282 lines
9.6 KiB
Bash
Executable File
282 lines
9.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 同时开两个 MuJoCo：O12 右手标定 vs 未标定 URDF
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#
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# 标定: /home/lxqs/Linkerbot_URDF/012/right/linkerhand_o12_right_biaoding.urdf
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# 未标定: /home/lxqs/Linkerbot_URDF/012/right/linkerhand_o12_right.urdf
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#
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# 启动前各自同步 MJCF（限位/轴/body 零位）；两窗各自用对应 URDF 的限位+mimic 映射。
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# 共用 /o12/right/joint_cmd（12 路 SDK 弧度）。
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#
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# 用法:
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# ./hands/O12/scripts/run_o12_right_dual_compare.sh
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# ./hands/O12/scripts/run_o12_right_dual_compare.sh --no-pd-drive
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# ./hands/O12/scripts/run_o12_right_dual_compare.sh --pd-drive --slew-rad-s 4
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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_DIR="${O12_RIGHT_URDF_DIR:-$ROOT/assets/vendor/Linkerbot_URDF/012/right}"
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URDF_CALIBRATED="${O12_RIGHT_URDF_CALIBRATED:-$URDF_DIR/linkerhand_o12_right_biaoding.urdf}"
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URDF_UNCALIBRATED="${O12_RIGHT_URDF_UNCALIBRATED:-$URDF_DIR/linkerhand_o12_right.urdf}"
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MESHDIR="${O12_RIGHT_MESHDIR:-$URDF_DIR/meshes}"
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PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2"
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O12_DIR="$PKG_SRC/urdf/O12/linker_hand_o12_right"
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TEMPLATE_XML="$O12_DIR/linker_hand_o12_right.xml"
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CALIB_XML="$O12_DIR/linker_hand_o12_right.xml"
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STOCK_XML="$O12_DIR/linker_hand_o12_right_stock.xml"
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CALIB_URDF_PKG="$O12_DIR/linkerhand_o12_right.urdf"
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STOCK_URDF_PKG="$O12_DIR/linkerhand_o12_right_stock.urdf"
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if [[ ! -f "$URDF_CALIBRATED" ]]; then
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echo "[error] missing calibrated URDF: $URDF_CALIBRATED" >&2
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exit 1
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fi
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if [[ ! -f "$URDF_UNCALIBRATED" ]]; then
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echo "[error] missing uncalibrated URDF: $URDF_UNCALIBRATED" >&2
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exit 1
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fi
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if [[ ! -f "$TEMPLATE_XML" ]]; then
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echo "[error] missing O12 MJCF template: $TEMPLATE_XML" >&2
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exit 1
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fi
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if [[ ! -d "$MESHDIR" ]]; then
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echo "[error] missing meshes: $MESHDIR" >&2
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exit 1
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fi
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set +u
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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if [[ -f "$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:+:$PYTHONPATH}"
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echo "[o12-right-dual] sync calibrated + uncalibrated MJCF from Linkerbot_URDF"
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python3 - "$URDF_CALIBRATED" "$URDF_UNCALIBRATED" "$MESHDIR" "$TEMPLATE_XML" \
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"$CALIB_XML" "$STOCK_XML" "$CALIB_URDF_PKG" "$STOCK_URDF_PKG" <<'PY'
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import math
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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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urdf_unc = Path(sys.argv[2])
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meshdir = Path(sys.argv[3])
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template_xml = Path(sys.argv[4])
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calib_xml = Path(sys.argv[5])
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stock_xml = Path(sys.argv[6])
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calib_urdf_pkg = Path(sys.argv[7])
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stock_urdf_pkg = Path(sys.argv[8])
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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_dip": "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_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_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 localize_urdf(src: Path, dst: Path) -> None:
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text = src.read_text()
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text = re.sub(r"package://[^/]+/meshes/", "meshes/", text)
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dst.write_text(text)
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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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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).strip() if axis else "0 0 1",
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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], model_name: str) -> str:
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xml = re.sub(
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r'model="[^"]+"',
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f'model="{model_name}"',
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template,
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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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ax = info["axis"]
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jpat = re.compile(rf'<joint name="{re.escape(jname)}"[^>]*/?>')
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m = jpat.search(xml)
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if not m:
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raise SystemExit(f"missing joint in MJCF: {jname}")
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attrs = m.group(0)
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# keep damping/frictionloss if present
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damp = re.search(r'\bdamping="[^"]+"', attrs)
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fric = re.search(r'\bfrictionloss="[^"]+"', attrs)
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extra = ""
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if damp:
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extra += f" {damp.group(0)}"
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if fric:
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extra += f" {fric.group(0)}"
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new = (
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f'<joint name="{jname}" pos="0 0 0" axis="{ax}" '
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f'range="{lo:g} {hi:g}"{extra}/>'
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)
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xml = xml[: m.start()] + new + xml[m.end() :]
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act_pat = re.compile(
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rf'(<position name="{re.escape(jname)}_pos"[^>]*\bctrlrange=")[^"]+(")'
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)
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if act_pat.search(xml):
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xml = act_pat.sub(rf"\g<1>{lo:g} {hi:g}\2", xml, count=1)
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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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raise SystemExit(f"missing body in MJCF: {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 = "{:.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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# meshes → 包内（两窗共用）
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mesh_out = calib_xml.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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if f.is_file():
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shutil.copy2(f, mesh_out / f.name)
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localize_urdf(urdf_cal, calib_urdf_pkg)
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localize_urdf(urdf_unc, stock_urdf_pkg)
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shutil.copy2(urdf_cal, calib_urdf_pkg.parent / "linkerhand_o12_right_biaoding.urdf")
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template = template_xml.read_text()
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cal_joints = parse_urdf(urdf_cal)
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unc_joints = parse_urdf(urdf_unc)
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calib_xml.write_text(
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apply_urdf_to_mjcf(template, cal_joints, "linkerhand_o12_right_calibrated")
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)
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stock_xml.write_text(
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apply_urdf_to_mjcf(template, unc_joints, "linkerhand_o12_right_uncalibrated")
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)
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mujoco.MjModel.from_xml_path(str(calib_xml))
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mujoco.MjModel.from_xml_path(str(stock_xml))
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print(f"[o12-right-dual] calibrated URDF: {urdf_cal}")
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print(f"[o12-right-dual] calibrated MJCF: {calib_xml}")
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print(f"[o12-right-dual] uncalibrated URDF: {urdf_unc}")
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print(f"[o12-right-dual] uncalibrated MJCF: {stock_xml}")
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for j in ("thumb_cmc_roll", "thumb_cmc_yaw", "index_mcp_roll", "index_mcp_pitch"):
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c, u = cal_joints[j], unc_joints[j]
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print(
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f"[o12-right-dual] {j}: cal lim=[{c['lo']:g},{c['hi']:g}] rpy={c['rpy']} | "
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f"unc lim=[{u['lo']:g},{u['hi']:g}] rpy={u['rpy']}"
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)
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PY
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EXTRA=("$@")
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cleanup() {
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[[ -n "${PID_CALIB:-}" ]] && kill "$PID_CALIB" 2>/dev/null || true
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[[ -n "${PID_UNCAL:-}" ]] && kill "$PID_UNCAL" 2>/dev/null || true
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}
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trap cleanup EXIT INT TERM
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echo "[o12-right-dual] launch calibrated window"
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"$ROOT/hands/O12/scripts/run_o12_right_mujoco_plan.sh" \
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--xml "$CALIB_XML" \
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--mapping-urdf "$URDF_CALIBRATED" \
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--o12-urdf "$URDF_CALIBRATED" \
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--node-name o12_right_calibrated \
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--window-title "O12 right 标定 (biaoding)" \
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--cmd-topic /o12/right/joint_cmd \
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--sim-state-topic /sim/mujoco/o12/right/calibrated/joint_states \
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"${EXTRA[@]}" &
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PID_CALIB=$!
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sleep 1
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echo "[o12-right-dual] launch uncalibrated window"
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"$ROOT/hands/O12/scripts/run_o12_right_mujoco_plan.sh" \
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--xml "$STOCK_XML" \
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--mapping-urdf "$URDF_UNCALIBRATED" \
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--o12-urdf "$URDF_UNCALIBRATED" \
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--node-name o12_right_uncalibrated \
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--window-title "O12 right 未标定 (stock)" \
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--cmd-topic /o12/right/joint_cmd \
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--sim-state-topic /sim/mujoco/o12/right/uncalibrated/joint_states \
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"${EXTRA[@]}" &
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PID_UNCAL=$!
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echo "[o12-right-dual] both started. shared cmd: /o12/right/joint_cmd (12 rad)"
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echo "[o12-right-dual] calibrated: $URDF_CALIBRATED"
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echo "[o12-right-dual] uncalibrated: $URDF_UNCALIBRATED"
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echo "[o12-right-dual] Ctrl+C stops both."
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wait "$PID_CALIB" "$PID_UNCAL"
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