diff --git a/.gitignore b/.gitignore index 59c0593..4e57108 100644 --- a/.gitignore +++ b/.gitignore @@ -25,3 +25,16 @@ dist/ # Experiment outputs (regenerable) reports/ tools/reports/ + +# Runtime / local junk +MUJOCO_LOG.TXT +**/MUJOCO_LOG.TXT + +# Local backup / intermediate calibration dumps (keep named releases, drop *.bak*) +*.bak +*.bak_* +**/*.bak +**/*.bak_* +**/*.urdf.bak* +**/*.xml.bak* +**/*.json.bak* diff --git a/README.md b/README.md index 791266f..b57651b 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,22 @@ -# LinkerHand O6 MuJoCo（ROS2）启动说明 +# Mujoco LinkerBot（ROS 2） -本机跑 MuJoCo 左手仿真，可用本机或另一台电脑通过 ROS2 话题控制。 +Linker Hand 的 MuJoCo + ROS 2 仿真工作区。支持： + +- **O6**：经典 6 通道 0~255 控制（launch） +- **G20 左手**：PLAN 桥接、标定查表、MJCF/URDF 零位同步 +- **L20 V10.1 左手**：与 G20 双窗对比 +- 关节弧度监视 GUI、曲线录制与实验脚本 + +远程仓库： --- ## 环境要求 - Ubuntu + ROS 2 **Jazzy** -- 工作区路径：`~/linker_hand_mujoco_ros2` -- Python 依赖在 `venv` 中（含 `mujoco`、`PyQt5`） -- **注意**：`ros2 launch` 使用系统 `/usr/bin/python3`，仅 `source venv` **不够**，需用下文的启动脚本或设置 `PYTHONPATH` +- 工作区路径示例：`~/linker_hand_mujoco_ros2` +- Python 依赖在本地 `venv`（含 `mujoco` 等；**不要**把 `venv` 提交进仓库） +- `ros2 launch` 使用系统 Python，仅 `source venv` 不够，请用仓库里的启动脚本（会把 `venv/site-packages` 加入 `PYTHONPATH`） --- @@ -22,53 +29,19 @@ colcon build --symlink-install --packages-select linker_hand_mujoco_ros2 source install/setup.bash ``` -`venv` 目录已放 `COLCON_IGNORE`，不会被 colcon 误扫。 +`venv/` 已放 `COLCON_IGNORE`，不会被 colcon 误扫。 --- -## 二、本机启动仿真（推荐） +## 二、O6 仿真（原有流程） ```bash -cd ~/linker_hand_mujoco_ros2 ./run_sim.sh ``` -脚本会自动： - -- `source` ROS2 与本工作区 -- `ROS_DOMAIN_ID=30`，`ROS_LOCALHOST_ONLY=0`（便于多机） -- 把 `venv` 的 `site-packages` 加入 `PYTHONPATH`（解决找不到 `mujoco`） - -成功后应出现： - -1. MuJoCo 3D 窗口（左手 O6） -2. Joint 进度条窗口（实时关节角） - -### 手动启动（等效） - -```bash -cd ~/linker_hand_mujoco_ros2 -source /opt/ros/jazzy/setup.bash -source install/setup.bash -export PYTHONPATH="$PWD/venv/lib/python3.12/site-packages:$PYTHONPATH" -ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py -``` - -当前 launch 默认： - -| 参数 | 值 | -|------|-----| -| `hand_type` | `left` | -| `hand_joint` | `O6` | -| 控制话题 | `/cb_left_hand_control_cmd` | - ---- - -## 三、控制话题说明 - -- 话题：`/cb_left_hand_control_cmd` +- 控制话题：`/cb_left_hand_control_cmd` - 类型：`sensor_msgs/msg/JointState` -- `position`：**6 个数**，范围约 **0–255** +- `position`：6 个数，约 **0~255**（**255≈张开，0≈握紧**） | 索引 | 含义 | |------|------| @@ -79,9 +52,119 @@ ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py | 4 | 无名指弯曲 | | 5 | 小指弯曲 | -约定（当前映射）：约 **255 = 张开，0 = 握紧**。远指节由 mimic 跟随近指节。 +更多 O6 / 多机 DDS / 曲线录制说明见下文「附录：O6 与多机」。 -### 本机发一帧（握拳示例） +--- + +## 三、G20 左手仿真（推荐） + +### 3.1 一键启动 + +```bash +./run_g20_mujoco_plan.sh +``` + +默认行为： + +| 项 | 值 | +|----|-----| +| 模型 | `urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml` | +| 控制话题 | `/g20/cb_left_hand_control_cmd` | +| 状态话题 | `/sim/mujoco/g20/left/joint_state` | +| 指令 | 20 维 0~255（与真机 SDK 通道对齐） | +| 映射 | 标定 JSON 查表 + URDF 被动 mimic | +| 速度 | 约 1.35× 墙钟，可用 `--speed` / `--slew-rad-s` 调整 | + +常用参数示例： + +```bash +./run_g20_mujoco_plan.sh --speed 1.0 +./run_g20_mujoco_plan.sh --cmd-topic /g20/cb_left_hand_control_cmd +./run_g20_mujoco_plan.sh --mapping g20_calibrated +``` + +### 3.2 关节弧度 GUI + +```bash +./run_g20_joint_gui.sh +``` + +默认订阅 `/sim/mujoco/g20/left/joint_state`，按手指分组显示 hinge 弧度（默认 6 位小数）。 + +### 3.3 G20 + L20 双窗对比 + +```bash +./run_dual_mujoco_compare.sh +``` + +- 左窗：当前标定 **G20**（`g20_calibrated`） +- 右窗：**L20 V10.1** 原版 URDF 映射（`l20_urdf`，默认关 collision project，避免自碰卡住） +- 共用同一条 0~255 控制话题（默认 `/g20/cb_left_hand_control_cmd`） + +--- + +## 四、标定与模型文件（G20） + +目录： + +`src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/` + +| 文件 | 说明 | +|------|------| +| `linkerhand_g20_left.urdf` | 当前使用的 URDF（含投影零位修正） | +| `linker_hand_g20_left.xml` | 当前使用的 MJCF（与 URDF 原点/限位同步） | +| `g20_left_G20_LEFT_001_calibration.json` | 运行时 0~255→弧度查表（schema 3） | +| `meshes/` | 网格 | + +映射实现：`utils/g20_joints.py` + +要点： + +1. **主动关节**：用标定 JSON 的 `angle_rad[0..255]` 查表。 +2. **零位**：用 `zero_angles.table_projected_zero_rad` 相对夹具参考修正 URDF/MJCF `origin`（相机投影零位，非完整外参优化）。 +3. **被动关节**：`thumb_ip`、四指 DIP 走 URDF mimic；JSON 里 `thumb_ip` 是累计投影角，**不能**直接当相对关节角。 +4. **四指侧摆**：运行时符号与真机约定见 `G20_FLIP_JOINT_SIGN`。 + +当前已知：张开大姿态已基本对齐；拇指 CMC 零位仍可能有小量前探/拧向残差。更稳妥的做法是解耦重测三个 CMC 投影零位，或导出 TAG 全位姿后做原点优化，而不是肉眼加减角度。 + +--- + +## 五、主要源码入口 + +| 路径 | 说明 | +|------|------| +| `linker_hand_mujoco_ros2/g20_plan_bridge.py` | G20/L20 MuJoCo PLAN 桥 | +| `linker_hand_mujoco_ros2/g20_joint_monitor_gui.py` | 关节弧度监视 GUI | +| `linker_hand_mujoco_ros2/utils/g20_joints.py` | G20 标定查表与映射 | +| `launch/linker_hand_mujoco_ros2.launch.py` | O6 launch | +| `urdf/O6/` | O6 MJCF | +| `urdf/G20/` | G20 URDF/MJCF + 标定 | +| `urdf/L20_V10.1/` | L20 V10.1 URDF/MJCF | +| `tools/` | 曲线录制、实验脚本 | + +Console 入口（`setup.py`）：`g20_plan_bridge`、`g20_joint_monitor_gui` 等。 + +--- + +## 六、克隆与推送 + +```bash +git clone https://gitea.robotquan.com/sunxianghui/mujoco_linkerbot.git +cd mujoco_linkerbot +# 自建 venv 并安装 mujoco 等依赖后，再 colcon build +``` + +本仓库 `origin` 指向上述 Gitea 地址。提交后： + +```bash +git push -u origin main +``` + +--- + +## 附录：O6 与多机 + +### 本机发一帧（O6 握拳示例） ```bash source /opt/ros/jazzy/setup.bash @@ -97,187 +180,36 @@ ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{ }" ``` -张开： +### 两台电脑共用 ROS 2 -```bash -ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{ - header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, - name: [], - position: [255.0, 255.0, 255.0, 255.0, 255.0, 255.0], - velocity: [], - effort: [] -}" -``` - ---- - -## 四、两台电脑共用 ROS2 - -ROS2 **没有** ROS1 的 `roscore`。两边约定同一个 Domain 即可。 - -### 两边都设置 +两边约定同一 Domain： ```bash export ROS_DOMAIN_ID=30 export ROS_LOCALHOST_ONLY=0 ``` -### 电脑 A：仿真机 +仿真机跑 `./run_sim.sh` 或 `./run_g20_mujoco_plan.sh`；控制机 `ros2 topic list` / `hz` / `echo` 检查。 -```bash -cd ~/linker_hand_mujoco_ros2 -./run_sim.sh -``` - -### 电脑 B：控制机（发指令 / handretarget / SDK） +### 通用曲线录制 ```bash source /opt/ros/jazzy/setup.bash export ROS_DOMAIN_ID=30 export ROS_LOCALHOST_ONLY=0 - -# 确认话题与收发端 -ros2 topic list -ros2 topic info /cb_left_hand_control_cmd -v -``` - -`topic info -v` 中应能看到： - -- **Publisher**：例如 `handretarget_node` -- **Subscription**：至少包含 `linker_hand_mujoco_ros2_node` - -### 查是否真的在发数据 - -有 Publisher ≠ 正在发数据。请用： - -```bash -ros2 topic hz /cb_left_hand_control_cmd -ros2 topic echo /cb_left_hand_control_cmd -``` - -- `hz` 无输出 → 对端没在 publish -- `echo --once` 会一直等到有一帧；无数据时像卡住，优先用上面两条 - -### 跨机能看见话题但收不到数据时 - -1. 确认两边 `ROS_DOMAIN_ID`、`ROS_LOCALHOST_ONLY=0` 一致，并重启节点 -2. 互相 `ping` 通；尽量同一网段 / 有线；关闭路由器 **AP 隔离** -3. 本机 `ufw` 可先确认：`sudo ufw status`（不活动则不是防火墙） -4. 需要时可配置 CycloneDDS 静态 Peer（两边 IP 写入 `~/cyclonedds.xml`），然后： - -```bash -export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -export CYCLONEDDS_URI=file://$HOME/cyclonedds.xml -``` - ---- - -## 五、常用自检命令 - -```bash -# 节点是否在 -ros2 node list - -# 话题列表（仿真未启动时可能还没有 /cb_left_hand_control_cmd） -ros2 topic list - -# 订阅/发布数量与节点名 -ros2 topic info /cb_left_hand_control_cmd -v - -# 频率 / 内容 -ros2 topic hz /cb_left_hand_control_cmd -ros2 topic echo /cb_left_hand_control_cmd -``` - ---- - -## 六、常见问题 - -### `ModuleNotFoundError: No module named 'mujoco'` - -`ros2 launch` 没用到 venv。请用： - -```bash -./run_sim.sh -``` - -或设置 `PYTHONPATH`（见上文「手动启动」）。 - -### `topic list` 只有 `/rosout`，没有左手话题 - -仿真节点未运行。先 `./run_sim.sh`，再 `ros2 topic list`。 - -### 改左右手 - -编辑： - -`src/linkerhand-sim/linker_hand_mujoco_ros2/launch/linker_hand_mujoco_ros2.launch.py` - -- 左手：`hand_type: 'left'` → 话题 `/cb_left_hand_control_cmd` -- 右手：`hand_type: 'right'` → 话题 `/cb_right_hand_control_cmd` - -改完后若未用 symlink，再执行一次 `colcon build --symlink-install`。 - ---- - -## 七、通用曲线录制（仿真 / 真机同一套话题） - -**只传一个文件给对端即可：** - -`tools/hand_curve_recorder_standalone.py` - -两边都要：已 `source` ROS2、`numpy`、`matplotlib`。 - -```bash -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -# 仿真端 python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim - -# 真机端（把该 py 拷过去后） -python3 hand_curve_recorder_standalone.py --hand left --channel 3 --label real ``` -对端发 `/cb_left_hand_control_cmd`；本机 **Ctrl+C** → `reports/hand_curves/` 下生成 csv + 三曲线图。 +### 常见问题 -默认还订 `/cb_left_hand_state`（`position`=0～255，`effort` 可放电流）。话题名不同时： +**`ModuleNotFoundError: No module named 'mujoco'`** +用 `./run_sim.sh` / `./run_g20_mujoco_plan.sh`，或手动把 `venv/lib/python3.12/site-packages` 加入 `PYTHONPATH`。 -```bash -python3 hand_curve_recorder_standalone.py --state-topic /你的状态话题 --channel 3 --label real -``` - -通道：`0拇指弯 1拇指横摆 2食指 3中指 4无名指 5小指`。 +**L20 双窗对比时手不动** +自碰投影会把目标打回；`run_dual_mujoco_compare.sh` 已对 L20 默认 `--no-collision-project`。 --- -要「ROS 发指令 + 仿真里出 q/v/τ 图」： +## 许可与归属 -```bash -cd ~/linker_hand_mujoco_ros2 -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -# 自测：订话题 + 本地 MuJoCo + 自动发中指慢扫 + 可选 viewer -./venv/bin/python tools/ros_mujoco_record_qvt.py \ - --hand left --finger middle --viewer --self-sweep - -# 对端发指令时：去掉 --self-sweep -./venv/bin/python tools/ros_mujoco_record_qvt.py \ - --hand left --finger middle --viewer -# Ctrl+C → reports/O6_middle_ros/*_qvt.png -``` - ---- - -## 八、文件与模型位置 - -| 路径 | 说明 | -|------|------| -| `./run_sim.sh` | 本机一键启动 | -| `src/.../launch/linker_hand_mujoco_ros2.launch.py` | 左右手 / 型号 | -| `src/.../urdf/O6/` | O6 左右手 MJCF（来自 mujoco_testwork 验证模型） | -| `src/.../utils/joint_monitor.py` | Joint 进度条 UI | -| `venv/` | Python 依赖（勿放进 colcon 扫描，已 IGNORE） | +包内模型与标定数据来自 Linker Hand / 本机标定流程；请按公司内部仓库规范使用与分发。 diff --git a/README_启动.md b/README_启动.md index 791266f..63c43fc 100644 --- a/README_启动.md +++ b/README_启动.md @@ -1,283 +1,12 @@ -# LinkerHand O6 MuJoCo（ROS2）启动说明 +# 启动说明 -本机跑 MuJoCo 左手仿真，可用本机或另一台电脑通过 ROS2 话题控制。 +主文档已合并到仓库根目录 [README.md](./README.md)，请以该文件为准。 ---- +快捷入口： -## 环境要求 - -- Ubuntu + ROS 2 **Jazzy** -- 工作区路径：`~/linker_hand_mujoco_ros2` -- Python 依赖在 `venv` 中（含 `mujoco`、`PyQt5`） -- **注意**：`ros2 launch` 使用系统 `/usr/bin/python3`，仅 `source venv` **不够**，需用下文的启动脚本或设置 `PYTHONPATH` - ---- - -## 一、编译（首次或改代码后） - -```bash -cd ~/linker_hand_mujoco_ros2 -source /opt/ros/jazzy/setup.bash -colcon build --symlink-install --packages-select linker_hand_mujoco_ros2 -source install/setup.bash -``` - -`venv` 目录已放 `COLCON_IGNORE`，不会被 colcon 误扫。 - ---- - -## 二、本机启动仿真（推荐） - -```bash -cd ~/linker_hand_mujoco_ros2 -./run_sim.sh -``` - -脚本会自动： - -- `source` ROS2 与本工作区 -- `ROS_DOMAIN_ID=30`，`ROS_LOCALHOST_ONLY=0`（便于多机） -- 把 `venv` 的 `site-packages` 加入 `PYTHONPATH`（解决找不到 `mujoco`） - -成功后应出现： - -1. MuJoCo 3D 窗口（左手 O6） -2. Joint 进度条窗口（实时关节角） - -### 手动启动（等效） - -```bash -cd ~/linker_hand_mujoco_ros2 -source /opt/ros/jazzy/setup.bash -source install/setup.bash -export PYTHONPATH="$PWD/venv/lib/python3.12/site-packages:$PYTHONPATH" -ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py -``` - -当前 launch 默认： - -| 参数 | 值 | -|------|-----| -| `hand_type` | `left` | -| `hand_joint` | `O6` | -| 控制话题 | `/cb_left_hand_control_cmd` | - ---- - -## 三、控制话题说明 - -- 话题：`/cb_left_hand_control_cmd` -- 类型：`sensor_msgs/msg/JointState` -- `position`：**6 个数**，范围约 **0–255** - -| 索引 | 含义 | +| 场景 | 命令 | |------|------| -| 0 | 拇指弯曲 | -| 1 | 拇指横摆 | -| 2 | 食指弯曲 | -| 3 | 中指弯曲 | -| 4 | 无名指弯曲 | -| 5 | 小指弯曲 | - -约定（当前映射）：约 **255 = 张开，0 = 握紧**。远指节由 mimic 跟随近指节。 - -### 本机发一帧（握拳示例） - -```bash -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{ - header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, - name: [], - position: [0.0, 100.0, 0.0, 0.0, 0.0, 0.0], - velocity: [], - effort: [] -}" -``` - -张开： - -```bash -ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{ - header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, - name: [], - position: [255.0, 255.0, 255.0, 255.0, 255.0, 255.0], - velocity: [], - effort: [] -}" -``` - ---- - -## 四、两台电脑共用 ROS2 - -ROS2 **没有** ROS1 的 `roscore`。两边约定同一个 Domain 即可。 - -### 两边都设置 - -```bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 -``` - -### 电脑 A：仿真机 - -```bash -cd ~/linker_hand_mujoco_ros2 -./run_sim.sh -``` - -### 电脑 B：控制机（发指令 / handretarget / SDK） - -```bash -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -# 确认话题与收发端 -ros2 topic list -ros2 topic info /cb_left_hand_control_cmd -v -``` - -`topic info -v` 中应能看到： - -- **Publisher**：例如 `handretarget_node` -- **Subscription**：至少包含 `linker_hand_mujoco_ros2_node` - -### 查是否真的在发数据 - -有 Publisher ≠ 正在发数据。请用： - -```bash -ros2 topic hz /cb_left_hand_control_cmd -ros2 topic echo /cb_left_hand_control_cmd -``` - -- `hz` 无输出 → 对端没在 publish -- `echo --once` 会一直等到有一帧；无数据时像卡住，优先用上面两条 - -### 跨机能看见话题但收不到数据时 - -1. 确认两边 `ROS_DOMAIN_ID`、`ROS_LOCALHOST_ONLY=0` 一致，并重启节点 -2. 互相 `ping` 通；尽量同一网段 / 有线；关闭路由器 **AP 隔离** -3. 本机 `ufw` 可先确认：`sudo ufw status`（不活动则不是防火墙） -4. 需要时可配置 CycloneDDS 静态 Peer（两边 IP 写入 `~/cyclonedds.xml`），然后： - -```bash -export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -export CYCLONEDDS_URI=file://$HOME/cyclonedds.xml -``` - ---- - -## 五、常用自检命令 - -```bash -# 节点是否在 -ros2 node list - -# 话题列表（仿真未启动时可能还没有 /cb_left_hand_control_cmd） -ros2 topic list - -# 订阅/发布数量与节点名 -ros2 topic info /cb_left_hand_control_cmd -v - -# 频率 / 内容 -ros2 topic hz /cb_left_hand_control_cmd -ros2 topic echo /cb_left_hand_control_cmd -``` - ---- - -## 六、常见问题 - -### `ModuleNotFoundError: No module named 'mujoco'` - -`ros2 launch` 没用到 venv。请用： - -```bash -./run_sim.sh -``` - -或设置 `PYTHONPATH`（见上文「手动启动」）。 - -### `topic list` 只有 `/rosout`，没有左手话题 - -仿真节点未运行。先 `./run_sim.sh`，再 `ros2 topic list`。 - -### 改左右手 - -编辑： - -`src/linkerhand-sim/linker_hand_mujoco_ros2/launch/linker_hand_mujoco_ros2.launch.py` - -- 左手：`hand_type: 'left'` → 话题 `/cb_left_hand_control_cmd` -- 右手：`hand_type: 'right'` → 话题 `/cb_right_hand_control_cmd` - -改完后若未用 symlink，再执行一次 `colcon build --symlink-install`。 - ---- - -## 七、通用曲线录制（仿真 / 真机同一套话题） - -**只传一个文件给对端即可：** - -`tools/hand_curve_recorder_standalone.py` - -两边都要：已 `source` ROS2、`numpy`、`matplotlib`。 - -```bash -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -# 仿真端 -python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim - -# 真机端（把该 py 拷过去后） -python3 hand_curve_recorder_standalone.py --hand left --channel 3 --label real -``` - -对端发 `/cb_left_hand_control_cmd`；本机 **Ctrl+C** → `reports/hand_curves/` 下生成 csv + 三曲线图。 - -默认还订 `/cb_left_hand_state`（`position`=0～255，`effort` 可放电流）。话题名不同时： - -```bash -python3 hand_curve_recorder_standalone.py --state-topic /你的状态话题 --channel 3 --label real -``` - -通道：`0拇指弯 1拇指横摆 2食指 3中指 4无名指 5小指`。 - ---- - -要「ROS 发指令 + 仿真里出 q/v/τ 图」： - -```bash -cd ~/linker_hand_mujoco_ros2 -source /opt/ros/jazzy/setup.bash -export ROS_DOMAIN_ID=30 -export ROS_LOCALHOST_ONLY=0 - -# 自测：订话题 + 本地 MuJoCo + 自动发中指慢扫 + 可选 viewer -./venv/bin/python tools/ros_mujoco_record_qvt.py \ - --hand left --finger middle --viewer --self-sweep - -# 对端发指令时：去掉 --self-sweep -./venv/bin/python tools/ros_mujoco_record_qvt.py \ - --hand left --finger middle --viewer -# Ctrl+C → reports/O6_middle_ros/*_qvt.png -``` - ---- - -## 八、文件与模型位置 - -| 路径 | 说明 | -|------|------| -| `./run_sim.sh` | 本机一键启动 | -| `src/.../launch/linker_hand_mujoco_ros2.launch.py` | 左右手 / 型号 | -| `src/.../urdf/O6/` | O6 左右手 MJCF（来自 mujoco_testwork 验证模型） | -| `src/.../utils/joint_monitor.py` | Joint 进度条 UI | -| `venv/` | Python 依赖（勿放进 colcon 扫描，已 IGNORE） | +| O6 | `./run_sim.sh` | +| G20 | `./run_g20_mujoco_plan.sh` | +| G20 关节 GUI | `./run_g20_joint_gui.sh` | +| G20 + L20 对比 | `./run_dual_mujoco_compare.sh` | diff --git a/run_dual_mujoco_compare.sh b/run_dual_mujoco_compare.sh new file mode 100755 index 0000000..38159fa --- /dev/null +++ b/run_dual_mujoco_compare.sh @@ -0,0 +1,62 @@ +#!/usr/bin/env bash +# 同时开两个 MuJoCo：当前标定 G20 + L20 V10.1 原版 URDF +# 共用同一条 0~255 控制话题（默认 /g20/cb_left_hand_control_cmd） +# +# 用法: +# ./run_dual_mujoco_compare.sh +# ./run_dual_mujoco_compare.sh --cmd-topic /cb_left_hand_control_cmd +# ./run_dual_mujoco_compare.sh --speed 1.0 +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +cd "$ROOT" + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2" +G20_XML="$PKG_SRC/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml" +L20_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml" + +if [[ ! -f "$G20_XML" ]]; then + echo "[error] missing G20 MJCF: $G20_XML" >&2 + exit 1 +fi +if [[ ! -f "$L20_XML" ]]; then + echo "[error] missing L20 MJCF: $L20_XML" >&2 + exit 1 +fi + +EXTRA=("$@") + +cleanup() { + [[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true + [[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +echo "[dual] G20 calibrated xml=$G20_XML" +"$ROOT/run_g20_mujoco_plan.sh" \ + --xml "$G20_XML" \ + --node-name g20_calibrated \ + --window-title "G20 calibrated (current)" \ + --sim-state-topic /sim/mujoco/g20/left/joint_state \ + --mapping g20_calibrated \ + "${EXTRA[@]}" & +PID_G20=$! + +# 错开一点，避免两个 GLFW 同时抢显示 +sleep 1 + +echo "[dual] L20 V10.1 stock xml=$L20_XML (URDF-native mapping, no G20 corrections)" +# L20 mesh 弯曲时自碰多，默认 collision_project 会把运动全部打回；对比时关闭。 +"$ROOT/run_g20_mujoco_plan.sh" \ + --xml "$L20_XML" \ + --node-name l20v101_stock \ + --window-title "L20 V10.1 stock (URDF only)" \ + --sim-state-topic /sim/mujoco/l20v101/left/joint_state \ + --mapping l20_urdf \ + --no-collision-project \ + "${EXTRA[@]}" & +PID_L20=$! + +echo "[dual] both started. same cmd topic (default /g20/cb_left_hand_control_cmd)." +echo "[dual] L20: collision_project=off (mesh self-overlap would freeze motion)." +echo "[dual] Ctrl+C stops both." +wait "$PID_G20" "$PID_L20" diff --git a/run_g20_joint_gui.sh b/run_g20_joint_gui.sh new file mode 100755 index 0000000..f5c3f7b --- /dev/null +++ b/run_g20_joint_gui.sh @@ -0,0 +1,25 @@ +#!/usr/bin/env bash +# G20 关节弧度监视 GUI（默认 6 位小数） +# 订阅 /sim/mujoco/g20/left/joint_state +set -eo pipefail +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +cd "$ROOT" + +set +u +# shellcheck disable=SC1091 +source /opt/ros/jazzy/setup.bash +if [[ -f "$ROOT/install/setup.bash" ]]; then + # shellcheck disable=SC1091 + source "$ROOT/install/setup.bash" +fi +set -u + +VENV_SITE="$ROOT/venv/lib/python3.12/site-packages" +if [[ -d "$VENV_SITE" ]]; then + export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}" +fi + +PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2" +export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}" + +exec python3 -m linker_hand_mujoco_ros2.g20_joint_monitor_gui "$@" diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py new file mode 100644 index 0000000..316bc15 --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py @@ -0,0 +1,238 @@ +#!/usr/bin/env python3 +# SPDX-License-Identifier: Apache-2.0 +"""G20 关节弧度监视 GUI（比 MuJoCo 面板更高精度）。 + +默认订阅 /sim/mujoco/g20/left/joint_state，显示每个 hinge 的弧度（默认 6 位小数）。 +""" + +from __future__ import annotations + +import argparse +import threading +import tkinter as tk +from tkinter import ttk + +from linker_hand_mujoco_ros2.utils.g20_joints import G20_MIMIC_OF + +DEFAULT_TOPIC = "/sim/mujoco/g20/left/joint_state" +DEFAULT_DIGITS = 6 +UI_HZ = 20.0 + +# 按手指分组，方便对照标定 +JOINT_GROUPS: tuple[tuple[str, tuple[str, ...]], ...] = ( + ( + "Thumb", + ( + "thumb_cmc_roll", + "thumb_cmc_yaw", + "thumb_cmc_pitch", + "thumb_mcp", + "thumb_ip", + ), + ), + ( + "Index", + ( + "index_mcp_roll", + "index_mcp_pitch", + "index_pip", + "index_dip", + ), + ), + ( + "Middle", + ( + "middle_mcp_roll", + "middle_mcp_pitch", + "middle_pip", + "middle_dip", + ), + ), + ( + "Ring", + ( + "ring_mcp_roll", + "ring_mcp_pitch", + "ring_pip", + "ring_dip", + ), + ), + ( + "Pinky", + ( + "pinky_mcp_roll", + "pinky_mcp_pitch", + "pinky_pip", + "pinky_dip", + ), + ), +) + + +def parse_args() -> argparse.Namespace: + p = argparse.ArgumentParser(description="G20 joint radian monitor GUI") + p.add_argument("--topic", default=DEFAULT_TOPIC, help="JointState 话题") + p.add_argument( + "--digits", + type=int, + default=DEFAULT_DIGITS, + help=f"小数位数（默认 {DEFAULT_DIGITS}）", + ) + return p.parse_args() + + +class JointMonitorGui: + def __init__(self, topic: str, digits: int) -> None: + self.topic = topic + self.digits = max(2, int(digits)) + self._lock = threading.Lock() + self._latest: dict[str, float] = {} + self._stamp_text = "waiting..." + self._msg_count = 0 + + self.root = tk.Tk() + self.root.title(f"G20 Joint Radians · {topic}") + self.root.geometry("520x720") + self.root.minsize(420, 480) + + style = ttk.Style(self.root) + if "clam" in style.theme_names(): + style.theme_use("clam") + + top = ttk.Frame(self.root, padding=8) + top.pack(fill=tk.X) + self.status = ttk.Label(top, text=f"topic: {topic} | {self._stamp_text}") + self.status.pack(anchor=tk.W) + hint = ttk.Label( + top, + text=f"精度: {self.digits} 位小数 · 灰色=mimic 从动关节", + foreground="#555", + ) + hint.pack(anchor=tk.W, pady=(2, 0)) + + canvas = tk.Canvas(self.root, highlightthickness=0) + scroll = ttk.Scrollbar(self.root, orient=tk.VERTICAL, command=canvas.yview) + self.body = ttk.Frame(canvas, padding=8) + self.body.bind( + "", + lambda e: canvas.configure(scrollregion=canvas.bbox("all")), + ) + canvas.create_window((0, 0), window=self.body, anchor=tk.NW) + canvas.configure(yscrollcommand=scroll.set) + canvas.pack(side=tk.LEFT, fill=tk.BOTH, expand=True) + scroll.pack(side=tk.RIGHT, fill=tk.Y) + + self.labels: dict[str, ttk.Label] = {} + mono = ("Menlo", 12) if self.root.tk.call("tk", "windowingsystem") == "aqua" else ( + "DejaVu Sans Mono", + 11, + ) + for group_name, joints in JOINT_GROUPS: + box = ttk.LabelFrame(self.body, text=group_name, padding=6) + box.pack(fill=tk.X, pady=4) + box.columnconfigure(1, weight=1) + for row, name in enumerate(joints): + is_mimic = name in G20_MIMIC_OF + tag = f"{name} (mimic)" if is_mimic else name + name_lbl = ttk.Label(box, text=tag, foreground="#666" if is_mimic else "#111") + name_lbl.grid(row=row, column=0, sticky=tk.W, padx=(0, 12), pady=2) + val_lbl = ttk.Label(box, text="—", font=mono, width=16, anchor=tk.E) + if is_mimic: + val_lbl.configure(foreground="#666") + val_lbl.grid(row=row, column=1, sticky=tk.E, pady=2) + self.labels[name] = val_lbl + + other = ttk.LabelFrame(self.body, text="Other / unlisted", padding=6) + other.pack(fill=tk.X, pady=4) + other.columnconfigure(1, weight=1) + self.other_frame = other + self._other_row = 0 + + self.root.protocol("WM_DELETE_WINDOW", self._on_close) + self.root.after(int(1000 / UI_HZ), self._tick_ui) + + def update_state(self, names: list[str], positions: list[float], stamp: str) -> None: + with self._lock: + self._latest = { + str(n): float(p) for n, p in zip(names, positions, strict=False) + } + self._stamp_text = stamp + self._msg_count += 1 + + def _tick_ui(self) -> None: + with self._lock: + latest = dict(self._latest) + stamp = self._stamp_text + count = self._msg_count + self.status.configure( + text=f"topic: {self.topic} | msgs={count} | {stamp}" + ) + fmt = f"{{:.{self.digits}f}}" + known = set(self.labels) + for name, lbl in self.labels.items(): + if name in latest: + lbl.configure(text=fmt.format(latest[name])) + else: + lbl.configure(text="—") + extras = sorted(set(latest) - known) + # 动态补未分组关节 + for name in extras: + if name in self.labels: + continue + name_lbl = ttk.Label(self.other_frame, text=name) + name_lbl.grid(row=self._other_row, column=0, sticky=tk.W, padx=(0, 12), pady=2) + val_lbl = ttk.Label( + self.other_frame, text=fmt.format(latest[name]), font=("DejaVu Sans Mono", 11), width=16, anchor=tk.E + ) + val_lbl.grid(row=self._other_row, column=1, sticky=tk.E, pady=2) + self.labels[name] = val_lbl + self._other_row += 1 + if not self.root.winfo_exists(): + return + self.root.after(int(1000 / UI_HZ), self._tick_ui) + + def _on_close(self) -> None: + self.root.destroy() + + def run(self) -> None: + self.root.mainloop() + + +def main() -> int: + args = parse_args() + + import rclpy + from rclpy.node import Node + from sensor_msgs.msg import JointState + + gui = JointMonitorGui(topic=args.topic, digits=args.digits) + stop = threading.Event() + + rclpy.init() + node = Node("g20_joint_monitor_gui") + + def on_msg(msg: JointState) -> None: + stamp = f"{msg.header.stamp.sec}.{msg.header.stamp.nanosec:09d}" + gui.update_state(list(msg.name), list(msg.position), stamp) + + node.create_subscription(JointState, args.topic, on_msg, 50) + node.get_logger().info(f"joint monitor GUI sub {args.topic}") + + def spin_ros() -> None: + while not stop.is_set() and rclpy.ok(): + rclpy.spin_once(node, timeout_sec=0.05) + + t = threading.Thread(target=spin_ros, daemon=True) + t.start() + try: + gui.run() + finally: + stop.set() + if rclpy.ok(): + node.destroy_node() + rclpy.shutdown() + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py index 79a8582..41e7115 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py @@ -23,12 +23,9 @@ 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, + get_mapping_fns, ) PKG_DIR = Path(__file__).resolve().parent @@ -49,12 +46,12 @@ DEFAULT_SLEW_RAD_S = 5.0 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 +# 正交正对掌心：从 +X 看向 -X，仰角 0（无俯仰） COMPARE_LOOKAT = (0.04, -0.04, 0.12) -COMPARE_DISTANCE = 0.50 +COMPARE_DISTANCE = 0.55 COMPARE_AZIMUTH = 180.0 # MuJoCo：180 = 从 +X 看向掌心 -COMPARE_ELEVATION = -12.0 +COMPARE_ELEVATION = 0.0 +COMPARE_ORTHOGRAPHIC = True def parse_args() -> argparse.Namespace: @@ -114,6 +111,22 @@ def parse_args() -> argparse.Namespace: 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) + p.add_argument( + "--node-name", + default="g20_mujoco_plan_bridge", + help="ROS2 节点名（双开时必须不同）", + ) + p.add_argument( + "--window-title", + default="", + help="MuJoCo 窗口标题（空则用节点名）", + ) + p.add_argument( + "--mapping", + default="g20_calibrated", + choices=("g20_calibrated", "l20_urdf"), + help="命令映射：g20_calibrated=当前标定/分段；l20_urdf=仅 L20 URDF 限位+线性 mimic", + ) return p.parse_args() @@ -180,6 +193,7 @@ class G20PlanBridge: collision_project: bool = True, slew_rad_s: float = DEFAULT_SLEW_RAD_S, sim_dt: float = 0.002, + mapping: str = "g20_calibrated", ): from sensor_msgs.msg import JointState @@ -193,6 +207,13 @@ class G20PlanBridge: self.slew_rad_s = max(0.0, float(slew_rad_s)) self.sim_dt = float(sim_dt) self.lock = threading.Lock() + ( + self.sdk_to_full, + self.complete_mimic, + self.open_hand_fn, + self.half_fist_fn, + ) = get_mapping_fns(mapping) + self.mapping = str(mapping) ( self.joint_qpos, @@ -210,7 +231,7 @@ class G20PlanBridge: self.actuated = g20_actuated_joint_names() self.ordered_names = sorted(self.joint_qpos.keys()) - open_full = open_hand_positions() + open_full = self.open_hand_fn() self.goal: dict[str, float] = dict(open_full) self.applied: dict[str, float] = dict(open_full) self.track_nominal: dict[str, float] | None = None @@ -229,12 +250,16 @@ class G20PlanBridge: 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)") + node.get_logger().info( + f"G20: sub {cmd_topic} (SDK 0~255), mapping={self.mapping}" + ) else: self.sub = node.create_subscription( JointState, nominal_topic, self._on_nominal, 10 ) - node.get_logger().info(f"G20 PLAN: sub {nominal_topic} (rad by name)") + node.get_logger().info( + f"G20 PLAN: sub {nominal_topic} (rad by name), mapping={self.mapping}" + ) self.pub = node.create_publisher(JointState, sim_state_topic, 10) self._state_timer = node.create_timer(1.0 / STATE_HZ, self._publish_state) @@ -243,7 +268,8 @@ class G20PlanBridge: 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" + f"collision_project={proj}, slew={self.slew_rad_s:.3f} rad/s, " + f"mapping={self.mapping}" ) def _clamp_name(self, name: str, val: float) -> float: @@ -253,7 +279,7 @@ class G20PlanBridge: 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) + full = self.complete_mimic(positions) with self.lock: self.goal = full self.track_nominal = { @@ -314,7 +340,7 @@ class G20PlanBridge: 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)) + cand = self.complete_mimic(dict(self.applied)) self._hard_write_pose_unlocked(cand) if not self._is_penetrating_unlocked(): self.applied = cand @@ -323,9 +349,9 @@ class G20PlanBridge: self._hard_write_pose_unlocked(prev) if self._is_penetrating_unlocked(): - base = complete_g20_mimic_positions(dict(self._last_safe_pose)) + base = self.complete_mimic(dict(self._last_safe_pose)) else: - base = complete_g20_mimic_positions(dict(prev)) + base = self.complete_mimic(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( @@ -339,7 +365,7 @@ class G20PlanBridge: cur = float(base.get(name, target)) if abs(target - cur) < 1e-12: continue - trial = complete_g20_mimic_positions({**base, name: target}) + trial = self.complete_mimic({**base, name: target}) self._hard_write_pose_unlocked(trial) if not self._is_penetrating_unlocked(): base = trial @@ -348,7 +374,7 @@ class G20PlanBridge: best = dict(base) for _ in range(COLLISION_PROJECT_ITERS): mid = 0.5 * (lo + hi) - trial = complete_g20_mimic_positions({**base, name: mid}) + trial = self.complete_mimic({**base, name: mid}) self._hard_write_pose_unlocked(trial) if self._is_penetrating_unlocked(): hi = mid @@ -357,7 +383,7 @@ class G20PlanBridge: best = trial base = best - self.applied = complete_g20_mimic_positions(base) + self.applied = self.complete_mimic(base) self._hard_write_pose_unlocked(self.applied) if self._is_penetrating_unlocked(): self.applied = dict(self._last_safe_pose) @@ -421,7 +447,7 @@ class G20PlanBridge: 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) + full = self.sdk_to_full(vals) self.set_nominal_targets(full) def _warn_missing(self, detail: str) -> None: @@ -520,7 +546,7 @@ def main(argv: list[str] | None = None) -> int: slew_rad_s = 0.0 if args.track_test else float(args.slew_rad_s) rclpy.init() - node = Node("g20_mujoco_plan_bridge") + node = Node(str(args.node_name)) bridge = G20PlanBridge( node, model, @@ -530,10 +556,13 @@ def main(argv: list[str] | None = None) -> int: cmd_topic=args.cmd_topic, sim_state_topic=args.sim_state_topic, use_pd_drive=bool(args.pd_drive) and not bool(args.track_test), + # L20 原版 mesh 在张开侧摆/握拳时易自碰；collision_project 会把 qpos 卡死。 collision_project=(not bool(args.no_collision_project)) - and (not bool(args.track_test)), + and (not bool(args.track_test)) + and (str(args.mapping) != "l20_urdf"), slew_rad_s=slew_rad_s, sim_dt=dt, + mapping=str(args.mapping), ) node.get_logger().info( f"timing: realtime={use_realtime} speed={speed:.3f} dt={dt:.4f}s" @@ -558,7 +587,7 @@ def main(argv: list[str] | None = None) -> int: track_phase = 0 track_switch_step = 200 if args.track_test: - bridge.set_nominal_targets(open_hand_positions()) + bridge.set_nominal_targets(bridge.open_hand_fn()) node.get_logger().info("track-test: phase0 open") step = 0 @@ -592,7 +621,7 @@ def main(argv: list[str] | None = None) -> int: if not args.track_test: return False if step == track_switch_step: - bridge.set_nominal_targets(half_fist_positions()) + bridge.set_nominal_targets(bridge.half_fist_fn()) track_phase = 1 node.get_logger().info("track-test: phase1 half-fist") if track_phase == 1 and step >= track_switch_step + 400: @@ -628,11 +657,23 @@ def main(argv: list[str] | None = None) -> int: 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） + # 正交视角，正对掌心 viewer.cam.lookat[:] = COMPARE_LOOKAT viewer.cam.distance = COMPARE_DISTANCE viewer.cam.azimuth = COMPARE_AZIMUTH viewer.cam.elevation = COMPARE_ELEVATION + viewer.cam.orthographic = 1 if COMPARE_ORTHOGRAPHIC else 0 + title = str(args.window_title or args.node_name) + try: + # mujoco>=3: glfw window handle + if hasattr(viewer, "_gui") and hasattr(viewer._gui, "title"): + viewer._gui.title = title + elif hasattr(viewer, "wnd") and viewer.wnd is not None: + import glfw + glfw.set_window_title(viewer.wnd, title) + except Exception: + pass + node.get_logger().info(f"viewer title={title}") while running and viewer.is_running(): with bridge.lock: bridge.step_simulation_unlocked() diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json new file mode 100644 index 0000000..333606a --- /dev/null +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json @@ -0,0 +1,5575 @@ +{ + "schema_version": 3, + "model": "G20", + "side": "left", + "serial_number": "G20_LEFT_001", + "angle_unit": "rad", + "command_range": [ + 0, + 255 + ], + "baseline_command_u8": [ + 255, + 255, + 255, + 255, + 255, + 255, + 127, + 127, + 127, + 127, + 255, + 255, + 255, + 255, + 255, + 255, + 255, + 255, + 255, + 255 + ], + "joints": { + "thumb_cmc_pitch": { + 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b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/utils/g20_joints.py @@ -3,6 +3,10 @@ from __future__ import annotations +import json +from pathlib import Path +from typing import NamedTuple + # SDK 索引 → URDF 关节名（不含前缀） L20_SDK_TO_URDF: dict[int, str] = { 0: "thumb_cmc_pitch", @@ -24,8 +28,78 @@ L20_SDK_TO_URDF: dict[int, str] = { } DIP_MIMIC_MULTIPLIER = 0.89 +# URDF 默认线性比；实际被动跟随以标定 JSON 分段为准 THUMB_IP_MIMIC_MULTIPLIER = 1.02 +_G20_CALIB_JSON = ( + Path(__file__).resolve().parent.parent + / "urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json" +) + + +class PiecewiseMap(NamedTuple): + """单调分段线性映射：master_pts[i] <-> mimic_pts[i]。""" + + master: str + master_pts: tuple[float, ...] + mimic_pts: tuple[float, ...] + + +def _load_g20_calibration(path: Path = _G20_CALIB_JSON) -> dict: + with path.open("r", encoding="utf-8") as f: + data = json.load(f) + if int(data.get("schema_version", 0)) < 3: + raise ValueError(f"unsupported calibration schema in {path}") + joints = data.get("joints") or {} + tables: dict[str, tuple[float, ...]] = {} + for name, spec in joints.items(): + arr = spec.get("angle_rad") + if not isinstance(arr, list) or len(arr) != 256: + raise ValueError(f"{name}: angle_rad must be length 256") + tables[name] = tuple(float(x) for x in arr) + baseline = [float(x) for x in data.get("baseline_command_u8", [255] * 20)] + while len(baseline) < 20: + baseline.append(255.0) + return {"tables": tables, "baseline": baseline[:20], "path": str(path)} + + +_G20_CALIB = _load_g20_calibration() +G20_CMD_ANGLE_TABLES: dict[str, tuple[float, ...]] = _G20_CALIB["tables"] +G20_OPEN_CMD: list[float] = list(_G20_CALIB["baseline"]) + + +def _downsample_passive_map( + master_name: str, mimic_name: str, n_pts: int = 33 +) -> PiecewiseMap: + """同一命令下的 master/mimic 曲线 → 升序分段表。 + + thumb_ip 的 JSON 是累计指尖投影角，需减 thumb_mcp 得到相对 URDF 关节角。 + """ + master = G20_CMD_ANGLE_TABLES[master_name] + mimic = G20_CMD_ANGLE_TABLES[mimic_name] + pairs: list[tuple[float, float]] = [] + last_m: float | None = None + for cmd in range(255, -1, -1): + m = float(master[cmd]) + y = float(mimic[cmd]) + if mimic_name == "thumb_ip": + y = max(0.0, y - m) + if last_m is None or m > last_m + 1e-9: + pairs.append((m, y)) + last_m = m + if len(pairs) < 2: + raise ValueError(f"cannot build passive map {master_name}->{mimic_name}") + if n_pts < 2: + n_pts = 2 + idxs = sorted({round(i * (len(pairs) - 1) / (n_pts - 1)) for i in range(n_pts)}) + sel = [pairs[i] for i in idxs] + return PiecewiseMap( + master=master_name, + master_pts=tuple(p[0] for p in sel), + mimic_pts=tuple(p[1] for p in sel), + ) + + G20_ACTUATED_JOINT_NAMES: tuple[str, ...] = tuple( sorted({name for name in L20_SDK_TO_URDF.values()}) ) @@ -48,16 +122,38 @@ G20_MIMIC_OF: dict[str, tuple[str, float]] = { "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] +# 被动关节：标定 JSON 中同命令下的 master/mimic 配对曲线 +G20_PASSIVE_MAPS: dict[str, PiecewiseMap] = { + "thumb_ip": _downsample_passive_map("thumb_mcp", "thumb_ip"), + "index_dip": _downsample_passive_map("index_pip", "index_dip"), + "middle_dip": _downsample_passive_map("middle_pip", "middle_dip"), + "ring_dip": _downsample_passive_map("ring_pip", "ring_dip"), + "pinky_dip": _downsample_passive_map("pinky_pip", "pinky_dip"), +} -G20_OPEN_CMD = [ - 255, 255, 255, 255, 255, 255, 193, 148, 105, 42, 245, 255, 255, 255, 255, 255, 255, 255, 255, 255 -] +# 四指侧摆相对标定表视觉反向时取负；拇指 cmc_roll 不翻 +G20_FLIP_JOINT_SIGN: frozenset[str] = frozenset( + { + "index_mcp_roll", + "middle_mcp_roll", + "ring_mcp_roll", + "pinky_mcp_roll", + } +) + +# 由标定表极值导出（供日志/兼容）；实际 0~255 走查表 +G20_L_MIN = [0.0] * 20 +G20_L_MAX = [0.0] * 20 +for _sdk_idx, _jname in L20_SDK_TO_URDF.items(): + _arr = G20_CMD_ANGLE_TABLES[_jname] + _lo = float(min(_arr)) + _hi = float(max(_arr)) + if _jname in G20_FLIP_JOINT_SIGN: + _lo, _hi = -_hi, -_lo + G20_L_MIN[_sdk_idx] = _lo + G20_L_MAX[_sdk_idx] = _hi +# 侧摆方向提示：标定表 cmd0=+max、cmd255=-max（不再用线性 DIR） +G20_L_DIR = [-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1] def g20_required_joint_names() -> frozenset[str]: @@ -68,14 +164,45 @@ def g20_actuated_joint_names() -> frozenset[str]: return frozenset(G20_ACTUATED_JOINT_NAMES) +def _interp_piecewise(x: float, xs: tuple[float, ...], ys: tuple[float, ...]) -> float: + if len(xs) != len(ys): + raise ValueError(f"piecewise size mismatch: len(xs)={len(xs)} len(ys)={len(ys)}") + if len(xs) < 2: + raise ValueError("piecewise map must contain at least 2 points") + for i in range(1, len(xs)): + if xs[i] <= xs[i - 1]: + raise ValueError(f"xs must be strictly increasing: {xs}") + + x = float(x) + if x <= xs[0]: + return float(ys[0]) + if x >= xs[-1]: + return float(ys[-1]) + for i in range(1, len(xs)): + if x <= xs[i]: + return scale_value(x, xs[i - 1], xs[i], ys[i - 1], ys[i]) + return float(ys[-1]) + + +def passive_master_to_mimic(mimic_name: str, master_value: float) -> float: + spec = G20_PASSIVE_MAPS[mimic_name] + return _interp_piecewise(float(master_value), spec.master_pts, spec.mimic_pts) + + +def passive_mimic_to_master(mimic_name: str, mimic_value: float) -> float: + spec = G20_PASSIVE_MAPS[mimic_name] + return _interp_piecewise(float(mimic_value), spec.mimic_pts, spec.master_pts) + + 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(): + for mimic, spec in G20_PASSIVE_MAPS.items(): if mimic in out: continue + master = spec.master if master in out: - out[mimic] = float(out[master]) * float(ratio) + out[mimic] = passive_master_to_mimic(mimic, float(out[master])) return out @@ -89,42 +216,54 @@ def clamp(value: float, low: float, high: float) -> float: return max(low, min(high, value)) +def g20_cmd_to_joint_angle(joint_name: str, command: float) -> float: + """查标定表：命令 0~255 → 关节弧度（支持小数命令线性插值）。""" + table = G20_CMD_ANGLE_TABLES[joint_name] + cmd = clamp(float(command), 0.0, 255.0) + lo = int(cmd) + if lo >= 255: + angle = float(table[255]) + else: + hi = lo + 1 + frac = cmd - lo + angle = float(table[lo]) * (1.0 - frac) + float(table[hi]) * frac + if joint_name in G20_FLIP_JOINT_SIGN: + angle = -angle + return angle + + def 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）。""" + """SDK 0~255 → 20 维弧度（预留通道 11~14 保持 0）；按标定表查。""" 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]) + for sdk_idx, joint_name in L20_SDK_TO_URDF.items(): + cmd = values[sdk_idx] if sdk_idx < len(values) else G20_OPEN_CMD[sdk_idx] + arcs[sdk_idx] = g20_cmd_to_joint_angle(joint_name, cmd) 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) + """20 维 SDK → URDF 主动关节弧度（标定表直接对应主动关节，不做 tip/DIP 反算）。""" 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 + cmd = values[sdk_idx] if sdk_idx < len(values) else G20_OPEN_CMD[sdk_idx] + out[short_name] = g20_cmd_to_joint_angle(short_name, cmd) 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)) + """主动查标定表；被动：thumb_ip 用相对分段，*_dip 用同命令相对表。""" + out = sdk_range_to_urdf_positions(values) + # thumb_ip JSON 是累计 tip，勿直接写入；用 master→相对 mimic + out["thumb_ip"] = passive_master_to_mimic("thumb_ip", float(out["thumb_mcp"])) + for sdk_idx, dip_name in ( + (16, "index_dip"), + (17, "middle_dip"), + (18, "ring_dip"), + (19, "pinky_dip"), + ): + cmd = values[sdk_idx] if len(values) > sdk_idx else G20_OPEN_CMD[sdk_idx] + out[dip_name] = g20_cmd_to_joint_angle(dip_name, cmd) + return out def open_hand_positions() -> dict[str, float]: @@ -132,8 +271,116 @@ def open_hand_positions() -> dict[str, float]: 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。""" + """半握：主动弯曲通道约中间值，侧摆保持 baseline。""" 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) + + +# --------------------------------------------------------------------------- +# L20 V10.1：严格按 URDF 限位 + 线性 mimic，不做 G20 标定/分段/指尖反算修正 +# --------------------------------------------------------------------------- +L20_URDF_THUMB_IP_MIMIC = 1.0142 # URDF: thumb_dip <- thumb_mcp +L20_URDF_DIP_MIMIC = 0.7879 # URDF: *_dip <- *_pip + +L20_URDF_MIMIC_OF: dict[str, tuple[str, float]] = { + "thumb_ip": ("thumb_mcp", L20_URDF_THUMB_IP_MIMIC), + "index_dip": ("index_pip", L20_URDF_DIP_MIMIC), + "middle_dip": ("middle_pip", L20_URDF_DIP_MIMIC), + "ring_dip": ("ring_pip", L20_URDF_DIP_MIMIC), + "pinky_dip": ("pinky_pip", L20_URDF_DIP_MIMIC), +} + +# SDK 通道限位直接取自 L20 URDF 主动关节（15 直接对应 thumb_mcp，不是 tip 反算） +L20_URDF_L_MIN = [ + 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, -0.2269, -0.23, -0.23, -0.23, + 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, +] +L20_URDF_L_MAX = [ + 0.7854, 1.2217, 1.2217, 1.2217, 1.2217, + 1.309, 0.2269, 0.23, 0.23, 0.23, + 1.5882, 0.0, 0.0, 0.0, 0.0, + 1.2217, 1.7279, 1.7279, 1.7279, 1.7279, +] +# 弯曲：0→MAX、255→MIN。四指侧摆 6..9：L20 URDF 轴为 -X（G20 为 +X）， +# 故与 G20 相反，取 DIR=-1，避免相对真机/G20 视觉反向。 +L20_URDF_L_DIR = [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1] + + +def complete_l20_urdf_mimic_positions(positions: dict[str, float]) -> dict[str, float]: + """按 L20 URDF 线性 mimic 补全；已给出的 mimic 值优先保留。""" + out = dict(positions) + for mimic, (master, ratio) in L20_URDF_MIMIC_OF.items(): + if mimic in out: + continue + if master in out: + out[mimic] = float(out[master]) * float(ratio) + return out + + +def range_to_arc_l20_urdf(values: list[float]) -> list[float]: + arcs = [0.0] * 20 + for i in range(20): + if 11 <= i <= 14: + continue + val = clamp(values[i] if i < len(values) else 0.0, 0.0, 255.0) + if L20_URDF_L_DIR[i] == -1: + arcs[i] = scale_value(val, 0.0, 255.0, L20_URDF_L_MAX[i], L20_URDF_L_MIN[i]) + else: + arcs[i] = scale_value(val, 0.0, 255.0, L20_URDF_L_MIN[i], L20_URDF_L_MAX[i]) + return arcs + + +def sdk_range_to_l20_urdf_positions(values: list[float]) -> dict[str, float]: + """0~255 → L20 主动关节：直接按 URDF 限位插值，不做 tip/DIP 反算修正。""" + arcs = range_to_arc_l20_urdf(values) + out: dict[str, float] = {} + for sdk_idx, short_name in L20_SDK_TO_URDF.items(): + out[short_name] = float(arcs[sdk_idx]) + return out + + +def sdk_range_to_full_l20_urdf_positions(values: list[float]) -> dict[str, float]: + return complete_l20_urdf_mimic_positions(sdk_range_to_l20_urdf_positions(values)) + + +def open_hand_positions_l20_urdf() -> dict[str, float]: + # 不用 G20_OPEN_CMD：其侧摆偏置在 L20 mesh 上会无名指/小指自碰， + # 把 collision_project 卡死导致整手不动。 + # 弯曲全开=255；侧摆 6..9 取中值→约 0 rad。 + cmd = [255.0] * 20 + for i in (6, 7, 8, 9): + cmd[i] = 127.5 + return sdk_range_to_full_l20_urdf_positions(cmd) + + +def half_fist_positions_l20_urdf() -> dict[str, float]: + cmd = [255.0] * 20 + for i in (6, 7, 8, 9): + cmd[i] = 127.5 + for i in (0, 1, 2, 3, 4, 15, 16, 17, 18, 19): + cmd[i] = 80.0 + return sdk_range_to_full_l20_urdf_positions(cmd) + + +def get_mapping_fns(profile: str): + """返回 (sdk_to_full, complete_mimic, open_hand, half_fist)。""" + p = str(profile).strip().lower() + if p in ("l20_urdf", "l20", "urdf"): + return ( + sdk_range_to_full_l20_urdf_positions, + complete_l20_urdf_mimic_positions, + open_hand_positions_l20_urdf, + half_fist_positions_l20_urdf, + ) + if p in ("g20", "g20_calibrated", "calibrated"): + return ( + sdk_range_to_full_urdf_positions, + complete_g20_mimic_positions, + open_hand_positions, + half_fist_positions, + ) + raise ValueError(f"unknown mapping profile: {profile}") diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/setup.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/setup.py index 57a0d35..f1e89f0 100644 --- a/src/linkerhand-sim/linker_hand_mujoco_ros2/setup.py +++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/setup.py @@ -35,6 +35,7 @@ setup( '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', 'g20_plan_bridge=linker_hand_mujoco_ros2.g20_plan_bridge:main', + 'g20_joint_monitor_gui=linker_hand_mujoco_ros2.g20_joint_monitor_gui:main', ], }, )