217 lines
7.3 KiB
Bash
Executable File
217 lines
7.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 同时开两个 MuJoCo：L6 v3.1 右手标定 vs 未标定 URDF
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#
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# 未标定: /home/lxqs/linkerhand-urdf/l6/right
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# 标定: /home/lxqs/Linkerbot_URDF/L6/RIGHT（直接用 linker_hand_l6v31_right.xml，与单开相同）
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#
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# 两个窗口共用同一条 6 维 SDK 控制话题（/cb_right_hand_control_cmd）。
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#
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# 用法:
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# ./hands/L6/scripts/run_l6_right_dual_compare.sh
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# ./hands/L6/scripts/run_l6_right_dual_compare.sh --pd-drive
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# ./hands/L6/scripts/run_l6_right_dual_compare.sh --cmd-topic /cb_right_hand_control_cmd --speed 1.0
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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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URDF_UNCALIBRATED="$ROOT/hands/L6/reference/right_uncalibrated.urdf"
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URDF_CALIBRATED="$ROOT/hands/L6/reference/right_calibrated.urdf"
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PKG_L6="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_right"
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CALIB_XML="$PKG_L6/linker_hand_l6v31_right.xml"
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STOCK_XML="$PKG_L6/linker_hand_l6v31_right_stock.xml"
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if [[ ! -f "$URDF_UNCALIBRATED" ]]; then
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echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2
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exit 1
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fi
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if [[ ! -f "$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: $CALIB_XML" >&2
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exit 1
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fi
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set +u
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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if [[ -f "$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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PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2"
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export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}"
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echo "[l6-right-dual] calibrated xml=$CALIB_XML (same as single-run)"
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echo "[l6-right-dual] build uncalibrated MJCF from $URDF_UNCALIBRATED"
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python3 - "$CALIB_XML" "$URDF_UNCALIBRATED" "$STOCK_XML" <<'PY'
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import math
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import re
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import sys
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from pathlib import Path
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template_xml = Path(sys.argv[1])
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urdf_uncal = Path(sys.argv[2])
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out_uncal = Path(sys.argv[3])
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joint_body = {
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"rh_thumb_cmc_roll": "rh_thumb_metacarpals_base1",
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"rh_thumb_cmc_pitch": "rh_thumb_metacarpals",
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}
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MESHDIR_UNCAL = "/home/lxqs/linkerhand-urdf/l6/right/meshes"
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def parse_urdf_limits(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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jtype_m = re.search(r'type="([^"]+)"', attrs)
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if not jtype_m or jtype_m.group(1) != "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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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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"rpy": rpy,
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}
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return joints
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def rpy_to_quat(r: float, p: float, y: float) -> tuple[float, float, float, float]:
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cr, sr = math.cos(r * 0.5), math.sin(r * 0.5)
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cp, sp = math.cos(p * 0.5), math.sin(p * 0.5)
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cy, sy = math.cos(y * 0.5), math.sin(y * 0.5)
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w = cr * cp * cy + sr * sp * sy
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x = sr * cp * cy - cr * sp * sy
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yq = cr * sp * cy + sr * cp * sy
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z = cr * cp * sy - sr * sp * cy
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return w, x, yq, z
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def apply_urdf_to_mjcf(template: str, urdf_path: Path, model_name: str) -> str:
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joints = parse_urdf_limits(urdf_path)
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xml = template.replace(
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'model="linkerhand_l6v31_right"',
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f'model="{model_name}"',
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1,
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)
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xml = re.sub(
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r'(<compiler[^>]*meshdir=")[^"]+(")',
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rf"\1{MESHDIR_UNCAL}\2",
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xml,
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count=1,
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)
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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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r, p, y = info["rpy"]
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bname = joint_body.get(jname)
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if bname and abs(r) + abs(p) + abs(y) > 1e-9:
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w, x, yq, z = rpy_to_quat(r, p, y)
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quat = f"{w:.9f} {x:.9f} {yq:.9f} {z:.9f}"
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bpat = rf'(<body name="{re.escape(bname)}"[^>]*)(>)'
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def add_quat(m, quat=quat):
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tag = m.group(1)
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if 'quat="' in tag:
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tag = re.sub(r'quat="[^"]+"', f'quat="{quat}"', tag, count=1)
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else:
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tag = tag + f' quat="{quat}"'
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return tag + m.group(2)
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xml = re.sub(bpat, add_quat, xml, count=1)
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elif bname:
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bpat = rf'(<body name="{re.escape(bname)}"[^>]*)\squat="[^"]+"([^>]*>)'
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xml = re.sub(bpat, r"\1\2", xml, count=1)
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act_map = {
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"rh_thumb_cmc_roll_pos": "rh_thumb_cmc_roll",
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"rh_thumb_cmc_pitch_pos": "rh_thumb_cmc_pitch",
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"rh_index_mcp_pitch_pos": "rh_index_mcp_pitch",
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"rh_middle_mcp_pitch_pos": "rh_middle_mcp_pitch",
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"rh_ring_mcp_pitch_pos": "rh_ring_mcp_pitch",
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"rh_pinky_mcp_pitch_pos": "rh_pinky_mcp_pitch",
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}
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for act, jname in act_map.items():
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lo, hi = joints[jname]["lo"], joints[jname]["hi"]
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pat = rf'(<position name="{act}"[^>]*\sctrlrange=")([^"]+)(")'
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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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return xml
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import mujoco
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out_uncal.write_text(
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apply_urdf_to_mjcf(template_xml.read_text(), urdf_uncal, "linkerhand_l6v31_right_uncalibrated")
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)
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mujoco.MjModel.from_xml_path(str(out_uncal))
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print(f"[l6-right-dual] uncalibrated URDF: {urdf_uncal}")
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print(f"[l6-right-dual] uncalibrated meshes: {MESHDIR_UNCAL}")
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print(f"[l6-right-dual] uncalibrated MJCF -> {out_uncal}")
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PY
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echo "[l6-right-dual] calibrated URDF: $URDF_CALIBRATED"
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echo "[l6-right-dual] calibrated meshes: $PKG_L6/meshes (package, 标定安装)"
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EXTRA=("$@")
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cleanup() {
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[[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true
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[[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true
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}
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trap cleanup EXIT INT TERM
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echo "[l6-right-dual] launch uncalibrated window"
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"$ROOT/hands/L6/scripts/run_l6_right_mujoco_plan.sh" \
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--xml "$STOCK_XML" \
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--mapping-urdf "$URDF_UNCALIBRATED" \
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--node-name l6_right_uncalibrated \
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--window-title "L6 right 未标定 (linkerhand-urdf)" \
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--cmd-topic /cb_right_hand_control_cmd \
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--sim-state-topic /sim/mujoco/l6/right/uncalibrated/joint_state \
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"${EXTRA[@]}" &
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PID_UNCAL=$!
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sleep 1
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echo "[l6-right-dual] launch calibrated window"
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"$ROOT/hands/L6/scripts/run_l6_right_mujoco_plan.sh" \
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--xml "$CALIB_XML" \
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--mapping-urdf "$URDF_CALIBRATED" \
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--node-name l6_right_calibrated \
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--window-title "L6 right 标定 (Linkerbot_URDF)" \
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--cmd-topic /cb_right_hand_control_cmd \
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--sim-state-topic /sim/mujoco/l6/right/calibrated/joint_state \
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"${EXTRA[@]}" &
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PID_CALIB=$!
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echo "[l6-right-dual] both started. cmd topic: /cb_right_hand_control_cmd"
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echo "[l6-right-dual] Ctrl+C stops both."
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wait "$PID_UNCAL" "$PID_CALIB"
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