 9. 与 Isaac 的对照摘要
|
||||||
|
|
||||||
|
| 项 | MuJoCo（本文） | Isaac |
|
||||||
|
|----|----------------|-------|
|
||||||
|
| 模型格式 | MJCF | 预烘焙 USD（非运行时 URDF 导入） |
|
||||||
|
| 状态话题 | `/sim/mujoco/g20/left/joint_state` | `/sim/isaac/g20/left/joint_state` |
|
||||||
|
| 映射表 | `g20_joints.py` | `joint_mapping.py`（G20 左手数值一致） |
|
||||||
|
| 默认驱动 | 硬写 qpos | 硬写 `set_dof_positions` |
|
||||||
|
| 防穿模 | mesh 凸包 + `collision_project` | USD 选择性 collider + PhysX 自碰 |
|
||||||
|
| slew | 默认 5 rad/s | 默认 0（每物理步瞬达） |
|
||||||
@@ -0,0 +1,457 @@
|
|||||||
|
# G20 左手 · MuJoCo 技术详解
|
||||||
|
|
||||||
|
本文面向**读代码、改逻辑、排查问题**：按「程序从哪进、函数怎么调、数据怎么流」写清楚实现细节。
|
||||||
|
资产路径、URDF/MJCF 改动清单见 [`G20_MuJoCo_实现说明.md`](./G20_MuJoCo_实现说明.md)。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 1. 总体结构：两个线程、三块逻辑
|
||||||
|
|
||||||
|
```text
|
||||||
|
┌─────────────────────────────────────────────────────────────┐
|
||||||
|
│ ROS 线程 (daemon) │
|
||||||
|
│ rclpy.spin_once() │
|
||||||
|
│ → _on_legacy_cmd() / _on_nominal() │
|
||||||
|
│ → set_nominal_targets() → _set_goal_only() │
|
||||||
|
│ → 只改 goal / track_nominal（持锁） │
|
||||||
|
│ → 绝不碰 model / data │
|
||||||
|
├─────────────────────────────────────────────────────────────┤
|
||||||
|
│ 主线程（仿真循环） │
|
||||||
|
│ with lock: step_simulation_unlocked() │
|
||||||
|
│ → _slew_applied_unlocked() # goal → applied │
|
||||||
|
│ → _project_applied_...() # 防穿模（默认开） │
|
||||||
|
│ → _hard_write_pose_unlocked() # applied → qpos │
|
||||||
|
│ → mujoco.mj_forward() # 更新运动学+接触 │
|
||||||
|
│ viewer.sync() / _pace() │
|
||||||
|
├─────────────────────────────────────────────────────────────┤
|
||||||
|
│ 定时器线程 (50Hz) │
|
||||||
|
│ _publish_state() → /sim/mujoco/g20/left/joint_state │
|
||||||
|
└─────────────────────────────────────────────────────────────┘
|
||||||
|
```
|
||||||
|
|
||||||
|
**核心状态变量（`G20PlanBridge` 内）：**
|
||||||
|
|
||||||
|
| 变量 | 类型 | 含义 |
|
||||||
|
|------|------|------|
|
||||||
|
| `goal` | `dict[str, float]` | 最新目标关节角（弧度，含 mimic） |
|
||||||
|
| `applied` | `dict[str, float]` | 本步实际要写入仿真的角（slew + 投影后） |
|
||||||
|
| `_last_safe_pose` | `dict[str, float]` | 上一次「无穿透」的 applied，投影失败时回退 |
|
||||||
|
| `track_nominal` | `dict[str, float] \| None` | 仅主动关节，供 `tracking_error()` 验收 |
|
||||||
|
|
||||||
|
**为什么分 `goal` 和 `applied`？**
|
||||||
|
`goal` 可以瞬间跳到新命令；`applied` 按 `slew_rad_s` 逐步逼近，且碰撞投影可能让 `applied` 停在比 `goal` 更「开」的位置。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 2. 程序入口：`main()` 调用链
|
||||||
|
|
||||||
|
入口：`python3 -m linker_hand_mujoco_ros2.g20_plan_bridge`（或 `run_g20_mujoco_plan.sh`）。
|
||||||
|
|
||||||
|
```text
|
||||||
|
main()
|
||||||
|
├── parse_args() # CLI 参数
|
||||||
|
├── mujoco.MjModel.from_xml_path(xml) # 加载 MJCF
|
||||||
|
├── mujoco.MjData(model)
|
||||||
|
├── mujoco.mj_forward(model, data) # 初始化前向
|
||||||
|
├── validate_model_joint_names(names) # 关节名必须齐全
|
||||||
|
├── rclpy.init()
|
||||||
|
├── G20PlanBridge.__init__(...) # 建桥、订/发话题、初始 open 姿态
|
||||||
|
├── threading.Thread(spin_ros) # ROS 回调线程
|
||||||
|
└── while running:
|
||||||
|
with bridge.lock:
|
||||||
|
bridge.step_simulation_unlocked()
|
||||||
|
viewer.sync() / _pace()
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2.1 `main()` 里与模式相关的赋值
|
||||||
|
|
||||||
|
```python
|
||||||
|
use_legacy = args.legacy_sdk and not args.plan_nominal # 默认订 0~255
|
||||||
|
slew_rad_s = 0.0 if args.track_test else args.slew_rad_s
|
||||||
|
collision_project = (not args.no_collision_project) and (not args.track_test)
|
||||||
|
use_pd_drive = args.pd_drive and not args.track_test
|
||||||
|
```
|
||||||
|
|
||||||
|
| 模式 | `hard_kinematic` | `collision_project` | `slew_rad_s` |
|
||||||
|
|------|------------------|---------------------|--------------|
|
||||||
|
| 默认 | True | True | 5.0 |
|
||||||
|
| `--pd-drive` | False | False（仅硬写模式有效） | 5.0 |
|
||||||
|
| `--no-collision-project` | True | False | 5.0 |
|
||||||
|
| `--track-test` | True | False | 0（瞬达） |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 3. 初始化：`G20PlanBridge.__init__`
|
||||||
|
|
||||||
|
```text
|
||||||
|
G20PlanBridge.__init__
|
||||||
|
├── build_joint_maps(model)
|
||||||
|
│ → joint_qpos[name] # 关节名 → qpos 下标
|
||||||
|
│ → joint_dof[name] # 关节名 → qvel 下标
|
||||||
|
│ → joint_lo/hi[name] # MJCF range
|
||||||
|
│ → act_id[name] # 关节名 → actuator 下标
|
||||||
|
├── validate_model_joint_names(...)
|
||||||
|
├── open_full = open_hand_positions() # 见 §4
|
||||||
|
├── goal = applied = open_full
|
||||||
|
├── _set_goal_only(open_full)
|
||||||
|
├── slew_rad_s 临时置 0 → _slew_applied_unlocked() → _hard_write_applied_unlocked()
|
||||||
|
├── _last_safe_pose = applied
|
||||||
|
├── create_subscription(_on_legacy_cmd 或 _on_nominal)
|
||||||
|
├── create_publisher(sim_state)
|
||||||
|
└── create_timer(50Hz, _publish_state)
|
||||||
|
```
|
||||||
|
|
||||||
|
### 3.1 `build_joint_maps(model)`
|
||||||
|
|
||||||
|
遍历 `model.njnt`，只保留 **hinge**（`mjJNT_HINGE`）：
|
||||||
|
|
||||||
|
```python
|
||||||
|
name = mujoco.mj_id2name(model, mjOBJ_JOINT, i)
|
||||||
|
joint_qpos[name] = model.jnt_qposadr[i]
|
||||||
|
joint_dof[name] = model.jnt_dofadr[i]
|
||||||
|
joint_lo/hi = model.jnt_range[i]
|
||||||
|
```
|
||||||
|
|
||||||
|
遍历 `model.nu` 找 position actuator：优先匹配 `<joint>_pos` 命名。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 4. 映射层：`g20_joints.py` 函数说明
|
||||||
|
|
||||||
|
外部命令（0~255 或弧度）最终都要变成 **`dict[关节名, 弧度]`**，且 mimic 关节要补全。
|
||||||
|
|
||||||
|
### 4.1 调用关系（legacy SDK 路径）
|
||||||
|
|
||||||
|
```text
|
||||||
|
_on_legacy_cmd(msg)
|
||||||
|
vals = msg.position[:20] # 不足补 255
|
||||||
|
sdk_range_to_full_urdf_positions(vals)
|
||||||
|
├── sdk_range_to_urdf_positions(vals)
|
||||||
|
│ ├── range_to_arc_g20_left(vals) # 20 维弧度
|
||||||
|
│ └── 按 L20_SDK_TO_URDF 填主动关节
|
||||||
|
│ SDK15 → thumb_mcp = arc/1.02
|
||||||
|
│ SDK16..19 → *_pip = arc/0.89
|
||||||
|
└── complete_g20_mimic_positions(...)
|
||||||
|
thumb_ip = thumb_mcp * 1.02
|
||||||
|
index_dip = index_pip * 0.89
|
||||||
|
...
|
||||||
|
set_nominal_targets(full)
|
||||||
|
└── _set_goal_only(full)
|
||||||
|
```
|
||||||
|
|
||||||
|
### 4.2 `range_to_arc_g20_left(values)` — 单通道怎么算
|
||||||
|
|
||||||
|
对每个 SDK 索引 `i`（跳过 11~14）：
|
||||||
|
|
||||||
|
```python
|
||||||
|
val = clamp(values[i], 0, 255)
|
||||||
|
if G20_L_DIR[i] == -1:
|
||||||
|
arc = lerp(val, 0, 255, G20_L_MAX[i], G20_L_MIN[i]) # 0→MAX, 255→MIN
|
||||||
|
else:
|
||||||
|
arc = lerp(val, 0, 255, G20_L_MIN[i], G20_L_MAX[i]) # 侧摆 6..9
|
||||||
|
```
|
||||||
|
|
||||||
|
**例子：** `index_mcp_pitch` 是 SDK 1，`DIR=-1`，`MAX=1.22`，`MIN=0`
|
||||||
|
→ SDK `0` 得 `1.22` rad（弯到底），SDK `255` 得 `0`（伸直）。
|
||||||
|
|
||||||
|
### 4.3 `sdk_range_to_urdf_positions` — SDK15/16~19 特殊处理
|
||||||
|
|
||||||
|
```python
|
||||||
|
# SDK 15：电机语义是「指尖弧度空间」
|
||||||
|
out["thumb_mcp"] = arc / 1.02
|
||||||
|
|
||||||
|
# SDK 16..19：电机语义是「DIP 弧度空间」，写入的是 pip
|
||||||
|
out["index_pip"] = arc / 0.89 # 同理 middle/ring/pinky
|
||||||
|
```
|
||||||
|
|
||||||
|
漏掉除法会导致仿真关节比真机/Isaac 偏大。
|
||||||
|
|
||||||
|
### 4.4 `complete_g20_mimic_positions(positions)`
|
||||||
|
|
||||||
|
```python
|
||||||
|
for mimic, (master, ratio) in G20_MIMIC_OF.items():
|
||||||
|
if mimic not in out and master in out:
|
||||||
|
out[mimic] = out[master] * ratio
|
||||||
|
```
|
||||||
|
|
||||||
|
若调用方已给出 `index_dip`，则**不覆盖**。
|
||||||
|
|
||||||
|
### 4.5 PLAN 名义弧度路径
|
||||||
|
|
||||||
|
```text
|
||||||
|
_on_nominal(msg)
|
||||||
|
incoming = {msg.name[i]: msg.position[i]}
|
||||||
|
set_nominal_targets(merged)
|
||||||
|
└── _set_goal_only(merged)
|
||||||
|
complete_g20_mimic_positions(merged) # 补 dip/ip
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 5. 仿真一步：`step_simulation_unlocked()`
|
||||||
|
|
||||||
|
**调用方必须已持有 `self.lock`。**
|
||||||
|
|
||||||
|
### 5.1 默认模式（运动学硬写 + 碰撞投影）
|
||||||
|
|
||||||
|
```python
|
||||||
|
def step_simulation_unlocked(self):
|
||||||
|
prev = dict(self.applied) # ① 记下上一帧姿态
|
||||||
|
self._slew_applied_unlocked() # ② goal → applied（限速）
|
||||||
|
if self.hard_kinematic:
|
||||||
|
if self.collision_project:
|
||||||
|
self._project_applied_no_penetration_unlocked(prev) # ③
|
||||||
|
else:
|
||||||
|
self._hard_write_applied_unlocked() # ③'
|
||||||
|
return # ④ 不调用 mj_step
|
||||||
|
# --pd-drive 分支见 §5.3
|
||||||
|
```
|
||||||
|
|
||||||
|
### 5.2 `_slew_applied_unlocked()` — 限速逼近
|
||||||
|
|
||||||
|
```python
|
||||||
|
max_step = slew_rad_s * sim_dt # 默认 5.0 * 0.002 = 0.01 rad/步
|
||||||
|
for name, target in self.goal.items():
|
||||||
|
cur = applied[name]
|
||||||
|
delta = target - cur
|
||||||
|
if abs(delta) <= max_step:
|
||||||
|
applied[name] = target
|
||||||
|
else:
|
||||||
|
applied[name] = cur + sign(delta) * max_step
|
||||||
|
applied[name] = clip(applied[name], joint_lo, joint_hi)
|
||||||
|
```
|
||||||
|
|
||||||
|
`slew_rad_s == 0` 时 `max_step is None`，直接 `applied = goal`。
|
||||||
|
|
||||||
|
### 5.3 `_hard_write_pose_unlocked(pose)` — 写入 MuJoCo
|
||||||
|
|
||||||
|
对每个关节名：
|
||||||
|
|
||||||
|
```python
|
||||||
|
self.data.qpos[joint_qpos[name]] = val
|
||||||
|
self.data.qvel[joint_dof[name]] = 0.0
|
||||||
|
self.data.ctrl[act_id[name]] = val # 同步执行器目标
|
||||||
|
self.data.qvel[:] = 0.0
|
||||||
|
mujoco.mj_forward(self.model, self.data)
|
||||||
|
```
|
||||||
|
|
||||||
|
**`mj_forward` 做什么：** 根据当前 `qpos` 更新 body 位姿、碰撞几何位置，并填充 `data.contact`（`ncon`、`contact[i].dist`）。
|
||||||
|
**不调用 `mj_step`**：没有积分、没有力矩求解，纯运动学。
|
||||||
|
|
||||||
|
### 5.4 `_project_applied_no_penetration_unlocked(prev)` — 防穿模（重点）
|
||||||
|
|
||||||
|
**目的：** `applied` 朝 `goal` 走了一步后，若 mesh 凸包穿透，则缩小步进，且**按关节**处理，避免拇指撞掌心时四指一起被卡住。
|
||||||
|
|
||||||
|
**穿透判定：**
|
||||||
|
|
||||||
|
```python
|
||||||
|
def _worst_penetration_unlocked(self):
|
||||||
|
worst = 0.0
|
||||||
|
for i in range(data.ncon):
|
||||||
|
worst = min(worst, data.contact[i].dist)
|
||||||
|
return worst # 负值 = 重叠深度（米）
|
||||||
|
|
||||||
|
def _is_penetrating_unlocked(self):
|
||||||
|
return _worst_penetration_unlocked() < -5e-4 # PENETRATION_TOL_M
|
||||||
|
```
|
||||||
|
|
||||||
|
`contact[i].dist`：两碰撞体表面距离；**负**表示已经穿进去。
|
||||||
|
|
||||||
|
**算法步骤：**
|
||||||
|
|
||||||
|
```text
|
||||||
|
cand = complete_g20_mimic_positions(applied) # slew 后的候选
|
||||||
|
_hard_write_pose_unlocked(cand)
|
||||||
|
if not penetrating:
|
||||||
|
applied = cand; _last_safe_pose = cand; return
|
||||||
|
|
||||||
|
# 有穿透：从安全起点 base 开始
|
||||||
|
_hard_write_pose_unlocked(prev)
|
||||||
|
if penetrating(prev):
|
||||||
|
base = complete_g20_mimic_positions(_last_safe_pose)
|
||||||
|
else:
|
||||||
|
base = complete_g20_mimic_positions(prev)
|
||||||
|
|
||||||
|
# 按 |cand[name]-base[name]| 从大到小排序主动关节
|
||||||
|
for name in order:
|
||||||
|
target = cand[name]
|
||||||
|
trial = complete_g20_mimic_positions({**base, name: target})
|
||||||
|
_hard_write_pose_unlocked(trial)
|
||||||
|
if not penetrating:
|
||||||
|
base = trial # 该关节可走到位
|
||||||
|
continue
|
||||||
|
# 否则在 [cur, target] 上二分 12 次
|
||||||
|
for _ in range(12):
|
||||||
|
mid = (lo+hi)/2
|
||||||
|
trial = complete_g20_mimic_positions({**base, name: mid})
|
||||||
|
_hard_write_pose_unlocked(trial)
|
||||||
|
if penetrating: hi = mid
|
||||||
|
else: lo = mid; best = trial
|
||||||
|
base = best
|
||||||
|
|
||||||
|
applied = complete_g20_mimic_positions(base)
|
||||||
|
_hard_write_pose_unlocked(applied)
|
||||||
|
if still penetrating:
|
||||||
|
applied = _last_safe_pose; 硬写回退
|
||||||
|
else:
|
||||||
|
_last_safe_pose = applied
|
||||||
|
```
|
||||||
|
|
||||||
|
**注意：** 每次试姿态都要 `complete_g20_mimic_positions`，因为改 `thumb_mcp` 会带动 `thumb_ip`。
|
||||||
|
|
||||||
|
### 5.5 `--pd-drive` 分支
|
||||||
|
|
||||||
|
```python
|
||||||
|
self._ctrl_from_applied_unlocked() # data.ctrl[act_id] = applied
|
||||||
|
mujoco.mj_step(self.model, self.data) # PhysX 式积分+接触力
|
||||||
|
self._sync_applied_from_qpos_unlocked() # applied 跟真实 qpos
|
||||||
|
```
|
||||||
|
|
||||||
|
此时靠 MuJoCo 执行器 + 接触求解，**不用** `collision_project`。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 6. ROS 回调与发布
|
||||||
|
|
||||||
|
### 6.1 Legacy 命令
|
||||||
|
|
||||||
|
```python
|
||||||
|
def _on_legacy_cmd(self, msg):
|
||||||
|
vals = [float(x) for x in msg.position[:20]]
|
||||||
|
while len(vals) < 20: vals.append(255.0)
|
||||||
|
full = sdk_range_to_full_urdf_positions(vals)
|
||||||
|
self.set_nominal_targets(full) # → _set_goal_only
|
||||||
|
```
|
||||||
|
|
||||||
|
### 6.2 状态发布（50Hz）
|
||||||
|
|
||||||
|
```python
|
||||||
|
def _publish_state(self):
|
||||||
|
with self.lock:
|
||||||
|
for name in ordered_names:
|
||||||
|
pos.append(data.qpos[joint_qpos[name]])
|
||||||
|
vel.append(data.qvel[joint_dof[name]])
|
||||||
|
pub.publish(JointState(...))
|
||||||
|
```
|
||||||
|
|
||||||
|
读 `qpos` 也持锁，避免与仿真步并发写 `MjData`。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 7. MJCF 碰撞：如何配合 `mj_forward`
|
||||||
|
|
||||||
|
### 7.1 双层 geom
|
||||||
|
|
||||||
|
每个要显示的 link 上通常有两个 geom：
|
||||||
|
|
||||||
|
```xml
|
||||||
|
<geom class="visual" mesh="index_proximal"/> <!-- contype=0，不碰 -->
|
||||||
|
<geom class="collision" type="mesh" mesh="index_proximal"/> <!-- 凸包碰撞 -->
|
||||||
|
```
|
||||||
|
|
||||||
|
- **visual**：`contype=0 conaffinity=0`，只渲染。
|
||||||
|
- **collision**：`contype=1 conaffinity=1`，MuJoCo 对 STL 自动生成**凸包**做碰撞。
|
||||||
|
|
||||||
|
有碰撞的 body：**掌心** + **拇指三段** + **四指近/中/远节**（共 16 个 collision geom）。
|
||||||
|
掌骨 `*_metacarpals`、拇指 `base1/base2` **无** collision geom。
|
||||||
|
|
||||||
|
### 7.2 `contact/exclude`（28 条）
|
||||||
|
|
||||||
|
排除「几何嵌套」导致的假接触，例如：
|
||||||
|
|
||||||
|
```xml
|
||||||
|
<exclude body1="hand_base" body2="index_proximal"/>
|
||||||
|
<exclude body1="index_proximal" body2="index_middle"/>
|
||||||
|
```
|
||||||
|
|
||||||
|
张开手时这些对不应产生 `ncon`；握拳时**指尖↔掌心**、**邻指远端**仍可接触，供投影使用。
|
||||||
|
|
||||||
|
### 7.3 碰撞检测在代码里何时发生
|
||||||
|
|
||||||
|
每次 `_hard_write_pose_unlocked` 末尾调用 `mujoco.mj_forward` 后：
|
||||||
|
|
||||||
|
- `data.ncon`：接触对数量
|
||||||
|
- `data.contact[i].dist`：距离（负=穿透）
|
||||||
|
|
||||||
|
投影逻辑只读这些字段，**不**施加接触力。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 8. 完整时序例子：收到半握命令后的一帧
|
||||||
|
|
||||||
|
假设上一帧 `applied` 已是张开，`goal` 刚被 `_on_legacy_cmd` 设为半握弧度。
|
||||||
|
|
||||||
|
```text
|
||||||
|
1. 主线程 step_simulation_unlocked()
|
||||||
|
2. prev = applied（张开）
|
||||||
|
3. _slew_applied_unlocked()
|
||||||
|
index_pip: 0.0 → min(0.01, 目标-0) = 0.01 … 各关节类似
|
||||||
|
4. _project_applied_no_penetration_unlocked(prev)
|
||||||
|
cand = complete(applied)
|
||||||
|
_hard_write_pose_unlocked(cand) → mj_forward → 检查 ncon
|
||||||
|
若无穿透：applied=cand，结束
|
||||||
|
若有穿透：按关节二分缩小，更新 applied
|
||||||
|
5. （③ 里已硬写）viewer 显示新姿态
|
||||||
|
6. 定时器 _publish_state 读出 qpos 发布
|
||||||
|
```
|
||||||
|
|
||||||
|
ROS 回调可能在步骤 3 与 4 之间再次更新 `goal`；因持锁，要么整步完成后再处理新消息，要么下一步再 slew。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 9. 自检：`--track-test` 函数路径
|
||||||
|
|
||||||
|
```text
|
||||||
|
main()
|
||||||
|
bridge.set_nominal_targets(open_hand_positions())
|
||||||
|
loop step=0..199:
|
||||||
|
step_simulation_unlocked() # slew=0，无投影，瞬到 open
|
||||||
|
step==200:
|
||||||
|
bridge.set_nominal_targets(half_fist_positions())
|
||||||
|
step==600:
|
||||||
|
tracking_error() → max|q_sim - q_nominal| 主动关节
|
||||||
|
max <= 0.02 → PASS
|
||||||
|
```
|
||||||
|
|
||||||
|
`half_fist_positions()`：复制 `G20_OPEN_CMD`，把通道 `0..4, 15..19` 设为 `80`，再 `sdk_range_to_full_urdf_positions`。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 10. 常用 MuJoCo API 速查（本工程用到的）
|
||||||
|
|
||||||
|
| API | 用途 |
|
||||||
|
|-----|------|
|
||||||
|
| `MjModel.from_xml_path(path)` | 加载 MJCF |
|
||||||
|
| `mj_forward(model, data)` | 运动学前向 + 碰撞检测 |
|
||||||
|
| `mj_step(model, data)` | 动力学步进（仅 `--pd-drive`） |
|
||||||
|
| `mj_id2name(model, mjOBJ_JOINT, i)` | 关节名 |
|
||||||
|
| `data.qpos[adr]` / `data.qvel[adr]` | 广义坐标 |
|
||||||
|
| `data.ncon` / `data.contact[i].dist` | 接触对与穿透深度 |
|
||||||
|
| `viewer.launch_passive` + `cam.lookat/distance/azimuth/elevation` | 对比视角 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 11. 改代码时最常动的位置
|
||||||
|
|
||||||
|
| 需求 | 改哪里 |
|
||||||
|
|------|--------|
|
||||||
|
| SDK→弧度映射、张开/半握预设 | `utils/g20_joints.py` |
|
||||||
|
| 限速、穿透阈值、投影迭代次数 | `g20_plan_bridge.py` 顶部常量 |
|
||||||
|
| 默认驱动/投影开关 | `G20PlanBridge.__init__` 或 CLI |
|
||||||
|
| 碰撞形状、exclude | `linker_hand_g20_left.xml` |
|
||||||
|
| 话题名 | `TOPIC_*` 常量或 CLI |
|
||||||
|
| 对比相机 | `COMPARE_*` + `main()` 里 `viewer.cam.*` |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 12. 与 Isaac 桥的对应关系（读代码对照用）
|
||||||
|
|
||||||
|
| MuJoCo | Isaac (`isaac_g20_plan_bridge.py`) |
|
||||||
|
|--------|--------------------------------------|
|
||||||
|
| `sdk_range_to_full_urdf_positions` | `joint_mapping.sdk_range_to_full_urdf_positions` |
|
||||||
|
| `_hard_write_pose` / `set_dof_positions` | 默认都是位置硬写 |
|
||||||
|
| `collision_project` + `mj_forward` | **无**；靠 USD 选择性 collider |
|
||||||
|
| `slew_rad_s`（rad/s） | `slew_rad`（rad/物理步，默认 0） |
|
||||||
|
| `/sim/mujoco/g20/left/joint_state` | `/sim/isaac/g20/left/joint_state` |
|
||||||
|
|
||||||
|
Isaac 对照见 [`G20_Isaac_技术详解.md`](./G20_Isaac_技术详解.md) / [`G20_Isaac_实现说明.md`](./G20_Isaac_实现说明.md)。
|
||||||
Executable
+28
@@ -0,0 +1,28 @@
|
|||||||
|
#!/usr/bin/env bash
|
||||||
|
# MuJoCo G20 左手仿真桥
|
||||||
|
# 默认订阅 /g20/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 "${BASH_SOURCE[0]}")" && pwd)"
|
||||||
|
cd "$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:+:$PYTHONPATH}"
|
||||||
|
|
||||||
|
exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge "$@"
|
||||||
@@ -0,0 +1,17 @@
|
|||||||
|
from launch import LaunchDescription
|
||||||
|
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]
|
||||||
|
"""
|
||||||
|
return LaunchDescription([
|
||||||
|
Node(
|
||||||
|
package="linker_hand_mujoco_ros2",
|
||||||
|
executable="g20_plan_bridge",
|
||||||
|
name="g20_mujoco_plan_bridge",
|
||||||
|
output="screen",
|
||||||
|
),
|
||||||
|
])
|
||||||
+677
@@ -0,0 +1,677 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
"""MuJoCo G20 左手仿真桥。
|
||||||
|
|
||||||
|
默认：
|
||||||
|
订阅 /g20/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）。
|
||||||
|
默认按墙钟实时步进（``--speed`` 可调；``--no-realtime`` 尽快跑）。
|
||||||
|
"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import argparse
|
||||||
|
import os
|
||||||
|
import signal
|
||||||
|
import sys
|
||||||
|
import threading
|
||||||
|
import time
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from linker_hand_mujoco_ros2.utils.g20_joints import (
|
||||||
|
complete_g20_mimic_positions,
|
||||||
|
g20_actuated_joint_names,
|
||||||
|
g20_required_joint_names,
|
||||||
|
half_fist_positions,
|
||||||
|
open_hand_positions,
|
||||||
|
sdk_range_to_full_urdf_positions,
|
||||||
|
)
|
||||||
|
|
||||||
|
PKG_DIR = Path(__file__).resolve().parent
|
||||||
|
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"
|
||||||
|
|
||||||
|
TRACK_TOL_RAD = 0.02
|
||||||
|
WARN_INTERVAL_S = 2.0
|
||||||
|
STATE_HZ = 50.0
|
||||||
|
# 相对墙钟倍率；1.0=实时，>1 更快
|
||||||
|
DEFAULT_SPEED = 1.35
|
||||||
|
# 每秒最大关节角速度（rad/s）；0=瞬移到目标
|
||||||
|
DEFAULT_SLEW_RAD_S = 5.0
|
||||||
|
# 运动学防穿模：绝对重叠深度超过该值（米）则二分回退（勿用相对判据，否则会逐步钻入）
|
||||||
|
PENETRATION_TOL_M = 5e-4
|
||||||
|
COLLISION_PROJECT_ITERS = 12
|
||||||
|
|
||||||
|
# 与 Isaac G20 共用的对比视角：正对掌心（法向约 -X）、手指朝上(+Z)
|
||||||
|
# lookat = 手几何中心（本地）；相机从 +X 看向 -X
|
||||||
|
COMPARE_LOOKAT = (0.04, -0.04, 0.12)
|
||||||
|
COMPARE_DISTANCE = 0.50
|
||||||
|
COMPARE_AZIMUTH = 180.0 # MuJoCo：180 = 从 +X 看向掌心
|
||||||
|
COMPARE_ELEVATION = -12.0
|
||||||
|
|
||||||
|
|
||||||
|
def parse_args() -> argparse.Namespace:
|
||||||
|
p = argparse.ArgumentParser(description="MuJoCo G20 left-hand ROS2 bridge")
|
||||||
|
p.add_argument("--xml", type=Path, default=DEFAULT_XML)
|
||||||
|
p.add_argument("--headless", action="store_true", help="无 MuJoCo viewer")
|
||||||
|
p.add_argument("--max-steps", type=int, default=0, help=">0 时跑满步数退出")
|
||||||
|
p.add_argument(
|
||||||
|
"--plan-nominal",
|
||||||
|
action="store_true",
|
||||||
|
help="订 PLAN 名义弧度话题 /retarget/g20/left/joint_target_nominal",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--legacy-sdk",
|
||||||
|
action="store_true",
|
||||||
|
default=True,
|
||||||
|
help="订 /g20/cb_left_hand_control_cmd（0~255，默认开启）",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--no-legacy-sdk",
|
||||||
|
action="store_false",
|
||||||
|
dest="legacy_sdk",
|
||||||
|
help="关闭 legacy，改用 --plan-nominal / --nominal-topic",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--track-test",
|
||||||
|
action="store_true",
|
||||||
|
help="内置 open→半握 nominal，验收主动关节跟踪 ≤0.02rad",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--pd-drive",
|
||||||
|
action="store_true",
|
||||||
|
help="改用执行器+自碰（可减轻穿模，跟手不如默认运动学）",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--no-collision-project",
|
||||||
|
action="store_true",
|
||||||
|
help="关闭运动学硬写的碰撞投影（允许穿模）",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--speed",
|
||||||
|
type=float,
|
||||||
|
default=DEFAULT_SPEED,
|
||||||
|
help=f"相对实时倍率（默认 {DEFAULT_SPEED}；1.0=墙钟实时）",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--slew-rad-s",
|
||||||
|
type=float,
|
||||||
|
default=DEFAULT_SLEW_RAD_S,
|
||||||
|
help=f"关节逼近目标的最大角速度 rad/s（默认 {DEFAULT_SLEW_RAD_S}；0=瞬移）",
|
||||||
|
)
|
||||||
|
p.add_argument(
|
||||||
|
"--no-realtime",
|
||||||
|
action="store_true",
|
||||||
|
help="不按墙钟节拍，尽快步进（自检/benchmark 用）",
|
||||||
|
)
|
||||||
|
p.add_argument("--nominal-topic", default=TOPIC_NOMINAL)
|
||||||
|
p.add_argument("--cmd-topic", default=TOPIC_LEGACY_CMD, help="legacy SDK 控制话题")
|
||||||
|
p.add_argument("--sim-state-topic", default=TOPIC_SIM_STATE)
|
||||||
|
return p.parse_args()
|
||||||
|
|
||||||
|
|
||||||
|
def validate_model_joint_names(joint_names: set[str]) -> None:
|
||||||
|
required = g20_required_joint_names()
|
||||||
|
missing = sorted(required - joint_names)
|
||||||
|
if missing:
|
||||||
|
raise RuntimeError(
|
||||||
|
"G20 MJCF 关节名与 PLAN/URDF 规范不匹配，缺失: "
|
||||||
|
+ ", ".join(missing)
|
||||||
|
+ f" | have={sorted(joint_names)}"
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def build_joint_maps(model):
|
||||||
|
import mujoco
|
||||||
|
|
||||||
|
joint_qpos: dict[str, int] = {}
|
||||||
|
joint_dof: dict[str, int] = {}
|
||||||
|
joint_lo: dict[str, float] = {}
|
||||||
|
joint_hi: dict[str, float] = {}
|
||||||
|
for i in range(model.njnt):
|
||||||
|
if model.jnt_type[i] != int(mujoco.mjtJoint.mjJNT_HINGE):
|
||||||
|
continue
|
||||||
|
name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_JOINT, i)
|
||||||
|
if not name:
|
||||||
|
continue
|
||||||
|
joint_qpos[name] = int(model.jnt_qposadr[i])
|
||||||
|
joint_dof[name] = int(model.jnt_dofadr[i])
|
||||||
|
joint_lo[name] = float(model.jnt_range[i, 0])
|
||||||
|
joint_hi[name] = float(model.jnt_range[i, 1])
|
||||||
|
|
||||||
|
act_id: dict[str, int] = {}
|
||||||
|
for i in range(model.nu):
|
||||||
|
aname = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_ACTUATOR, i) or ""
|
||||||
|
# prefer "<joint>_pos"
|
||||||
|
if aname.endswith("_pos"):
|
||||||
|
jname = aname[: -len("_pos")]
|
||||||
|
if jname in joint_qpos:
|
||||||
|
act_id[jname] = i
|
||||||
|
continue
|
||||||
|
# fallback: actuator target joint
|
||||||
|
# model.actuator_trnid[i,0] is joint id for joint transmission
|
||||||
|
jid = int(model.actuator_trnid[i, 0])
|
||||||
|
if 0 <= jid < model.njnt:
|
||||||
|
jname = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_JOINT, jid)
|
||||||
|
if jname and jname not in act_id:
|
||||||
|
act_id[jname] = i
|
||||||
|
return joint_qpos, joint_dof, joint_lo, joint_hi, act_id
|
||||||
|
|
||||||
|
|
||||||
|
class G20PlanBridge:
|
||||||
|
def __init__(
|
||||||
|
self,
|
||||||
|
node,
|
||||||
|
model,
|
||||||
|
data,
|
||||||
|
*,
|
||||||
|
legacy_sdk: bool,
|
||||||
|
nominal_topic: str,
|
||||||
|
cmd_topic: str,
|
||||||
|
sim_state_topic: str,
|
||||||
|
use_pd_drive: bool = False,
|
||||||
|
collision_project: bool = True,
|
||||||
|
slew_rad_s: float = DEFAULT_SLEW_RAD_S,
|
||||||
|
sim_dt: float = 0.002,
|
||||||
|
):
|
||||||
|
from sensor_msgs.msg import JointState
|
||||||
|
|
||||||
|
self.node = node
|
||||||
|
self.model = model
|
||||||
|
self.data = data
|
||||||
|
self.legacy_sdk = legacy_sdk
|
||||||
|
# 默认运动学硬写（原模式）；--pd-drive 才走执行器+接触
|
||||||
|
self.hard_kinematic = not bool(use_pd_drive)
|
||||||
|
self.collision_project = bool(collision_project) and self.hard_kinematic
|
||||||
|
self.slew_rad_s = max(0.0, float(slew_rad_s))
|
||||||
|
self.sim_dt = float(sim_dt)
|
||||||
|
self.lock = threading.Lock()
|
||||||
|
|
||||||
|
(
|
||||||
|
self.joint_qpos,
|
||||||
|
self.joint_dof,
|
||||||
|
self.joint_lo,
|
||||||
|
self.joint_hi,
|
||||||
|
self.act_id,
|
||||||
|
) = build_joint_maps(model)
|
||||||
|
validate_model_joint_names(set(self.joint_qpos.keys()))
|
||||||
|
|
||||||
|
missing_act = sorted(set(self.joint_qpos) - 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 = open_hand_positions()
|
||||||
|
self.goal: dict[str, float] = dict(open_full)
|
||||||
|
self.applied: dict[str, float] = dict(open_full)
|
||||||
|
self.track_nominal: dict[str, float] | None = None
|
||||||
|
self._last_warn_missing = 0.0
|
||||||
|
self._last_warn_unknown = 0.0
|
||||||
|
self._set_goal_only(open_full)
|
||||||
|
# 初始瞬移到 open
|
||||||
|
old_slew = self.slew_rad_s
|
||||||
|
self.slew_rad_s = 0.0
|
||||||
|
self._slew_applied_unlocked()
|
||||||
|
self._hard_write_applied_unlocked()
|
||||||
|
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)")
|
||||||
|
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)")
|
||||||
|
|
||||||
|
self.pub = node.create_publisher(JointState, sim_state_topic, 10)
|
||||||
|
self._state_timer = node.create_timer(1.0 / STATE_HZ, self._publish_state)
|
||||||
|
mode = "kinematic-qpos" if self.hard_kinematic else "actuator+contact"
|
||||||
|
proj = "on" if self.collision_project else "off"
|
||||||
|
node.get_logger().info(
|
||||||
|
f"G20: pub {sim_state_topic}, joints={len(self.ordered_names)}, "
|
||||||
|
f"actuated={len(self.actuated)}, drive={mode}, "
|
||||||
|
f"collision_project={proj}, slew={self.slew_rad_s:.3f} rad/s"
|
||||||
|
)
|
||||||
|
|
||||||
|
def _clamp_name(self, name: str, val: float) -> float:
|
||||||
|
lo = self.joint_lo.get(name, -10.0)
|
||||||
|
hi = self.joint_hi.get(name, 10.0)
|
||||||
|
return float(np.clip(val, lo, hi))
|
||||||
|
|
||||||
|
def _set_goal_only(self, positions: dict[str, float]) -> None:
|
||||||
|
"""仅更新 goal（线程安全）。禁止在 ROS 回调里碰 MjData。"""
|
||||||
|
full = complete_g20_mimic_positions(positions)
|
||||||
|
with self.lock:
|
||||||
|
self.goal = full
|
||||||
|
self.track_nominal = {
|
||||||
|
n: float(full[n]) for n in self.actuated if n in full
|
||||||
|
}
|
||||||
|
|
||||||
|
def _slew_applied_unlocked(self) -> None:
|
||||||
|
max_step = (
|
||||||
|
self.slew_rad_s * self.sim_dt if self.slew_rad_s > 0.0 else None
|
||||||
|
)
|
||||||
|
for name, target in self.goal.items():
|
||||||
|
if name not in self.joint_qpos:
|
||||||
|
continue
|
||||||
|
target = self._clamp_name(name, target)
|
||||||
|
if max_step is None:
|
||||||
|
val = target
|
||||||
|
else:
|
||||||
|
cur = float(self.applied.get(name, target))
|
||||||
|
delta = target - cur
|
||||||
|
if abs(delta) <= max_step:
|
||||||
|
val = target
|
||||||
|
else:
|
||||||
|
val = cur + max_step * (1.0 if delta > 0 else -1.0)
|
||||||
|
val = self._clamp_name(name, val)
|
||||||
|
self.applied[name] = val
|
||||||
|
|
||||||
|
def _hard_write_pose_unlocked(self, pose: dict[str, float]) -> None:
|
||||||
|
import mujoco
|
||||||
|
|
||||||
|
for name, val in pose.items():
|
||||||
|
if name not in self.joint_qpos:
|
||||||
|
continue
|
||||||
|
aid = self.act_id.get(name)
|
||||||
|
if aid is not None:
|
||||||
|
self.data.ctrl[aid] = val
|
||||||
|
self.data.qpos[self.joint_qpos[name]] = val
|
||||||
|
self.data.qvel[self.joint_dof[name]] = 0.0
|
||||||
|
self.data.qvel[:] = 0.0
|
||||||
|
mujoco.mj_forward(self.model, self.data)
|
||||||
|
|
||||||
|
def _hard_write_applied_unlocked(self) -> None:
|
||||||
|
self._hard_write_pose_unlocked(self.applied)
|
||||||
|
|
||||||
|
def _worst_penetration_unlocked(self) -> float:
|
||||||
|
"""最严重重叠深度（负=穿透，0=无重叠）。"""
|
||||||
|
worst = 0.0
|
||||||
|
for i in range(int(self.data.ncon)):
|
||||||
|
dist = float(self.data.contact[i].dist)
|
||||||
|
if dist < worst:
|
||||||
|
worst = dist
|
||||||
|
return worst
|
||||||
|
|
||||||
|
def _is_penetrating_unlocked(self) -> bool:
|
||||||
|
"""绝对穿透判定（相对上一帧会漏掉每步 <tol 的缓慢钻入）。"""
|
||||||
|
return self._worst_penetration_unlocked() < -PENETRATION_TOL_M
|
||||||
|
|
||||||
|
def _project_applied_no_penetration_unlocked(
|
||||||
|
self, prev: dict[str, float]
|
||||||
|
) -> None:
|
||||||
|
"""按主动关节分别投影：某关节撞到时不拖死其它手指（仍硬写）。"""
|
||||||
|
cand = complete_g20_mimic_positions(dict(self.applied))
|
||||||
|
self._hard_write_pose_unlocked(cand)
|
||||||
|
if not self._is_penetrating_unlocked():
|
||||||
|
self.applied = cand
|
||||||
|
self._last_safe_pose = dict(self.applied)
|
||||||
|
return
|
||||||
|
|
||||||
|
self._hard_write_pose_unlocked(prev)
|
||||||
|
if self._is_penetrating_unlocked():
|
||||||
|
base = complete_g20_mimic_positions(dict(self._last_safe_pose))
|
||||||
|
else:
|
||||||
|
base = complete_g20_mimic_positions(dict(prev))
|
||||||
|
|
||||||
|
# 变化大的关节优先尝试完整步进，减少“拇指撞掌心把四指一起卡住”
|
||||||
|
order = sorted(
|
||||||
|
self.actuated,
|
||||||
|
key=lambda n: -abs(float(cand.get(n, 0.0)) - float(base.get(n, 0.0))),
|
||||||
|
)
|
||||||
|
for name in order:
|
||||||
|
if name not in cand or name not in self.joint_qpos:
|
||||||
|
continue
|
||||||
|
target = float(cand[name])
|
||||||
|
cur = float(base.get(name, target))
|
||||||
|
if abs(target - cur) < 1e-12:
|
||||||
|
continue
|
||||||
|
trial = complete_g20_mimic_positions({**base, name: target})
|
||||||
|
self._hard_write_pose_unlocked(trial)
|
||||||
|
if not self._is_penetrating_unlocked():
|
||||||
|
base = trial
|
||||||
|
continue
|
||||||
|
lo, hi = cur, target
|
||||||
|
best = dict(base)
|
||||||
|
for _ in range(COLLISION_PROJECT_ITERS):
|
||||||
|
mid = 0.5 * (lo + hi)
|
||||||
|
trial = complete_g20_mimic_positions({**base, name: mid})
|
||||||
|
self._hard_write_pose_unlocked(trial)
|
||||||
|
if self._is_penetrating_unlocked():
|
||||||
|
hi = mid
|
||||||
|
else:
|
||||||
|
lo = mid
|
||||||
|
best = trial
|
||||||
|
base = best
|
||||||
|
|
||||||
|
self.applied = complete_g20_mimic_positions(base)
|
||||||
|
self._hard_write_pose_unlocked(self.applied)
|
||||||
|
if self._is_penetrating_unlocked():
|
||||||
|
self.applied = dict(self._last_safe_pose)
|
||||||
|
self._hard_write_pose_unlocked(self.applied)
|
||||||
|
else:
|
||||||
|
self._last_safe_pose = dict(self.applied)
|
||||||
|
|
||||||
|
def _ctrl_from_applied_unlocked(self) -> None:
|
||||||
|
for name, val in self.applied.items():
|
||||||
|
aid = self.act_id.get(name)
|
||||||
|
if aid is not None:
|
||||||
|
self.data.ctrl[aid] = val
|
||||||
|
|
||||||
|
def _sync_applied_from_qpos_unlocked(self) -> None:
|
||||||
|
"""接触挡住后，以真实 qpos 为下一次 slew 起点，避免硬顶穿模。"""
|
||||||
|
for name, qadr in self.joint_qpos.items():
|
||||||
|
self.applied[name] = float(self.data.qpos[qadr])
|
||||||
|
|
||||||
|
def step_simulation_unlocked(self) -> None:
|
||||||
|
"""调用方须已持有 self.lock。"""
|
||||||
|
import mujoco
|
||||||
|
|
||||||
|
prev = dict(self.applied)
|
||||||
|
self._slew_applied_unlocked()
|
||||||
|
if self.hard_kinematic:
|
||||||
|
if self.collision_project:
|
||||||
|
self._project_applied_no_penetration_unlocked(prev)
|
||||||
|
else:
|
||||||
|
self._hard_write_applied_unlocked()
|
||||||
|
return
|
||||||
|
self._ctrl_from_applied_unlocked()
|
||||||
|
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)
|
||||||
|
|
||||||
|
def _on_nominal(self, msg) -> None:
|
||||||
|
if not msg.name:
|
||||||
|
self._warn_missing("empty name[]")
|
||||||
|
return
|
||||||
|
n = min(len(msg.name), len(msg.position))
|
||||||
|
incoming = {str(msg.name[i]): float(msg.position[i]) for i in range(n)}
|
||||||
|
unknown = [k for k in incoming if k not in self.joint_qpos]
|
||||||
|
if unknown:
|
||||||
|
self._warn_unknown(unknown)
|
||||||
|
missing_act = sorted(self.actuated - set(incoming.keys()))
|
||||||
|
if missing_act:
|
||||||
|
self._warn_missing(f"missing actuated: {missing_act}")
|
||||||
|
with self.lock:
|
||||||
|
merged = dict(self.goal)
|
||||||
|
for k, v in incoming.items():
|
||||||
|
if k in self.joint_qpos:
|
||||||
|
merged[k] = v
|
||||||
|
self.set_nominal_targets(merged)
|
||||||
|
else:
|
||||||
|
merged = {k: v for k, v in incoming.items() if k in self.joint_qpos}
|
||||||
|
self.set_nominal_targets(merged)
|
||||||
|
|
||||||
|
def _on_legacy_cmd(self, msg) -> None:
|
||||||
|
vals = [float(x) for x in msg.position[:20]]
|
||||||
|
while len(vals) < 20:
|
||||||
|
vals.append(255.0)
|
||||||
|
full = sdk_range_to_full_urdf_positions(vals)
|
||||||
|
self.set_nominal_targets(full)
|
||||||
|
|
||||||
|
def _warn_missing(self, detail: str) -> None:
|
||||||
|
now = time.monotonic()
|
||||||
|
if now - self._last_warn_missing < WARN_INTERVAL_S:
|
||||||
|
return
|
||||||
|
self._last_warn_missing = now
|
||||||
|
self.node.get_logger().warn(
|
||||||
|
f"nominal cmd incomplete, holding last targets ({detail})"
|
||||||
|
)
|
||||||
|
|
||||||
|
def _warn_unknown(self, names: list[str]) -> None:
|
||||||
|
now = time.monotonic()
|
||||||
|
if now - self._last_warn_unknown < WARN_INTERVAL_S:
|
||||||
|
return
|
||||||
|
self._last_warn_unknown = now
|
||||||
|
self.node.get_logger().warn(f"unknown joint names ignored: {names[:8]}")
|
||||||
|
|
||||||
|
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 = []
|
||||||
|
pos = []
|
||||||
|
vel = []
|
||||||
|
with self.lock:
|
||||||
|
for name in self.ordered_names:
|
||||||
|
names.append(name)
|
||||||
|
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)
|
||||||
|
|
||||||
|
def tracking_error(self) -> tuple[float, float]:
|
||||||
|
"""返回主动关节 |q_sim - q_nominal| 的 (max, mean)。"""
|
||||||
|
if not self.track_nominal:
|
||||||
|
return 0.0, 0.0
|
||||||
|
errs = []
|
||||||
|
with self.lock:
|
||||||
|
for name, nom in self.track_nominal.items():
|
||||||
|
q = float(self.data.qpos[self.joint_qpos[name]])
|
||||||
|
errs.append(abs(q - float(nom)))
|
||||||
|
if not errs:
|
||||||
|
return 0.0, 0.0
|
||||||
|
return float(max(errs)), float(sum(errs) / len(errs))
|
||||||
|
|
||||||
|
|
||||||
|
def main(argv: list[str] | None = None) -> int:
|
||||||
|
# argparse 读 sys.argv；保留签名兼容 entry_point
|
||||||
|
_ = argv
|
||||||
|
args = parse_args()
|
||||||
|
|
||||||
|
xml_path = args.xml.expanduser().resolve()
|
||||||
|
if not xml_path.is_file():
|
||||||
|
print(f"[error] MJCF not found: {xml_path}", file=sys.stderr)
|
||||||
|
return 1
|
||||||
|
|
||||||
|
import mujoco
|
||||||
|
import mujoco.viewer
|
||||||
|
|
||||||
|
model = mujoco.MjModel.from_xml_path(str(xml_path))
|
||||||
|
data = mujoco.MjData(model)
|
||||||
|
model.opt.disableflags = 0
|
||||||
|
data.qpos[:] = 0
|
||||||
|
data.qvel[:] = 0
|
||||||
|
mujoco.mj_forward(model, data)
|
||||||
|
|
||||||
|
# Pre-validate before ROS init so failures are loud
|
||||||
|
names = set()
|
||||||
|
for i in range(model.njnt):
|
||||||
|
if model.jnt_type[i] != int(mujoco.mjtJoint.mjJNT_HINGE):
|
||||||
|
continue
|
||||||
|
n = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_JOINT, i)
|
||||||
|
if n:
|
||||||
|
names.add(n)
|
||||||
|
try:
|
||||||
|
validate_model_joint_names(names)
|
||||||
|
except RuntimeError as e:
|
||||||
|
print(f"[error] {e}", file=sys.stderr)
|
||||||
|
return 1
|
||||||
|
|
||||||
|
import rclpy
|
||||||
|
from rclpy.node import Node
|
||||||
|
|
||||||
|
# --plan-nominal 优先于默认 legacy
|
||||||
|
use_legacy = bool(args.legacy_sdk) and not bool(args.plan_nominal)
|
||||||
|
use_realtime = (not args.no_realtime) and (not args.track_test)
|
||||||
|
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)
|
||||||
|
|
||||||
|
rclpy.init()
|
||||||
|
node = Node("g20_mujoco_plan_bridge")
|
||||||
|
bridge = G20PlanBridge(
|
||||||
|
node,
|
||||||
|
model,
|
||||||
|
data,
|
||||||
|
legacy_sdk=use_legacy,
|
||||||
|
nominal_topic=args.nominal_topic,
|
||||||
|
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),
|
||||||
|
collision_project=(not bool(args.no_collision_project))
|
||||||
|
and (not bool(args.track_test)),
|
||||||
|
slew_rad_s=slew_rad_s,
|
||||||
|
sim_dt=dt,
|
||||||
|
)
|
||||||
|
node.get_logger().info(
|
||||||
|
f"timing: realtime={use_realtime} speed={speed:.3f} dt={dt:.4f}s"
|
||||||
|
)
|
||||||
|
|
||||||
|
running = True
|
||||||
|
|
||||||
|
def _stop(*_):
|
||||||
|
nonlocal running
|
||||||
|
running = False
|
||||||
|
|
||||||
|
signal.signal(signal.SIGINT, _stop)
|
||||||
|
signal.signal(signal.SIGTERM, _stop)
|
||||||
|
|
||||||
|
def spin_ros():
|
||||||
|
while running and rclpy.ok():
|
||||||
|
rclpy.spin_once(node, timeout_sec=0.01)
|
||||||
|
|
||||||
|
ros_thread = threading.Thread(target=spin_ros, daemon=True)
|
||||||
|
ros_thread.start()
|
||||||
|
|
||||||
|
track_phase = 0
|
||||||
|
track_switch_step = 200
|
||||||
|
if args.track_test:
|
||||||
|
bridge.set_nominal_targets(open_hand_positions())
|
||||||
|
node.get_logger().info("track-test: phase0 open")
|
||||||
|
|
||||||
|
step = 0
|
||||||
|
exit_code = 0
|
||||||
|
viewer = None
|
||||||
|
wall0 = time.perf_counter()
|
||||||
|
sim_time = 0.0
|
||||||
|
|
||||||
|
def _pace() -> None:
|
||||||
|
nonlocal sim_time
|
||||||
|
sim_time += dt
|
||||||
|
if not use_realtime:
|
||||||
|
return
|
||||||
|
target = wall0 + sim_time / speed
|
||||||
|
# 短延时用忙等，避免 time.sleep 粒度导致跑超实时
|
||||||
|
while True:
|
||||||
|
delay = target - time.perf_counter()
|
||||||
|
if delay <= 0.0:
|
||||||
|
break
|
||||||
|
if delay > 0.002:
|
||||||
|
time.sleep(delay * 0.5)
|
||||||
|
else:
|
||||||
|
# busy-wait 尾部
|
||||||
|
while time.perf_counter() < target:
|
||||||
|
pass
|
||||||
|
break
|
||||||
|
|
||||||
|
def _maybe_track() -> bool:
|
||||||
|
"""更新 track-test；返回 True 表示应结束。"""
|
||||||
|
nonlocal track_phase, exit_code
|
||||||
|
if not args.track_test:
|
||||||
|
return False
|
||||||
|
if step == track_switch_step:
|
||||||
|
bridge.set_nominal_targets(half_fist_positions())
|
||||||
|
track_phase = 1
|
||||||
|
node.get_logger().info("track-test: phase1 half-fist")
|
||||||
|
if track_phase == 1 and step >= track_switch_step + 400:
|
||||||
|
mx, mean = bridge.tracking_error()
|
||||||
|
node.get_logger().info(
|
||||||
|
f"track-test settle: max={mx:.4f} mean={mean:.4f} tol={TRACK_TOL_RAD}"
|
||||||
|
)
|
||||||
|
if mx > TRACK_TOL_RAD:
|
||||||
|
node.get_logger().error("track-test FAIL")
|
||||||
|
exit_code = 2
|
||||||
|
else:
|
||||||
|
node.get_logger().info("track-test PASS")
|
||||||
|
return True
|
||||||
|
return False
|
||||||
|
|
||||||
|
try:
|
||||||
|
if args.headless:
|
||||||
|
while running:
|
||||||
|
with bridge.lock:
|
||||||
|
bridge.step_simulation_unlocked()
|
||||||
|
step += 1
|
||||||
|
_pace()
|
||||||
|
if _maybe_track():
|
||||||
|
break
|
||||||
|
if args.max_steps > 0 and step >= args.max_steps:
|
||||||
|
if args.track_test and track_phase == 1:
|
||||||
|
mx, mean = bridge.tracking_error()
|
||||||
|
node.get_logger().info(
|
||||||
|
f"track-test @max-steps: max={mx:.4f} mean={mean:.4f}"
|
||||||
|
)
|
||||||
|
if mx > TRACK_TOL_RAD:
|
||||||
|
exit_code = 2
|
||||||
|
break
|
||||||
|
else:
|
||||||
|
viewer = mujoco.viewer.launch_passive(model, data)
|
||||||
|
# 初始对比视角：正对掌心（与 Isaac 同 lookat/距离）
|
||||||
|
viewer.cam.lookat[:] = COMPARE_LOOKAT
|
||||||
|
viewer.cam.distance = COMPARE_DISTANCE
|
||||||
|
viewer.cam.azimuth = COMPARE_AZIMUTH
|
||||||
|
viewer.cam.elevation = COMPARE_ELEVATION
|
||||||
|
while running and viewer.is_running():
|
||||||
|
with bridge.lock:
|
||||||
|
bridge.step_simulation_unlocked()
|
||||||
|
viewer.sync()
|
||||||
|
step += 1
|
||||||
|
_pace()
|
||||||
|
if _maybe_track():
|
||||||
|
break
|
||||||
|
if args.max_steps > 0 and step >= args.max_steps:
|
||||||
|
break
|
||||||
|
finally:
|
||||||
|
running = False
|
||||||
|
if viewer is not None:
|
||||||
|
try:
|
||||||
|
viewer.close()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
try:
|
||||||
|
bridge._state_timer.cancel()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
try:
|
||||||
|
ros_thread.join(timeout=1.0)
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
try:
|
||||||
|
node.destroy_node()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
try:
|
||||||
|
if rclpy.ok():
|
||||||
|
rclpy.shutdown()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
print(f"[done] steps={step} exit={exit_code}")
|
||||||
|
# rclpy/mujoco 析构顺序偶发 abort；直接退出避免污染退出码
|
||||||
|
os._exit(exit_code)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
raise SystemExit(main())
|
||||||
+228
@@ -0,0 +1,228 @@
|
|||||||
|
<mujoco model="linker_hand_g20_left">
|
||||||
|
<compiler angle="radian" meshdir="meshes" balanceinertia="true"/>
|
||||||
|
<option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast" />
|
||||||
|
<default>
|
||||||
|
<joint damping="0.15" armature="0.01" />
|
||||||
|
<position kp="200" kv="8" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<!-- visual: 仅显示；collision: 同 mesh 的凸包（MuJoCo 默认），比 AABB 更贴视觉外形 -->
|
||||||
|
<default class="visual">
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="2" rgba="1 1 1 1"/>
|
||||||
|
</default>
|
||||||
|
<default class="collision">
|
||||||
|
<geom contype="1" conaffinity="1" condim="3" group="3" rgba="0 1 0 0"
|
||||||
|
friction="1 0.5 0.01" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0.0005"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<mesh name="hand_base_link" file="hand_base_link.STL"/>
|
||||||
|
<mesh name="thumb_metacarpals_base1" file="thumb_metacarpals_base1.STL"/>
|
||||||
|
<mesh name="thumb_metacarpals_base2" file="thumb_metacarpals_base2.STL"/>
|
||||||
|
<mesh name="thumb_metacarpals" file="thumb_metacarpals.STL"/>
|
||||||
|
<mesh name="thumb_proximal" file="thumb_proximal.STL"/>
|
||||||
|
<mesh name="thumb_distal" file="thumb_distal.STL"/>
|
||||||
|
<mesh name="index_metacarpals" file="index_metacarpals.STL"/>
|
||||||
|
<mesh name="index_proximal" file="index_proximal.STL"/>
|
||||||
|
<mesh name="index_middle" file="index_middle.STL"/>
|
||||||
|
<mesh name="index_distal" file="index_distal.STL"/>
|
||||||
|
<mesh name="middle_metacarpals" file="middle_metacarpals.STL"/>
|
||||||
|
<mesh name="middle_proximal" file="middle_proximal.STL"/>
|
||||||
|
<mesh name="middle_middle" file="middle_middle.STL"/>
|
||||||
|
<mesh name="middle_distal" file="middle_distal.STL"/>
|
||||||
|
<mesh name="ring_metacarpals" file="ring_metacarpals.STL"/>
|
||||||
|
<mesh name="ring_proximal" file="ring_proximal.STL"/>
|
||||||
|
<mesh name="ring_middle" file="ring_middle.STL"/>
|
||||||
|
<mesh name="ring_distal" file="ring_distal.STL"/>
|
||||||
|
<mesh name="pinky_metacarpals" file="pinky_metacarpals.STL"/>
|
||||||
|
<mesh name="pinky_proximal" file="pinky_proximal.STL"/>
|
||||||
|
<mesh name="pinky_middle" file="pinky_middle.STL"/>
|
||||||
|
<mesh name="pinky_distal" file="pinky_distal.STL"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<body name="hand_base" pos="0 0 0">
|
||||||
|
<geom class="visual" mesh="hand_base_link"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="hand_base_link"/>
|
||||||
|
</body>
|
||||||
|
<body name="thumb_metacarpals_base1" pos="0.01916 -0.01 0.0436">
|
||||||
|
<inertial pos="0.0115155 0.00398069 0.000272888" quat="0.982721 -0.180506 -0.00245546 0.0408729" mass="0.0160352" diaginertia="4.05464e-06 2.4729e-06 2.02979e-06"/>
|
||||||
|
<joint name="thumb_cmc_roll" pos="0 0 0" axis="-1 0 0" range="0 1.47" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="thumb_metacarpals_base1"/>
|
||||||
|
<body name="thumb_metacarpals_base2" pos="0.019845 0 0" quat="0.926488 0.376324 0 0">
|
||||||
|
<inertial pos="0.00286715 -0.00615727 0.00472605" quat="0.751727 0.570385 0.0649353 -0.32458" mass="0.00183265" diaginertia="1.63035e-07 1.63035e-07 1.63035e-07"/>
|
||||||
|
<joint name="thumb_cmc_yaw" pos="0 0 0" axis="0 0 1" range="0 1.57" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="thumb_metacarpals_base2"/>
|
||||||
|
<body name="thumb_metacarpals" pos="0.0088218 -0.024245 0.0005" quat="0.49419 0.415774 -0.291116 0.705804">
|
||||||
|
<inertial pos="0.00670658 8.60759e-05 0.0331413" quat="0.705208 -0.00142811 -0.0031017 0.708992" mass="0.028716" diaginertia="1.35288e-05 1.13359e-05 3.37772e-06"/>
|
||||||
|
<joint name="thumb_cmc_pitch" pos="0 0 0" axis="0 1 0" range="0 0.84" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="thumb_metacarpals"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="thumb_metacarpals"/>
|
||||||
|
<body name="thumb_proximal" pos="0.0127018 0 0.0627256">
|
||||||
|
<inertial pos="-0.00268734 0.000568245 0.0118502" quat="0.705679 -0.0691221 -0.0785141 0.700767" mass="0.00549016" diaginertia="6.2328e-07 4.89863e-07 2.23372e-07"/>
|
||||||
|
<joint name="thumb_mcp" pos="0 0 0" axis="0 1 0" range="0 1.26" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="thumb_proximal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="thumb_proximal"/>
|
||||||
|
<body name="thumb_distal" pos="-0.00483652 0 0.0342226">
|
||||||
|
<inertial pos="-0.000710022 -0.00267576 0.0124763" quat="0.561846 0.213938 0.139751 0.786785" mass="0.00382047" diaginertia="2.69897e-07 2.52035e-07 8.26387e-08"/>
|
||||||
|
<joint name="thumb_ip" pos="0 0 0" axis="0 1 0" range="0 1.29" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="thumb_distal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="thumb_distal"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="index_metacarpals" pos="0.0038 -0.03525 0.1481">
|
||||||
|
<inertial pos="-0.007943 -2.93674e-07 0.00220106" quat="0.599922 0.599922 -0.374291 0.374291" mass="0.000895516" diaginertia="4.67031e-08 3.17351e-08 2.85435e-08"/>
|
||||||
|
<joint name="index_mcp_roll" pos="0 0 0" axis="1 0 0" range="-0.23 0.23" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="index_metacarpals"/>
|
||||||
|
<body name="index_proximal" pos="-0.0021302 0 0">
|
||||||
|
<inertial pos="-0.00114185 3.47316e-05 0.0228928" quat="0.706728 0.0167051 0.0169055 0.707086" mass="0.00450921" diaginertia="6.74196e-07 6.67877e-07 1.34555e-07"/>
|
||||||
|
<joint name="index_mcp_pitch" pos="0 0 0" axis="0 1 0" range="0 1.22" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="index_proximal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="index_proximal"/>
|
||||||
|
<body name="index_middle" pos="-0.0041946 0 0.044819">
|
||||||
|
<inertial pos="-0.000206992 2.60617e-06 0.0167065" quat="0.99852 7.15582e-05 0.054381 -3.89717e-06" mass="0.00237827" diaginertia="2.31148e-07 1.76761e-07 9.46702e-08"/>
|
||||||
|
<joint name="index_pip" pos="0 0 0" axis="0 1 0" range="0 1.74" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="index_middle"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="index_middle"/>
|
||||||
|
<body name="index_distal" pos="0.0028245 0 0.031696">
|
||||||
|
<inertial pos="-0.00816247 2.27059e-05 0.00811807" quat="0.942747 0.00109864 0.333492 0.00313565" mass="0.0033417" diaginertia="2.07631e-07 1.78094e-07 8.6082e-08"/>
|
||||||
|
<joint name="index_dip" pos="0 0 0" axis="0 1 0" range="0 1.55" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="index_distal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="index_distal"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="middle_metacarpals" pos="0.0038 -0.01175 0.1526">
|
||||||
|
<inertial pos="-0.007943 -2.93007e-07 0.00220106" quat="0.599922 0.599922 -0.374291 0.374291" mass="0.000895517" diaginertia="4.67031e-08 3.17351e-08 2.85436e-08"/>
|
||||||
|
<joint name="middle_mcp_roll" pos="0 0 0" axis="1 0 0" range="-0.23 0.23" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="middle_metacarpals"/>
|
||||||
|
<body name="middle_proximal" pos="-0.0021302 0 0">
|
||||||
|
<inertial pos="-0.00114185 3.47316e-05 0.0228928" quat="0.706728 0.0167051 0.0169055 0.707086" mass="0.00450921" diaginertia="6.74196e-07 6.67877e-07 1.34555e-07"/>
|
||||||
|
<joint name="middle_mcp_pitch" pos="0 0 0" axis="0 1 0" range="0 1.22" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="middle_proximal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="middle_proximal"/>
|
||||||
|
<body name="middle_middle" pos="-0.00419458 0 0.0448194">
|
||||||
|
<inertial pos="-0.000206992 2.60625e-06 0.0167065" quat="0.99852 7.15718e-05 0.054381 -3.89791e-06" mass="0.00237828" diaginertia="2.31148e-07 1.76761e-07 9.46702e-08"/>
|
||||||
|
<joint name="middle_pip" pos="0 0 0" axis="0 1 0" range="0 1.74" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="middle_middle"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="middle_middle"/>
|
||||||
|
<body name="middle_distal" pos="0.0028245 0 0.031696">
|
||||||
|
<inertial pos="-0.00816247 2.27059e-05 0.00811807" quat="0.942747 0.00109865 0.333492 0.00313567" mass="0.0033417" diaginertia="2.07631e-07 1.78094e-07 8.6082e-08"/>
|
||||||
|
<joint name="middle_dip" pos="0 0 0" axis="0 1 0" range="0 1.55" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="middle_distal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="middle_distal"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="ring_metacarpals" pos="0.0038 0.01175 0.1481">
|
||||||
|
<inertial pos="-0.007943 -2.94513e-07 0.00220106" quat="0.599922 0.599922 -0.374291 0.374291" mass="0.000895517" diaginertia="4.67031e-08 3.17351e-08 2.85436e-08"/>
|
||||||
|
<joint name="ring_mcp_roll" pos="0 0 0" axis="1 0 0" range="-0.23 0.23" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="ring_metacarpals"/>
|
||||||
|
<body name="ring_proximal" pos="-0.0021302 0 0">
|
||||||
|
<inertial pos="-0.00114185 3.47316e-05 0.0228928" quat="0.706728 0.0167051 0.0169055 0.707086" mass="0.00450921" diaginertia="6.74196e-07 6.67877e-07 1.34555e-07"/>
|
||||||
|
<joint name="ring_mcp_pitch" pos="0 0 0" axis="0 1 0" range="0 1.22" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="ring_proximal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="ring_proximal"/>
|
||||||
|
<body name="ring_middle" pos="-0.00419458 0 0.0448194">
|
||||||
|
<inertial pos="-0.000206993 2.60747e-06 0.0167065" quat="0.99852 7.16159e-05 0.054381 -3.90032e-06" mass="0.00237827" diaginertia="2.31148e-07 1.76761e-07 9.46701e-08"/>
|
||||||
|
<joint name="ring_pip" pos="0 0 0" axis="0 1 0" range="0 1.74" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="ring_middle"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="ring_middle"/>
|
||||||
|
<body name="ring_distal" pos="0.0028245 0 0.031696">
|
||||||
|
<inertial pos="-0.00816247 2.27057e-05 0.00811807" quat="0.942747 0.00109865 0.333492 0.00313572" mass="0.0033417" diaginertia="2.07631e-07 1.78094e-07 8.6082e-08"/>
|
||||||
|
<joint name="ring_dip" pos="0 0 0" axis="0 1 0" range="0 1.55" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="ring_distal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="ring_distal"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="pinky_metacarpals" pos="0.0038 0.03525 0.1436">
|
||||||
|
<inertial pos="-0.007943 -2.93007e-07 0.00220106" quat="0.599922 0.599922 -0.374291 0.374291" mass="0.000895517" diaginertia="4.67031e-08 3.17351e-08 2.85436e-08"/>
|
||||||
|
<joint name="pinky_mcp_roll" pos="0 0 0" axis="1 0 0" range="-0.23 0.23" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="pinky_metacarpals"/>
|
||||||
|
<body name="pinky_proximal" pos="-0.0021302 0 0">
|
||||||
|
<inertial pos="-0.00114185 3.47316e-05 0.0228928" quat="0.706728 0.0167051 0.0169055 0.707086" mass="0.00450921" diaginertia="6.74196e-07 6.67877e-07 1.34555e-07"/>
|
||||||
|
<joint name="pinky_mcp_pitch" pos="0 0 0" axis="0 1 0" range="0 1.22" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="pinky_proximal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="pinky_proximal"/>
|
||||||
|
<body name="pinky_middle" pos="-0.0041946 0 0.044819">
|
||||||
|
<inertial pos="-0.000206993 2.60749e-06 0.0167065" quat="0.99852 7.16152e-05 0.054381 -3.90028e-06" mass="0.00237827" diaginertia="2.31148e-07 1.76761e-07 9.46701e-08"/>
|
||||||
|
<joint name="pinky_pip" pos="0 0 0" axis="0 1 0" range="0 1.74" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="pinky_middle"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="pinky_middle"/>
|
||||||
|
<body name="pinky_distal" pos="0.0028245 0 0.031696">
|
||||||
|
<inertial pos="-0.00816247 2.27054e-05 0.00811807" quat="0.942747 0.00109863 0.333492 0.00313569" mass="0.0033417" diaginertia="2.07631e-07 1.78094e-07 8.6082e-08"/>
|
||||||
|
<joint name="pinky_dip" pos="0 0 0" axis="0 1 0" range="0 1.55" actuatorfrcrange="-100 100"/>
|
||||||
|
<geom class="visual" mesh="pinky_distal"/>
|
||||||
|
<geom class="collision" type="mesh" mesh="pinky_distal"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
<contact>
|
||||||
|
<!-- 掌心与各指根/近端：mesh 本就嵌套，排除假碰撞 -->
|
||||||
|
<exclude body1="hand_base" body2="thumb_metacarpals_base1"/>
|
||||||
|
<exclude body1="hand_base" body2="thumb_metacarpals_base2"/>
|
||||||
|
<exclude body1="hand_base" body2="thumb_metacarpals"/>
|
||||||
|
<exclude body1="hand_base" body2="index_metacarpals"/>
|
||||||
|
<exclude body1="hand_base" body2="index_proximal"/>
|
||||||
|
<exclude body1="hand_base" body2="middle_metacarpals"/>
|
||||||
|
<exclude body1="hand_base" body2="middle_proximal"/>
|
||||||
|
<exclude body1="hand_base" body2="ring_metacarpals"/>
|
||||||
|
<exclude body1="hand_base" body2="ring_proximal"/>
|
||||||
|
<exclude body1="hand_base" body2="pinky_metacarpals"/>
|
||||||
|
<exclude body1="hand_base" body2="pinky_proximal"/>
|
||||||
|
<!-- 拇指链相邻 / 隔代假重叠 -->
|
||||||
|
<exclude body1="thumb_metacarpals_base1" body2="thumb_metacarpals_base2"/>
|
||||||
|
<exclude body1="thumb_metacarpals_base1" body2="thumb_metacarpals"/>
|
||||||
|
<exclude body1="thumb_metacarpals_base2" body2="thumb_metacarpals"/>
|
||||||
|
<exclude body1="thumb_metacarpals" body2="thumb_proximal"/>
|
||||||
|
<exclude body1="thumb_proximal" body2="thumb_distal"/>
|
||||||
|
<!-- 食指链 -->
|
||||||
|
<exclude body1="index_metacarpals" body2="index_proximal"/>
|
||||||
|
<exclude body1="index_proximal" body2="index_middle"/>
|
||||||
|
<exclude body1="index_middle" body2="index_distal"/>
|
||||||
|
<!-- 中指链 -->
|
||||||
|
<exclude body1="middle_metacarpals" body2="middle_proximal"/>
|
||||||
|
<exclude body1="middle_proximal" body2="middle_middle"/>
|
||||||
|
<exclude body1="middle_middle" body2="middle_distal"/>
|
||||||
|
<!-- 无名指链 -->
|
||||||
|
<exclude body1="ring_metacarpals" body2="ring_proximal"/>
|
||||||
|
<exclude body1="ring_proximal" body2="ring_middle"/>
|
||||||
|
<exclude body1="ring_middle" body2="ring_distal"/>
|
||||||
|
<!-- 小指链 -->
|
||||||
|
<exclude body1="pinky_metacarpals" body2="pinky_proximal"/>
|
||||||
|
<exclude body1="pinky_proximal" body2="pinky_middle"/>
|
||||||
|
<exclude body1="pinky_middle" body2="pinky_distal"/>
|
||||||
|
</contact>
|
||||||
|
<actuator>
|
||||||
|
<position name="thumb_cmc_roll_pos" joint="thumb_cmc_roll" kp="200" kv="8" ctrlrange="0.0 1.47" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="thumb_cmc_yaw_pos" joint="thumb_cmc_yaw" kp="200" kv="8" ctrlrange="0.0 1.57" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="thumb_cmc_pitch_pos" joint="thumb_cmc_pitch" kp="200" kv="8" ctrlrange="0.0 0.84" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="thumb_mcp_pos" joint="thumb_mcp" kp="200" kv="8" ctrlrange="0.0 1.26" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="thumb_ip_pos" joint="thumb_ip" kp="200" kv="8" ctrlrange="0.0 1.29" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="index_mcp_roll_pos" joint="index_mcp_roll" kp="200" kv="8" ctrlrange="-0.23 0.23" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="index_mcp_pitch_pos" joint="index_mcp_pitch" kp="200" kv="8" ctrlrange="0.0 1.22" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="index_pip_pos" joint="index_pip" kp="200" kv="8" ctrlrange="0.0 1.74" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="index_dip_pos" joint="index_dip" kp="200" kv="8" ctrlrange="0.0 1.55" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="middle_mcp_roll_pos" joint="middle_mcp_roll" kp="200" kv="8" ctrlrange="-0.23 0.23" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="middle_mcp_pitch_pos" joint="middle_mcp_pitch" kp="200" kv="8" ctrlrange="0.0 1.22" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="middle_pip_pos" joint="middle_pip" kp="200" kv="8" ctrlrange="0.0 1.74" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="middle_dip_pos" joint="middle_dip" kp="200" kv="8" ctrlrange="0.0 1.55" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="ring_mcp_roll_pos" joint="ring_mcp_roll" kp="200" kv="8" ctrlrange="-0.23 0.23" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="ring_mcp_pitch_pos" joint="ring_mcp_pitch" kp="200" kv="8" ctrlrange="0.0 1.22" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="ring_pip_pos" joint="ring_pip" kp="200" kv="8" ctrlrange="0.0 1.74" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="ring_dip_pos" joint="ring_dip" kp="200" kv="8" ctrlrange="0.0 1.55" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="pinky_mcp_roll_pos" joint="pinky_mcp_roll" kp="200" kv="8" ctrlrange="-0.23 0.23" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="pinky_mcp_pitch_pos" joint="pinky_mcp_pitch" kp="200" kv="8" ctrlrange="0.0 1.22" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="pinky_pip_pos" joint="pinky_pip" kp="200" kv="8" ctrlrange="0.0 1.74" forcelimited="true" forcerange="-8 8" />
|
||||||
|
<position name="pinky_dip_pos" joint="pinky_dip" kp="200" kv="8" ctrlrange="0.0 1.55" forcelimited="true" forcerange="-8 8" />
|
||||||
|
</actuator>
|
||||||
|
</mujoco>
|
||||||
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+139
@@ -0,0 +1,139 @@
|
|||||||
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
"""G20 关节名 / mimic / SDK0~255→弧度（与 Isaac joint_mapping 对齐）。"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
# SDK 索引 → URDF 关节名（不含前缀）
|
||||||
|
L20_SDK_TO_URDF: dict[int, str] = {
|
||||||
|
0: "thumb_cmc_pitch",
|
||||||
|
1: "index_mcp_pitch",
|
||||||
|
2: "middle_mcp_pitch",
|
||||||
|
3: "ring_mcp_pitch",
|
||||||
|
4: "pinky_mcp_pitch",
|
||||||
|
5: "thumb_cmc_roll",
|
||||||
|
6: "index_mcp_roll",
|
||||||
|
7: "middle_mcp_roll",
|
||||||
|
8: "ring_mcp_roll",
|
||||||
|
9: "pinky_mcp_roll",
|
||||||
|
10: "thumb_cmc_yaw",
|
||||||
|
15: "thumb_mcp",
|
||||||
|
16: "index_pip",
|
||||||
|
17: "middle_pip",
|
||||||
|
18: "ring_pip",
|
||||||
|
19: "pinky_pip",
|
||||||
|
}
|
||||||
|
|
||||||
|
DIP_MIMIC_MULTIPLIER = 0.89
|
||||||
|
THUMB_IP_MIMIC_MULTIPLIER = 1.02
|
||||||
|
|
||||||
|
G20_ACTUATED_JOINT_NAMES: tuple[str, ...] = tuple(
|
||||||
|
sorted({name for name in L20_SDK_TO_URDF.values()})
|
||||||
|
)
|
||||||
|
G20_MIMIC_JOINT_NAMES: tuple[str, ...] = (
|
||||||
|
"thumb_ip",
|
||||||
|
"index_dip",
|
||||||
|
"middle_dip",
|
||||||
|
"ring_dip",
|
||||||
|
"pinky_dip",
|
||||||
|
)
|
||||||
|
G20_ALL_JOINT_NAMES: tuple[str, ...] = tuple(
|
||||||
|
sorted(set(G20_ACTUATED_JOINT_NAMES) | set(G20_MIMIC_JOINT_NAMES))
|
||||||
|
)
|
||||||
|
|
||||||
|
G20_MIMIC_OF: dict[str, tuple[str, float]] = {
|
||||||
|
"thumb_ip": ("thumb_mcp", THUMB_IP_MIMIC_MULTIPLIER),
|
||||||
|
"index_dip": ("index_pip", DIP_MIMIC_MULTIPLIER),
|
||||||
|
"middle_dip": ("middle_pip", DIP_MIMIC_MULTIPLIER),
|
||||||
|
"ring_dip": ("ring_pip", DIP_MIMIC_MULTIPLIER),
|
||||||
|
"pinky_dip": ("pinky_pip", DIP_MIMIC_MULTIPLIER),
|
||||||
|
}
|
||||||
|
|
||||||
|
# 左手 G20 限位（与 Isaac / URDF 一致）；SDK 索引语义同 L20
|
||||||
|
G20_L_MIN = [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]
|
||||||
|
# 通道5 thumb_cmc_roll：试调 max=1.47（原 URDF/Isaac 为 1.4）
|
||||||
|
G20_L_MAX = [0.84, 1.22, 1.22, 1.22, 1.22, 1.47, 0.23, 0.23, 0.23, 0.23, 1.57, 0, 0, 0, 0, 1.29, 1.55, 1.55, 1.55, 1.55]
|
||||||
|
# 四指侧摆 (6..9)：SDK0→下限、255→上限
|
||||||
|
G20_L_DIR = [-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1]
|
||||||
|
|
||||||
|
G20_OPEN_CMD = [
|
||||||
|
255, 255, 255, 255, 255, 255, 193, 148, 105, 42, 245, 255, 255, 255, 255, 255, 255, 255, 255, 255
|
||||||
|
]
|
||||||
|
|
||||||
|
|
||||||
|
def g20_required_joint_names() -> frozenset[str]:
|
||||||
|
return frozenset(G20_ALL_JOINT_NAMES)
|
||||||
|
|
||||||
|
|
||||||
|
def g20_actuated_joint_names() -> frozenset[str]:
|
||||||
|
return frozenset(G20_ACTUATED_JOINT_NAMES)
|
||||||
|
|
||||||
|
|
||||||
|
def complete_g20_mimic_positions(positions: dict[str, float]) -> dict[str, float]:
|
||||||
|
"""补全缺失的 mimic 关节；已给出的 mimic 值优先保留。"""
|
||||||
|
out = dict(positions)
|
||||||
|
for mimic, (master, ratio) in G20_MIMIC_OF.items():
|
||||||
|
if mimic in out:
|
||||||
|
continue
|
||||||
|
if master in out:
|
||||||
|
out[mimic] = float(out[master]) * float(ratio)
|
||||||
|
return out
|
||||||
|
|
||||||
|
|
||||||
|
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
|
||||||
|
return (original_value - a_min) * (b_max - b_min) / (a_max - a_min) + b_min
|
||||||
|
|
||||||
|
|
||||||
|
def clamp(value: float, low: float, high: float) -> float:
|
||||||
|
return max(low, min(high, value))
|
||||||
|
|
||||||
|
|
||||||
|
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）。"""
|
||||||
|
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_L_DIR[i] == -1:
|
||||||
|
arcs[i] = scale_value(val, 0.0, 255.0, G20_L_MAX[i], G20_L_MIN[i])
|
||||||
|
else:
|
||||||
|
arcs[i] = scale_value(val, 0.0, 255.0, G20_L_MIN[i], G20_L_MAX[i])
|
||||||
|
return arcs
|
||||||
|
|
||||||
|
|
||||||
|
def sdk_range_to_urdf_positions(values: list[float]) -> dict[str, float]:
|
||||||
|
"""20 维 SDK → URDF 主动关节弧度（与 Isaac joint_mapping 一致）。
|
||||||
|
|
||||||
|
SDK 15 控制指尖弧度空间，写入 thumb_mcp = arc/1.02；
|
||||||
|
SDK 16..19 控制 DIP 电机弧度，写入 *_pip = arc/0.89。
|
||||||
|
"""
|
||||||
|
arcs = range_to_arc_g20_left(values)
|
||||||
|
out: dict[str, float] = {}
|
||||||
|
for sdk_idx, short_name in L20_SDK_TO_URDF.items():
|
||||||
|
arc = float(arcs[sdk_idx])
|
||||||
|
if sdk_idx == 15:
|
||||||
|
out["thumb_mcp"] = arc / THUMB_IP_MIMIC_MULTIPLIER
|
||||||
|
elif sdk_idx in (16, 17, 18, 19):
|
||||||
|
out[short_name] = arc / DIP_MIMIC_MULTIPLIER
|
||||||
|
else:
|
||||||
|
out[short_name] = arc
|
||||||
|
return out
|
||||||
|
|
||||||
|
|
||||||
|
def sdk_range_to_full_urdf_positions(values: list[float]) -> dict[str, float]:
|
||||||
|
"""主动 + mimic，供运动学写入（对齐 Isaac sdk_range_to_full_urdf_positions）。"""
|
||||||
|
return complete_g20_mimic_positions(sdk_range_to_urdf_positions(values))
|
||||||
|
|
||||||
|
|
||||||
|
def open_hand_positions() -> dict[str, float]:
|
||||||
|
return sdk_range_to_full_urdf_positions(list(G20_OPEN_CMD))
|
||||||
|
|
||||||
|
|
||||||
|
def half_fist_positions() -> dict[str, float]:
|
||||||
|
"""半握：主动弯曲通道约中间值，侧摆保持张开。"""
|
||||||
|
cmd = list(G20_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(cmd)
|
||||||
@@ -14,6 +14,15 @@ setup(
|
|||||||
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
|
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
|
||||||
('share/' + package_name, ['package.xml']),
|
('share/' + package_name, ['package.xml']),
|
||||||
],
|
],
|
||||||
|
package_data={
|
||||||
|
package_name: [
|
||||||
|
'urdf/**/*.xml',
|
||||||
|
'urdf/**/*.urdf',
|
||||||
|
'urdf/**/*.STL',
|
||||||
|
'urdf/**/*.stl',
|
||||||
|
],
|
||||||
|
},
|
||||||
|
include_package_data=True,
|
||||||
install_requires=['setuptools'],
|
install_requires=['setuptools'],
|
||||||
zip_safe=True,
|
zip_safe=True,
|
||||||
maintainer='linkerhand',
|
maintainer='linkerhand',
|
||||||
@@ -25,6 +34,7 @@ setup(
|
|||||||
'console_scripts': [
|
'console_scripts': [
|
||||||
'linker_hand_mujoco_ros2_node=linker_hand_mujoco_ros2.linker_hand_mujoco_ros2:main',
|
'linker_hand_mujoco_ros2_node=linker_hand_mujoco_ros2.linker_hand_mujoco_ros2:main',
|
||||||
'hand_curve_recorder=linker_hand_mujoco_ros2.hand_curve_recorder:main',
|
'hand_curve_recorder=linker_hand_mujoco_ros2.hand_curve_recorder:main',
|
||||||
|
'g20_plan_bridge=linker_hand_mujoco_ros2.g20_plan_bridge:main',
|
||||||
],
|
],
|
||||||
},
|
},
|
||||||
)
|
)
|
||||||
|
|||||||
Reference in New Issue
Block a user