405 lines
14 KiB
Bash
Executable File
405 lines
14 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 同时开两个 MuJoCo：G20 左手标定 vs L20 原版 URDF（未标定）
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#
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# 标定: /home/lxqs/图片/linkerhand_g20_left_tag.urdf
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# → 同步包内 linker_hand_g20_left.xml（限位/侧摆轴/body 零位）；mapping=g20_calibrated
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# （可用 G20_LEFT_URDF=... 覆盖）
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# 未标定: L20 V10.1 左手 URDF → 运行时按左手模板刷新 linker_hand_l20v101_left.xml
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# mapping=l20_urdf
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#
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# 主动关节统一按当前模型限位线性换算；g20_calibrated 仅保留可选被动 JSON 联动。
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#
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# 默认运动学硬写。需要 PD+自碰时手动加 --pd-drive（两窗均加）。
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# 两个窗口共用 /cb_left_hand_control_cmd（20 维 0~255）。
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#
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# 用法:
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# ./hands/G20/scripts/run_g20_left_dual_compare.sh
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# ./hands/G20/scripts/run_g20_left_dual_compare.sh --cmd-topic /cb_left_hand_control_cmd --speed 1.0
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# ./hands/G20/scripts/run_g20_left_dual_compare.sh --pd-drive
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
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cd "$ROOT"
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PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2"
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G20_DIR="$PKG_SRC/urdf/G20/linker_hand_g20_left"
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URDF_CALIBRATED="${G20_LEFT_URDF:-$ROOT/hands/G20/reference/left_calibrated.urdf}"
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MESHDIR_CALIB="$G20_DIR/meshes"
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URDF_UNCALIBRATED="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linkerhand_L20v10.1_left.urdf"
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MESHDIR_UNCAL="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/meshes"
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CALIB_XML="$G20_DIR/linker_hand_g20_left.xml"
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CALIB_URDF_PKG="$G20_DIR/linkerhand_g20_left.urdf"
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L20_TEMPLATE="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml"
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STOCK_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml"
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if [[ ! -f "$URDF_CALIBRATED" ]]; then
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# 回退到包内副本
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URDF_CALIBRATED="$CALIB_URDF_PKG"
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fi
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if [[ ! -f "$URDF_CALIBRATED" ]]; then
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echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2
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exit 1
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fi
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if [[ ! -f "$CALIB_XML" ]]; then
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echo "[error] missing calibrated MJCF template: $CALIB_XML" >&2
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exit 1
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fi
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if [[ ! -f "$URDF_UNCALIBRATED" ]]; then
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echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2
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exit 1
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fi
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if [[ ! -d "$MESHDIR_UNCAL" ]]; then
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echo "[error] missing uncalibrated meshes: $MESHDIR_UNCAL" >&2
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exit 1
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fi
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if [[ ! -f "$L20_TEMPLATE" ]]; then
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echo "[error] missing L20 V10.1 left MJCF template: $L20_TEMPLATE" >&2
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exit 1
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fi
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set +u
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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if [[ -f "$ROOT/install/setup.bash" ]]; then
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# shellcheck disable=SC1091
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source "$ROOT/install/setup.bash"
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fi
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set -u
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VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
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if [[ -d "$VENV_SITE" ]]; then
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export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
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fi
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export PYTHONPATH="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2${PYTHONPATH:+:$PYTHONPATH}"
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echo "[g20-left-dual] sync calibrated MJCF from G20 left URDF -> $CALIB_XML"
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python3 - "$URDF_CALIBRATED" "$MESHDIR_CALIB" "$CALIB_XML" "$CALIB_URDF_PKG" <<'PY'
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import re
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import shutil
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import sys
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from pathlib import Path
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import mujoco
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import numpy as np
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urdf_cal = Path(sys.argv[1])
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meshdir_cal = Path(sys.argv[2])
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calib_xml = Path(sys.argv[3])
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calib_urdf_pkg = Path(sys.argv[4])
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# 包内主副本 + tag 文件名副本
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shutil.copy2(urdf_cal, calib_urdf_pkg)
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shutil.copy2(urdf_cal, calib_urdf_pkg.parent / "linkerhand_g20_left_tag.urdf")
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MCP_ROLL_JOINTS = (
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"index_mcp_roll",
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"middle_mcp_roll",
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"ring_mcp_roll",
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"pinky_mcp_roll",
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)
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BODY_FROM_JOINT = {
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"thumb_cmc_roll": "thumb_metacarpals_base1",
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"thumb_cmc_yaw": "thumb_metacarpals_base2",
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"thumb_cmc_pitch": "thumb_metacarpals",
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"thumb_mcp": "thumb_proximal",
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"thumb_ip": "thumb_distal",
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"index_mcp_roll": "index_metacarpals",
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"index_mcp_pitch": "index_proximal",
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"index_pip": "index_middle",
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"index_dip": "index_distal",
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"middle_mcp_roll": "middle_metacarpals",
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"middle_mcp_pitch": "middle_proximal",
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"middle_pip": "middle_middle",
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"middle_dip": "middle_distal",
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"ring_mcp_roll": "ring_metacarpals",
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"ring_mcp_pitch": "ring_proximal",
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"ring_pip": "ring_middle",
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"ring_dip": "ring_distal",
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"pinky_mcp_roll": "pinky_metacarpals",
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"pinky_mcp_pitch": "pinky_proximal",
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"pinky_pip": "pinky_middle",
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"pinky_dip": "pinky_distal",
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}
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def rpy_to_quat(roll, pitch, yaw):
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cr, sr = np.cos(roll / 2), np.sin(roll / 2)
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cp, sp = np.cos(pitch / 2), np.sin(pitch / 2)
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cy, sy = np.cos(yaw / 2), np.sin(yaw / 2)
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return np.array(
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[
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cr * cp * cy + sr * sp * sy,
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sr * cp * cy - cr * sp * sy,
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cr * sp * cy + sr * cp * sy,
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cr * cp * sy - sr * sp * cy,
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]
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)
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def parse_urdf(path: Path) -> dict[str, dict]:
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text = path.read_text()
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joints: dict[str, dict] = {}
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for m in re.finditer(r"<joint\b([^>]*)>(.*?)</joint>", text, re.S):
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attrs, body = m.group(1), m.group(2)
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name_m = re.search(r'name="([^"]+)"', attrs)
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if not name_m:
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continue
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name = name_m.group(1)
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if "revolute" not in attrs:
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continue
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origin = re.search(r'<origin[^>]*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body)
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lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body)
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# URDF 常写成 <axis\n xyz="..."/>，不能写死 "axis xyz="
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axis = re.search(r'<axis[^>]*xyz="([^"]+)"', body)
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xyz = [float(x) for x in origin.group(1).split()] if origin else [0.0, 0.0, 0.0]
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rpy = [float(x) for x in origin.group(2).split()] if origin else [0.0, 0.0, 0.0]
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joints[name] = {
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"lo": float(lim.group(1)),
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"hi": float(lim.group(2)),
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"xyz": xyz,
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"rpy": rpy,
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"axis": axis.group(1) if axis else "1 0 0",
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}
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return joints
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def apply_urdf_to_mjcf(template: str, joints: dict[str, dict]) -> str:
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xml = template
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for jname, info in joints.items():
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lo, hi = info["lo"], info["hi"]
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pat = rf'(<joint name="{re.escape(jname)}"[^>]*\srange=")([^"]+)(")'
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xml = re.sub(
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pat,
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lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}",
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xml,
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count=1,
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)
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act_pat = rf'(<position name="{re.escape(jname)}_pos"[^>]*\sctrlrange=")([^"]+)(")'
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xml = re.sub(
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act_pat,
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lambda m, lo=lo, hi=hi: f"{m.group(1)}{lo} {hi}{m.group(3)}",
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xml,
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count=1,
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)
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if jname in MCP_ROLL_JOINTS:
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ax = info["axis"].strip()
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ax_pat = rf'(<joint name="{re.escape(jname)}"[^>]*\saxis=")([^"]+)(")'
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xml = re.sub(ax_pat, lambda m, ax=ax: f"{m.group(1)}{ax}{m.group(3)}", xml, count=1)
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# 同步零位 body pos/quat（拇指 CMC 等）；保留原有 visual/collision geom 结构
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for jname, bname in BODY_FROM_JOINT.items():
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if jname not in joints:
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continue
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j = joints[jname]
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xyz, rpy = j["xyz"], j["rpy"]
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q = rpy_to_quat(*rpy)
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pos = f"{xyz[0]:g} {xyz[1]:g} {xyz[2]:g}"
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m = re.search(rf'<body name="{re.escape(bname)}"[^>]*>', xml)
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if not m:
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continue
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if np.allclose(q, [1, 0, 0, 0], atol=1e-9):
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new = f'<body name="{bname}" pos="{pos}">'
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else:
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quat = "{:.8g} {:.8g} {:.8g} {:.8g}".format(*q)
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new = f'<body name="{bname}" pos="{pos}" quat="{quat}">'
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xml = xml[: m.start()] + new + xml[m.end() :]
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return xml
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joints = parse_urdf(urdf_cal)
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xml = apply_urdf_to_mjcf(calib_xml.read_text(), joints)
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calib_xml.write_text(xml)
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mujoco.MjModel.from_xml_path(str(calib_xml))
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for j in MCP_ROLL_JOINTS:
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ax = re.search(rf'<joint name="{j}"[^>]*\saxis="([^"]+)"', calib_xml.read_text())
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print(f"[g20-left-dual] synced {j} axis={ax.group(1) if ax else '?'}")
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for j in ("thumb_cmc_roll", "thumb_cmc_yaw", "thumb_cmc_pitch"):
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info = joints[j]
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print(f"[g20-left-dual] {j} rpy={info['rpy']} lim=[{info['lo']}, {info['hi']}]")
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print(f"[g20-left-dual] calibrated URDF: {urdf_cal}")
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print(f"[g20-left-dual] calibrated MJCF: {calib_xml} (package template)")
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if meshdir_cal.is_dir():
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print(f"[g20-left-dual] calibrated meshes: {meshdir_cal}")
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PY
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echo "[g20-left-dual] refresh uncalibrated L20 V10.1 left MJCF from $URDF_UNCALIBRATED"
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python3 - "$URDF_UNCALIBRATED" "$MESHDIR_UNCAL" "$L20_TEMPLATE" "$STOCK_XML" <<'PY'
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import re
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import shutil
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import sys
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from pathlib import Path
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import mujoco
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import numpy as np
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urdf_path = Path(sys.argv[1])
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meshdir = Path(sys.argv[2])
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template_path = Path(sys.argv[3])
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out_path = Path(sys.argv[4])
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def rpy_to_quat(roll, pitch, yaw):
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cr, sr = np.cos(roll / 2), np.sin(roll / 2)
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cp, sp = np.cos(pitch / 2), np.sin(pitch / 2)
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cy, sy = np.cos(yaw / 2), np.sin(yaw / 2)
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return np.array([
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cr * cp * cy + sr * sp * sy,
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sr * cp * cy - cr * sp * sy,
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cr * sp * cy + sr * cp * sy,
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cr * cp * sy - sr * sp * cy,
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])
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def parse_joints(path: Path) -> dict:
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text = path.read_text()
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joints = {}
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for m in re.finditer(r"<joint\b([^>]*)>(.*?)</joint>", text, re.S):
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attrs, body = m.group(1), m.group(2)
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name = re.search(r'name="([^"]+)"', attrs).group(1)
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jtype = re.search(r'type="([^"]+)"', attrs).group(1)
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if jtype != "revolute":
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continue
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origin = re.search(r'<origin[^>]*xyz="([^"]+)"[^>]*rpy="([^"]+)"', body)
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lim = re.search(r'lower="([^"]+)"[^>]*upper="([^"]+)"', body)
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axis = re.search(r'<axis[^>]*xyz="([^"]+)"', body)
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joints[name] = {
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"xyz": tuple(map(float, origin.group(1).split())),
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"rpy": tuple(map(float, origin.group(2).split())),
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"lo": float(lim.group(1)),
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"hi": float(lim.group(2)),
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"axis": tuple(map(float, axis.group(1).split())),
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}
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if "thumb_dip" in joints and "thumb_ip" not in joints:
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joints["thumb_ip"] = dict(joints["thumb_dip"])
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return joints
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def fmt_axis(ax):
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return " ".join(f"{v:g}" for v in ax)
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def fmt_range(lo, hi):
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return f"{lo:g} {hi:g}"
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out_path.parent.mkdir(parents=True, exist_ok=True)
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mesh_out = out_path.parent / "meshes"
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mesh_out.mkdir(exist_ok=True)
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for f in meshdir.glob("*"):
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shutil.copy2(f, mesh_out / f.name)
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shutil.copy2(urdf_path, out_path.parent / urdf_path.name)
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# 先读模板全文（out 可能与 template 同路径）
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xml = template_path.read_text()
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l20 = parse_joints(urdf_path)
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joint_specs = {n: (j["lo"], j["hi"], j["axis"]) for n, j in l20.items() if n != "thumb_dip"}
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for name, (lo, hi, axis) in joint_specs.items():
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pat = re.compile(rf'<joint name="{re.escape(name)}"[^>]*>')
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m = pat.search(xml)
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if not m:
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raise SystemExit(f"missing joint {name}")
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new = (
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f'<joint name="{name}" pos="0 0 0" axis="{fmt_axis(axis)}" '
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f'range="{fmt_range(lo, hi)}" actuatorfrcrange="-100 100"/>'
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)
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xml = xml[: m.start()] + new + xml[m.end() :]
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for name, (lo, hi, _) in joint_specs.items():
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pat = re.compile(
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rf'(<position name="{re.escape(name)}_pos"[^>]*\bctrlrange=")[^"]+(")'
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)
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if not pat.search(xml):
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raise SystemExit(f"missing actuator {name}_pos")
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xml = pat.sub(rf"\g<1>{lo:g} {hi:g}\2", xml, count=1)
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body_from_joint = {
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"thumb_cmc_roll": "thumb_metacarpals_base1",
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"thumb_cmc_yaw": "thumb_metacarpals_base2",
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"thumb_cmc_pitch": "thumb_metacarpals",
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"thumb_mcp": "thumb_proximal",
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"thumb_ip": "thumb_distal",
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"index_mcp_roll": "index_metacarpals",
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"index_mcp_pitch": "index_proximal",
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"index_pip": "index_middle",
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"index_dip": "index_distal",
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"middle_mcp_roll": "middle_metacarpals",
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"middle_mcp_pitch": "middle_proximal",
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"middle_pip": "middle_middle",
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"middle_dip": "middle_distal",
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"ring_mcp_roll": "ring_metacarpals",
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"ring_mcp_pitch": "ring_proximal",
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"ring_pip": "ring_middle",
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"ring_dip": "ring_distal",
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"pinky_mcp_roll": "pinky_metacarpals",
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"pinky_mcp_pitch": "pinky_proximal",
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"pinky_pip": "pinky_middle",
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"pinky_dip": "pinky_distal",
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}
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for jname, bname in body_from_joint.items():
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j = l20[jname]
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xyz = j["xyz"]
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rpy = j["rpy"]
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q = rpy_to_quat(*rpy)
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pos = f"{xyz[0]:g} {xyz[1]:g} {xyz[2]:g}"
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pat = re.compile(rf'<body name="{re.escape(bname)}"[^>]*>')
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m = pat.search(xml)
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if not m:
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raise SystemExit(f"missing body {bname}")
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if np.allclose(q, [1, 0, 0, 0], atol=1e-9):
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new = f'<body name="{bname}" pos="{pos}">'
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else:
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quat = "{:.6g} {:.6g} {:.6g} {:.6g}".format(*q)
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new = f'<body name="{bname}" pos="{pos}" quat="{quat}">'
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xml = xml[: m.start()] + new + xml[m.end() :]
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out_path.write_text(xml)
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mujoco.MjModel.from_xml_path(str(out_path))
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print(f"[g20-left-dual] uncalibrated URDF: {urdf_path}")
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print(f"[g20-left-dual] uncalibrated meshes: {meshdir} -> {mesh_out}")
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print(f"[g20-left-dual] uncalibrated MJCF -> {out_path} (L20v101 left template + visual/collision split)")
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PY
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EXTRA=("$@")
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cleanup() {
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[[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true
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[[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true
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}
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trap cleanup EXIT INT TERM
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echo "[g20-left-dual] G20 calibrated xml=$CALIB_XML"
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"$ROOT/hands/G20/scripts/run_g20_mujoco_plan.sh" \
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--xml "$CALIB_XML" \
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--mapping-urdf "$URDF_CALIBRATED" \
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--node-name g20_calibrated_left \
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--window-title "G20 left 标定 (linkerhand_g20_left_tag)" \
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--cmd-topic /cb_left_hand_control_cmd \
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--sim-state-topic /sim/mujoco/g20/left/calibrated/joint_state \
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--mapping g20_calibrated \
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"${EXTRA[@]}" &
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PID_G20=$!
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sleep 1
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echo "[g20-left-dual] L20 stock xml=$STOCK_XML (L20v101 left, URDF-native mapping)"
|
||
"$ROOT/hands/G20/scripts/run_g20_mujoco_plan.sh" \
|
||
--xml "$STOCK_XML" \
|
||
--mapping-urdf "$URDF_UNCALIBRATED" \
|
||
--node-name l20_stock_left \
|
||
--window-title "L20 V10.1 left 未标定" \
|
||
--cmd-topic /cb_left_hand_control_cmd \
|
||
--sim-state-topic /sim/mujoco/l20/left/stock/joint_state \
|
||
--mapping l20_urdf \
|
||
"${EXTRA[@]}" &
|
||
PID_L20=$!
|
||
|
||
echo "[g20-left-dual] both started. cmd topic: /cb_left_hand_control_cmd"
|
||
echo "[g20-left-dual] mode: kinematic（运动学硬写；稳定跟 0~255）"
|
||
echo "[g20-left-dual] 标定 mapping=g20_calibrated（主动线性，仅被动 JSON）；未标定 mapping=l20_urdf + collision_project=on"
|
||
echo "[g20-left-dual] 需要 PD+自碰: ./hands/G20/scripts/run_g20_left_dual_compare.sh --pd-drive"
|
||
echo "[g20-left-dual] Ctrl+C stops both."
|
||
wait "$PID_G20" "$PID_L20"
|