From 471f0c571e9f4f0e074522b43ec8e31c795d3fac Mon Sep 17 00:00:00 2001 From: yuqix Date: Tue, 19 Nov 2024 16:00:53 -0600 Subject: [PATCH 1/2] add fourier hands, change joint order for inspire hands --- .../assets/grippers/fourier_left_hand.xml | 220 +++++++++++++++++ .../assets/grippers/fourier_right_hand.xml | 227 ++++++++++++++++++ .../assets/grippers/inspire_left_hand.xml | 24 +- .../assets/grippers/inspire_right_hand.xml | 22 +- .../meshes/fourier_hands/L_hand_base_link.STL | Bin 0 -> 246984 bytes .../L_index_intermediate_link.STL | Bin 0 -> 216884 bytes .../fourier_hands/L_index_proximal_link.STL | Bin 0 -> 246984 bytes .../L_middle_intermediate_link.STL | Bin 0 -> 199684 bytes .../fourier_hands/L_middle_proximal_link.STL | Bin 0 -> 246984 bytes .../L_pinky_intermediate_link.STL | Bin 0 -> 217684 bytes .../fourier_hands/L_pinky_proximal_link.STL | Bin 0 -> 246984 bytes .../L_ring_intermediate_link.STL | Bin 0 -> 216884 bytes .../fourier_hands/L_ring_proximal_link.STL | Bin 0 -> 246984 bytes .../fourier_hands/L_thumb_distal_link.STL | Bin 0 -> 156484 bytes .../L_thumb_proximal_base_link.STL | Bin 0 -> 89084 bytes .../fourier_hands/L_thumb_proximal_link.STL | Bin 0 -> 246984 bytes .../meshes/fourier_hands/R_hand_base_link.STL | Bin 0 -> 246984 bytes .../R_index_intermediate_link.STL | Bin 0 -> 216884 bytes .../fourier_hands/R_index_proximal_link.STL | Bin 0 -> 246984 bytes .../R_middle_intermediate_link.STL | Bin 0 -> 199684 bytes .../fourier_hands/R_middle_proximal_link.STL | Bin 0 -> 246984 bytes .../R_pinky_intermediate_link.STL | Bin 0 -> 217684 bytes .../fourier_hands/R_pinky_proximal_link.STL | Bin 0 -> 246984 bytes .../R_ring_intermediate_link.STL | Bin 0 -> 216884 bytes .../fourier_hands/R_ring_proximal_link.STL | Bin 0 -> 246984 bytes .../fourier_hands/R_thumb_distal_link.STL | Bin 0 -> 147684 bytes .../R_thumb_proximal_base_link.STL | Bin 0 -> 90684 bytes .../fourier_hands/R_thumb_proximal_link.STL | Bin 0 -> 246984 bytes robosuite/models/grippers/fourier_hands.py | 143 +++++++++++ robosuite/models/grippers/inspire_hands.py | 4 +- 30 files changed, 615 insertions(+), 25 deletions(-) create mode 100644 robosuite/models/assets/grippers/fourier_left_hand.xml create mode 100644 robosuite/models/assets/grippers/fourier_right_hand.xml create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_hand_base_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_index_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_index_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_middle_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_middle_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_pinky_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_pinky_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_ring_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_ring_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_thumb_distal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_thumb_proximal_base_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/L_thumb_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_hand_base_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_index_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_index_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_middle_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_middle_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_pinky_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_pinky_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_ring_intermediate_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_ring_proximal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_thumb_distal_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_thumb_proximal_base_link.STL create mode 100644 robosuite/models/assets/grippers/meshes/fourier_hands/R_thumb_proximal_link.STL create mode 100644 robosuite/models/grippers/fourier_hands.py diff --git a/robosuite/models/assets/grippers/fourier_left_hand.xml b/robosuite/models/assets/grippers/fourier_left_hand.xml new file mode 100644 index 0000000000..c5bb4d0b16 --- /dev/null +++ b/robosuite/models/assets/grippers/fourier_left_hand.xml @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robosuite/models/assets/grippers/fourier_right_hand.xml b/robosuite/models/assets/grippers/fourier_right_hand.xml new file mode 100644 index 0000000000..2d4a290c43 --- /dev/null +++ b/robosuite/models/assets/grippers/fourier_right_hand.xml @@ -0,0 +1,227 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robosuite/models/assets/grippers/inspire_left_hand.xml b/robosuite/models/assets/grippers/inspire_left_hand.xml index 97962695ab..e232285fdd 100644 --- a/robosuite/models/assets/grippers/inspire_left_hand.xml +++ b/robosuite/models/assets/grippers/inspire_left_hand.xml @@ -236,18 +236,18 @@ - - - - - - - - - - - - + + + + + + + + + + + + diff --git a/robosuite/models/assets/grippers/inspire_right_hand.xml b/robosuite/models/assets/grippers/inspire_right_hand.xml index c9be5a7cfa..a508a3f566 100644 --- a/robosuite/models/assets/grippers/inspire_right_hand.xml +++ b/robosuite/models/assets/grippers/inspire_right_hand.xml @@ -233,18 +233,18 @@ - - - - - - - - - - - + + + + + + + + + + + diff --git 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Thumb bend has 3 joints, so copy 3 times. Other fingers has 2 joints, so copy 2 times. + assert len(action) == self.dof + action = np.array(action) + indices = np.array([0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5]) + return action[indices] + + @property + def init_qpos(self): + return np.array([0.0] * 11) + + @property + def speed(self): + return 0.15 + + @property + def dof(self): + return 6 + + @property + def _important_geoms(self): + return { + "left_finger": [ + "L_thumb_proximal_base_link_col", + "L_thumb_proximal_link_col", + "L_thumb_distal_link_col", + ], + "right_finger": [ + "L_index_proximal_link_col", + "L_index_intermediate_link_col", + "L_middle_proximal_link_col", + "L_middle_proximal_link_col", + "L_ring_proximal_link_col", + "L_ring_intermediate_link_col", + "L_pinky_proximal_link_col", + "L_pinky_intermediate_link_col", + ], + "left_fingerpad": [ + "L_thumb_proximal_base_link_col", + "L_thumb_proximal_link_col", + "L_thumb_distal_link_col", + ], + "right_fingerpad": [ + "L_index_proximal_link_col", + "L_index_intermediate_link_col", + "L_middle_proximal_link_col", + "L_middle_proximal_link_col", + "L_ring_proximal_link_col", + "L_ring_intermediate_link_col", + "L_pinky_proximal_link_col", + "L_pinky_intermediate_link_col", + ], + } + + +class FourierRightHand(GripperModel): + """ + Dexterous right hand of GR1 robot + + Args: + idn (int or str): Number or some other unique identification string for this gripper instance + """ + + def __init__(self, idn=0): + super().__init__(xml_path_completion("grippers/fourier_right_hand.xml"), idn=idn) + + def format_action(self, action): + # the more correct way is to add tag in the xml + # however the tag makes finger movement laggy, so manually copy the value for finger joints + # 0 is thumb rot, no copying. Thumb bend has 3 joints, so copy 3 times. Other fingers has 2 joints, so copy 2 times. + assert len(action) == self.dof + action = np.array(action) + indices = np.array([0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5]) + return action[indices] + + @property + def init_qpos(self): + return np.array([0.0] * 11) + + @property + def speed(self): + return 0.15 + + @property + def dof(self): + return 6 + + @property + def _important_geoms(self): + return { + "left_finger": [ + "R_thumb_proximal_base_link_col", + "R_thumb_proximal_link_col", + "R_thumb_distal_link_col", + ], + "right_finger": [ + "R_index_proximal_link_col", + "R_index_intermediate_link_col", + "R_middle_proximal_link_col", + "R_middle_proximal_link_col", + "R_ring_proximal_link_col", + "R_ring_intermediate_link_col", + "R_pinky_proximal_link_col", + "R_pinky_intermediate_link_col", + ], + "left_fingerpad": [ + "R_thumb_proximal_base_link_col", + "R_thumb_proximal_link_col", + "R_thumb_distal_link_col", + ], + "right_fingerpad": [ + "R_index_proximal_link_col", + "R_index_intermediate_link_col", + "R_middle_proximal_link_col", + "R_middle_proximal_link_col", + "R_ring_proximal_link_col", + "R_ring_intermediate_link_col", + "R_pinky_proximal_link_col", + "R_pinky_intermediate_link_col", + ], + } diff --git a/robosuite/models/grippers/inspire_hands.py b/robosuite/models/grippers/inspire_hands.py index 26f61887ab..1484fe55ea 100644 --- a/robosuite/models/grippers/inspire_hands.py +++ b/robosuite/models/grippers/inspire_hands.py @@ -24,7 +24,7 @@ def format_action(self, action): # 0 is thumb rot, no copying. Thumb bend has 3 joints, so copy 3 times. Other fingers has 2 joints, so copy 2 times. assert len(action) == self.dof action = np.array(action) - indices = np.array([0, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5]) + indices = np.array([0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 4, 5]) return action[indices] @property @@ -94,7 +94,7 @@ def format_action(self, action): # 0 is thumb rot, no copying. Thumb bend has 3 joints, so copy 3 times. Other fingers has 2 joints, so copy 2 times. assert len(action) == self.dof action = np.array(action) - indices = np.array([0, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5]) + indices = np.array([0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 4, 5]) return action[indices] @property From 14d805f5f5675801b095659937184286ea4898a3 Mon Sep 17 00:00:00 2001 From: yuqix Date: Wed, 20 Nov 2024 16:30:17 -0600 Subject: [PATCH 2/2] update fourier hand, fix damping, change gr1 hand to fouirer hand --- .../assets/grippers/fourier_left_hand.xml | 46 +++------- .../assets/grippers/fourier_right_hand.xml | 86 ++++++++----------- robosuite/models/grippers/__init__.py | 3 + .../models/robots/manipulators/gr1_robot.py | 2 +- 4 files changed, 52 insertions(+), 85 deletions(-) diff --git a/robosuite/models/assets/grippers/fourier_left_hand.xml b/robosuite/models/assets/grippers/fourier_left_hand.xml index c5bb4d0b16..c0edf99715 100644 --- a/robosuite/models/assets/grippers/fourier_left_hand.xml +++ b/robosuite/models/assets/grippers/fourier_left_hand.xml @@ -85,20 +85,17 @@ - - + - - + - - + @@ -111,14 +108,12 @@ - - + - - + @@ -130,14 +125,12 @@ - - + - - + @@ -149,14 +142,12 @@ - - + - - + @@ -167,14 +158,12 @@ - - + - - + @@ -185,19 +174,6 @@ - - - - - - - - - - - - - diff --git a/robosuite/models/assets/grippers/fourier_right_hand.xml b/robosuite/models/assets/grippers/fourier_right_hand.xml index 2d4a290c43..bf7fd3816e 100644 --- a/robosuite/models/assets/grippers/fourier_right_hand.xml +++ b/robosuite/models/assets/grippers/fourier_right_hand.xml @@ -9,48 +9,60 @@ - + - + + + + + + + + + + + + + @@ -81,27 +93,24 @@ - + - - + - + - - + - + - - + - + @@ -112,17 +121,15 @@ - - + - + - - + - + @@ -133,17 +140,15 @@ - - + - + - - + - + @@ -154,16 +159,14 @@ - - + - + - - + - + @@ -173,16 +176,14 @@ - - + - + - - + - + @@ -192,19 +193,6 @@ - - - - - - - - - - - - - diff --git a/robosuite/models/grippers/__init__.py b/robosuite/models/grippers/__init__.py index 24b817a9d0..56089af8f7 100644 --- a/robosuite/models/grippers/__init__.py +++ b/robosuite/models/grippers/__init__.py @@ -13,6 +13,7 @@ from .bd_gripper import BDGripper from .null_gripper import NullGripper from .inspire_hands import InspireLeftHand, InspireRightHand +from .fourier_hands import FourierLeftHand, FourierRightHand GRIPPER_MAPPING = { "RethinkGripper": RethinkGripper, @@ -27,6 +28,8 @@ "BDGripper": BDGripper, "InspireLeftHand": InspireLeftHand, "InspireRightHand": InspireRightHand, + "FourierLeftHand": FourierLeftHand, + "FourierRightHand": FourierRightHand, None: NullGripper, } diff --git a/robosuite/models/robots/manipulators/gr1_robot.py b/robosuite/models/robots/manipulators/gr1_robot.py index 34035d2f98..ed6119cf90 100644 --- a/robosuite/models/robots/manipulators/gr1_robot.py +++ b/robosuite/models/robots/manipulators/gr1_robot.py @@ -30,7 +30,7 @@ def default_gripper(self): Returns: dict: Dictionary containing arm-specific gripper names """ - return {"right": "InspireRightHand", "left": "InspireLeftHand"} + return {"right": "FourierRightHand", "left": "FourierLeftHand"} @property def default_controller_config(self):

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