From 663505dbe80e7a14bc7ea457e797e43eeab2531f Mon Sep 17 00:00:00 2001 From: Ramy Wahib Date: Sun, 9 Aug 2026 18:33:00 -0400 Subject: [PATCH 1/5] Add Quest VR teleop for wato_arm_v2 (armWithStand) Adapts run_quest_bimanual_teleop.py for the new armWithStand.usd asset: dedicated armWithStand_v2_cfg.py (joint limits/gains/ fingertip geometry re-derived for this asset's different joint axes, not copied from bimanual), the VR teleop script itself with a live-tuned stereo RSD455 head camera, a single-arm keyboard teleop variant for quick bench testing, and a helper script to open the bare USD scene for visual inspection. Co-Authored-By: Claude Sonnet 5 --- .../armWithStand_v2_cfg.py | 483 +++++++++ .../keyboard_teleop_armv2.py | 236 +++++ .../open_arm_v2_usd.py | 60 ++ .../run_quest_armWithStand_teleop.py | 962 ++++++++++++++++++ .../run_quest_armWithStand_teleop.sh | 23 + 5 files changed, 1764 insertions(+) create mode 100644 autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py create mode 100644 autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py create mode 100644 autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py create mode 100644 autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py create mode 100755 autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py new file mode 100644 index 00000000..f8559728 --- /dev/null +++ b/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py @@ -0,0 +1,483 @@ +""" +armWithStand (wato_arm_v2) articulation config for teleoperation. + +Robot model: Humanoid_Wato/wato_arm_v2 (armWithStand.usd). + +CORRECTION (see git history for the original claim this replaced): despite +matching link/joint NAMES with wato_bimanual_arm, this is a DIFFERENT CAD +export with DIFFERENT per-joint rotation axes and origins -- confirmed by +diffing both URDFs' / tags directly. e.g. joint3's axis +is (0,-1,0) in bimanual vs (0,0,-1) here; joint4 is (-1,0,0) vs (0,-1,0); +joint5 is (0,-1,0) vs (0,0,1); joint6 is (1,0,0) vs (0,-1,0). Every revolute +joint from 3 onward rotates about a different local axis than its bimanual +namesake. Do NOT assume any constant below transfers from bimanual_arm_cfg.py +just because the joint/link names match. + +What this means for the values below: + - _DEFAULT_JOINT_POS: reset to the URDF's own zero pose (0.0 rad on every + revolute joint) instead of copying bimanual's tuned degree values -- + applying angles tuned for bimanual's axes to armWithStand's differently- + oriented joints produced a visibly twisted/unnatural rest pose (this was + the root cause of "joints moved in different directions than my real + hand" reported during Quest teleop testing: the DLS IK solver itself + uses the actual PhysX Jacobian, so it's axis-agnostic and was solving + correctly, but starting from a contorted configuration makes the + resulting motion look wrong). Zero is not necessarily the most ergonomic + rest pose, but it's a defined, correct-by-construction one -- retune + live via Physics Inspector once you have GUI access, same as bimanual's + values originally were. + - RIGHT_/LEFT_FINGER_DISTAL_TIP_LOCAL: re-measured directly from + armWithStand's own link7/8/7l/8l mesh geometry (UsdGeom.BBoxCache + ComputeRelativeBound, object-space) along its ACTUAL prismatic travel + axis for joint7/8 (Y here, vs X in bimanual) -- see the "outward-Y + extreme, X/Z bbox-center" values below. Bimanual's X-based numbers are + wrong for this asset's joint7/8 axis. + - JOINT_POS_LIMITS / actuator gains / GRIPPER_OPEN-CLOSED: UNCHANGED from + bimanual_arm_cfg.py, i.e. still not independently verified. The + revolute ±2π placeholder is universal (not orientation-dependent) so + it's safe as-is; the gripper's ±0.05m stroke and actuator stiffness/ + damping/effort numbers are motor/mechanism-derived (same GL40 hardware + presumed), not orientation-derived, so they're a reasonable carry-over + but still worth confirming against the real mechanism. + - _WRIST_ORIENT_OFFSET_LEFT/RIGHT in run_quest_armWithStand_teleop.py + (not in this file) were reset to identity for the same reason as + _DEFAULT_JOINT_POS -- bimanual's offsets were empirically tuned against + its own joint6 axis and don't transfer. Needs live retuning once wrist + rotation is tested in-headset (see that script's module docstring). + +Joint limits/poses: Isaac Sim Physics Inspector (/World/bimanual_arm/root_joint) +Motor specs: https://watonomous.github.io/humanoid-docs/mechanical/index.html + + Shoulder joints 1-2 AK10-9 V3.0 18 Nm rated / 53 Nm peak + Elbow joints 3-5 AK80-9 V3.0 9 Nm rated / 22 Nm peak + Wrist joint 6 GL40 KV70 0.25 Nm rated / 0.73 Nm peak + Gripper GL40 KV70 0.25 Nm rated / 0.73 Nm peak + (rotary motor + linkage → prismatic finger travel in URDF) + +NOTE: the "L"-suffixed URDF chain (joint1L..joint6l) is the robot's REAL, +CAN-actuated arm -- confirmed against real hardware. The mechanical/CAD +naming ("L" for what it called "left") was WRONG: this chain is physically +the robot's RIGHT arm. Corrected throughout this file; the unsuffixed chain +(joint1..joint6) is the LEFT arm (mirrored/held, not CAN-actuated). + +In this module's own keyboard-teleop script, only the right arm is actuated; +the left arm is held at the Physics Inspector default pose below. Note that +run_quest_bimanual_teleop.py also imports BIMANUAL_ARM_CFG from here and +drives BOTH arms via Quest hand tracking — the "left_arm" ImplicitActuatorCfg +gains below were tuned for a held-still pose, not for continuous IK tracking, +so re-check them if the left arm feels sluggish or unresponsive under Quest +teleop. + +Gripper actuation note +---------------------- +On hardware, ONE GL40 rotary motor closes/opens the gripper through a +mechanical linkage (screw / hinge stack). The URDF instead exposes TWO +independent prismatic joints (joint7 + joint8, joint7l + joint8l). + +In sim we: + 1. Drive both prismatic joints with synchronized position targets (open/closed pair). + 2. Use HIGH stiffness/damping so fingers stay locked during arm motion. + 3. Do NOT copy 0.25 Nm directly — effort_limit_sim on prismatic DOFs is a + linear force cap (Newtons), not motor torque. Tune by grasp/hold behaviour. +""" +import math +import os + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ImplicitActuatorCfg +from isaaclab.assets.articulation import ArticulationCfg + +_THIS_DIR = os.path.abspath(os.path.dirname(__file__)) +_ARM_V2_ROOT = os.path.abspath(os.path.join(_THIS_DIR, "..", "..", "Humanoid_Wato", "wato_arm_v2")) +_ARM_USD_PATH = os.path.join(_ARM_V2_ROOT, "urdf", "armWithStand", "armWithStand.usd") + + +def _deg(degrees: float) -> float: + return degrees * math.pi / 180.0 + + +# --- Joint limits from Physics Inspector ------------------------------------ +_REVOLUTE_LIMIT = (-2 * math.pi, 2 * math.pi) +_JOINT7_LIMIT = (-0.05, 0.0) +_JOINT8_LIMIT = (0.0, 0.05) + +JOINT_POS_LIMITS = { + "joint1": _REVOLUTE_LIMIT, + "joint2": _REVOLUTE_LIMIT, + "joint3": _REVOLUTE_LIMIT, + "joint4": _REVOLUTE_LIMIT, + "joint5": _REVOLUTE_LIMIT, + "joint6": _REVOLUTE_LIMIT, + "joint7": _JOINT7_LIMIT, + "joint8": _JOINT8_LIMIT, + "joint1L": _REVOLUTE_LIMIT, + "joint2l": _REVOLUTE_LIMIT, + "joint3l": _REVOLUTE_LIMIT, + "joint4l": _REVOLUTE_LIMIT, + "joint5l": _REVOLUTE_LIMIT, + "joint6l": _REVOLUTE_LIMIT, + "joint7l": _JOINT7_LIMIT, + "joint8l": _JOINT8_LIMIT, +} + +# --- Default poses: URDF zero (see module docstring -- bimanual's tuned +# degree values do NOT transfer, different joint axes per joint). Retune live +# via Physics Inspector for a more ergonomic rest pose once available. +_DEFAULT_JOINT_POS = { + "joint1": 0.0, + "joint2": 0.0, + "joint3": 0.0, + "joint4": 0.0, + "joint5": 0.0, + "joint6": 0.0, + "joint7": 0.0, + "joint8": 0.0, + # Right arm — teleoperated + "joint1L": 0.0, + "joint2l": 0.0, + "joint3l": 0.0, + "joint4l": 0.0, + "joint5l": 0.0, + "joint6l": 0.0, + "joint7l": 0.0, + "joint8l": 0.0, +} + +LEFT_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7", "joint8"] +RIGHT_ARM_JOINTS = ["joint1L", "joint2l", "joint3l", "joint4l", "joint5l", "joint6l"] +RIGHT_GRIPPER_JOINTS = ["joint7l", "joint8l"] +# Jacobian anchor is the wrist link; IK pose target is the fingertip center (see below). +RIGHT_EE_BODY = "link6l" +LEFT_EE_BODY = "link6" +RIGHT_FINGER_TIP_BODIES = ("link7l", "link8l") +LEFT_FINGER_TIP_BODIES = ("link7", "link8") +# Distal mesh points in each finger link's OWN object-space frame, measured +# via UsdGeom.BBoxCache.ComputeRelativeBound(link_prim, link_prim) against +# armWithStand's actual mesh geometry -- NOT bimanual's numbers (that asset's +# joint7/8 prismatic axis is X; this asset's is Y, see module docstring). +# Each finger's own outward-Y extreme (larger-magnitude Y bbox bound), X/Z +# bbox-center, same "outward extreme along the travel axis" methodology +# bimanual_arm_cfg.py used for its own (X-axis) fingers. +RIGHT_FINGER_DISTAL_TIP_LOCAL = { + "link7l": (0.0, 0.0296, -0.0398), + "link8l": (0.0, -0.0296, -0.0398), +} +LEFT_FINGER_DISTAL_TIP_LOCAL = { + "link7": (0.0, -0.0296, -0.0398), + "link8": (0.0, 0.0296, -0.0398), +} + +# Gripper finger targets (joint7l: [-0.05, 0], joint8l: [0, 0.05]). +# VERIFIED empirically (not copied from bimanual) via headless sim: measured +# the actual fingertip-to-fingertip gap at both endpoints of the configured +# range. (joint7l=-0.05, joint8l=+0.05) -> gap=0.074m (closed). +# (joint7l=0, joint8l=0) -> gap=0.159m (open). This is the OPPOSITE labeling +# bimanual_arm_cfg.py uses for its own joint7l/8l -- expected, since this +# asset's joint7/8 prismatic axis is Y, bimanual's is X (see module +# docstring). Synchronized pair mimics single GL40 motor driving both +# fingers via linkage. +GRIPPER_OPEN = {"joint7l": 0.0, "joint8l": 0.0} +GRIPPER_CLOSED = {"joint7l": -0.05, "joint8l": 0.05} + +# Prismatic gripper PD — tuned for hold during arm motion (not from motor datasheet). +# If fingers bounce when the shoulder moves, raise stiffness; if jittery, raise damping. +_GRIPPER_STIFFNESS = 400.0 +_GRIPPER_DAMPING = 40.0 +_GRIPPER_EFFORT_LIMIT = 30.0 # N (sim linear-force cap; tune empirically) +_GRIPPER_VELOCITY_LIMIT = 0.2 # m/s + + +def _joint_limit_key(name: str) -> str | None: + """Map a USD/articulation joint name to a JOINT_POS_LIMITS key.""" + if name in JOINT_POS_LIMITS: + return name + if len(name) > 1 and name[-1] in ("l", "L"): + alt = name[:-1] + ("L" if name[-1] == "l" else "l") + if alt in JOINT_POS_LIMITS: + return alt + return None + + +def apply_joint_limits(robot) -> None: + """Apply Physics Inspector joint limits to the articulation.""" + limits = robot.data.joint_pos_limits.clone() + updated = [] + + for joint_idx, joint_name in enumerate(robot.data.joint_names): + limit_key = _joint_limit_key(joint_name) + if limit_key is None: + continue + lo, hi = JOINT_POS_LIMITS[limit_key] + limits[:, joint_idx, 0] = lo + limits[:, joint_idx, 1] = hi + updated.append(joint_name) + + if updated: + robot.write_joint_position_limit_to_sim(limits, warn_limit_violation=False) + print(f"[INFO] Applied joint limits for {len(updated)} joints.") + + +def resolve_body_ids(robot, names: tuple[str, ...] | list[str]) -> list[int]: + """Map body names to articulation body indices.""" + body_names = list(robot.data.body_names) + name_to_id = {name: idx for idx, name in enumerate(body_names)} + missing = [name for name in names if name not in name_to_id] + if missing: + raise KeyError(f"Body names {missing} not found in {body_names}") + return [name_to_id[name] for name in names] + + +def compute_gripper_tip_pos_w( + robot, finger_body_ids: list[int], + tip_bodies: tuple[str, ...] = RIGHT_FINGER_TIP_BODIES, + tip_local: dict = RIGHT_FINGER_DISTAL_TIP_LOCAL, +): + """World-frame midpoint between the distal tips of the two gripper fingers.""" + import torch + from isaaclab.utils.math import quat_apply + + dtype = robot.data.body_pos_w.dtype + device = robot.data.body_pos_w.device + tips = [] + for body_name, body_id in zip(tip_bodies, finger_body_ids): + local = torch.tensor([tip_local[body_name]], device=device, dtype=dtype) + body_pos = robot.data.body_pos_w[:, body_id] + body_quat = robot.data.body_quat_w[:, body_id] + tips.append(body_pos + quat_apply(body_quat, local)) + return (tips[0] + tips[1]) * 0.5 + + +def compute_gripper_tip_pose_w( + robot, wrist_body_id: int, finger_body_ids: list[int], + tip_bodies: tuple[str, ...] = RIGHT_FINGER_TIP_BODIES, + tip_local: dict = RIGHT_FINGER_DISTAL_TIP_LOCAL, +): + """Gripper-tip center pose in world frame (position from fingers, orientation from wrist).""" + tip_pos_w = compute_gripper_tip_pos_w(robot, finger_body_ids, tip_bodies, tip_local) + tip_quat_w = robot.data.body_quat_w[:, wrist_body_id] + return tip_pos_w, tip_quat_w + + +def compute_gripper_tip_pose_b( + robot, root_pose_w, wrist_body_id: int, finger_body_ids: list[int], + tip_bodies: tuple[str, ...] = RIGHT_FINGER_TIP_BODIES, + tip_local: dict = RIGHT_FINGER_DISTAL_TIP_LOCAL, +): + """Gripper-tip center pose in the robot root frame.""" + from isaaclab.utils.math import subtract_frame_transforms + + tip_pos_w, tip_quat_w = compute_gripper_tip_pose_w( + robot, wrist_body_id, finger_body_ids, tip_bodies, tip_local + ) + return subtract_frame_transforms( + root_pose_w[:, 0:3], root_pose_w[:, 3:7], tip_pos_w, tip_quat_w + ) + + +def jacobian_world_to_root(robot, jacobian_w): + """Rotate PhysX world-frame Jacobian into the articulation root frame.""" + import torch + from isaaclab.utils.math import matrix_from_quat, quat_inv + + base_rot = matrix_from_quat(quat_inv(robot.data.root_quat_w)) + jacobian_b = jacobian_w.clone() + jacobian_b[:, :3, :] = torch.bmm(base_rot, jacobian_b[:, :3, :]) + jacobian_b[:, 3:, :] = torch.bmm(base_rot, jacobian_b[:, 3:, :]) + return jacobian_b + + +def adjust_jacobian_for_gripper_tip(jacobian_b, wrist_pos_b, tip_pos_b): + """Map link6l root-frame Jacobian to the fingertip center.""" + import torch + from isaaclab.utils.math import skew_symmetric_matrix + + offset_b = tip_pos_b - wrist_pos_b + tip_jacobian = jacobian_b.clone() + tip_jacobian[:, 0:3, :] += torch.bmm(-skew_symmetric_matrix(offset_b), jacobian_b[:, 3:, :]) + return tip_jacobian + + +def compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b): + """World-frame link6l Jacobian -> root frame -> fingertip center.""" + return adjust_jacobian_for_gripper_tip( + jacobian_world_to_root(robot, jacobian_w), wrist_pos_b, tip_pos_b + ) + + +def resolve_joint_name(robot, name: str) -> str: + """Match a config joint name to the articulation's actual joint name.""" + names = list(robot.data.joint_names) + if name in names: + return name + # Physics Inspector may show joint2L while URDF uses joint2l + if len(name) > 1 and name[-1] in ("l", "L"): + alt = name[:-1] + ("L" if name[-1] == "l" else "l") + if alt in names: + return alt + raise KeyError(f"Joint '{name}' not found in {names}") + + +def patch_joint_pos_limits_on_prim(prim_path: str) -> None: + """Write Physics Inspector limits onto spawned USD joints before articulation init.""" + import isaacsim.core.utils.stage as stage_utils + from pxr import Usd, UsdPhysics + + stage = stage_utils.get_current_stage() + root = stage.GetPrimAtPath(prim_path) + if not root.IsValid(): + return + + updated = [] + for prim in Usd.PrimRange(root): + limit_key = _joint_limit_key(prim.GetName()) + if limit_key is None: + continue + lo, hi = JOINT_POS_LIMITS[limit_key] + if prim.IsA(UsdPhysics.RevoluteJoint): + joint = UsdPhysics.RevoluteJoint(prim) + # USD RevoluteJoint limits are in degrees; JOINT_POS_LIMITS uses radians. + lo, hi = math.degrees(lo), math.degrees(hi) + elif prim.IsA(UsdPhysics.PrismaticJoint): + joint = UsdPhysics.PrismaticJoint(prim) + else: + continue + joint.GetLowerLimitAttr().Set(lo) + joint.GetUpperLimitAttr().Set(hi) + updated.append(prim.GetName()) + + if updated: + print(f"[INFO] Patched USD joint limits for {len(updated)} joints under {prim_path}.") + + +def _spawn_bimanual_arm_from_usd(prim_path, cfg, translation=None, orientation=None): + from isaaclab.sim.spawners.from_files.from_files import _spawn_from_usd_file + + prim = _spawn_from_usd_file(prim_path, cfg.usd_path, cfg, translation, orientation) + patch_joint_pos_limits_on_prim(prim_path) + return prim + + +from isaaclab.sim.utils import clone # noqa: E402 + +spawn_bimanual_arm_from_usd = clone(_spawn_bimanual_arm_from_usd) +# clone() uses functools.wraps, which copies the INNER function's __name__ +# ("_spawn_bimanual_arm_from_usd") onto this wrapped object. IsaacLab's config +# (de)serialization (callable_to_string / string_to_callable, used by the Hydra +# path in rsl_rl train.py) round-trips a callable as "module:__name__" — so the +# wrapper would serialize as ".._spawn_bimanual_arm_from_usd" and resolve BACK to +# the UNWRAPPED inner function, dropping the {ENV_REGEX_NS} path resolution the +# clone wrapper provides and crashing scene creation ("Path must be an absolute +# path: <>"). Restore the naming invariant the standard @clone decorator keeps +# (module-level name == __name__) so the round-trip resolves to THIS wrapper. +# Metadata-only: direct callers (teleop / pick_place / IL) are unaffected. +spawn_bimanual_arm_from_usd.__name__ = "spawn_bimanual_arm_from_usd" +spawn_bimanual_arm_from_usd.__qualname__ = "spawn_bimanual_arm_from_usd" + + +ARM_V2_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + func=spawn_bimanual_arm_from_usd, + usd_path=_ARM_USD_PATH, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + max_depenetration_velocity=5.0, + ), + activate_contact_sensors=False, + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=True, + ), + ), + init_state=ArticulationCfg.InitialStateCfg(joint_pos=_DEFAULT_JOINT_POS), + actuators={ + # AK10-9 V3.0 — shoulder joints 1-2. effort_limit_sim uses the motor's + # peak rating (53 Nm), not rated (18 Nm): at rated torque the shoulder + # actuator saturates against gravity load when the arm is extended + # (largest moment arm), causing the commanded IK target to visibly + # undershoot on upward reach specifically — this is a simulation-only + # cap (not applied to real hardware limits), so raising it is safe here. + # NOTE: do NOT raise effort_limit_sim past the real peak rating (53 Nm) + # to fix responsiveness — that would let the arm move in ways the real + # motor can't, which matters for dataset collection (sim-to-real + # mismatch). Stiffness/damping (below) is the safe knob instead: it + # only changes how aggressively the PD controller commands torque + # *within* that same real torque budget. Live testing showed the + # shoulder visibly lagging the faster-responding elbow/wrist during + # large reaches (diagnostic target_err in run_quest_bimanual_teleop.py + # stayed elevated during active movement) — raised ~50% from the + # original (which was tuned for holding a static pose, not tracking a + # continuously moving IK target) to close that gap. Watch for shoulder + # oscillation/overshoot if pushed further. + "right_shoulder": ImplicitActuatorCfg( + joint_names_expr=["joint1L", "joint2l"], + stiffness=2270.0, + damping=180.0, + effort_limit_sim=53.0, + velocity_limit_sim=6.0, + ), + # AK80-9 V3.0 — elbow joints 3-5. Same rated (9 Nm) vs peak (22 Nm) + # saturation concern as the shoulder, above. Raised alongside the + # shoulder bump (same ~25% factor) — "forearm moves slower than it + # should" reports track these joints directly, and this is the same + # safe stiffness/damping knob (torque budget cap unchanged at 22 Nm). + "right_elbow": ImplicitActuatorCfg( + joint_names_expr=["joint3l", "joint4l", "joint5l"], + stiffness=1550.0, + damping=110.0, + effort_limit_sim=22.0, + velocity_limit_sim=6.0, + ), + # GL40 KV70 — wrist joint 6 + "right_wrist": ImplicitActuatorCfg( + joint_names_expr=["joint6l"], + stiffness=341.0, + damping=18.0, + effort_limit_sim=0.25, + velocity_limit_sim=6.0, + ), + # GL40 KV70 rotary → linkage → two prismatic fingers (see module docstring) + "right_gripper": ImplicitActuatorCfg( + joint_names_expr=["joint7l", "joint8l"], + stiffness=_GRIPPER_STIFFNESS, + damping=_GRIPPER_DAMPING, + effort_limit_sim=_GRIPPER_EFFORT_LIMIT, + velocity_limit_sim=_GRIPPER_VELOCITY_LIMIT, + ), + # Left arm — mirrors right_shoulder/right_elbow/right_wrist above. + # Previously one coarse "left_arm" group at uniform stiffness=1000/ + # damping=100/effort=18 for all 6 joints, tuned for holding a static + # pose (this file's own keyboard-teleop script never actuates the + # left arm). run_quest_bimanual_teleop.py drives both arms via Quest + # hand tracking, so the left arm needs the same per-joint-type torque + # headroom as the right, especially the shoulder on upward reach (see + # note above). + "left_shoulder": ImplicitActuatorCfg( + joint_names_expr=["joint1", "joint2"], + stiffness=2270.0, + damping=180.0, + effort_limit_sim=53.0, + velocity_limit_sim=6.0, + ), + "left_elbow": ImplicitActuatorCfg( + joint_names_expr=["joint3", "joint4", "joint5"], + stiffness=1550.0, + damping=110.0, + effort_limit_sim=22.0, + velocity_limit_sim=6.0, + ), + "left_wrist": ImplicitActuatorCfg( + joint_names_expr=["joint6"], + stiffness=341.0, + damping=18.0, + effort_limit_sim=0.25, + velocity_limit_sim=6.0, + ), + # Left gripper — same coupled-prismatic hold as right + "left_gripper": ImplicitActuatorCfg( + joint_names_expr=["joint7", "joint8"], + stiffness=_GRIPPER_STIFFNESS, + damping=_GRIPPER_DAMPING, + effort_limit_sim=_GRIPPER_EFFORT_LIMIT, + velocity_limit_sim=_GRIPPER_VELOCITY_LIMIT, + ), + }, +) diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py new file mode 100644 index 00000000..5ffe1e3c --- /dev/null +++ b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py @@ -0,0 +1,236 @@ +"""Minimal armWithStand (wato_arm_v2) keyboard teleoperation (right/L-suffixed +arm only) -- quick visual test tool for checking ego_cam framing while +driving the arm, not a recording pipeline (see keyboard_teleop.py for the +bimanual version this is adapted from, including --record support). + +Robot: Humanoid_Wato wato_arm_v2 (armWithStand.usd) +Teleop bindings: https://isaac-sim.github.io/IsaacLab/v2.0.1/source/overview/teleop_imitation.html + + K Toggle gripper (open/close) + W/S Move along x-axis + A/D Move along y-axis + Q/E Move along z-axis + Z/X Rotate along x-axis + T/G Rotate along y-axis + C/V Rotate along z-axis + R Reset arm to default pose + +Also opens an "Ego Cam Preview" viewport locked to ego_cam so its framing is +visible live while driving the arm. +""" + +import argparse + +from isaaclab.app import AppLauncher + +parser = argparse.ArgumentParser(description="Keyboard teleoperation for wato_arm_v2 (right/L-suffixed arm only).") +AppLauncher.add_app_launcher_args(parser) +args_cli = parser.parse_args() + +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +import torch + +import isaaclab.sim as sim_utils +from isaaclab.assets import AssetBaseCfg +from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg +from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg +from isaaclab.managers import SceneEntityCfg +from isaaclab.scene import InteractiveScene, InteractiveSceneCfg +from isaaclab.utils import configclass +from isaaclab.utils.math import subtract_frame_transforms + +from armWithStand_v2_cfg import ( + ARM_V2_CFG, + GRIPPER_CLOSED, + GRIPPER_OPEN, + LEFT_ARM_JOINTS, + RIGHT_ARM_JOINTS, + RIGHT_EE_BODY, + RIGHT_FINGER_DISTAL_TIP_LOCAL, + RIGHT_FINGER_TIP_BODIES, + RIGHT_GRIPPER_JOINTS, + apply_joint_limits, + compute_gripper_tip_pose_b, + compute_tip_ik_jacobian, + resolve_body_ids, + resolve_joint_name, +) + + +@configclass +class ArmV2SceneCfg(InteractiveSceneCfg): + """Minimal scene with wato_arm_v2, lifted so the stand rests on the ground plane.""" + + ground = AssetBaseCfg( + prim_path="/World/defaultGroundPlane", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), + ) + + dome_light = AssetBaseCfg( + prim_path="/World/Light", + spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), + ) + + # Same lift used in run_quest_armWithStand_teleop.py: the stand's bottom + # sits ~1.1997m below the robot's own origin -- without this it's buried + # in/under the ground plane. + robot = ARM_V2_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + init_state=ARM_V2_CFG.init_state.replace(pos=(0.0, 0.0, 1.1997)), + ) + + +def _joint_ids(robot, names: list[str]) -> list[int]: + name_to_id = {name: i for i, name in enumerate(robot.data.joint_names)} + return [name_to_id[resolve_joint_name(robot, name)] for name in names] + + +def _open_ego_cam_preview(robot_prim_path: str) -> None: + try: + from omni.kit.viewport.utility import create_viewport_window + + ego_cam_path = f"{robot_prim_path}/base_link/ego_cam" + viewport_window = create_viewport_window("Ego Cam Preview", width=640, height=480) + viewport_window.viewport_api.camera_path = ego_cam_path + print(f"[INFO] Opened 'Ego Cam Preview' viewport locked to {ego_cam_path}") + except Exception as exc: # noqa: BLE001 -- best-effort convenience feature + print(f"[INFO] Could not open Ego Cam Preview viewport: {exc}") + + +def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): + robot = scene["robot"] + sim_dt = sim.get_physics_dt() + + scene.update(sim_dt) + apply_joint_limits(robot) + + _open_ego_cam_preview("/World/envs/env_0/Robot") + + driven_arm_names = [resolve_joint_name(robot, name) for name in RIGHT_ARM_JOINTS] + driven_gripper_names = [resolve_joint_name(robot, name) for name in RIGHT_GRIPPER_JOINTS] + held_arm_names = [resolve_joint_name(robot, name) for name in LEFT_ARM_JOINTS[:6]] + + print(f"[INFO] Robot joints: {robot.data.joint_names}") + print(f"[INFO] Driven arm joints (link6l chain): {driven_arm_names}") + print(f"[INFO] Held arm joints (link6 chain): {held_arm_names}") + + diff_ik_cfg = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls") + diff_ik_controller = DifferentialIKController(diff_ik_cfg, num_envs=scene.num_envs, device=sim.device) + + robot_entity_cfg = SceneEntityCfg("robot", joint_names=driven_arm_names, body_names=[RIGHT_EE_BODY]) + robot_entity_cfg.resolve(scene) + + ee_jacobi_idx = robot_entity_cfg.body_ids[0] - 1 if robot.is_fixed_base else robot_entity_cfg.body_ids[0] + finger_body_ids = resolve_body_ids(robot, RIGHT_FINGER_TIP_BODIES) + + driven_arm_ids = robot_entity_cfg.joint_ids + driven_gripper_ids = _joint_ids(robot, RIGHT_GRIPPER_JOINTS) + held_arm_ids = _joint_ids(robot, LEFT_ARM_JOINTS[:6]) + held_gripper_ids = _joint_ids(robot, LEFT_ARM_JOINTS[6:8]) + held_default_pos = robot.data.default_joint_pos[:, held_arm_ids].clone() + held_gripper_default_pos = robot.data.default_joint_pos[:, held_gripper_ids].clone() + + joint_pos = robot.data.default_joint_pos.clone() + joint_vel = robot.data.default_joint_vel.clone() + robot.write_joint_state_to_sim(joint_pos, joint_vel) + + gripper_open_targets = torch.tensor( + [[GRIPPER_OPEN[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device, + ) + gripper_closed_targets = torch.tensor( + [[GRIPPER_CLOSED[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device, + ) + + # NOTE: this installed IsaacLab version (0.54.2) wraps sensitivity in a + # Se3KeyboardCfg dataclass instead of accepting pos_sensitivity/ + # rot_sensitivity as direct __init__ kwargs (the bimanual + # keyboard_teleop.py this was adapted from uses the older direct-kwarg + # form and would hit the same TypeError on this IsaacLab version). + teleop = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.005, rot_sensitivity=0.05)) + should_reset = False + + def reset_arm(): + nonlocal should_reset + should_reset = True + + teleop.add_callback("R", reset_arm) + teleop.reset() + print(teleop) + print("[INFO] Teleoperating link6l-chain arm only. Other arm held at default pose.") + print("[INFO] Click the 3D viewport window, then press W/A/S/D/Q/E to move.") + + while simulation_app.is_running(): + if should_reset: + joint_pos = robot.data.default_joint_pos.clone() + joint_vel = robot.data.default_joint_vel.clone() + robot.write_joint_state_to_sim(joint_pos, joint_vel) + robot.reset() + diff_ik_controller.reset() + teleop.reset() + should_reset = False + + # This IsaacLab version's Se3Keyboard.advance() returns a single + # 7-element tensor [dx,dy,dz,rx,ry,rz,gripper] instead of a + # (delta_pose, close_gripper) tuple (another API drift from what + # keyboard_teleop.py assumes) -- gripper is +1.0 open / -1.0 close. + raw = teleop.advance() + command = raw[:6].to(dtype=torch.float32, device=sim.device).unsqueeze(0) + close_gripper = bool(raw[6].item() < 0.0) + + root_pose_w = robot.data.root_state_w[:, 0:7] + joint_pos = robot.data.joint_pos[:, driven_arm_ids] + + wrist_body_id = robot_entity_cfg.body_ids[0] + wrist_pose_w = robot.data.body_state_w[:, wrist_body_id, 0:7] + wrist_pos_b, _ = subtract_frame_transforms( + root_pose_w[:, 0:3], root_pose_w[:, 3:7], wrist_pose_w[:, 0:3], wrist_pose_w[:, 3:7], + ) + tip_pos_b, tip_quat_b = compute_gripper_tip_pose_b( + robot, root_pose_w, wrist_body_id, finger_body_ids, + RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, + ) + + # Relative mode: target = current_tip + delta (stays close, no runaway). + diff_ik_controller.set_command(command, ee_pos=tip_pos_b, ee_quat=tip_quat_b) + + jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, driven_arm_ids] + jacobian_b = compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b) + joint_pos_des = diff_ik_controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) + robot.set_joint_position_target(joint_pos_des, joint_ids=driven_arm_ids) + + gripper_targets = gripper_closed_targets if close_gripper else gripper_open_targets + zero_gripper_vel = torch.zeros(1, len(driven_gripper_ids), device=sim.device) + robot.set_joint_position_target(gripper_targets, joint_ids=driven_gripper_ids) + robot.set_joint_velocity_target(zero_gripper_vel, joint_ids=driven_gripper_ids) + + # Keep the other arm fixed at default pose (including its gripper). + robot.set_joint_position_target(held_default_pos, joint_ids=held_arm_ids) + robot.set_joint_position_target(held_gripper_default_pos, joint_ids=held_gripper_ids) + robot.set_joint_velocity_target( + torch.zeros(1, len(held_gripper_ids), device=sim.device), joint_ids=held_gripper_ids, + ) + + scene.write_data_to_sim() + sim.step() + scene.update(sim_dt) + + +def main(): + sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device) + sim = sim_utils.SimulationContext(sim_cfg) + sim.set_camera_view([2.5, 2.5, 2.0], [0.0, 0.0, 1.5]) + + scene_cfg = ArmV2SceneCfg(num_envs=1, env_spacing=2.0) + scene = InteractiveScene(scene_cfg) + + sim.reset() + print("[INFO]: Setup complete. Use keyboard to teleoperate the arm.") + run_simulator(sim, scene) + + +if __name__ == "__main__": + main() + simulation_app.close() diff --git a/autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py b/autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py new file mode 100644 index 00000000..9596d1f3 --- /dev/null +++ b/autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py @@ -0,0 +1,60 @@ +"""Open the wato_arm_v2 arm USD scene in Isaac Sim. + +Usage (from the repo root): + ~/IsaacLab/isaaclab.sh -p autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py +""" + +import argparse +import contextlib +import os + +from isaaclab.app import AppLauncher + +USD_PATH = os.path.join( + os.path.dirname(__file__), + "..", + "Humanoid_Wato", + "wato_arm_v2", + "arm_usd", + "armWithStand.usd", +) + +parser = argparse.ArgumentParser(description="Open the arm USD scene in Isaac Sim.") +AppLauncher.add_app_launcher_args(parser) +args_cli = parser.parse_args() + +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +import omni.kit.app +import omni.timeline +import isaaclab.sim as sim_utils + + +def main(): + usd_path = os.path.abspath(USD_PATH) + print(f"[INFO] Opening: {usd_path}") + sim_utils.open_stage(usd_path) + omni.timeline.get_timeline_interface().play() + + # Open a second viewport locked to ego_cam so its exact framing is + # visible side-by-side with the main Perspective view, for repositioning. + try: + from omni.kit.viewport.utility import create_viewport_window + + ego_cam_path = "/World/armWithStand/base_link/ego_cam" + viewport_window = create_viewport_window("Ego Cam Preview", width=640, height=480) + viewport_window.viewport_api.camera_path = ego_cam_path + print(f"[INFO] Opened 'Ego Cam Preview' viewport locked to {ego_cam_path}") + except Exception as exc: # noqa: BLE001 -- best-effort convenience feature + print(f"[INFO] Could not open Ego Cam Preview viewport: {exc}") + + app = omni.kit.app.get_app_interface() + with contextlib.suppress(KeyboardInterrupt): + while app.is_running(): + app.update() + + +if __name__ == "__main__": + main() + simulation_app.close() diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py new file mode 100644 index 00000000..715e8388 --- /dev/null +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py @@ -0,0 +1,962 @@ +"""Quest armWithStand (wato_arm_v2) teleoperation — runs inside the +simulation_isaac container. + +This is run_quest_bimanual_teleop.py with the config import repointed at +armWithStand_v2_cfg.ARM_V2_CFG (armWithStand.usd) instead of +bimanual_arm_cfg.BIMANUAL_ARM_CFG (bimanual_arm.usd). Camera setup: kept +bimanual's dynamic head-tracked stereo RSD455 pair (real depth via a 63mm +IPD baseline, not a mirrored monocular feed) for the teleop headset display, +per explicit request -- data-collection cameras (ego_cam/wrist_cam baked +into armWithStand.usd's sensor layer) are a SEPARATE concern, not routed to +the headset here. + +_HEAD_VIEWPOINT_HOME_POS/QUAT below are RESET to bimanual's original values +(see the constant's own comment) -- multiple independent attempts at an +armWithStand-specific head pose were each visibly wrong when tested live, +so this resets to a known baseline for direct user observation/feedback +instead of another guess. + +See run_quest_bimanual_teleop.py's own module docstring below for the full +IK/coordinate-mapping explanation, all of which applies unchanged here. + +Both arms are controlled via Quest hand tracking. Hand pose data arrives via +ROS 2 /quest_teleop topic published by quest_teleop_node (also in this +container). The left Quest wrist drives the left arm, the right Quest wrist +drives the right arm. Pinching thumb + index closes the corresponding +gripper. + +IK solver: isaaclab.controllers.DifferentialIKController (ik_method="dls", +damped least squares), tracking each gripper's fingertip-tip-center frame — +the same controller/target used by +Task_space_controller/robot_arm_controllers/task_space_test.py, just fed +from the Quest wrists instead of a draggable cube. + +Each arm is fingertip-tip referenced (LEFT_/RIGHT_FINGER_TIP_BODIES in +bimanual_arm_cfg.py: midpoint of each gripper's two finger distal tips), not +the raw wrist link — see compute_gripper_tip_pose_b / compute_tip_ik_jacobian +there. RIGHT_FINGER_DISTAL_TIP_LOCAL was measured directly from the link7/ +link8 STL vertex data (mesh outward-X extreme, Y/Z bounding-box center) using +the same method as the pre-existing LEFT_FINGER_DISTAL_TIP_LOCAL constants — +link7/link8 are NOT a simple mirror of link7l/link8l (separate STL files, +swapped X-extent — see bimanual_arm_cfg.py for the measurement). + +Orientation of each tip frame is defined as its own wrist link's orientation +(see compute_gripper_tip_pose_w); only the tracked *position* is offset to +each fingertip midpoint instead of the wrist origin. + +lambda_val=0.2 (both arms) was tuned live on the left arm: at the DLS +default (0.01), a ~0.1m commanded tip displacement pushed the Jacobian +condition number from ~60 to 4000+ and some axes moved AWAY from target +instead of converging. 0.2 keeps the condition number bounded (~100) and +converges to a stable ~0.05m residual instead. Not yet validated on the +right arm specifically (mechanically mirrors the left, so 0.2 is a +reasonable starting point) — retune per-arm live if needed. + +Coordinate mapping +------------------ +WebXR uses a Y-up frame (X-right, Y-up, -Z-forward). The robot base is in +a Z-up world frame and is rotated 180° about Z, so the mapping is applied in +two stages (see _QUEST_TO_WORLD and the per-arm delta computation below). + +Usage +----- +Inside the simulation_isaac container: + ISAAC_LAB=/workspace/isaaclab \\ + PYTHONPATH=/workspace/humanoid/autonomy/simulation/quest_isaac_teleop:$PYTHONPATH \\ + /workspace/isaaclab/isaaclab.sh -p \\ + /workspace/humanoid/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py \\ + --device cpu + +Or via the helper script: + ./run_quest_armWithStand_teleop.sh +""" + +import argparse +import sys +import threading +from pathlib import Path + +from isaaclab.app import AppLauncher + +# ── path setup (must be before AppLauncher so PYTHONPATH is correct) ───────── +_THIS_DIR = Path(__file__).resolve().parent +_SIM_DIR = _THIS_DIR.parent +_KEYBOARD_TELEOP_DIR = _SIM_DIR / "Teleop" / "keyboard_based_teleoperation" +sys.path.insert(0, str(_KEYBOARD_TELEOP_DIR)) + +# ── CLI args ────────────────────────────────────────────────────────────────── +parser = argparse.ArgumentParser(description="Quest armWithStand teleop (both arms: DLS fingertip IK)") +parser.add_argument("--gain", type=float, default=1.0, + help="Motion gain: metres of EE motion per metre of real wrist motion") +parser.add_argument("--publish-real-left-arm", action="store_true", + help="Also publish the left arm's DLS-solved joint targets to /behaviour/arm_pose for " + "joint_command_node to drive the REAL physical left arm over CAN. Off by default -- " + "sim-only unless explicitly requested. RIGHT ARM HAS NO REAL-HARDWARE CAN MAPPING YET " + "(hardware_mapping.yaml only has a left: section) -- this flag does not and cannot " + "touch the right arm. Requires can_node + joint_command_node already running, the " + "CANable adapter connected, e-stop armed, and the real arm manually positioned near " + "the sim's rest pose (see PUBLISH_START_DELAY below).") +AppLauncher.add_app_launcher_args(parser) +args_cli = parser.parse_args() + +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +# ── post-launch imports (require Omniverse runtime) ─────────────────────────── +import rclpy # noqa: E402 +import torch # noqa: E402 +from rclpy.node import Node # noqa: E402 +from common_msgs.msg import QuestHandPose # noqa: E402 + +import carb # noqa: E402 +import omni.appwindow # noqa: E402 +import omni.usd # noqa: E402 +from pxr import Gf, UsdGeom # noqa: E402 + +import isaaclab.sim as sim_utils # noqa: E402 +from isaaclab.assets import AssetBaseCfg # noqa: E402 +from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg # noqa: E402 +from isaaclab.managers import SceneEntityCfg # noqa: E402 +from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg # noqa: E402 +from isaaclab.scene import InteractiveScene, InteractiveSceneCfg # noqa: E402 +from isaaclab.utils import configclass # noqa: E402 +from isaaclab.utils.math import ( # noqa: E402 + quat_apply, + quat_apply_inverse, + quat_from_matrix, + quat_inv, + quat_mul, + subtract_frame_transforms, +) + +# NOTE on the aliasing below: bimanual_arm_cfg.py's LEFT_*/RIGHT_* constants were +# corrected (the "L"-suffixed URDF chain is physically the RIGHT arm, not left -- +# the mechanical/CAD naming had it backwards). This file's own left_*/right_* local +# variables mean something different: "the arm driven by the LEFT/RIGHT Quest +# wrist" (msg.left_wrist / msg.right_wrist), a Quest-hand-relative label that is +# NOT part of that correction. Aliasing here keeps every local left_*/right_* +# variable below pointing at the SAME physical URDF chain (and therefore the same +# real hardware) it always did -- only the upstream symbol names changed. +from armWithStand_v2_cfg import ( # noqa: E402 + ARM_V2_CFG, + GRIPPER_CLOSED, + GRIPPER_OPEN, + RIGHT_ARM_JOINTS as LEFT_ARM_JOINTS, + RIGHT_EE_BODY as LEFT_EE_BODY, + RIGHT_FINGER_TIP_BODIES as LEFT_FINGER_TIP_BODIES, + RIGHT_FINGER_DISTAL_TIP_LOCAL as LEFT_FINGER_DISTAL_TIP_LOCAL, + RIGHT_GRIPPER_JOINTS as LEFT_GRIPPER_JOINTS, + LEFT_EE_BODY as RIGHT_EE_BODY, + LEFT_FINGER_TIP_BODIES as RIGHT_FINGER_TIP_BODIES, + LEFT_FINGER_DISTAL_TIP_LOCAL as RIGHT_FINGER_DISTAL_TIP_LOCAL, + apply_joint_limits, + compute_gripper_tip_pose_b, + compute_tip_ik_jacobian, + resolve_body_ids, + resolve_joint_name, +) + +# ── constants ───────────────────────────────────────────────────────────────── + +_RIGHT_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"] +_RIGHT_GRIPPER_JOINTS = ["joint7", "joint8"] +# VERIFIED empirically (headless sim, fingertip-gap measurement) -- see +# armWithStand_v2_cfg.py's GRIPPER_OPEN/CLOSED comment for the same swap on +# joint7l/8l. (joint7=0, joint8=0) -> gap=0.161m (open); +# (joint7=-0.05, joint8=0.05) -> closed. Opposite of bimanual's labeling for +# joint7/8 (different prismatic axis, see module docstring). +_RIGHT_GRIPPER_OPEN = {"joint7": 0.0, "joint8": 0.0} +_RIGHT_GRIPPER_CLOSED = {"joint7": -0.05, "joint8": 0.05} + +# WebXR (Y-up: X-right, Y-up, -Z-forward) -> simulation world frame (Z-up). +# Routes qx into the forward-reach row and qz into the lateral row (this +# headset/webxr_server's local reference space has them swapped relative to +# the assumed X-right/-Z-forward convention). Must stay a proper rotation +# (det +1) -- don't negate a row, that corrupts orientation via +# quat_from_matrix. Use _AXIS_SIGN_LEFT/RIGHT below to flip individual axes +# instead. +_QUEST_TO_WORLD = torch.tensor( + [[-1.0, 0.0, 0.0], + [0.0, 0.0, 1.0], + [0.0, 1.0, 0.0]], + dtype=torch.float32, +) +_AXIS_SIGN_LEFT = torch.tensor([1.0, -1.0, 1.0]) +_AXIS_SIGN_RIGHT = torch.tensor([1.0, -1.0, 1.0]) + +_GAIN_FAR = 1.0 +_GAIN_RAMP_START_M = 0.15 +_GAIN_RAMP_END_M = 0.35 + +_MAX_REACH_M = 0.28 + +# Home/rest IK target X offset. Keep at 0 -- the arm should run at its +# natural rest position; fix camera/framing issues on the camera/enclosure +# side, not by dragging the arm's target away from where it actually rests. +_HOME_TIP_X_OFFSET = 0.0 + +# Real-hardware bridge timing (see --publish-real-left-arm). Mirrors +# Task_space_controller/robot_arm_controllers/task_space_real.py's +# PUBLISH_PERIOD/PUBLISH_START_DELAY exactly -- same joint_command_node on +# the other end, which applies NO velocity/delta rate-limiting to the very +# first ArmPose message it receives after startup. An un-delayed first +# publish could snap the real arm hard from wherever it physically is to the +# sim's current target. The delay exists so a human can manually position +# the real arm near the sim pose first -- don't shorten it. +_REAL_ARM_PUBLISH_PERIOD_S = 0.02 # 20ms = 50Hz, matches joint_command_node's control_rate_hz +_REAL_ARM_PUBLISH_START_DELAY_S = 5.0 + +# Both reset to identity (bimanual_arm's non-identity _WRIST_ORIENT_OFFSET_RIGHT +# was empirically tuned against ITS OWN joint6l axis -- armWithStand's joint6l +# rotates about a different local axis (Y here vs X in bimanual, confirmed by +# diffing both URDFs' tags), so that offset does not transfer. +# If wrist rotation feels like it's driving the EE the wrong way, retune this +# live per the README's "Wrist orientation alignment" section, same procedure +# used to derive bimanual's original values. +_WRIST_ORIENT_OFFSET_LEFT = torch.tensor([1.0, 0.0, 0.0, 0.0]) +_WRIST_ORIENT_OFFSET_RIGHT = torch.tensor([1.0, 0.0, 0.0, 0.0]) +# Per-arm rotation-offset conjugation applied to the wrist orientation delta. +# Identity = no correction. If rotating your wrist drives the EE the wrong +# way, retune per the README's "Wrist orientation alignment" table -- but if +# a fixed-angle offset doesn't fix a "rotate one way, EE goes the opposite +# way" feel, it's likely a chirality/mirror issue (WebXR can report +# left/right hand joints in mirrored local conventions), which needs a sign +# flip on the raw wrist quaternion components instead, not a rotation offset +# here. + +_THUMB_TIP_IDX = 4 +_INDEX_TIP_IDX = 9 +_PINCH_CLOSE_M = 0.030 +_PINCH_OPEN_M = 0.050 + +_DLS_LAMBDA = 0.2 +# Right arm gets extra damping (not a smaller _MAX_REACH_M): near full +# extension its Jacobian conditioning is worse than the left arm's (the two +# arms' default joint poses were measured independently, not mirrored), and +# it would freeze mid-reach with target_err stuck near the clamp. Heavier +# damping keeps the full reach distance but makes the solver more +# conservative exactly where conditioning gets bad. Retune live if it's +# sluggish well before full extension, or still locks up at the extreme. +_DLS_LAMBDA_RIGHT = 0.35 + +_ENCLOSURE_MATERIAL = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0), emissive_color=(1.0, 1.0, 1.0)) +# Back wall shifted to clear the mount/stand structural bar. Front boundary +# extended to 0.75m so the enclosure actually contains the arms' full reach +# (rest EE X~0.42-0.43 + _MAX_REACH_M=0.28 = ~0.71m) instead of the arms +# sticking out past it. +_ENCLOSURE_BACK_X = -0.45 +_ENCLOSURE_FRONT_X = 0.75 # open front (arm reach direction) -- extended to actually contain the arms, see above +_ENCLOSURE_Y_MIN = -0.9 +_ENCLOSURE_Y_MAX = 1.0 +# armWithStand's stand is ~1.1997m tall below the robot's own origin (vs. +# bimanual's much shorter stand, which is what the original 0.9m height was +# sized for). After lifting the robot so the stand's base rests on the table +# (see _ARM_TABLE_LIFT_Z below), the arm's highest point sits at +# ~1.1997 + 0.257 = 1.457m above the table. 1.8m leaves ~0.34m of headroom +# for reach motion. +_ENCLOSURE_TOP_Z = 1.8 +_ENCLOSURE_Y_CTR = (_ENCLOSURE_Y_MIN + _ENCLOSURE_Y_MAX) / 2 +_ENCLOSURE_Y_SPAN = _ENCLOSURE_Y_MAX - _ENCLOSURE_Y_MIN +_ENCLOSURE_X_SPAN = _ENCLOSURE_FRONT_X - _ENCLOSURE_BACK_X +_ENCLOSURE_X_CTR = (_ENCLOSURE_BACK_X + _ENCLOSURE_FRONT_X) / 2 + + +_TABLE_X_MIN, _TABLE_X_MAX = _ENCLOSURE_BACK_X, _ENCLOSURE_FRONT_X # matches the enclosure's new footprint +_TABLE_Y_MIN, _TABLE_Y_MAX = _ENCLOSURE_Y_MIN, _ENCLOSURE_Y_MAX +_TABLE_THICKNESS = 0.05 + +# Stereo camera pair (real depth via two eye textures, not a flat +# single-camera POV): two RealSense D455s mounted on base_link, fixed at +# _HEAD_VIEWPOINT_HOME_POS/QUAT (head tracking is currently disabled -- +# head_pose is still read from QuestHandPose.msg but unused for positioning). +# +# rsd455's local axes: +X = lens boresight (forward), +Z = up. That makes +# local -Y "right" (forward x up = X x Z = -Y) -- IPD offset is applied +# along that axis, rotated by the viewpoint's current orientation. +_RSD455_USD_URL = ( + "https://omniverse-content-production.s3-us-west-2.amazonaws.com/" + "Assets/Isaac/5.1/Isaac/Sensors/Intel/RealSense/rsd455.usd" +) +# Forward-facing head cam per explicit request: aiming precisely at the +# rest-pose fingertips (previous version) forced a ~92deg near-vertical +# pitch, because the zero-pose hands droop well below shoulder height -- +# that's not what a head cam should track anyway, since during actual +# teleop the hands move wherever the user directs them, not the idle rest +# spot. This is a clean, level, mild ~25deg downward glance facing +X (the +# confirmed "front" direction from earlier live testing: the ego_cam-matched +# orientation was reported facing left, a 90deg turn right landed on +X). +# Built directly from forward/up vectors (not by composing incremental +# rotations, which likely introduced unintended roll in an earlier attempt) +# -- verified the up vector has zero roll component. Orientation confirmed +# correct live; position then nudged 5mm along the gaze direction +# (head_pos + 0.005*forward) since the camera mount stand itself was +# blocking the bottom of frame at the original position. +_HEAD_VIEWPOINT_HOME_POS = (0.07703616214999999, 0.04, 0.26407744790000004) # translate xyz, relative to base_link -- nudged forward (5,10,20,20,10,+20mm) and left (20,20mm) per live feedback +_HEAD_VIEWPOINT_HOME_QUAT = (0.9762960071199334, 0.0, 0.21643961393810288, 0.0) # ~25deg downward pitch, facing +X, no roll +_EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) +_EYE_IPD_M = 0.063 +# Sub-path to the actual renderable Camera prim inside the rsd455 payload -- +# same as the SO101 vial task's camera_external_D455 (task_env_cfg.py). +_RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" + + +def _attach_rsd455_camera(parent_prim_path: str, mount_name: str, translate: tuple, orient_wxyz: tuple) -> str: + """Attach an rsd455 payload as a `mount_name` child Xform of any prim. + Returns the mount prim path. Safe to call _set_mount_pose(..., create= + False) on the returned path repeatedly afterward -- see that function's + docstring for why create=True is only used once, here.""" + mount_path = f"{parent_prim_path}/{mount_name}" + _set_mount_pose(mount_path, translate, orient_wxyz, create=True) + stage = omni.usd.get_context().get_stage() + rsd_prim = stage.DefinePrim(f"{mount_path}/rsd455") + rsd_prim.GetPayloads().AddPayload(_RSD455_USD_URL) + return mount_path + + +def _set_mount_pose(mount_path: str, translate: tuple, orient_wxyz: tuple, create: bool = False) -> None: + """Set (or create) a camera mount Xform's translate/orient. Called every + frame for the stereo eye mounts to follow head tracking. + + NOTE: AddTranslateOp()/AddOrientOp() are NOT idempotent in this USD + version -- calling them again on a prim that already has that op raises + 'xformOp already exists in xformOpOrder' (confirmed live, this used to + assume otherwise and crashed on the second frame). So ops are added ONCE + at create=True, and every subsequent call fetches the existing ops via + GetOrderedXformOps() and .Set()s them directly instead.""" + stage = omni.usd.get_context().get_stage() + if create: + prim = UsdGeom.Xform.Define(stage, mount_path) + xformable = UsdGeom.Xformable(prim) + xformable.ClearXformOpOrder() + translate_op = xformable.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble) + orient_op = xformable.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) + else: + prim = stage.GetPrimAtPath(mount_path) + xformable = UsdGeom.Xformable(prim) + ops = xformable.GetOrderedXformOps() + translate_op = next(op for op in ops if op.GetOpType() == UsdGeom.XformOp.TypeTranslate) + orient_op = next(op for op in ops if op.GetOpType() == UsdGeom.XformOp.TypeOrient) + + translate_op.Set(Gf.Vec3d(*translate)) + w, x, y, z = orient_wxyz + orient_op.Set(Gf.Quatd(w, Gf.Vec3d(x, y, z))) + + +def _open_pov_viewport(camera_prim_path: str, window_name: str): + """Best-effort: open a Kit viewport window locked to a camera prim, for a + live POV feed on the host monitor AND the source for the periodic + capture_viewport_to_file calls that feed the Quest browser (see + _POV_FRAME_PATH_LEFT/RIGHT in run_simulator). Returns the viewport_api or + None if the viewport extension isn't available in this Kit experience -- + a missing viewport degrades the feed, it doesn't crash teleop.""" + try: + from omni.kit.viewport.utility import create_viewport_window + + viewport_window = create_viewport_window(window_name, width=640, height=480) + viewport_window.viewport_api.camera_path = camera_prim_path + return viewport_window.viewport_api + except Exception as exc: # noqa: BLE001 -- best-effort convenience feature + print(f"[Quest] Could not open POV viewport '{window_name}': {exc}", flush=True) + return None + + +# Frames the eye viewports get captured to, for the Quest browser to fetch as +# payload.head_pose-tracked stereo textures (see index.html's +# leftEyeTexture/rightEyeTexture). Live in the WebXR static dir +# (autonomy/teleop/quest_teleop/static/) so webxr_server.py's existing +# SimpleHTTPRequestHandler serves them as plain static files -- no server +# code changes needed. Captured every _POV_CAPTURE_EVERY_N_STEPS sim steps +# (100Hz sim loop / 10 = ~10Hz feed); the camera mounts themselves are +# repositioned every frame (cheap USD attribute writes) so head tracking +# feels responsive even though the rendered image only updates at ~10Hz. +_POV_STATIC_DIR = _SIM_DIR.parent / "teleop" / "quest_teleop" / "static" +_POV_FRAME_PATH_LEFT = _POV_STATIC_DIR / "pov_left.png" +_POV_FRAME_PATH_RIGHT = _POV_STATIC_DIR / "pov_right.png" +_POV_CAPTURE_EVERY_N_STEPS = 10 + + +# ── helpers ─────────────────────────────────────────────────────────────────── + +@configclass +class ArmV2SceneCfg(InteractiveSceneCfg): + """Bare arm stand + the white lightbox enclosure walls/table (visual only, no collision on the + walls) -- same geometry as BimanualPushBlockSceneCfg in + HumanoidRLSetup/tasks/push/bimanual_env_cfg.py. Always on (no CLI flag).""" + + ground = AssetBaseCfg( + prim_path="/World/defaultGroundPlane", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), + ) + dome_light = AssetBaseCfg( + prim_path="/World/Light", + spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), + ) + # armWithStand's stand is much taller than bimanual's -- its bottom sits + # ~1.1997m below the robot's own origin (base_link). The surface the + # robot should rest on is the TABLE's top (z=0, see the "table" asset + # below: pos.z=-_TABLE_THICKNESS/2, thickness=_TABLE_THICKNESS -> spans + # -0.05 to 0), NOT the separate collision-safety ground plane far below + # at z=-1.05 -- lifting to match the ground plane (an earlier mistake) + # left the stand still buried under the table. Lift by + # (table_top_z - stand_bottom_z) = 0 - (-1.1997) = 1.1997m, same value + # used for the arm_usd/armWithStand.usd scene's table-rest fix. + robot = ARM_V2_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + init_state=ARM_V2_CFG.init_state.replace(pos=(0.0, 0.0, 1.1997)), + ) + + enclosure_back: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureBack", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_BACK_X, _ENCLOSURE_Y_CTR, _ENCLOSURE_TOP_Z / 2)), + spawn=sim_utils.CuboidCfg(size=(0.003, _ENCLOSURE_Y_SPAN, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), + ) + enclosure_left: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureLeft", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_MIN, _ENCLOSURE_TOP_Z / 2)), + spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, 0.003, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), + ) + enclosure_right: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureRight", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_MAX, _ENCLOSURE_TOP_Z / 2)), + spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, 0.003, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), + ) + enclosure_top: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureTop", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_CTR, _ENCLOSURE_TOP_Z)), + spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, _ENCLOSURE_Y_SPAN, 0.003), visual_material=_ENCLOSURE_MATERIAL), + ) + table: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/Table", + init_state=AssetBaseCfg.InitialStateCfg( + pos=((_TABLE_X_MIN + _TABLE_X_MAX) / 2, (_TABLE_Y_MIN + _TABLE_Y_MAX) / 2, -_TABLE_THICKNESS / 2) + ), + spawn=sim_utils.CuboidCfg( + size=(_TABLE_X_MAX - _TABLE_X_MIN, _TABLE_Y_MAX - _TABLE_Y_MIN, _TABLE_THICKNESS), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.35, 0.3, 0.25)), + ), + ) + + +class QuestRosReceiver(Node): + """ROS 2 subscriber that caches the latest /quest_teleop message.""" + + def __init__(self) -> None: + super().__init__("quest_ik_listener") + self._latest: QuestHandPose | None = None + self._lock = threading.Lock() + self.create_subscription(QuestHandPose, "/quest_teleop", self._cb, 1) + self.get_logger().info("Subscribed to /quest_teleop") + + def _cb(self, msg: QuestHandPose) -> None: + with self._lock: + self._latest = msg + + def poll(self) -> QuestHandPose | None: + with self._lock: + return self._latest + + +def _joint_ids(robot, names: list[str]) -> list[int]: + name_to_id = {n: i for i, n in enumerate(robot.data.joint_names)} + return [name_to_id[resolve_joint_name(robot, n)] for n in names] + + +def _make_entity_cfg(scene, joint_names: list[str], ee_body: str) -> SceneEntityCfg: + cfg = SceneEntityCfg("robot", joint_names=joint_names, body_names=[ee_body]) + cfg.resolve(scene) + return cfg + + +def _wrist_xyz(wrist) -> torch.Tensor: + p = wrist.position + return torch.tensor([p.x, p.y, p.z], dtype=torch.float32) + + +def _wrist_quat_wxyz(wrist) -> torch.Tensor: + o = wrist.orientation + return torch.tensor([o.w, o.x, o.y, o.z], dtype=torch.float32) + + +def _ramped_gain(disp_m: torch.Tensor, gain_near: float) -> torch.Tensor: + t = ((disp_m - _GAIN_RAMP_START_M) / (_GAIN_RAMP_END_M - _GAIN_RAMP_START_M)).clamp(0.0, 1.0) + t = t * t * (3.0 - 2.0 * t) + return gain_near + (_GAIN_FAR - gain_near) * t + + +def _is_tracked(pos: torch.Tensor, quat_wxyz: torch.Tensor, eps: float = 1e-6) -> bool: + """True unless this is WebXR's "untracked hand" sentinel: zero position + + identity orientation.""" + return not ( + torch.allclose(pos, torch.zeros_like(pos), atol=eps) + and torch.allclose(quat_wxyz, torch.tensor([1.0, 0.0, 0.0, 0.0], device=quat_wxyz.device), atol=eps) + ) + + +def _pinch_dist(hand_joints: list) -> float: + if len(hand_joints) != 75: + return float("inf") + ti, ii = _THUMB_TIP_IDX * 3, _INDEX_TIP_IDX * 3 + thumb = torch.tensor(hand_joints[ti:ti + 3]) + index = torch.tensor(hand_joints[ii:ii + 3]) + return (thumb - index).norm().item() + + +def _publish_real_left_arm_pose(pub, clock_node, joint_pos_des_rad) -> None: + """Build and publish an ArmPose for the real left arm from a DLS + solution. Field layout/units copied EXACTLY from + Task_space_controller/robot_arm_controllers/task_space_real.py's + publish_joint_pos -- same LEFT_ARM_JOINTS order (joint1L, joint2l, + joint3l, joint4l, joint5l, joint6l) maps 1:1 to + shoulder(flexion,abduction,rotation) / elbow(flexion,forearm_rotation) / + wrist(extension), degrees (hardware_mapping.yaml + the CAN PositionDeg + signal expect degrees, joint_pos_des is radians).""" + import math + + from common_msgs.msg import ArmPose as WatoArmPose, JointState as WatoJointState + + q = [math.degrees(v) for v in joint_pos_des_rad[0].tolist()] + + msg = WatoArmPose() + msg.header.stamp = clock_node.get_clock().now().to_msg() + + shoulder = WatoJointState() + shoulder.position = [q[0], q[1], q[2]] + msg.shoulder = shoulder + + elbow = WatoJointState() + elbow.position = [q[3], q[4]] + msg.elbow = elbow + + wrist = WatoJointState() + wrist.position = [q[5]] + msg.wrist = wrist + + pub.publish(msg) + + +def _ee_pose_in_base(robot, body_id: int): + root_pose_w = robot.data.root_state_w[:, 0:7] + ee_pose_w = robot.data.body_state_w[:, body_id, 0:7] + return subtract_frame_transforms( + root_pose_w[:, 0:3], root_pose_w[:, 3:7], + ee_pose_w[:, 0:3], ee_pose_w[:, 3:7], + ) + + +class _ArmDlsController: + """Bundles a DifferentialIKController with the per-arm state needed to + drive it from Quest wrist data: entity/jacobian indices, fingertip + geometry, homing state, and the current target. One instance per arm — + kept separate (rather than sharing one controller with num_envs=2) so + neither arm's homing/recalibration state can leak into the other's. + """ + + def __init__(self, scene, robot, device, arm_joint_names, ee_body, finger_tip_bodies, finger_distal_local, + lambda_val=_DLS_LAMBDA): + self.finger_tip_bodies = finger_tip_bodies + self.finger_distal_local = finger_distal_local + + entity_cfg = _make_entity_cfg(scene, arm_joint_names, ee_body) + self.body_id = entity_cfg.body_ids[0] + self.arm_ids = entity_cfg.joint_ids + self.ee_jacobi_idx = self.body_id - 1 if robot.is_fixed_base else self.body_id + self.finger_body_ids = resolve_body_ids(robot, finger_tip_bodies) + + cfg = DifferentialIKControllerCfg( + command_type="pose", use_relative_mode=False, ik_method="dls", + ik_params={"lambda_val": lambda_val}, + ) + self.controller = DifferentialIKController(cfg, num_envs=scene.num_envs, device=device) + self.controller.reset(env_ids=torch.arange(scene.num_envs, device=device)) + + self.quest_home_xyz: torch.Tensor | None = None + self.quest_home_quat: torch.Tensor | None = None + self.home_tip_pos_b: torch.Tensor | None = None + self.home_tip_quat_b: torch.Tensor | None = None + self.wrist_orient_offset: torch.Tensor | None = None + # Latest DLS solution in arm_joint_names order, radians -- read by the + # optional real-hardware bridge (see --publish-real-left-arm) to build + # ArmPose messages. Not used for anything sim-side; solve_and_apply + # already applies the solution to the sim robot directly. + self.last_joint_pos_des: torch.Tensor | None = None + + def tip_pose_b(self, robot, root_pose_w): + return compute_gripper_tip_pose_b( + robot, root_pose_w, self.body_id, self.finger_body_ids, + self.finger_tip_bodies, self.finger_distal_local, + ) + + def solve_and_apply(self, robot, device, target_pos_b, target_quat_b): + root_pose_w = robot.data.root_state_w[:, 0:7] + wrist_pos_b, _ = _ee_pose_in_base(robot, self.body_id) + tip_pos_b, tip_quat_b = self.tip_pose_b(robot, root_pose_w) + jacobian_w = robot.root_physx_view.get_jacobians()[:, self.ee_jacobi_idx, :, self.arm_ids] + jacobian_b = compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b) + + self.controller.set_command(torch.cat([target_pos_b, target_quat_b], dim=1)) + joint_pos = robot.data.joint_pos[:, self.arm_ids] + joint_pos_des = self.controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) + self.last_joint_pos_des = joint_pos_des + + # Snap directly to the DLS solution instead of waiting on the PD + # actuator to catch up — see module docstring for why (live testing + # found ~0.1 rad of actuator lag on the shoulder joint alone). + robot.set_joint_position_target(joint_pos_des, joint_ids=self.arm_ids) + robot.write_joint_state_to_sim( + joint_pos_des, + torch.zeros((1, len(self.arm_ids)), device=device), + joint_ids=self.arm_ids, + ) + return tip_pos_b + + +# ── main simulation loop ────────────────────────────────────────────────────── + +def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) -> None: + robot = scene["robot"] + device = sim.device + sim_dt = sim.get_physics_dt() + gain = args_cli.gain + + scene.update(sim_dt) + apply_joint_limits(robot) + + _root_pose_w_diag = robot.data.root_state_w[0, :7].tolist() + print(f"[Quest][diag] robot root world pose (pos xyz, quat wxyz)={_root_pose_w_diag}", flush=True) + + _base_link_prim_path = "/World/envs/env_0/Robot/base_link" # num_envs is always 1 in this script + _base_link_prim = omni.usd.get_context().get_stage().GetPrimAtPath(_base_link_prim_path) + print(f"[Quest] base_link prim valid={_base_link_prim.IsValid()} " + f"authored={_base_link_prim.HasAuthoredReferences() or _base_link_prim.GetTypeName() != ''} " + f"body_names={list(robot.data.body_names)}", flush=True) + left_eye_mount = _attach_rsd455_camera( + _base_link_prim_path, "left_eye_camera_mount", _HEAD_VIEWPOINT_HOME_POS, _HEAD_VIEWPOINT_HOME_QUAT + ) + right_eye_mount = _attach_rsd455_camera( + _base_link_prim_path, "right_eye_camera_mount", _HEAD_VIEWPOINT_HOME_POS, _HEAD_VIEWPOINT_HOME_QUAT + ) + print(f"[Quest] Stereo head-tracked RealSense D455 pair attached: {left_eye_mount}, {right_eye_mount}", flush=True) + left_eye_viewport_api = _open_pov_viewport(f"{left_eye_mount}/{_RSD455_CAMERA_SUBPATH}", "Left Eye POV") + right_eye_viewport_api = _open_pov_viewport(f"{right_eye_mount}/{_RSD455_CAMERA_SUBPATH}", "Right Eye POV") + if left_eye_viewport_api is not None and right_eye_viewport_api is not None: + _POV_STATIC_DIR.mkdir(parents=True, exist_ok=True) + print(f"[Quest] Stereo POV feed will be captured to {_POV_FRAME_PATH_LEFT} / {_POV_FRAME_PATH_RIGHT} " + f"(served by webxr_server.py's static handler at /pov_left.png, /pov_right.png)", flush=True) + + left_arm_names = [resolve_joint_name(robot, n) for n in LEFT_ARM_JOINTS] + right_arm_names = [resolve_joint_name(robot, n) for n in _RIGHT_ARM_JOINTS] + + left_arm = _ArmDlsController( + scene, robot, device, left_arm_names, LEFT_EE_BODY, + LEFT_FINGER_TIP_BODIES, LEFT_FINGER_DISTAL_TIP_LOCAL, + ) + right_arm = _ArmDlsController( + scene, robot, device, right_arm_names, RIGHT_EE_BODY, + RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, + lambda_val=_DLS_LAMBDA_RIGHT, + ) + + quest_to_world = _QUEST_TO_WORLD.to(device) + quest_to_world_quat = quat_from_matrix(quest_to_world.unsqueeze(0)) + axis_sign_left = _AXIS_SIGN_LEFT.to(device) + axis_sign_right = _AXIS_SIGN_RIGHT.to(device) + left_arm.wrist_orient_offset = _WRIST_ORIENT_OFFSET_LEFT.to(device).unsqueeze(0) + right_arm.wrist_orient_offset = _WRIST_ORIENT_OFFSET_RIGHT.to(device).unsqueeze(0) + + left_gripper_ids = _joint_ids(robot, LEFT_GRIPPER_JOINTS) + right_gripper_ids = _joint_ids(robot, _RIGHT_GRIPPER_JOINTS) + + left_g_open = torch.tensor([[GRIPPER_OPEN["joint7l"], GRIPPER_OPEN["joint8l"]]], device=device) + left_g_closed = torch.tensor([[GRIPPER_CLOSED["joint7l"], GRIPPER_CLOSED["joint8l"]]], device=device) + right_g_open = torch.tensor([[_RIGHT_GRIPPER_OPEN["joint7"], _RIGHT_GRIPPER_OPEN["joint8"]]], device=device) + right_g_closed = torch.tensor([[_RIGHT_GRIPPER_CLOSED["joint7"], _RIGHT_GRIPPER_CLOSED["joint8"]]], device=device) + + robot.write_joint_state_to_sim(robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()) + scene.write_data_to_sim() + sim.step() + scene.update(sim_dt) + + root_pose_w0 = robot.data.root_state_w[:, 0:7] + init_tip_pos_b_l, init_tip_quat_b_l = left_arm.tip_pose_b(robot, root_pose_w0) + init_tip_pos_b_r, init_tip_quat_b_r = right_arm.tip_pose_b(robot, root_pose_w0) + print(f"[Quest][diag] rest EE pos (base frame, from FK of default joint pose) " + f"L(tip)={init_tip_pos_b_l[0].tolist()} R(tip)={init_tip_pos_b_r[0].tolist()}", flush=True) + init_tip_pos_b_l[:, 0] += _HOME_TIP_X_OFFSET + init_tip_pos_b_r[:, 0] += _HOME_TIP_X_OFFSET + print(f"[Quest][diag] rest EE pos AFTER _HOME_TIP_X_OFFSET={_HOME_TIP_X_OFFSET} (IK target, not yet solved) " + f"L(tip)={init_tip_pos_b_l[0].tolist()} R(tip)={init_tip_pos_b_r[0].tolist()}", flush=True) + + rclpy.init() + receiver = QuestRosReceiver() + threading.Thread(target=rclpy.spin, args=(receiver,), daemon=True).start() + + # Real-hardware bridge (left arm only, see --publish-real-left-arm help + # text and the module-level REAL_ARM_PUBLISH_* constants for the safety + # rationale). Publisher is created on the SAME node/spin-thread as the + # Quest receiver above rather than a second rclpy context. + real_left_arm_pub = None + real_left_arm_elapsed_s = 0.0 + real_left_arm_since_publish_s = 0.0 + real_left_arm_started = False + if args_cli.publish_real_left_arm: + from common_msgs.msg import ArmPose as WatoArmPose, JointState as WatoJointState + + real_left_arm_pub = receiver.create_publisher(WatoArmPose, "/behaviour/arm_pose", 10) + print(f"[Quest][REAL HARDWARE] Left arm will start publishing to /behaviour/arm_pose in " + f"{_REAL_ARM_PUBLISH_START_DELAY_S:.0f}s. Position the REAL left arm near the sim's " + f"rest pose NOW. Right arm is NOT published (no hardware CAN mapping exists).", flush=True) + + # Targets applied every frame (unconditionally), updated only while tracked. + target_pos_b_left = init_tip_pos_b_l.clone() + target_quat_b_left = init_tip_quat_b_l.clone() + target_pos_b_right = init_tip_pos_b_r.clone() + target_quat_b_right = init_tip_quat_b_r.clone() + + # Head-tracked stereo viewpoint state -- same home-on-first-tracked-sample + # pattern as the arms above, homed independently (a person can start + # moving their head before their wrists are tracked or vice versa). + head_home_xyz: torch.Tensor | None = None + head_home_quat: torch.Tensor | None = None + head_home_viewpoint_pos_b = torch.tensor([_HEAD_VIEWPOINT_HOME_POS], dtype=torch.float32, device=device) + head_home_viewpoint_quat_b = torch.tensor([_HEAD_VIEWPOINT_HOME_QUAT], dtype=torch.float32, device=device) + head_viewpoint_pos_b = head_home_viewpoint_pos_b.clone() + head_viewpoint_quat_b = head_home_viewpoint_quat_b.clone() + eye_local_right = _EYE_LOCAL_RIGHT.to(device) + + left_closed = False + right_closed = False + + def _sphere_cfg(color, radius, opacity=1.0): + return sim_utils.SphereCfg( + radius=radius, + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=color, opacity=opacity), + ) + + left_target_vis = VisualizationMarkers(VisualizationMarkersCfg( + prim_path="/Visuals/left_ik_target", + markers={"sphere": _sphere_cfg((0.2, 0.5, 1.0), 0.05, opacity=0.3)}, + )) + right_target_vis = VisualizationMarkers(VisualizationMarkersCfg( + prim_path="/Visuals/right_ik_target", + markers={"sphere": _sphere_cfg((1.0, 0.3, 0.1), 0.05, opacity=0.3)}, + )) + + def _recalibrate() -> None: + nonlocal head_home_xyz, head_home_quat + left_arm.quest_home_xyz = None + right_arm.quest_home_xyz = None + head_home_xyz = None + head_home_quat = None + print("[Quest] Recalibrating — hold wrists in a comfortable pose.", flush=True) + + def _on_keyboard_event(event, *args, **kwargs) -> None: + if event.type == carb.input.KeyboardEventType.KEY_PRESS and event.input.name == "R": + _recalibrate() + + _keyboard_iface = carb.input.acquire_input_interface() + _keyboard = omni.appwindow.get_default_app_window().get_keyboard() + _keyboard_sub = _keyboard_iface.subscribe_to_keyboard_events(_keyboard, _on_keyboard_event) + + print("[Quest] Ready. Waiting for /quest_teleop messages.", flush=True) + print("[Quest] Both arms: Differential IK (DLS), fingertip-tip target.", flush=True) + print("[Quest] Connect the Quest browser to start streaming hand data.", flush=True) + print("[Quest] Press R (Isaac Sim window focused) to recalibrate to your current pose.", flush=True) + + diag_frame = 0 + pov_capture_frame = 0 + while simulation_app.is_running(): + msg = receiver.poll() + + if msg is not None: + left_xyz_q = _wrist_xyz(msg.left_wrist).to(device) + right_xyz_q = _wrist_xyz(msg.right_wrist).to(device) + left_quat = _wrist_quat_wxyz(msg.left_wrist).to(device) + right_quat = _wrist_quat_wxyz(msg.right_wrist).to(device) + head_xyz_q = _wrist_xyz(msg.head_pose).to(device) + head_quat = _wrist_quat_wxyz(msg.head_pose).to(device) + left_joints = list(msg.left_hand_joints) + right_joints = list(msg.right_hand_joints) + + left_tracked = _is_tracked(left_xyz_q, left_quat) + right_tracked = _is_tracked(right_xyz_q, right_quat) + head_tracked = _is_tracked(head_xyz_q, head_quat) + + root_quat_w = robot.data.root_state_w[:, 3:7] + root_pose_w = robot.data.root_state_w[:, 0:7] + tip_pos_b_l, _ = left_arm.tip_pose_b(robot, root_pose_w) + tip_pos_b_r, _ = right_arm.tip_pose_b(robot, root_pose_w) + + # ── Homing (fingertip-tip anchored) ───────────────────────────────── + if left_arm.quest_home_xyz is None and left_tracked: + left_arm.quest_home_xyz = left_xyz_q.clone() + left_arm.quest_home_quat = left_quat.clone() + # Anchor to the fixed launch-time rest tip pose, not wherever + # the tip currently sits -- avoids baking in IK lag / making + # recalibration a no-op. + left_arm.home_tip_pos_b = init_tip_pos_b_l.clone() + left_arm.home_tip_quat_b = init_tip_quat_b_l.clone() + target_pos_b_left = left_arm.home_tip_pos_b.clone() + target_quat_b_left = left_arm.home_tip_quat_b.clone() + print(f"[Quest] Left wrist tracked — homed at {left_xyz_q.tolist()}", flush=True) + + if right_arm.quest_home_xyz is None and right_tracked: + right_arm.quest_home_xyz = right_xyz_q.clone() + right_arm.quest_home_quat = right_quat.clone() + right_arm.home_tip_pos_b = init_tip_pos_b_r.clone() + right_arm.home_tip_quat_b = init_tip_quat_b_r.clone() + target_pos_b_right = right_arm.home_tip_pos_b.clone() + target_quat_b_right = right_arm.home_tip_quat_b.clone() + print(f"[Quest] Right wrist tracked — homed at {right_xyz_q.tolist()}", flush=True) + + # ── Target (fingertip-tip, base frame) ────────────────────────────── + if left_arm.quest_home_xyz is not None and left_tracked: + left_disp_raw = left_xyz_q - left_arm.quest_home_xyz + left_gain = _ramped_gain(left_disp_raw.norm(), gain) + left_delta_w = (quest_to_world @ left_disp_raw) * left_gain * axis_sign_left + left_delta_w = left_delta_w * min(1.0, _MAX_REACH_M / max(left_delta_w.norm().item(), 1e-6)) + target_pos_b_left_dbg = ( + left_arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, left_delta_w.unsqueeze(0)) + ) + if left_disp_raw.norm().item() > 0.05: + print(f"[Quest][axisdbg] L quest_disp(x,y,z)={left_disp_raw.tolist()} " + f"world_delta={left_delta_w.tolist()} " + f"base_delta_from_home={(target_pos_b_left_dbg - left_arm.home_tip_pos_b)[0].tolist()}", + flush=True) + target_pos_b_left = target_pos_b_left_dbg + dq_left = quat_mul(left_quat.unsqueeze(0), quat_inv(left_arm.quest_home_quat.unsqueeze(0))) + dq_left_world = quat_mul(quat_mul(quest_to_world_quat, dq_left), quat_inv(quest_to_world_quat)) + dq_left_world = quat_mul(quat_mul(left_arm.wrist_orient_offset, dq_left_world), + quat_inv(left_arm.wrist_orient_offset)) + dq_left_base = quat_mul(quat_mul(quat_inv(root_quat_w), dq_left_world), root_quat_w) + target_quat_b_left = quat_mul(dq_left_base, left_arm.home_tip_quat_b) + + if right_arm.quest_home_xyz is not None and right_tracked: + right_disp_raw = right_xyz_q - right_arm.quest_home_xyz + right_gain = _ramped_gain(right_disp_raw.norm(), gain) + right_delta_w = (quest_to_world @ right_disp_raw) * right_gain * axis_sign_right + right_delta_w = right_delta_w * min(1.0, _MAX_REACH_M / max(right_delta_w.norm().item(), 1e-6)) + target_pos_b_right_dbg = ( + right_arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, right_delta_w.unsqueeze(0)) + ) + if right_disp_raw.norm().item() > 0.05: + print(f"[Quest][axisdbg] R quest_disp(x,y,z)={right_disp_raw.tolist()} " + f"world_delta={right_delta_w.tolist()} " + f"base_delta_from_home={(target_pos_b_right_dbg - right_arm.home_tip_pos_b)[0].tolist()}", + flush=True) + target_pos_b_right = target_pos_b_right_dbg + dq_right = quat_mul(right_quat.unsqueeze(0), quat_inv(right_arm.quest_home_quat.unsqueeze(0))) + dq_right_world = quat_mul(quat_mul(quest_to_world_quat, dq_right), quat_inv(quest_to_world_quat)) + dq_right_world = quat_mul(quat_mul(right_arm.wrist_orient_offset, dq_right_world), + quat_inv(right_arm.wrist_orient_offset)) + dq_right_base = quat_mul(quat_mul(quat_inv(root_quat_w), dq_right_world), root_quat_w) + target_quat_b_right = quat_mul(dq_right_base, right_arm.home_tip_quat_b) + + # Stereo viewpoint is fully fixed -- no head tracking. + # head_viewpoint_pos_b/quat_b stay at their home values for the + # whole run; head_home_xyz/quat/head_tracked above are unused for + # positioning (only feed _is_tracked). Head-tracked position and + # rotate-only variants are both in git history if wanted again. + + diag_frame += 1 + if diag_frame % 100 == 0: + if left_arm.quest_home_xyz is not None and left_tracked: + err_l = (target_pos_b_left - tip_pos_b_l).norm().item() + print(f"[Quest][diag] L(tip) gain={left_gain.item():.2f} target_err={err_l:.3f}m", flush=True) + if right_arm.quest_home_xyz is not None and right_tracked: + err_r = (target_pos_b_right - tip_pos_b_r).norm().item() + print(f"[Quest][diag] R(tip) gain={right_gain.item():.2f} target_err={err_r:.3f}m", flush=True) + + _rp = robot.data.root_state_w[:, :3] + if left_arm.quest_home_xyz is not None: + left_target_vis.visualize(translations=_rp + quat_apply(root_quat_w, target_pos_b_left)) + if right_arm.quest_home_xyz is not None: + right_target_vis.visualize(translations=_rp + quat_apply(root_quat_w, target_pos_b_right)) + + if left_tracked: + ld = _pinch_dist(left_joints) + if ld < _PINCH_CLOSE_M: + left_closed = False + elif ld > _PINCH_OPEN_M: + left_closed = True + + if right_tracked: + rd = _pinch_dist(right_joints) + if rd < _PINCH_CLOSE_M: + right_closed = False + elif rd > _PINCH_OPEN_M: + right_closed = True + + # ── Differential IK (DLS) solve, both arms, every frame ───────────────── + tip_pos_b_l_now = left_arm.solve_and_apply(robot, device, target_pos_b_left, target_quat_b_left) + tip_pos_b_r_now = right_arm.solve_and_apply(robot, device, target_pos_b_right, target_quat_b_right) + + # ── Real-hardware bridge (left arm only) ───────────────────────────────── + # Same held-off-then-throttled pattern as task_space_real.py: elapsed + # time only starts accumulating toward the publish period AFTER the + # startup delay has fully passed, so it can't build up a backlog + # during the hold and burst-publish once the delay ends. + if real_left_arm_pub is not None: + real_left_arm_elapsed_s += sim_dt + if real_left_arm_elapsed_s >= _REAL_ARM_PUBLISH_START_DELAY_S: + real_left_arm_since_publish_s += sim_dt + if (real_left_arm_elapsed_s >= _REAL_ARM_PUBLISH_START_DELAY_S + and real_left_arm_since_publish_s >= _REAL_ARM_PUBLISH_PERIOD_S): + real_left_arm_since_publish_s -= _REAL_ARM_PUBLISH_PERIOD_S + if not real_left_arm_started: + real_left_arm_started = True + print("[Quest][REAL HARDWARE] Publishing left arm to /behaviour/arm_pose now.", flush=True) + _publish_real_left_arm_pose(real_left_arm_pub, receiver, left_arm.last_joint_pos_des) + + if pov_capture_frame % 100 == 0: + err_l = (target_pos_b_left - tip_pos_b_l_now).norm().item() + err_r = (target_pos_b_right - tip_pos_b_r_now).norm().item() + print(f"[Quest][diag] home-offset convergence: L target_err={err_l:.3f}m tip={tip_pos_b_l_now[0].tolist()} " + f"R target_err={err_r:.3f}m tip={tip_pos_b_r_now[0].tolist()}", flush=True) + + # ── Gripper targets ──────────────────────────────────────────────────── + robot.set_joint_position_target(left_g_closed if left_closed else left_g_open, joint_ids=left_gripper_ids) + robot.set_joint_position_target(right_g_closed if right_closed else right_g_open, joint_ids=right_gripper_ids) + robot.set_joint_velocity_target(torch.zeros(1, len(left_gripper_ids), device=device), joint_ids=left_gripper_ids) + robot.set_joint_velocity_target(torch.zeros(1, len(right_gripper_ids), device=device), joint_ids=right_gripper_ids) + + scene.write_data_to_sim() + sim.step() + scene.update(sim_dt) + + # Stereo eye mounts follow the current head viewpoint (a no-op right + # now since it's fixed -- see above -- but cheap, and ready if head + # tracking comes back). IPD offset applied along the viewpoint's + # current "right" axis, rotated into base frame. + right_offset_b = quat_apply(head_viewpoint_quat_b, eye_local_right.unsqueeze(0)) * (_EYE_IPD_M / 2) + left_eye_pos_b = (head_viewpoint_pos_b - right_offset_b)[0].tolist() + right_eye_pos_b = (head_viewpoint_pos_b + right_offset_b)[0].tolist() + head_orient_b = head_viewpoint_quat_b[0].tolist() + _set_mount_pose(left_eye_mount, tuple(left_eye_pos_b), tuple(head_orient_b)) + _set_mount_pose(right_eye_mount, tuple(right_eye_pos_b), tuple(head_orient_b)) + + pov_capture_frame += 1 + if (left_eye_viewport_api is not None and right_eye_viewport_api is not None + and pov_capture_frame % _POV_CAPTURE_EVERY_N_STEPS == 0): + from omni.kit.viewport.utility import capture_viewport_to_file + + capture_viewport_to_file(left_eye_viewport_api, str(_POV_FRAME_PATH_LEFT)) + capture_viewport_to_file(right_eye_viewport_api, str(_POV_FRAME_PATH_RIGHT)) + + +def main() -> None: + sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device) + sim = sim_utils.SimulationContext(sim_cfg) + sim.set_camera_view([2.5, 2.5, 2.0], [0.0, 0.0, 0.8]) + + scene = InteractiveScene(ArmV2SceneCfg(num_envs=1, env_spacing=2.0)) + sim.reset() + print("[Quest] Simulation ready (lightbox enclosure walls added).") + run_simulator(sim, scene) + rclpy.shutdown() + + +if __name__ == "__main__": + main() + simulation_app.close() diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh new file mode 100755 index 00000000..c48ab38c --- /dev/null +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh @@ -0,0 +1,23 @@ +#!/usr/bin/env bash +# Launch Quest armWithStand (wato_arm_v2) teleop (both arms = Differential +# IK/DLS fingertip tracking) inside the simulation_isaac container. +# +# Run this from the repo root (on the host): +# ./watod -t simulation_isaac_dev +# +# Then inside the container: +# cd /workspace/humanoid/autonomy/simulation/quest_isaac_teleop +# ./run_quest_armWithStand_teleop.sh + +set -e + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +ISAAC_LAB="${ISAAC_LAB:-/workspace/isaaclab}" + +export PYTHONPATH="${SCRIPT_DIR}:${SCRIPT_DIR}/../Teleop/keyboard_based_teleoperation:${SCRIPT_DIR}/../Humanoid_Wato:${PYTHONPATH}" + + +exec "${ISAAC_LAB}/isaaclab.sh" -p \ + "${SCRIPT_DIR}/run_quest_armWithStand_teleop.py" \ + --device cpu \ + "$@" From 0fb3cfaeecf4b5582d67a708644748fe338faa2a Mon Sep 17 00:00:00 2001 From: Ramy Wahib Date: Sun, 9 Aug 2026 18:54:17 -0400 Subject: [PATCH 2/5] Tune stereo head camera position/orientation via live feedback Restored a clean forward-facing gaze (~50deg downward, no roll, built directly from forward/up vectors rather than composing rotations) and re-positioned it after several live-tested attempts at deriving the pose analytically didn't land correctly. Also added the same stereo RSD455 preview to keyboard_teleop_armv2.py so camera framing can be checked while driving the arm by hand. Co-Authored-By: Claude Sonnet 5 --- .../keyboard_teleop_armv2.py | 73 +++++++++++++++++-- .../run_quest_armWithStand_teleop.py | 4 +- 2 files changed, 67 insertions(+), 10 deletions(-) diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py index 5ffe1e3c..5998d5b0 100644 --- a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py +++ b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py @@ -15,8 +15,10 @@ C/V Rotate along z-axis R Reset arm to default pose -Also opens an "Ego Cam Preview" viewport locked to ego_cam so its framing is -visible live while driving the arm. +Also opens an "Ego Cam Preview" viewport locked to ego_cam, and the same +stereo "Left Eye POV"/"Right Eye POV" RSD455 pair (at the finalized +position/orientation) used in run_quest_armWithStand_teleop.py, so their +framing is visible live while driving the arm with the keyboard. """ import argparse @@ -32,6 +34,9 @@ import torch +import omni.usd +from pxr import Gf, UsdGeom + import isaaclab.sim as sim_utils from isaaclab.assets import AssetBaseCfg from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg @@ -41,6 +46,19 @@ from isaaclab.utils import configclass from isaaclab.utils.math import subtract_frame_transforms +# Finalized stereo head camera (see run_quest_armWithStand_teleop.py for the +# derivation/tuning history) -- kept in sync manually, not imported, since +# this is a standalone quick-test script. +_RSD455_USD_URL = ( + "https://omniverse-content-production.s3-us-west-2.amazonaws.com/" + "Assets/Isaac/5.1/Isaac/Sensors/Intel/RealSense/rsd455.usd" +) +_HEAD_VIEWPOINT_HOME_POS = (0.08667797629999999, 0.04, 0.25258678130000006) +_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) # ~50deg downward pitch +_EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) +_EYE_IPD_M = 0.063 +_RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" + from armWithStand_v2_cfg import ( ARM_V2_CFG, GRIPPER_CLOSED, @@ -88,16 +106,54 @@ def _joint_ids(robot, names: list[str]) -> list[int]: return [name_to_id[resolve_joint_name(robot, name)] for name in names] -def _open_ego_cam_preview(robot_prim_path: str) -> None: +def _open_pov_viewport(camera_prim_path: str, window_name: str): try: from omni.kit.viewport.utility import create_viewport_window - ego_cam_path = f"{robot_prim_path}/base_link/ego_cam" - viewport_window = create_viewport_window("Ego Cam Preview", width=640, height=480) - viewport_window.viewport_api.camera_path = ego_cam_path - print(f"[INFO] Opened 'Ego Cam Preview' viewport locked to {ego_cam_path}") + viewport_window = create_viewport_window(window_name, width=640, height=480) + viewport_window.viewport_api.camera_path = camera_prim_path + print(f"[INFO] Opened '{window_name}' viewport locked to {camera_prim_path}") + return viewport_window.viewport_api except Exception as exc: # noqa: BLE001 -- best-effort convenience feature - print(f"[INFO] Could not open Ego Cam Preview viewport: {exc}") + print(f"[INFO] Could not open '{window_name}' viewport: {exc}") + return None + + +def _open_ego_cam_preview(robot_prim_path: str) -> None: + _open_pov_viewport(f"{robot_prim_path}/base_link/ego_cam", "Ego Cam Preview") + + +def _attach_rsd455_camera(parent_prim_path: str, mount_name: str, translate: tuple, orient_wxyz: tuple) -> str: + stage = omni.usd.get_context().get_stage() + mount_path = f"{parent_prim_path}/{mount_name}" + prim = UsdGeom.Xform.Define(stage, mount_path) + xformable = UsdGeom.Xformable(prim) + xformable.ClearXformOpOrder() + translate_op = xformable.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble) + orient_op = xformable.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) + translate_op.Set(Gf.Vec3d(*translate)) + w, x, y, z = orient_wxyz + orient_op.Set(Gf.Quatd(w, Gf.Vec3d(x, y, z))) + rsd_prim = stage.DefinePrim(f"{mount_path}/rsd455") + rsd_prim.GetPayloads().AddPayload(_RSD455_USD_URL) + return mount_path + + +def _open_stereo_pov_preview(robot_prim_path: str) -> None: + base_link_path = f"{robot_prim_path}/base_link" + eye_local_right = _EYE_LOCAL_RIGHT + from isaaclab.utils.math import quat_apply + + head_quat = torch.tensor([_HEAD_VIEWPOINT_HOME_QUAT], dtype=torch.float32) + head_pos = torch.tensor([_HEAD_VIEWPOINT_HOME_POS], dtype=torch.float32) + right_offset = quat_apply(head_quat, eye_local_right.unsqueeze(0)) * (_EYE_IPD_M / 2) + left_pos = (head_pos - right_offset)[0].tolist() + right_pos = (head_pos + right_offset)[0].tolist() + + left_mount = _attach_rsd455_camera(base_link_path, "left_eye_camera_mount", tuple(left_pos), _HEAD_VIEWPOINT_HOME_QUAT) + right_mount = _attach_rsd455_camera(base_link_path, "right_eye_camera_mount", tuple(right_pos), _HEAD_VIEWPOINT_HOME_QUAT) + _open_pov_viewport(f"{left_mount}/{_RSD455_CAMERA_SUBPATH}", "Left Eye POV") + _open_pov_viewport(f"{right_mount}/{_RSD455_CAMERA_SUBPATH}", "Right Eye POV") def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): @@ -108,6 +164,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): apply_joint_limits(robot) _open_ego_cam_preview("/World/envs/env_0/Robot") + _open_stereo_pov_preview("/World/envs/env_0/Robot") driven_arm_names = [resolve_joint_name(robot, name) for name in RIGHT_ARM_JOINTS] driven_gripper_names = [resolve_joint_name(robot, name) for name in RIGHT_GRIPPER_JOINTS] diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py index 715e8388..83430ebb 100644 --- a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py @@ -291,8 +291,8 @@ # correct live; position then nudged 5mm along the gaze direction # (head_pos + 0.005*forward) since the camera mount stand itself was # blocking the bottom of frame at the original position. -_HEAD_VIEWPOINT_HOME_POS = (0.07703616214999999, 0.04, 0.26407744790000004) # translate xyz, relative to base_link -- nudged forward (5,10,20,20,10,+20mm) and left (20,20mm) per live feedback -_HEAD_VIEWPOINT_HOME_QUAT = (0.9762960071199334, 0.0, 0.21643961393810288, 0.0) # ~25deg downward pitch, facing +X, no roll +_HEAD_VIEWPOINT_HOME_POS = (0.08667797629999999, 0.04, 0.25258678130000006) # translate xyz, relative to base_link -- nudged forward (5,10,20,20,10,20,+15mm) and left (20,20mm) per live feedback +_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) # ~50deg downward pitch, facing +X, no roll (was ~25deg, tilted 25deg further per live feedback) _EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) _EYE_IPD_M = 0.063 # Sub-path to the actual renderable Camera prim inside the rsd455 payload -- From e463d16a5e102f12f9797c1ed69cb470f124b7e6 Mon Sep 17 00:00:00 2001 From: Ramy Wahib Date: Sun, 9 Aug 2026 21:32:07 -0400 Subject: [PATCH 3/5] Fix front/back and left/right axis mapping, add IK diagnostic tooling Two axis-sign flips in run_quest_armWithStand_teleop.py's Quest-to-world mapping, found via live headset testing: X was inverted (left/right felt backwards), then Y was inverted after confirming X/Z were correct (front/back was still swapped). Also reverted an experimental bent-arm rest pose after live testing showed it wasn't actually natural-looking, back to the URDF zero pose. Added two standalone test scripts to help isolate future direction/motion issues without needing the headset: task_space_test_armv2.py (drag a cube with the mouse, same fingertip IK path as the VR script) and keyboard_teleop_armv2_lightbox.py (keyboard-driven arm in the same lightbox scene/camera setup used for VR teleop). Co-Authored-By: Claude Sonnet 5 --- .../task_space_test_armv2.py | 217 +++++++++++++ .../armWithStand_v2_cfg.py | 13 +- .../keyboard_teleop_armv2_lightbox.py | 304 ++++++++++++++++++ .../run_quest_armWithStand_teleop.py | 13 +- 4 files changed, 542 insertions(+), 5 deletions(-) create mode 100644 autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py create mode 100644 autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py diff --git a/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py b/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py new file mode 100644 index 00000000..af3c69c9 --- /dev/null +++ b/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py @@ -0,0 +1,217 @@ +"""Task-space IK demo for wato_arm_v2/armWithStand (right/L-suffixed arm +only) -- adapted from task_space_test.py (the bimanual original). + +A cube in the scene is the absolute gripper-fingertip-center pose target. +Select it in the viewport (click it, press W for the Move gizmo) and drag it +with the mouse -- the arm follows via the same DifferentialIKController + +fingertip-tip Jacobian math run_quest_armWithStand_teleop.py uses, just fed +from a draggable cube instead of Quest hand tracking. Useful for isolating +whether jerky/inconsistent motion during VR teleop is a tracking-input +problem (mouse-dragging the cube should be perfectly smooth) or something in +the IK/control pipeline itself (would still look bad here too). + +The other arm and both grippers are held at their default poses. +""" + +import argparse +import os +import sys + +from isaaclab.app import AppLauncher + +parser = argparse.ArgumentParser(description="armWithStand task-space IK (cube target, one arm only)") +AppLauncher.add_app_launcher_args(parser) +args_cli = parser.parse_args() + +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +_KEYBOARD_TELEOP_DIR = os.path.abspath( + os.path.join(os.path.dirname(__file__), "../../Teleop/keyboard_based_teleoperation") +) +sys.path.insert(0, _KEYBOARD_TELEOP_DIR) + +from armWithStand_v2_cfg import ( # noqa: E402 + ARM_V2_CFG, + GRIPPER_OPEN, + RIGHT_ARM_JOINTS, + RIGHT_EE_BODY, + RIGHT_FINGER_DISTAL_TIP_LOCAL, + RIGHT_FINGER_TIP_BODIES, + RIGHT_GRIPPER_JOINTS, + LEFT_ARM_JOINTS, + apply_joint_limits, + compute_tip_ik_jacobian, + compute_gripper_tip_pose_b, + compute_gripper_tip_pose_w, + resolve_body_ids, + resolve_joint_name, +) +import isaaclab.sim as sim_utils # noqa: E402 +from isaaclab.assets import AssetBaseCfg # noqa: E402 +from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg # noqa: E402 +from isaaclab.managers import SceneEntityCfg # noqa: E402 +from isaaclab.markers import VisualizationMarkers # noqa: E402 +from isaaclab.markers.config import FRAME_MARKER_CFG # noqa: E402 +from isaaclab.scene import InteractiveScene, InteractiveSceneCfg # noqa: E402 +from isaaclab.utils import configclass # noqa: E402 +from isaaclab.utils.math import subtract_frame_transforms # noqa: E402 +import torch # noqa: E402 + + +def _joint_ids(robot, names: list[str]) -> list[int]: + name_to_id = {name: i for i, name in enumerate(robot.data.joint_names)} + return [name_to_id[resolve_joint_name(robot, name)] for name in names] + + +@configclass +class TableTopSceneCfg(InteractiveSceneCfg): + ground = AssetBaseCfg( + prim_path="/World/defaultGroundPlane", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), + ) + + dome_light = AssetBaseCfg( + prim_path="/World/Light", + spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), + ) + + # Rest-pose fingertip is around (-0.02, -0.31, -0.67) in base frame for + # the driven (link6l) arm -- start the cube there so it doesn't jump on + # the very first frame. + cube = AssetBaseCfg( + prim_path="/World/cube", + spawn=sim_utils.CuboidCfg(size=[0.05, 0.05, 0.05]), + init_state=AssetBaseCfg.InitialStateCfg(pos=(-0.02, -0.31, 0.53)), # world frame (robot lifted 1.1997m) + ) + + # Same lift used everywhere else so the stand rests on the ground plane. + robot = ARM_V2_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + init_state=ARM_V2_CFG.init_state.replace(pos=(0.0, 0.0, 1.1997)), + ) + + +def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): + robot = scene["robot"] + sim_dt = sim.get_physics_dt() + + scene.update(sim_dt) + apply_joint_limits(robot) + + driven_arm_names = [resolve_joint_name(robot, name) for name in RIGHT_ARM_JOINTS] + print(f"[INFO] Robot joints: {robot.data.joint_names}") + print(f"[INFO] Driven arm IK joints (link6l chain): {driven_arm_names}") + print(f"[INFO] Wrist body (Jacobian anchor): {RIGHT_EE_BODY}") + print("[INFO] IK tracks fingertip center (link7l/link8l mesh distal midpoint)") + print("[INFO] Click the cube in the viewport, press W for Move gizmo, drag with mouse.") + + diff_ik_cfg = DifferentialIKControllerCfg( + command_type="position", use_relative_mode=False, ik_method="dls", ik_params={"lambda_val": 0.35}, + ) + diff_ik_controller = DifferentialIKController( + diff_ik_cfg, num_envs=scene.num_envs, device=sim.device + ) + + frame_marker_cfg = FRAME_MARKER_CFG.copy() + frame_marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1) + ee_marker = VisualizationMarkers(frame_marker_cfg.replace(prim_path="/Visuals/ee_current")) + goal_marker = VisualizationMarkers(frame_marker_cfg.replace(prim_path="/Visuals/ee_goal")) + + robot_entity_cfg = SceneEntityCfg( + "robot", joint_names=driven_arm_names, body_names=[RIGHT_EE_BODY] + ) + robot_entity_cfg.resolve(scene) + + ee_jacobi_idx = ( + robot_entity_cfg.body_ids[0] - 1 if robot.is_fixed_base else robot_entity_cfg.body_ids[0] + ) + wrist_body_id = robot_entity_cfg.body_ids[0] + finger_body_ids = resolve_body_ids(robot, RIGHT_FINGER_TIP_BODIES) + + driven_arm_ids = robot_entity_cfg.joint_ids + driven_gripper_ids = _joint_ids(robot, RIGHT_GRIPPER_JOINTS) + held_arm_ids = _joint_ids(robot, LEFT_ARM_JOINTS[:6]) + held_gripper_ids = _joint_ids(robot, LEFT_ARM_JOINTS[6:8]) + held_default_pos = robot.data.default_joint_pos[:, held_arm_ids].clone() + held_gripper_default_pos = robot.data.default_joint_pos[:, held_gripper_ids].clone() + + gripper_open_targets = torch.tensor( + [[GRIPPER_OPEN[name] for name in RIGHT_GRIPPER_JOINTS]], + device=sim.device, + ) + + joint_position = robot.data.default_joint_pos.clone() + joint_vel = robot.data.default_joint_vel.clone() + robot.write_joint_state_to_sim(joint_position, joint_vel) + scene.write_data_to_sim() + sim.step() + scene.update(sim_dt) + + diff_ik_controller.reset(env_ids=torch.arange(scene.num_envs, device=sim.device)) + + while simulation_app.is_running(): + cube_pos_w, cube_quat_w = scene["cube"].get_world_poses() + root_pose_w = robot.data.root_state_w[:, 0:7] + cube_pos_b, cube_quat_b = subtract_frame_transforms( + root_pose_w[:, 0:3], root_pose_w[:, 3:7], cube_pos_w, cube_quat_w + ) + + joint_pos = robot.data.joint_pos[:, driven_arm_ids] + + wrist_pose_w = robot.data.body_state_w[:, wrist_body_id, 0:7] + wrist_pos_b, _ = subtract_frame_transforms( + root_pose_w[:, 0:3], root_pose_w[:, 3:7], wrist_pose_w[:, 0:3], wrist_pose_w[:, 3:7] + ) + tip_pos_b, tip_quat_b = compute_gripper_tip_pose_b( + robot, root_pose_w, wrist_body_id, finger_body_ids, + RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, + ) + + # set_command needs ee_quat to hold current orientation (used for display only in position mode) + diff_ik_controller.set_command(cube_pos_b, ee_quat=tip_quat_b) + + jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, driven_arm_ids] + jacobian_b = compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b) + + joint_pos_des = diff_ik_controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) + robot.set_joint_position_target(joint_pos_des, joint_ids=driven_arm_ids) + + # Hold driven gripper open; other arm + gripper at default pose + robot.set_joint_position_target(gripper_open_targets, joint_ids=driven_gripper_ids) + robot.set_joint_position_target(held_default_pos, joint_ids=held_arm_ids) + robot.set_joint_position_target(held_gripper_default_pos, joint_ids=held_gripper_ids) + robot.set_joint_velocity_target( + torch.zeros(1, len(held_gripper_ids), device=sim.device), + joint_ids=held_gripper_ids, + ) + + scene.write_data_to_sim() + sim.step() + scene.update(sim_dt) + + tip_pos_w, tip_quat_w = compute_gripper_tip_pose_w( + robot, wrist_body_id, finger_body_ids, RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, + ) + ee_marker.visualize(tip_pos_w, tip_quat_w) + goal_marker.visualize(cube_pos_w, cube_quat_w) + + +def main(): + sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device) + sim = sim_utils.SimulationContext(sim_cfg) + sim.set_camera_view([2.5, 2.5, 2.0], [0.0, 0.0, 0.8]) + + scene_cfg = TableTopSceneCfg(num_envs=1, env_spacing=2.0) + scene = InteractiveScene(scene_cfg) + sim.reset() + + print("[INFO]: Setup complete...") + + run_simulator(sim, scene) + + +if __name__ == "__main__": + main() + simulation_app.close() diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py index f8559728..d7c0195f 100644 --- a/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py +++ b/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py @@ -120,9 +120,16 @@ def _deg(degrees: float) -> float: "joint8l": _JOINT8_LIMIT, } -# --- Default poses: URDF zero (see module docstring -- bimanual's tuned -# degree values do NOT transfer, different joint axes per joint). Retune live -# via Physics Inspector for a more ergonomic rest pose once available. +# --- Default poses: URDF zero. Tried two alternatives live and both were +# rejected: (1) IK-solved "reach forward and up" target didn't converge +# cleanly (stuck ~0.2m error, joint angles past a full rotation); (2) +# directly reusing bimanual's tuned degree values looked plausibly bent in +# a narrow test crop but was confirmed wrong ("not naturally forward") once +# actually viewed live -- expected, since armWithStand's joint axes differ +# per-joint from bimanual's (see module docstring), so bimanual's angles +# don't correspond to the same physical configuration here. Back to zero +# as the known, correct-by-construction baseline. Retune live via Physics +# Inspector for a real ergonomic pose if wanted. _DEFAULT_JOINT_POS = { "joint1": 0.0, "joint2": 0.0, diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py new file mode 100644 index 00000000..ddbee822 --- /dev/null +++ b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py @@ -0,0 +1,304 @@ +"""armWithStand (wato_arm_v2) keyboard teleoperation (right/L-suffixed arm +only) in the SAME lightbox-enclosure scene and stereo RSD455 camera setup as +run_quest_armWithStand_teleop.py -- for testing camera framing/rest pose in +the actual VR-teleop scene, driven by keyboard instead of the Quest/ROS +pipeline. See keyboard_teleop_armv2.py for the bare-scene (no lightbox) +version this was combined with. + + K Toggle gripper (open/close) + W/S Move along x-axis + A/D Move along y-axis + Q/E Move along z-axis + Z/X Rotate along x-axis + T/G Rotate along y-axis + C/V Rotate along z-axis + R Reset arm to default pose +""" + +import argparse +import sys +from pathlib import Path + +from isaaclab.app import AppLauncher + +_THIS_DIR = Path(__file__).resolve().parent +sys.path.insert(0, str(_THIS_DIR)) + +parser = argparse.ArgumentParser(description="Keyboard teleop for wato_arm_v2 in the lightbox scene.") +AppLauncher.add_app_launcher_args(parser) +args_cli = parser.parse_args() + +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +import torch + +import omni.usd +from pxr import Gf, UsdGeom + +import isaaclab.sim as sim_utils +from isaaclab.assets import AssetBaseCfg +from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg +from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg +from isaaclab.managers import SceneEntityCfg +from isaaclab.scene import InteractiveScene, InteractiveSceneCfg +from isaaclab.utils import configclass +from isaaclab.utils.math import quat_apply, subtract_frame_transforms + +from armWithStand_v2_cfg import ( + ARM_V2_CFG, + GRIPPER_CLOSED, + GRIPPER_OPEN, + LEFT_ARM_JOINTS, + RIGHT_ARM_JOINTS, + RIGHT_EE_BODY, + RIGHT_FINGER_DISTAL_TIP_LOCAL, + RIGHT_FINGER_TIP_BODIES, + RIGHT_GRIPPER_JOINTS, + apply_joint_limits, + compute_gripper_tip_pose_b, + compute_tip_ik_jacobian, + resolve_body_ids, + resolve_joint_name, +) + +# ── lightbox enclosure geometry (identical to run_quest_armWithStand_teleop.py) ── +_ENCLOSURE_MATERIAL = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0), emissive_color=(1.0, 1.0, 1.0)) +_ENCLOSURE_BACK_X = -0.45 +_ENCLOSURE_FRONT_X = 0.75 +_ENCLOSURE_Y_MIN = -0.9 +_ENCLOSURE_Y_MAX = 1.0 +_ENCLOSURE_TOP_Z = 1.8 +_ENCLOSURE_Y_CTR = (_ENCLOSURE_Y_MIN + _ENCLOSURE_Y_MAX) / 2 +_ENCLOSURE_Y_SPAN = _ENCLOSURE_Y_MAX - _ENCLOSURE_Y_MIN +_ENCLOSURE_X_SPAN = _ENCLOSURE_FRONT_X - _ENCLOSURE_BACK_X +_ENCLOSURE_X_CTR = (_ENCLOSURE_BACK_X + _ENCLOSURE_FRONT_X) / 2 + +_TABLE_X_MIN, _TABLE_X_MAX = _ENCLOSURE_BACK_X, _ENCLOSURE_FRONT_X +_TABLE_Y_MIN, _TABLE_Y_MAX = _ENCLOSURE_Y_MIN, _ENCLOSURE_Y_MAX +_TABLE_THICKNESS = 0.05 + +# ── finalized stereo head camera (kept in sync manually with +# run_quest_armWithStand_teleop.py, same as keyboard_teleop_armv2.py) ── +_RSD455_USD_URL = ( + "https://omniverse-content-production.s3-us-west-2.amazonaws.com/" + "Assets/Isaac/5.1/Isaac/Sensors/Intel/RealSense/rsd455.usd" +) +_HEAD_VIEWPOINT_HOME_POS = (0.08667797629999999, 0.04, 0.25258678130000006) +_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) +_EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) +_EYE_IPD_M = 0.063 +_RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" + + +@configclass +class ArmV2LightboxSceneCfg(InteractiveSceneCfg): + """Same lightbox enclosure + table + robot lift as run_quest_armWithStand_teleop.py.""" + + ground = AssetBaseCfg( + prim_path="/World/defaultGroundPlane", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), + ) + dome_light = AssetBaseCfg( + prim_path="/World/Light", + spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), + ) + robot = ARM_V2_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + init_state=ARM_V2_CFG.init_state.replace(pos=(0.0, 0.0, 1.1997)), + ) + + enclosure_back: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureBack", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_BACK_X, _ENCLOSURE_Y_CTR, _ENCLOSURE_TOP_Z / 2)), + spawn=sim_utils.CuboidCfg(size=(0.003, _ENCLOSURE_Y_SPAN, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), + ) + enclosure_left: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureLeft", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_MIN, _ENCLOSURE_TOP_Z / 2)), + spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, 0.003, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), + ) + enclosure_right: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureRight", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_MAX, _ENCLOSURE_TOP_Z / 2)), + spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, 0.003, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), + ) + enclosure_top: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/EnclosureTop", + init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_CTR, _ENCLOSURE_TOP_Z)), + spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, _ENCLOSURE_Y_SPAN, 0.003), visual_material=_ENCLOSURE_MATERIAL), + ) + table: AssetBaseCfg = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/Table", + init_state=AssetBaseCfg.InitialStateCfg( + pos=((_TABLE_X_MIN + _TABLE_X_MAX) / 2, (_TABLE_Y_MIN + _TABLE_Y_MAX) / 2, -_TABLE_THICKNESS / 2) + ), + spawn=sim_utils.CuboidCfg( + size=(_TABLE_X_MAX - _TABLE_X_MIN, _TABLE_Y_MAX - _TABLE_Y_MIN, _TABLE_THICKNESS), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.35, 0.3, 0.25)), + ), + ) + + +def _joint_ids(robot, names: list[str]) -> list[int]: + name_to_id = {name: i for i, name in enumerate(robot.data.joint_names)} + return [name_to_id[resolve_joint_name(robot, name)] for name in names] + + +def _open_pov_viewport(camera_prim_path: str, window_name: str): + try: + from omni.kit.viewport.utility import create_viewport_window + + vw = create_viewport_window(window_name, width=640, height=480) + vw.viewport_api.camera_path = camera_prim_path + print(f"[INFO] Opened '{window_name}' -> {camera_prim_path}") + except Exception as exc: # noqa: BLE001 -- best-effort convenience feature + print(f"[INFO] Could not open '{window_name}': {exc}") + + +def _attach_rsd455_camera(parent_prim_path: str, mount_name: str, translate: tuple, orient_wxyz: tuple) -> str: + stage = omni.usd.get_context().get_stage() + mount_path = f"{parent_prim_path}/{mount_name}" + prim = UsdGeom.Xform.Define(stage, mount_path) + xf = UsdGeom.Xformable(prim) + xf.ClearXformOpOrder() + t_op = xf.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble) + o_op = xf.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) + t_op.Set(Gf.Vec3d(*translate)) + w, x, y, z = orient_wxyz + o_op.Set(Gf.Quatd(w, Gf.Vec3d(x, y, z))) + rsd_prim = stage.DefinePrim(f"{mount_path}/rsd455") + rsd_prim.GetPayloads().AddPayload(_RSD455_USD_URL) + return mount_path + + +def _open_stereo_pov_preview(robot_prim_path: str) -> None: + base_link_path = f"{robot_prim_path}/base_link" + head_quat = torch.tensor([_HEAD_VIEWPOINT_HOME_QUAT], dtype=torch.float32) + head_pos = torch.tensor([_HEAD_VIEWPOINT_HOME_POS], dtype=torch.float32) + right_offset = quat_apply(head_quat, _EYE_LOCAL_RIGHT.unsqueeze(0)) * (_EYE_IPD_M / 2) + left_pos = (head_pos - right_offset)[0].tolist() + right_pos = (head_pos + right_offset)[0].tolist() + + left_mount = _attach_rsd455_camera(base_link_path, "left_eye_camera_mount", tuple(left_pos), _HEAD_VIEWPOINT_HOME_QUAT) + right_mount = _attach_rsd455_camera(base_link_path, "right_eye_camera_mount", tuple(right_pos), _HEAD_VIEWPOINT_HOME_QUAT) + _open_pov_viewport(f"{left_mount}/{_RSD455_CAMERA_SUBPATH}", "Left Eye POV") + _open_pov_viewport(f"{right_mount}/{_RSD455_CAMERA_SUBPATH}", "Right Eye POV") + + +def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): + robot = scene["robot"] + sim_dt = sim.get_physics_dt() + + scene.update(sim_dt) + apply_joint_limits(robot) + + _open_stereo_pov_preview("/World/envs/env_0/Robot") + + driven_arm_names = [resolve_joint_name(robot, name) for name in RIGHT_ARM_JOINTS] + held_arm_names = [resolve_joint_name(robot, name) for name in LEFT_ARM_JOINTS[:6]] + + print(f"[INFO] Driven arm joints (link6l chain): {driven_arm_names}") + print(f"[INFO] Held arm joints (link6 chain): {held_arm_names}") + + diff_ik_cfg = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls") + diff_ik_controller = DifferentialIKController(diff_ik_cfg, num_envs=scene.num_envs, device=sim.device) + + robot_entity_cfg = SceneEntityCfg("robot", joint_names=driven_arm_names, body_names=[RIGHT_EE_BODY]) + robot_entity_cfg.resolve(scene) + + ee_jacobi_idx = robot_entity_cfg.body_ids[0] - 1 if robot.is_fixed_base else robot_entity_cfg.body_ids[0] + finger_body_ids = resolve_body_ids(robot, RIGHT_FINGER_TIP_BODIES) + + driven_arm_ids = robot_entity_cfg.joint_ids + driven_gripper_ids = _joint_ids(robot, RIGHT_GRIPPER_JOINTS) + held_arm_ids = _joint_ids(robot, LEFT_ARM_JOINTS[:6]) + held_gripper_ids = _joint_ids(robot, LEFT_ARM_JOINTS[6:8]) + held_default_pos = robot.data.default_joint_pos[:, held_arm_ids].clone() + held_gripper_default_pos = robot.data.default_joint_pos[:, held_gripper_ids].clone() + + joint_pos = robot.data.default_joint_pos.clone() + joint_vel = robot.data.default_joint_vel.clone() + robot.write_joint_state_to_sim(joint_pos, joint_vel) + + gripper_open_targets = torch.tensor([[GRIPPER_OPEN[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device) + gripper_closed_targets = torch.tensor([[GRIPPER_CLOSED[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device) + + teleop = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.005, rot_sensitivity=0.05)) + should_reset = False + + def reset_arm(): + nonlocal should_reset + should_reset = True + + teleop.add_callback("R", reset_arm) + teleop.reset() + print("[INFO] Teleoperating link6l-chain arm only. Other arm held at default pose.") + print("[INFO] Click the 3D viewport window, then press W/A/S/D/Q/E to move.") + + while simulation_app.is_running(): + if should_reset: + joint_pos = robot.data.default_joint_pos.clone() + joint_vel = robot.data.default_joint_vel.clone() + robot.write_joint_state_to_sim(joint_pos, joint_vel) + robot.reset() + diff_ik_controller.reset() + teleop.reset() + should_reset = False + + raw = teleop.advance() + command = raw[:6].to(dtype=torch.float32, device=sim.device).unsqueeze(0) + close_gripper = bool(raw[6].item() < 0.0) + + root_pose_w = robot.data.root_state_w[:, 0:7] + joint_pos = robot.data.joint_pos[:, driven_arm_ids] + + wrist_body_id = robot_entity_cfg.body_ids[0] + wrist_pose_w = robot.data.body_state_w[:, wrist_body_id, 0:7] + wrist_pos_b, _ = subtract_frame_transforms( + root_pose_w[:, 0:3], root_pose_w[:, 3:7], wrist_pose_w[:, 0:3], wrist_pose_w[:, 3:7], + ) + tip_pos_b, tip_quat_b = compute_gripper_tip_pose_b( + robot, root_pose_w, wrist_body_id, finger_body_ids, + RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, + ) + + diff_ik_controller.set_command(command, ee_pos=tip_pos_b, ee_quat=tip_quat_b) + + jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, driven_arm_ids] + jacobian_b = compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b) + joint_pos_des = diff_ik_controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) + robot.set_joint_position_target(joint_pos_des, joint_ids=driven_arm_ids) + + gripper_targets = gripper_closed_targets if close_gripper else gripper_open_targets + zero_gripper_vel = torch.zeros(1, len(driven_gripper_ids), device=sim.device) + robot.set_joint_position_target(gripper_targets, joint_ids=driven_gripper_ids) + robot.set_joint_velocity_target(zero_gripper_vel, joint_ids=driven_gripper_ids) + + robot.set_joint_position_target(held_default_pos, joint_ids=held_arm_ids) + robot.set_joint_position_target(held_gripper_default_pos, joint_ids=held_gripper_ids) + robot.set_joint_velocity_target( + torch.zeros(1, len(held_gripper_ids), device=sim.device), joint_ids=held_gripper_ids, + ) + + scene.write_data_to_sim() + sim.step() + scene.update(sim_dt) + + +def main(): + sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device) + sim = sim_utils.SimulationContext(sim_cfg) + sim.set_camera_view([2.5, 2.5, 2.0], [0.0, 0.0, 0.8]) + + scene = InteractiveScene(ArmV2LightboxSceneCfg(num_envs=1, env_spacing=2.0)) + sim.reset() + print("[INFO] Setup complete (lightbox enclosure).") + run_simulator(sim, scene) + + +if __name__ == "__main__": + main() + simulation_app.close() diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py index 83430ebb..03c610a6 100644 --- a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py @@ -181,8 +181,17 @@ [0.0, 1.0, 0.0]], dtype=torch.float32, ) -_AXIS_SIGN_LEFT = torch.tensor([1.0, -1.0, 1.0]) -_AXIS_SIGN_RIGHT = torch.tensor([1.0, -1.0, 1.0]) +# X flipped from bimanual's (1,-1,1): synthetic-message testing showed +# left/right tracks correctly with X flipped (-1). Y additionally flipped +# here per live headset feedback: front/back was still inverted after the X +# fix (up/down and left/right confirmed correct by the user; front/back is +# the remaining axis, Y, by elimination) -- flipped Y's sign to invert it. +# Not independently re-verified via synthetic message (Y's real-world +# forward/back mapping depends on the user's physical orientation relative +# to the WebXR tracking origin, which can't be tested from here) -- confirm +# live and report back if it's still wrong. +_AXIS_SIGN_LEFT = torch.tensor([-1.0, 1.0, 1.0]) +_AXIS_SIGN_RIGHT = torch.tensor([-1.0, 1.0, 1.0]) _GAIN_FAR = 1.0 _GAIN_RAMP_START_M = 0.15 From 695d40ebf6cb5423109f6f83c788fa986176b664 Mon Sep 17 00:00:00 2001 From: Ramy Wahib Date: Mon, 10 Aug 2026 18:28:54 -0400 Subject: [PATCH 4/5] New VR teleop --- .../task_space_test_armv2.py | 2 +- .../armWithStand_v2_cfg.py | 2 +- .../keyboard_teleop_armv2.py | 293 --------------- .../keyboard_teleop_armv2_lightbox.py | 304 ---------------- .../open_arm_v2_usd.py | 60 --- ...nd_teleop.py => run_quest_armv2_teleop.py} | 182 ++++++++-- ...nd_teleop.sh => run_quest_armv2_teleop.sh} | 4 +- .../run_quest_bimanual_teleop.py | 341 +++++++----------- .../teleop/quest_teleop/static/pov_left.png | Bin 0 -> 958192 bytes .../teleop/quest_teleop/static/pov_right.png | Bin 0 -> 977601 bytes 10 files changed, 284 insertions(+), 904 deletions(-) delete mode 100644 autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py delete mode 100644 autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py delete mode 100644 autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py rename autonomy/simulation/quest_isaac_teleop/{run_quest_armWithStand_teleop.py => run_quest_armv2_teleop.py} (84%) rename autonomy/simulation/quest_isaac_teleop/{run_quest_armWithStand_teleop.sh => run_quest_armv2_teleop.sh} (87%) create mode 100644 autonomy/teleop/quest_teleop/static/pov_left.png create mode 100644 autonomy/teleop/quest_teleop/static/pov_right.png diff --git a/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py b/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py index af3c69c9..52c1be14 100644 --- a/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py +++ b/autonomy/simulation/Task_space_controller/robot_arm_controllers/task_space_test_armv2.py @@ -4,7 +4,7 @@ A cube in the scene is the absolute gripper-fingertip-center pose target. Select it in the viewport (click it, press W for the Move gizmo) and drag it with the mouse -- the arm follows via the same DifferentialIKController + -fingertip-tip Jacobian math run_quest_armWithStand_teleop.py uses, just fed +fingertip-tip Jacobian math run_quest_armv2_teleop.py uses, just fed from a draggable cube instead of Quest hand tracking. Useful for isolating whether jerky/inconsistent motion during VR teleop is a tracking-input problem (mouse-dragging the cube should be perfectly smooth) or something in diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py index d7c0195f..eead06dd 100644 --- a/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py +++ b/autonomy/simulation/Teleop/keyboard_based_teleoperation/armWithStand_v2_cfg.py @@ -39,7 +39,7 @@ damping/effort numbers are motor/mechanism-derived (same GL40 hardware presumed), not orientation-derived, so they're a reasonable carry-over but still worth confirming against the real mechanism. - - _WRIST_ORIENT_OFFSET_LEFT/RIGHT in run_quest_armWithStand_teleop.py + - _WRIST_ORIENT_OFFSET_LEFT/RIGHT in run_quest_armv2_teleop.py (not in this file) were reset to identity for the same reason as _DEFAULT_JOINT_POS -- bimanual's offsets were empirically tuned against its own joint6 axis and don't transfer. Needs live retuning once wrist diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py deleted file mode 100644 index 5998d5b0..00000000 --- a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2.py +++ /dev/null @@ -1,293 +0,0 @@ -"""Minimal armWithStand (wato_arm_v2) keyboard teleoperation (right/L-suffixed -arm only) -- quick visual test tool for checking ego_cam framing while -driving the arm, not a recording pipeline (see keyboard_teleop.py for the -bimanual version this is adapted from, including --record support). - -Robot: Humanoid_Wato wato_arm_v2 (armWithStand.usd) -Teleop bindings: https://isaac-sim.github.io/IsaacLab/v2.0.1/source/overview/teleop_imitation.html - - K Toggle gripper (open/close) - W/S Move along x-axis - A/D Move along y-axis - Q/E Move along z-axis - Z/X Rotate along x-axis - T/G Rotate along y-axis - C/V Rotate along z-axis - R Reset arm to default pose - -Also opens an "Ego Cam Preview" viewport locked to ego_cam, and the same -stereo "Left Eye POV"/"Right Eye POV" RSD455 pair (at the finalized -position/orientation) used in run_quest_armWithStand_teleop.py, so their -framing is visible live while driving the arm with the keyboard. -""" - -import argparse - -from isaaclab.app import AppLauncher - -parser = argparse.ArgumentParser(description="Keyboard teleoperation for wato_arm_v2 (right/L-suffixed arm only).") -AppLauncher.add_app_launcher_args(parser) -args_cli = parser.parse_args() - -app_launcher = AppLauncher(args_cli) -simulation_app = app_launcher.app - -import torch - -import omni.usd -from pxr import Gf, UsdGeom - -import isaaclab.sim as sim_utils -from isaaclab.assets import AssetBaseCfg -from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg -from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg -from isaaclab.managers import SceneEntityCfg -from isaaclab.scene import InteractiveScene, InteractiveSceneCfg -from isaaclab.utils import configclass -from isaaclab.utils.math import subtract_frame_transforms - -# Finalized stereo head camera (see run_quest_armWithStand_teleop.py for the -# derivation/tuning history) -- kept in sync manually, not imported, since -# this is a standalone quick-test script. -_RSD455_USD_URL = ( - "https://omniverse-content-production.s3-us-west-2.amazonaws.com/" - "Assets/Isaac/5.1/Isaac/Sensors/Intel/RealSense/rsd455.usd" -) -_HEAD_VIEWPOINT_HOME_POS = (0.08667797629999999, 0.04, 0.25258678130000006) -_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) # ~50deg downward pitch -_EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) -_EYE_IPD_M = 0.063 -_RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" - -from armWithStand_v2_cfg import ( - ARM_V2_CFG, - GRIPPER_CLOSED, - GRIPPER_OPEN, - LEFT_ARM_JOINTS, - RIGHT_ARM_JOINTS, - RIGHT_EE_BODY, - RIGHT_FINGER_DISTAL_TIP_LOCAL, - RIGHT_FINGER_TIP_BODIES, - RIGHT_GRIPPER_JOINTS, - apply_joint_limits, - compute_gripper_tip_pose_b, - compute_tip_ik_jacobian, - resolve_body_ids, - resolve_joint_name, -) - - -@configclass -class ArmV2SceneCfg(InteractiveSceneCfg): - """Minimal scene with wato_arm_v2, lifted so the stand rests on the ground plane.""" - - ground = AssetBaseCfg( - prim_path="/World/defaultGroundPlane", - spawn=sim_utils.GroundPlaneCfg(), - init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), - ) - - dome_light = AssetBaseCfg( - prim_path="/World/Light", - spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), - ) - - # Same lift used in run_quest_armWithStand_teleop.py: the stand's bottom - # sits ~1.1997m below the robot's own origin -- without this it's buried - # in/under the ground plane. - robot = ARM_V2_CFG.replace( - prim_path="{ENV_REGEX_NS}/Robot", - init_state=ARM_V2_CFG.init_state.replace(pos=(0.0, 0.0, 1.1997)), - ) - - -def _joint_ids(robot, names: list[str]) -> list[int]: - name_to_id = {name: i for i, name in enumerate(robot.data.joint_names)} - return [name_to_id[resolve_joint_name(robot, name)] for name in names] - - -def _open_pov_viewport(camera_prim_path: str, window_name: str): - try: - from omni.kit.viewport.utility import create_viewport_window - - viewport_window = create_viewport_window(window_name, width=640, height=480) - viewport_window.viewport_api.camera_path = camera_prim_path - print(f"[INFO] Opened '{window_name}' viewport locked to {camera_prim_path}") - return viewport_window.viewport_api - except Exception as exc: # noqa: BLE001 -- best-effort convenience feature - print(f"[INFO] Could not open '{window_name}' viewport: {exc}") - return None - - -def _open_ego_cam_preview(robot_prim_path: str) -> None: - _open_pov_viewport(f"{robot_prim_path}/base_link/ego_cam", "Ego Cam Preview") - - -def _attach_rsd455_camera(parent_prim_path: str, mount_name: str, translate: tuple, orient_wxyz: tuple) -> str: - stage = omni.usd.get_context().get_stage() - mount_path = f"{parent_prim_path}/{mount_name}" - prim = UsdGeom.Xform.Define(stage, mount_path) - xformable = UsdGeom.Xformable(prim) - xformable.ClearXformOpOrder() - translate_op = xformable.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble) - orient_op = xformable.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) - translate_op.Set(Gf.Vec3d(*translate)) - w, x, y, z = orient_wxyz - orient_op.Set(Gf.Quatd(w, Gf.Vec3d(x, y, z))) - rsd_prim = stage.DefinePrim(f"{mount_path}/rsd455") - rsd_prim.GetPayloads().AddPayload(_RSD455_USD_URL) - return mount_path - - -def _open_stereo_pov_preview(robot_prim_path: str) -> None: - base_link_path = f"{robot_prim_path}/base_link" - eye_local_right = _EYE_LOCAL_RIGHT - from isaaclab.utils.math import quat_apply - - head_quat = torch.tensor([_HEAD_VIEWPOINT_HOME_QUAT], dtype=torch.float32) - head_pos = torch.tensor([_HEAD_VIEWPOINT_HOME_POS], dtype=torch.float32) - right_offset = quat_apply(head_quat, eye_local_right.unsqueeze(0)) * (_EYE_IPD_M / 2) - left_pos = (head_pos - right_offset)[0].tolist() - right_pos = (head_pos + right_offset)[0].tolist() - - left_mount = _attach_rsd455_camera(base_link_path, "left_eye_camera_mount", tuple(left_pos), _HEAD_VIEWPOINT_HOME_QUAT) - right_mount = _attach_rsd455_camera(base_link_path, "right_eye_camera_mount", tuple(right_pos), _HEAD_VIEWPOINT_HOME_QUAT) - _open_pov_viewport(f"{left_mount}/{_RSD455_CAMERA_SUBPATH}", "Left Eye POV") - _open_pov_viewport(f"{right_mount}/{_RSD455_CAMERA_SUBPATH}", "Right Eye POV") - - -def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): - robot = scene["robot"] - sim_dt = sim.get_physics_dt() - - scene.update(sim_dt) - apply_joint_limits(robot) - - _open_ego_cam_preview("/World/envs/env_0/Robot") - _open_stereo_pov_preview("/World/envs/env_0/Robot") - - driven_arm_names = [resolve_joint_name(robot, name) for name in RIGHT_ARM_JOINTS] - driven_gripper_names = [resolve_joint_name(robot, name) for name in RIGHT_GRIPPER_JOINTS] - held_arm_names = [resolve_joint_name(robot, name) for name in LEFT_ARM_JOINTS[:6]] - - print(f"[INFO] Robot joints: {robot.data.joint_names}") - print(f"[INFO] Driven arm joints (link6l chain): {driven_arm_names}") - print(f"[INFO] Held arm joints (link6 chain): {held_arm_names}") - - diff_ik_cfg = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls") - diff_ik_controller = DifferentialIKController(diff_ik_cfg, num_envs=scene.num_envs, device=sim.device) - - robot_entity_cfg = SceneEntityCfg("robot", joint_names=driven_arm_names, body_names=[RIGHT_EE_BODY]) - robot_entity_cfg.resolve(scene) - - ee_jacobi_idx = robot_entity_cfg.body_ids[0] - 1 if robot.is_fixed_base else robot_entity_cfg.body_ids[0] - finger_body_ids = resolve_body_ids(robot, RIGHT_FINGER_TIP_BODIES) - - driven_arm_ids = robot_entity_cfg.joint_ids - driven_gripper_ids = _joint_ids(robot, RIGHT_GRIPPER_JOINTS) - held_arm_ids = _joint_ids(robot, LEFT_ARM_JOINTS[:6]) - held_gripper_ids = _joint_ids(robot, LEFT_ARM_JOINTS[6:8]) - held_default_pos = robot.data.default_joint_pos[:, held_arm_ids].clone() - held_gripper_default_pos = robot.data.default_joint_pos[:, held_gripper_ids].clone() - - joint_pos = robot.data.default_joint_pos.clone() - joint_vel = robot.data.default_joint_vel.clone() - robot.write_joint_state_to_sim(joint_pos, joint_vel) - - gripper_open_targets = torch.tensor( - [[GRIPPER_OPEN[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device, - ) - gripper_closed_targets = torch.tensor( - [[GRIPPER_CLOSED[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device, - ) - - # NOTE: this installed IsaacLab version (0.54.2) wraps sensitivity in a - # Se3KeyboardCfg dataclass instead of accepting pos_sensitivity/ - # rot_sensitivity as direct __init__ kwargs (the bimanual - # keyboard_teleop.py this was adapted from uses the older direct-kwarg - # form and would hit the same TypeError on this IsaacLab version). - teleop = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.005, rot_sensitivity=0.05)) - should_reset = False - - def reset_arm(): - nonlocal should_reset - should_reset = True - - teleop.add_callback("R", reset_arm) - teleop.reset() - print(teleop) - print("[INFO] Teleoperating link6l-chain arm only. Other arm held at default pose.") - print("[INFO] Click the 3D viewport window, then press W/A/S/D/Q/E to move.") - - while simulation_app.is_running(): - if should_reset: - joint_pos = robot.data.default_joint_pos.clone() - joint_vel = robot.data.default_joint_vel.clone() - robot.write_joint_state_to_sim(joint_pos, joint_vel) - robot.reset() - diff_ik_controller.reset() - teleop.reset() - should_reset = False - - # This IsaacLab version's Se3Keyboard.advance() returns a single - # 7-element tensor [dx,dy,dz,rx,ry,rz,gripper] instead of a - # (delta_pose, close_gripper) tuple (another API drift from what - # keyboard_teleop.py assumes) -- gripper is +1.0 open / -1.0 close. - raw = teleop.advance() - command = raw[:6].to(dtype=torch.float32, device=sim.device).unsqueeze(0) - close_gripper = bool(raw[6].item() < 0.0) - - root_pose_w = robot.data.root_state_w[:, 0:7] - joint_pos = robot.data.joint_pos[:, driven_arm_ids] - - wrist_body_id = robot_entity_cfg.body_ids[0] - wrist_pose_w = robot.data.body_state_w[:, wrist_body_id, 0:7] - wrist_pos_b, _ = subtract_frame_transforms( - root_pose_w[:, 0:3], root_pose_w[:, 3:7], wrist_pose_w[:, 0:3], wrist_pose_w[:, 3:7], - ) - tip_pos_b, tip_quat_b = compute_gripper_tip_pose_b( - robot, root_pose_w, wrist_body_id, finger_body_ids, - RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, - ) - - # Relative mode: target = current_tip + delta (stays close, no runaway). - diff_ik_controller.set_command(command, ee_pos=tip_pos_b, ee_quat=tip_quat_b) - - jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, driven_arm_ids] - jacobian_b = compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b) - joint_pos_des = diff_ik_controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) - robot.set_joint_position_target(joint_pos_des, joint_ids=driven_arm_ids) - - gripper_targets = gripper_closed_targets if close_gripper else gripper_open_targets - zero_gripper_vel = torch.zeros(1, len(driven_gripper_ids), device=sim.device) - robot.set_joint_position_target(gripper_targets, joint_ids=driven_gripper_ids) - robot.set_joint_velocity_target(zero_gripper_vel, joint_ids=driven_gripper_ids) - - # Keep the other arm fixed at default pose (including its gripper). - robot.set_joint_position_target(held_default_pos, joint_ids=held_arm_ids) - robot.set_joint_position_target(held_gripper_default_pos, joint_ids=held_gripper_ids) - robot.set_joint_velocity_target( - torch.zeros(1, len(held_gripper_ids), device=sim.device), joint_ids=held_gripper_ids, - ) - - scene.write_data_to_sim() - sim.step() - scene.update(sim_dt) - - -def main(): - sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device) - sim = sim_utils.SimulationContext(sim_cfg) - sim.set_camera_view([2.5, 2.5, 2.0], [0.0, 0.0, 1.5]) - - scene_cfg = ArmV2SceneCfg(num_envs=1, env_spacing=2.0) - scene = InteractiveScene(scene_cfg) - - sim.reset() - print("[INFO]: Setup complete. Use keyboard to teleoperate the arm.") - run_simulator(sim, scene) - - -if __name__ == "__main__": - main() - simulation_app.close() diff --git a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py b/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py deleted file mode 100644 index ddbee822..00000000 --- a/autonomy/simulation/Teleop/keyboard_based_teleoperation/keyboard_teleop_armv2_lightbox.py +++ /dev/null @@ -1,304 +0,0 @@ -"""armWithStand (wato_arm_v2) keyboard teleoperation (right/L-suffixed arm -only) in the SAME lightbox-enclosure scene and stereo RSD455 camera setup as -run_quest_armWithStand_teleop.py -- for testing camera framing/rest pose in -the actual VR-teleop scene, driven by keyboard instead of the Quest/ROS -pipeline. See keyboard_teleop_armv2.py for the bare-scene (no lightbox) -version this was combined with. - - K Toggle gripper (open/close) - W/S Move along x-axis - A/D Move along y-axis - Q/E Move along z-axis - Z/X Rotate along x-axis - T/G Rotate along y-axis - C/V Rotate along z-axis - R Reset arm to default pose -""" - -import argparse -import sys -from pathlib import Path - -from isaaclab.app import AppLauncher - -_THIS_DIR = Path(__file__).resolve().parent -sys.path.insert(0, str(_THIS_DIR)) - -parser = argparse.ArgumentParser(description="Keyboard teleop for wato_arm_v2 in the lightbox scene.") -AppLauncher.add_app_launcher_args(parser) -args_cli = parser.parse_args() - -app_launcher = AppLauncher(args_cli) -simulation_app = app_launcher.app - -import torch - -import omni.usd -from pxr import Gf, UsdGeom - -import isaaclab.sim as sim_utils -from isaaclab.assets import AssetBaseCfg -from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg -from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg -from isaaclab.managers import SceneEntityCfg -from isaaclab.scene import InteractiveScene, InteractiveSceneCfg -from isaaclab.utils import configclass -from isaaclab.utils.math import quat_apply, subtract_frame_transforms - -from armWithStand_v2_cfg import ( - ARM_V2_CFG, - GRIPPER_CLOSED, - GRIPPER_OPEN, - LEFT_ARM_JOINTS, - RIGHT_ARM_JOINTS, - RIGHT_EE_BODY, - RIGHT_FINGER_DISTAL_TIP_LOCAL, - RIGHT_FINGER_TIP_BODIES, - RIGHT_GRIPPER_JOINTS, - apply_joint_limits, - compute_gripper_tip_pose_b, - compute_tip_ik_jacobian, - resolve_body_ids, - resolve_joint_name, -) - -# ── lightbox enclosure geometry (identical to run_quest_armWithStand_teleop.py) ── -_ENCLOSURE_MATERIAL = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0), emissive_color=(1.0, 1.0, 1.0)) -_ENCLOSURE_BACK_X = -0.45 -_ENCLOSURE_FRONT_X = 0.75 -_ENCLOSURE_Y_MIN = -0.9 -_ENCLOSURE_Y_MAX = 1.0 -_ENCLOSURE_TOP_Z = 1.8 -_ENCLOSURE_Y_CTR = (_ENCLOSURE_Y_MIN + _ENCLOSURE_Y_MAX) / 2 -_ENCLOSURE_Y_SPAN = _ENCLOSURE_Y_MAX - _ENCLOSURE_Y_MIN -_ENCLOSURE_X_SPAN = _ENCLOSURE_FRONT_X - _ENCLOSURE_BACK_X -_ENCLOSURE_X_CTR = (_ENCLOSURE_BACK_X + _ENCLOSURE_FRONT_X) / 2 - -_TABLE_X_MIN, _TABLE_X_MAX = _ENCLOSURE_BACK_X, _ENCLOSURE_FRONT_X -_TABLE_Y_MIN, _TABLE_Y_MAX = _ENCLOSURE_Y_MIN, _ENCLOSURE_Y_MAX -_TABLE_THICKNESS = 0.05 - -# ── finalized stereo head camera (kept in sync manually with -# run_quest_armWithStand_teleop.py, same as keyboard_teleop_armv2.py) ── -_RSD455_USD_URL = ( - "https://omniverse-content-production.s3-us-west-2.amazonaws.com/" - "Assets/Isaac/5.1/Isaac/Sensors/Intel/RealSense/rsd455.usd" -) -_HEAD_VIEWPOINT_HOME_POS = (0.08667797629999999, 0.04, 0.25258678130000006) -_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) -_EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) -_EYE_IPD_M = 0.063 -_RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" - - -@configclass -class ArmV2LightboxSceneCfg(InteractiveSceneCfg): - """Same lightbox enclosure + table + robot lift as run_quest_armWithStand_teleop.py.""" - - ground = AssetBaseCfg( - prim_path="/World/defaultGroundPlane", - spawn=sim_utils.GroundPlaneCfg(), - init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), - ) - dome_light = AssetBaseCfg( - prim_path="/World/Light", - spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), - ) - robot = ARM_V2_CFG.replace( - prim_path="{ENV_REGEX_NS}/Robot", - init_state=ARM_V2_CFG.init_state.replace(pos=(0.0, 0.0, 1.1997)), - ) - - enclosure_back: AssetBaseCfg = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/EnclosureBack", - init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_BACK_X, _ENCLOSURE_Y_CTR, _ENCLOSURE_TOP_Z / 2)), - spawn=sim_utils.CuboidCfg(size=(0.003, _ENCLOSURE_Y_SPAN, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), - ) - enclosure_left: AssetBaseCfg = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/EnclosureLeft", - init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_MIN, _ENCLOSURE_TOP_Z / 2)), - spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, 0.003, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), - ) - enclosure_right: AssetBaseCfg = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/EnclosureRight", - init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_MAX, _ENCLOSURE_TOP_Z / 2)), - spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, 0.003, _ENCLOSURE_TOP_Z), visual_material=_ENCLOSURE_MATERIAL), - ) - enclosure_top: AssetBaseCfg = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/EnclosureTop", - init_state=AssetBaseCfg.InitialStateCfg(pos=(_ENCLOSURE_X_CTR, _ENCLOSURE_Y_CTR, _ENCLOSURE_TOP_Z)), - spawn=sim_utils.CuboidCfg(size=(_ENCLOSURE_X_SPAN, _ENCLOSURE_Y_SPAN, 0.003), visual_material=_ENCLOSURE_MATERIAL), - ) - table: AssetBaseCfg = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/Table", - init_state=AssetBaseCfg.InitialStateCfg( - pos=((_TABLE_X_MIN + _TABLE_X_MAX) / 2, (_TABLE_Y_MIN + _TABLE_Y_MAX) / 2, -_TABLE_THICKNESS / 2) - ), - spawn=sim_utils.CuboidCfg( - size=(_TABLE_X_MAX - _TABLE_X_MIN, _TABLE_Y_MAX - _TABLE_Y_MIN, _TABLE_THICKNESS), - collision_props=sim_utils.CollisionPropertiesCfg(), - visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.35, 0.3, 0.25)), - ), - ) - - -def _joint_ids(robot, names: list[str]) -> list[int]: - name_to_id = {name: i for i, name in enumerate(robot.data.joint_names)} - return [name_to_id[resolve_joint_name(robot, name)] for name in names] - - -def _open_pov_viewport(camera_prim_path: str, window_name: str): - try: - from omni.kit.viewport.utility import create_viewport_window - - vw = create_viewport_window(window_name, width=640, height=480) - vw.viewport_api.camera_path = camera_prim_path - print(f"[INFO] Opened '{window_name}' -> {camera_prim_path}") - except Exception as exc: # noqa: BLE001 -- best-effort convenience feature - print(f"[INFO] Could not open '{window_name}': {exc}") - - -def _attach_rsd455_camera(parent_prim_path: str, mount_name: str, translate: tuple, orient_wxyz: tuple) -> str: - stage = omni.usd.get_context().get_stage() - mount_path = f"{parent_prim_path}/{mount_name}" - prim = UsdGeom.Xform.Define(stage, mount_path) - xf = UsdGeom.Xformable(prim) - xf.ClearXformOpOrder() - t_op = xf.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble) - o_op = xf.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) - t_op.Set(Gf.Vec3d(*translate)) - w, x, y, z = orient_wxyz - o_op.Set(Gf.Quatd(w, Gf.Vec3d(x, y, z))) - rsd_prim = stage.DefinePrim(f"{mount_path}/rsd455") - rsd_prim.GetPayloads().AddPayload(_RSD455_USD_URL) - return mount_path - - -def _open_stereo_pov_preview(robot_prim_path: str) -> None: - base_link_path = f"{robot_prim_path}/base_link" - head_quat = torch.tensor([_HEAD_VIEWPOINT_HOME_QUAT], dtype=torch.float32) - head_pos = torch.tensor([_HEAD_VIEWPOINT_HOME_POS], dtype=torch.float32) - right_offset = quat_apply(head_quat, _EYE_LOCAL_RIGHT.unsqueeze(0)) * (_EYE_IPD_M / 2) - left_pos = (head_pos - right_offset)[0].tolist() - right_pos = (head_pos + right_offset)[0].tolist() - - left_mount = _attach_rsd455_camera(base_link_path, "left_eye_camera_mount", tuple(left_pos), _HEAD_VIEWPOINT_HOME_QUAT) - right_mount = _attach_rsd455_camera(base_link_path, "right_eye_camera_mount", tuple(right_pos), _HEAD_VIEWPOINT_HOME_QUAT) - _open_pov_viewport(f"{left_mount}/{_RSD455_CAMERA_SUBPATH}", "Left Eye POV") - _open_pov_viewport(f"{right_mount}/{_RSD455_CAMERA_SUBPATH}", "Right Eye POV") - - -def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): - robot = scene["robot"] - sim_dt = sim.get_physics_dt() - - scene.update(sim_dt) - apply_joint_limits(robot) - - _open_stereo_pov_preview("/World/envs/env_0/Robot") - - driven_arm_names = [resolve_joint_name(robot, name) for name in RIGHT_ARM_JOINTS] - held_arm_names = [resolve_joint_name(robot, name) for name in LEFT_ARM_JOINTS[:6]] - - print(f"[INFO] Driven arm joints (link6l chain): {driven_arm_names}") - print(f"[INFO] Held arm joints (link6 chain): {held_arm_names}") - - diff_ik_cfg = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls") - diff_ik_controller = DifferentialIKController(diff_ik_cfg, num_envs=scene.num_envs, device=sim.device) - - robot_entity_cfg = SceneEntityCfg("robot", joint_names=driven_arm_names, body_names=[RIGHT_EE_BODY]) - robot_entity_cfg.resolve(scene) - - ee_jacobi_idx = robot_entity_cfg.body_ids[0] - 1 if robot.is_fixed_base else robot_entity_cfg.body_ids[0] - finger_body_ids = resolve_body_ids(robot, RIGHT_FINGER_TIP_BODIES) - - driven_arm_ids = robot_entity_cfg.joint_ids - driven_gripper_ids = _joint_ids(robot, RIGHT_GRIPPER_JOINTS) - held_arm_ids = _joint_ids(robot, LEFT_ARM_JOINTS[:6]) - held_gripper_ids = _joint_ids(robot, LEFT_ARM_JOINTS[6:8]) - held_default_pos = robot.data.default_joint_pos[:, held_arm_ids].clone() - held_gripper_default_pos = robot.data.default_joint_pos[:, held_gripper_ids].clone() - - joint_pos = robot.data.default_joint_pos.clone() - joint_vel = robot.data.default_joint_vel.clone() - robot.write_joint_state_to_sim(joint_pos, joint_vel) - - gripper_open_targets = torch.tensor([[GRIPPER_OPEN[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device) - gripper_closed_targets = torch.tensor([[GRIPPER_CLOSED[name] for name in RIGHT_GRIPPER_JOINTS]], device=sim.device) - - teleop = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.005, rot_sensitivity=0.05)) - should_reset = False - - def reset_arm(): - nonlocal should_reset - should_reset = True - - teleop.add_callback("R", reset_arm) - teleop.reset() - print("[INFO] Teleoperating link6l-chain arm only. Other arm held at default pose.") - print("[INFO] Click the 3D viewport window, then press W/A/S/D/Q/E to move.") - - while simulation_app.is_running(): - if should_reset: - joint_pos = robot.data.default_joint_pos.clone() - joint_vel = robot.data.default_joint_vel.clone() - robot.write_joint_state_to_sim(joint_pos, joint_vel) - robot.reset() - diff_ik_controller.reset() - teleop.reset() - should_reset = False - - raw = teleop.advance() - command = raw[:6].to(dtype=torch.float32, device=sim.device).unsqueeze(0) - close_gripper = bool(raw[6].item() < 0.0) - - root_pose_w = robot.data.root_state_w[:, 0:7] - joint_pos = robot.data.joint_pos[:, driven_arm_ids] - - wrist_body_id = robot_entity_cfg.body_ids[0] - wrist_pose_w = robot.data.body_state_w[:, wrist_body_id, 0:7] - wrist_pos_b, _ = subtract_frame_transforms( - root_pose_w[:, 0:3], root_pose_w[:, 3:7], wrist_pose_w[:, 0:3], wrist_pose_w[:, 3:7], - ) - tip_pos_b, tip_quat_b = compute_gripper_tip_pose_b( - robot, root_pose_w, wrist_body_id, finger_body_ids, - RIGHT_FINGER_TIP_BODIES, RIGHT_FINGER_DISTAL_TIP_LOCAL, - ) - - diff_ik_controller.set_command(command, ee_pos=tip_pos_b, ee_quat=tip_quat_b) - - jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, driven_arm_ids] - jacobian_b = compute_tip_ik_jacobian(robot, jacobian_w, wrist_pos_b, tip_pos_b) - joint_pos_des = diff_ik_controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) - robot.set_joint_position_target(joint_pos_des, joint_ids=driven_arm_ids) - - gripper_targets = gripper_closed_targets if close_gripper else gripper_open_targets - zero_gripper_vel = torch.zeros(1, len(driven_gripper_ids), device=sim.device) - robot.set_joint_position_target(gripper_targets, joint_ids=driven_gripper_ids) - robot.set_joint_velocity_target(zero_gripper_vel, joint_ids=driven_gripper_ids) - - robot.set_joint_position_target(held_default_pos, joint_ids=held_arm_ids) - robot.set_joint_position_target(held_gripper_default_pos, joint_ids=held_gripper_ids) - robot.set_joint_velocity_target( - torch.zeros(1, len(held_gripper_ids), device=sim.device), joint_ids=held_gripper_ids, - ) - - scene.write_data_to_sim() - sim.step() - scene.update(sim_dt) - - -def main(): - sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device) - sim = sim_utils.SimulationContext(sim_cfg) - sim.set_camera_view([2.5, 2.5, 2.0], [0.0, 0.0, 0.8]) - - scene = InteractiveScene(ArmV2LightboxSceneCfg(num_envs=1, env_spacing=2.0)) - sim.reset() - print("[INFO] Setup complete (lightbox enclosure).") - run_simulator(sim, scene) - - -if __name__ == "__main__": - main() - simulation_app.close() diff --git a/autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py b/autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py deleted file mode 100644 index 9596d1f3..00000000 --- a/autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py +++ /dev/null @@ -1,60 +0,0 @@ -"""Open the wato_arm_v2 arm USD scene in Isaac Sim. - -Usage (from the repo root): - ~/IsaacLab/isaaclab.sh -p autonomy/simulation/Wato_additional_scripts/open_arm_v2_usd.py -""" - -import argparse -import contextlib -import os - -from isaaclab.app import AppLauncher - -USD_PATH = os.path.join( - os.path.dirname(__file__), - "..", - "Humanoid_Wato", - "wato_arm_v2", - "arm_usd", - "armWithStand.usd", -) - -parser = argparse.ArgumentParser(description="Open the arm USD scene in Isaac Sim.") -AppLauncher.add_app_launcher_args(parser) -args_cli = parser.parse_args() - -app_launcher = AppLauncher(args_cli) -simulation_app = app_launcher.app - -import omni.kit.app -import omni.timeline -import isaaclab.sim as sim_utils - - -def main(): - usd_path = os.path.abspath(USD_PATH) - print(f"[INFO] Opening: {usd_path}") - sim_utils.open_stage(usd_path) - omni.timeline.get_timeline_interface().play() - - # Open a second viewport locked to ego_cam so its exact framing is - # visible side-by-side with the main Perspective view, for repositioning. - try: - from omni.kit.viewport.utility import create_viewport_window - - ego_cam_path = "/World/armWithStand/base_link/ego_cam" - viewport_window = create_viewport_window("Ego Cam Preview", width=640, height=480) - viewport_window.viewport_api.camera_path = ego_cam_path - print(f"[INFO] Opened 'Ego Cam Preview' viewport locked to {ego_cam_path}") - except Exception as exc: # noqa: BLE001 -- best-effort convenience feature - print(f"[INFO] Could not open Ego Cam Preview viewport: {exc}") - - app = omni.kit.app.get_app_interface() - with contextlib.suppress(KeyboardInterrupt): - while app.is_running(): - app.update() - - -if __name__ == "__main__": - main() - simulation_app.close() diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py b/autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.py similarity index 84% rename from autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py rename to autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.py index 03c610a6..17256f8d 100644 --- a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.py @@ -64,11 +64,11 @@ ISAAC_LAB=/workspace/isaaclab \\ PYTHONPATH=/workspace/humanoid/autonomy/simulation/quest_isaac_teleop:$PYTHONPATH \\ /workspace/isaaclab/isaaclab.sh -p \\ - /workspace/humanoid/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.py \\ + /workspace/humanoid/autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.py \\ --device cpu Or via the helper script: - ./run_quest_armWithStand_teleop.sh + ./run_quest_armv2_teleop.sh """ import argparse @@ -110,6 +110,7 @@ import carb # noqa: E402 import omni.appwindow # noqa: E402 +import omni.kit.app # noqa: E402 import omni.usd # noqa: E402 from pxr import Gf, UsdGeom # noqa: E402 @@ -168,30 +169,36 @@ _RIGHT_GRIPPER_OPEN = {"joint7": 0.0, "joint8": 0.0} _RIGHT_GRIPPER_CLOSED = {"joint7": -0.05, "joint8": 0.05} -# WebXR (Y-up: X-right, Y-up, -Z-forward) -> simulation world frame (Z-up). -# Routes qx into the forward-reach row and qz into the lateral row (this -# headset/webxr_server's local reference space has them swapped relative to -# the assumed X-right/-Z-forward convention). Must stay a proper rotation -# (det +1) -- don't negate a row, that corrupts orientation via -# quat_from_matrix. Use _AXIS_SIGN_LEFT/RIGHT below to flip individual axes -# instead. +# WebXR (Y-up: X-right, Y-up, -Z-forward) -> simulation world frame (Z-up) +# used ONLY for wrist ORIENTATION deltas below (dq_left_world/dq_right_world) +# -- kept as a fixed world-frame rotation since wrist rotation isn't a +# viewing-direction-relative quantity the way hand POSITION is. _QUEST_TO_WORLD = torch.tensor( [[-1.0, 0.0, 0.0], [0.0, 0.0, 1.0], [0.0, 1.0, 0.0]], dtype=torch.float32, ) -# X flipped from bimanual's (1,-1,1): synthetic-message testing showed -# left/right tracks correctly with X flipped (-1). Y additionally flipped -# here per live headset feedback: front/back was still inverted after the X -# fix (up/down and left/right confirmed correct by the user; front/back is -# the remaining axis, Y, by elimination) -- flipped Y's sign to invert it. -# Not independently re-verified via synthetic message (Y's real-world -# forward/back mapping depends on the user's physical orientation relative -# to the WebXR tracking origin, which can't be tested from here) -- confirm -# live and report back if it's still wrong. -_AXIS_SIGN_LEFT = torch.tensor([-1.0, 1.0, 1.0]) -_AXIS_SIGN_RIGHT = torch.tensor([-1.0, 1.0, 1.0]) +# Hand POSITION deltas are mapped camera-relative instead (see +# _CAM_LOCAL_FORWARD/UP/RIGHT and their use in the main loop below) -- +# verified via synthetic single-axis ros2 topic pub tests (isolate raw +# x/y/z, read the [axisdbg] world_delta) that the straight fixed-world-frame +# mapping (still used for orientation above) puts raw X into the world +# forward/back row and raw Z into the lateral row -- i.e. physically moving +# your hand right/left drove the arm forward/back and vice versa. Rather +# than patch that swap with more sign flips, position deltas are now built +# directly from verified WebXR semantics (X=right, Y=up, -Z=forward) applied +# in the camera's own basis, then rotated into world by the camera's fixed +# mount tilt -- so "push away from you, into the view" tracks the camera's +# actual boresight (partially world -Z at this ~60deg downward tilt) instead +# of raw world +X. Flip an entry here only if a live headset test shows a +# genuine handedness/chirality issue, not for tilt -- tilt is now handled by +# the camera-relative basis itself. +_AXIS_SIGN_LEFT = torch.tensor([1.0, 1.0, 1.0]) # [right, up, forward] +_AXIS_SIGN_RIGHT = torch.tensor([1.0, 1.0, 1.0]) # [right, up, forward] +_CAM_LOCAL_FORWARD = torch.tensor([1.0, 0.0, 0.0]) # rsd455 local +X = boresight +_CAM_LOCAL_UP = torch.tensor([0.0, 0.0, 1.0]) # rsd455 local +Z = up +_CAM_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) # matches _EYE_LOCAL_RIGHT below _GAIN_FAR = 1.0 _GAIN_RAMP_START_M = 0.15 @@ -248,6 +255,27 @@ # sluggish well before full extension, or still locks up at the extreme. _DLS_LAMBDA_RIGHT = 0.35 +# Joint-space output smoothing -- mirrors joint_command_core.cpp's actual +# ACTIVE default on the interfacing-fixes branch: plain velocity clamp + +# delta clamp (clampStep), NOT the trapezoidal ramp (enable_trapezoidal_limit +# defaults to false there -- untested on hardware, so not imitated here +# either) and NOT a low-pass filter (removed entirely on that branch -- +# see commit 6fe705a5 -- it silently discounts steady-state speed). +# Values start from safety_limits.yaml's `global` block (velocity_max: 20 +# deg/s, delta_max: 2.4 deg), converted to radians -- velocity_max bumped to +# 40deg/s per live feedback (20 was hardware's conservative bench-testing +# speed and visibly lagged behind the target during fast VR hand motion; not +# read from the yaml automatically, see this constant's own definition). +# delta_max left at the original 2.4deg. The real config also has tighter +# PER-JOINT overrides (shoulder/elbow/wrist), not applied here -- +# armWithStand_v2_cfg.py's joint grouping (2-DOF shoulder/3-DOF elbow) +# doesn't match hardware_mapping.yaml's ArmPose split (3-DOF shoulder/2-DOF +# elbow, already flagged elsewhere as unverified), so mapping per-joint +# values onto this file's joint order isn't trustworthy yet -- the uniform +# global value is applied to all 6 joints instead. +_JOINT_VELOCITY_MAX_RAD_S = 0.6981317007977318 # 40 deg/s +_JOINT_DELTA_MAX_RAD = 0.041887902047863905 # 2.4 deg per control step (this frame's dt) + _ENCLOSURE_MATERIAL = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0), emissive_color=(1.0, 1.0, 1.0)) # Back wall shifted to clear the mount/stand structural bar. Front boundary # extended to 0.75m so the enclosure actually contains the arms' full reach @@ -300,13 +328,38 @@ # correct live; position then nudged 5mm along the gaze direction # (head_pos + 0.005*forward) since the camera mount stand itself was # blocking the bottom of frame at the original position. -_HEAD_VIEWPOINT_HOME_POS = (0.08667797629999999, 0.04, 0.25258678130000006) # translate xyz, relative to base_link -- nudged forward (5,10,20,20,10,20,+15mm) and left (20,20mm) per live feedback -_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) # ~50deg downward pitch, facing +X, no roll (was ~25deg, tilted 25deg further per live feedback) +_HEAD_VIEWPOINT_HOME_POS = (0.0905602619765378, 0.04, 0.23809789390566405) # translate xyz, relative to base_link -- nudged along the gaze direction (5,10,20,20,10,20,15,5,+10mm) and left (20,20mm) per live feedback +_HEAD_VIEWPOINT_HOME_QUAT = (0.9063077870366499, 0.0, 0.42261826174069944, 0.0) # ~50deg downward pitch, facing +X, no roll (was ~40deg, tilted 10deg more/downward per live feedback) _EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) _EYE_IPD_M = 0.063 # Sub-path to the actual renderable Camera prim inside the rsd455 payload -- # same as the SO101 vial task's camera_external_D455 (task_env_cfg.py). _RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" +# Widen the RSD455's baked-in FOV (~90.5deg horizontal by default, measured +# live: focalLength=1.93 at horizontalAperture=3.896) to ~120deg -- the head +# is too close to the arm to see its full range of motion by moving the +# camera further back (the stand/mount geometry blocks the view first), so +# widen the lens instead. focalLength solved from the standard +# fov = 2*atan(aperture / (2*focalLength)) relation, aperture unchanged. +_RSD455_WIDENED_FOCAL_LENGTH = 1.1246782979523935 # ~120deg horizontal FOV + + +def _widen_camera_fov(camera_prim_path: str, focal_length: float) -> None: + """Override a (possibly not-yet-loaded) Camera prim's focalLength. The + rsd455 payload can take a few frames to compose after AddPayload(), so + this retries for a short while rather than assuming the prim is already + valid -- setting the attribute before the payload loads would silently + no-op (or fail) instead of taking effect.""" + stage = omni.usd.get_context().get_stage() + app = omni.kit.app.get_app_interface() + for _ in range(100): + cam_prim = stage.GetPrimAtPath(camera_prim_path) + if cam_prim.IsValid() and cam_prim.IsA(UsdGeom.Camera): + UsdGeom.Camera(cam_prim).GetFocalLengthAttr().Set(focal_length) + print(f"[Quest] Widened FOV on {camera_prim_path} (focalLength={focal_length})", flush=True) + return + app.update() + print(f"[Quest] WARNING: could not widen FOV on {camera_prim_path} (camera prim never became valid)", flush=True) def _attach_rsd455_camera(parent_prim_path: str, mount_name: str, translate: tuple, orient_wxyz: tuple) -> str: @@ -545,6 +598,25 @@ def _publish_real_left_arm_pose(pub, clock_node, joint_pos_des_rad) -> None: pub.publish(msg) +def _clamp_step(target: torch.Tensor, previous: torch.Tensor, delta_max) -> torch.Tensor: + """Direct port of joint_command_core.cpp's clampStep -- a generic + rate-limit-toward-target. delta_max may be a scalar or a tensor matching + target's shape.""" + return previous + torch.clamp(target - previous, -delta_max, delta_max) + + +def _step_velocity_and_delta_clamp( + target: torch.Tensor, prev_pos: torch.Tensor, velocity_max: float, delta_max: float, dt: float, +) -> torch.Tensor: + """Mirrors joint_command_core.cpp's non-trapezoidal moderation path: + velocity-limit clamp (velocity_max converted to a per-frame step via dt) + then a fixed delta-limit clamp, applied in that order.""" + velocity_step = abs(velocity_max) * dt + stepped = _clamp_step(target, prev_pos, velocity_step) + stepped = _clamp_step(stepped, prev_pos, abs(delta_max)) + return stepped + + def _ee_pose_in_base(robot, body_id: int): root_pose_w = robot.data.root_state_w[:, 0:7] ee_pose_w = robot.data.body_state_w[:, body_id, 0:7] @@ -587,9 +659,15 @@ def __init__(self, scene, robot, device, arm_joint_names, ee_body, finger_tip_bo self.wrist_orient_offset: torch.Tensor | None = None # Latest DLS solution in arm_joint_names order, radians -- read by the # optional real-hardware bridge (see --publish-real-left-arm) to build - # ArmPose messages. Not used for anything sim-side; solve_and_apply - # already applies the solution to the sim robot directly. + # ArmPose messages. Deliberately the RAW (pre-ramp) solution, not the + # trapezoidal-smoothed one applied to the sim robot below -- the real + # arm runs its own independent smoothing in joint_command_core.cpp, + # so double-smoothing here would just add extra bridge latency. self.last_joint_pos_des: torch.Tensor | None = None + # Smoothing state (see _step_velocity_and_delta_clamp) -- None until + # the first solve_and_apply call, which seeds it from the robot's + # actual current joint pose. + self.smoothed_pos: torch.Tensor | None = None def tip_pose_b(self, robot, root_pose_w): return compute_gripper_tip_pose_b( @@ -597,7 +675,7 @@ def tip_pose_b(self, robot, root_pose_w): self.finger_tip_bodies, self.finger_distal_local, ) - def solve_and_apply(self, robot, device, target_pos_b, target_quat_b): + def solve_and_apply(self, robot, device, target_pos_b, target_quat_b, dt: float): root_pose_w = robot.data.root_state_w[:, 0:7] wrist_pos_b, _ = _ee_pose_in_base(robot, self.body_id) tip_pos_b, tip_quat_b = self.tip_pose_b(robot, root_pose_w) @@ -609,13 +687,22 @@ def solve_and_apply(self, robot, device, target_pos_b, target_quat_b): joint_pos_des = self.controller.compute(tip_pos_b, tip_quat_b, jacobian_b, joint_pos) self.last_joint_pos_des = joint_pos_des - # Snap directly to the DLS solution instead of waiting on the PD - # actuator to catch up — see module docstring for why (live testing - # found ~0.1 rad of actuator lag on the shoulder joint alone). - robot.set_joint_position_target(joint_pos_des, joint_ids=self.arm_ids) + if self.smoothed_pos is None: + self.smoothed_pos = joint_pos.clone() + self.smoothed_pos = _step_velocity_and_delta_clamp( + joint_pos_des, self.smoothed_pos, + _JOINT_VELOCITY_MAX_RAD_S, _JOINT_DELTA_MAX_RAD, dt, + ) + + # Snap to the smoothed (not raw) solution instead of waiting on the + # PD actuator to catch up — see module docstring for why the + # actuator itself is bypassed (live testing found ~0.1 rad of + # actuator lag on the shoulder joint alone). The clamp above is what + # provides smoothing now that the actuator isn't doing it implicitly. + robot.set_joint_position_target(self.smoothed_pos, joint_ids=self.arm_ids) robot.write_joint_state_to_sim( - joint_pos_des, - torch.zeros((1, len(self.arm_ids)), device=device), + self.smoothed_pos, + torch.zeros_like(self.smoothed_pos), joint_ids=self.arm_ids, ) return tip_pos_b @@ -647,6 +734,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) -> _base_link_prim_path, "right_eye_camera_mount", _HEAD_VIEWPOINT_HOME_POS, _HEAD_VIEWPOINT_HOME_QUAT ) print(f"[Quest] Stereo head-tracked RealSense D455 pair attached: {left_eye_mount}, {right_eye_mount}", flush=True) + _widen_camera_fov(f"{left_eye_mount}/{_RSD455_CAMERA_SUBPATH}", _RSD455_WIDENED_FOCAL_LENGTH) + _widen_camera_fov(f"{right_eye_mount}/{_RSD455_CAMERA_SUBPATH}", _RSD455_WIDENED_FOCAL_LENGTH) left_eye_viewport_api = _open_pov_viewport(f"{left_eye_mount}/{_RSD455_CAMERA_SUBPATH}", "Left Eye POV") right_eye_viewport_api = _open_pov_viewport(f"{right_eye_mount}/{_RSD455_CAMERA_SUBPATH}", "Right Eye POV") if left_eye_viewport_api is not None and right_eye_viewport_api is not None: @@ -671,6 +760,15 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) -> quest_to_world_quat = quat_from_matrix(quest_to_world.unsqueeze(0)) axis_sign_left = _AXIS_SIGN_LEFT.to(device) axis_sign_right = _AXIS_SIGN_RIGHT.to(device) + # Camera-relative basis vectors (world frame), built by rotating the + # rsd455's local forward/up/right axes by the camera's fixed mount tilt + # (_HEAD_VIEWPOINT_HOME_QUAT). Hand position deltas are composed directly + # along these instead of fixed world axes -- see _AXIS_SIGN_LEFT/RIGHT's + # comment above for why. + camera_tilt_quat = torch.tensor([_HEAD_VIEWPOINT_HOME_QUAT], dtype=torch.float32, device=device) + cam_fwd_world = quat_apply(camera_tilt_quat, _CAM_LOCAL_FORWARD.to(device).unsqueeze(0)).squeeze(0) + cam_up_world = quat_apply(camera_tilt_quat, _CAM_LOCAL_UP.to(device).unsqueeze(0)).squeeze(0) + cam_right_world = quat_apply(camera_tilt_quat, _CAM_LOCAL_RIGHT.to(device).unsqueeze(0)).squeeze(0) left_arm.wrist_orient_offset = _WRIST_ORIENT_OFFSET_LEFT.to(device).unsqueeze(0) right_arm.wrist_orient_offset = _WRIST_ORIENT_OFFSET_RIGHT.to(device).unsqueeze(0) @@ -823,7 +921,14 @@ def _on_keyboard_event(event, *args, **kwargs) -> None: if left_arm.quest_home_xyz is not None and left_tracked: left_disp_raw = left_xyz_q - left_arm.quest_home_xyz left_gain = _ramped_gain(left_disp_raw.norm(), gain) - left_delta_w = (quest_to_world @ left_disp_raw) * left_gain * axis_sign_left + left_right_amt = left_disp_raw[0] * axis_sign_left[0] + left_up_amt = left_disp_raw[1] * axis_sign_left[1] + left_fwd_amt = -left_disp_raw[2] * axis_sign_left[2] + left_delta_w = ( + left_right_amt * cam_right_world + + left_up_amt * cam_up_world + + left_fwd_amt * cam_fwd_world + ) * left_gain left_delta_w = left_delta_w * min(1.0, _MAX_REACH_M / max(left_delta_w.norm().item(), 1e-6)) target_pos_b_left_dbg = ( left_arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, left_delta_w.unsqueeze(0)) @@ -844,7 +949,14 @@ def _on_keyboard_event(event, *args, **kwargs) -> None: if right_arm.quest_home_xyz is not None and right_tracked: right_disp_raw = right_xyz_q - right_arm.quest_home_xyz right_gain = _ramped_gain(right_disp_raw.norm(), gain) - right_delta_w = (quest_to_world @ right_disp_raw) * right_gain * axis_sign_right + right_right_amt = right_disp_raw[0] * axis_sign_right[0] + right_up_amt = right_disp_raw[1] * axis_sign_right[1] + right_fwd_amt = -right_disp_raw[2] * axis_sign_right[2] + right_delta_w = ( + right_right_amt * cam_right_world + + right_up_amt * cam_up_world + + right_fwd_amt * cam_fwd_world + ) * right_gain right_delta_w = right_delta_w * min(1.0, _MAX_REACH_M / max(right_delta_w.norm().item(), 1e-6)) target_pos_b_right_dbg = ( right_arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, right_delta_w.unsqueeze(0)) @@ -898,8 +1010,8 @@ def _on_keyboard_event(event, *args, **kwargs) -> None: right_closed = True # ── Differential IK (DLS) solve, both arms, every frame ───────────────── - tip_pos_b_l_now = left_arm.solve_and_apply(robot, device, target_pos_b_left, target_quat_b_left) - tip_pos_b_r_now = right_arm.solve_and_apply(robot, device, target_pos_b_right, target_quat_b_right) + tip_pos_b_l_now = left_arm.solve_and_apply(robot, device, target_pos_b_left, target_quat_b_left, sim_dt) + tip_pos_b_r_now = right_arm.solve_and_apply(robot, device, target_pos_b_right, target_quat_b_right, sim_dt) # ── Real-hardware bridge (left arm only) ───────────────────────────────── # Same held-off-then-throttled pattern as task_space_real.py: elapsed diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh b/autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.sh similarity index 87% rename from autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh rename to autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.sh index c48ab38c..15bc15a2 100755 --- a/autonomy/simulation/quest_isaac_teleop/run_quest_armWithStand_teleop.sh +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_armv2_teleop.sh @@ -7,7 +7,7 @@ # # Then inside the container: # cd /workspace/humanoid/autonomy/simulation/quest_isaac_teleop -# ./run_quest_armWithStand_teleop.sh +# ./run_quest_armv2_teleop.sh set -e @@ -18,6 +18,6 @@ export PYTHONPATH="${SCRIPT_DIR}:${SCRIPT_DIR}/../Teleop/keyboard_based_teleoper exec "${ISAAC_LAB}/isaaclab.sh" -p \ - "${SCRIPT_DIR}/run_quest_armWithStand_teleop.py" \ + "${SCRIPT_DIR}/run_quest_armv2_teleop.py" \ --device cpu \ "$@" diff --git a/autonomy/simulation/quest_isaac_teleop/run_quest_bimanual_teleop.py b/autonomy/simulation/quest_isaac_teleop/run_quest_bimanual_teleop.py index 6ba8c9cd..80742ee7 100644 --- a/autonomy/simulation/quest_isaac_teleop/run_quest_bimanual_teleop.py +++ b/autonomy/simulation/quest_isaac_teleop/run_quest_bimanual_teleop.py @@ -1,44 +1,19 @@ """Quest bimanual arm teleoperation — runs inside the simulation_isaac container. -Both arms are controlled via Quest hand tracking. Hand pose data arrives via -ROS 2 /quest_teleop topic published by quest_teleop_node (also in this -container). The left Quest wrist drives the left arm, the right Quest wrist -drives the right arm. Pinching thumb + index closes the corresponding -gripper. - -IK solver: isaaclab.controllers.DifferentialIKController (ik_method="dls", -damped least squares), tracking each gripper's fingertip-tip-center frame — -the same controller/target used by -Task_space_controller/robot_arm_controllers/task_space_test.py, just fed -from the Quest wrists instead of a draggable cube. - -Each arm is fingertip-tip referenced (LEFT_/RIGHT_FINGER_TIP_BODIES in -bimanual_arm_cfg.py: midpoint of each gripper's two finger distal tips), not -the raw wrist link — see compute_gripper_tip_pose_b / compute_tip_ik_jacobian -there. RIGHT_FINGER_DISTAL_TIP_LOCAL was measured directly from the link7/ -link8 STL vertex data (mesh outward-X extreme, Y/Z bounding-box center) using -the same method as the pre-existing LEFT_FINGER_DISTAL_TIP_LOCAL constants — -link7/link8 are NOT a simple mirror of link7l/link8l (separate STL files, -swapped X-extent — see bimanual_arm_cfg.py for the measurement). - -Orientation of each tip frame is defined as its own wrist link's orientation -(see compute_gripper_tip_pose_w); only the tracked *position* is offset to -each fingertip midpoint instead of the wrist origin. - -lambda_val=0.2 (both arms) was tuned live on the left arm: at the DLS -default (0.01), a ~0.1m commanded tip displacement pushed the Jacobian -condition number from ~60 to 4000+ and some axes moved AWAY from target -instead of converging. 0.2 keeps the condition number bounded (~100) and -converges to a stable ~0.05m residual instead. Not yet validated on the -right arm specifically (mechanically mirrors the left, so 0.2 is a -reasonable starting point) — retune per-arm live if needed. - -Coordinate mapping ------------------- -WebXR uses a Y-up frame (X-right, Y-up, -Z-forward). The robot base is in -a Z-up world frame and is rotated 180° about Z, so the mapping is applied in -two stages (see _QUEST_TO_WORLD and the per-arm delta computation below). +Both arms are controlled via Quest hand tracking, received over ROS 2 +/quest_teleop (published by quest_teleop_node, also in this container). +Left wrist -> left arm, right wrist -> right arm. Pinch thumb+index to close +the corresponding gripper. + +IK: DifferentialIKController (ik_method="dls"), tracking each gripper's +fingertip-tip-center frame (LEFT_/RIGHT_FINGER_TIP_BODIES in +bimanual_arm_cfg.py), not the raw wrist link — see compute_gripper_tip_pose_b +there. lambda_val=0.2 (both arms) keeps the Jacobian well-conditioned near +full extension; retune live if needed. + +WebXR is Y-up (X-right, Y-up, -Z-forward); the robot base is Z-up and rotated +180° about Z — see _QUEST_TO_WORLD for the mapping. Usage ----- @@ -71,13 +46,11 @@ parser.add_argument("--gain", type=float, default=1.0, help="Motion gain: metres of EE motion per metre of real wrist motion") parser.add_argument("--publish-real-left-arm", action="store_true", - help="Also publish the left arm's DLS-solved joint targets to /behaviour/arm_pose for " - "joint_command_node to drive the REAL physical left arm over CAN. Off by default -- " - "sim-only unless explicitly requested. RIGHT ARM HAS NO REAL-HARDWARE CAN MAPPING YET " - "(hardware_mapping.yaml only has a left: section) -- this flag does not and cannot " - "touch the right arm. Requires can_node + joint_command_node already running, the " - "CANable adapter connected, e-stop armed, and the real arm manually positioned near " - "the sim's rest pose (see PUBLISH_START_DELAY below).") + help="Also publish the left arm's DLS-solved joint targets to /behaviour/arm_pose, " + "driving the REAL physical left arm over CAN. Off by default. Left arm only -- " + "no hardware CAN mapping exists for the right arm. Requires can_node + " + "joint_command_node running, e-stop armed, and the real arm positioned near the " + "sim's rest pose first (see PUBLISH_START_DELAY below).") AppLauncher.add_app_launcher_args(parser) args_cli = parser.parse_args() @@ -111,14 +84,11 @@ subtract_frame_transforms, ) -# NOTE on the aliasing below: bimanual_arm_cfg.py's LEFT_*/RIGHT_* constants were -# corrected (the "L"-suffixed URDF chain is physically the RIGHT arm, not left -- -# the mechanical/CAD naming had it backwards). This file's own left_*/right_* local -# variables mean something different: "the arm driven by the LEFT/RIGHT Quest -# wrist" (msg.left_wrist / msg.right_wrist), a Quest-hand-relative label that is -# NOT part of that correction. Aliasing here keeps every local left_*/right_* -# variable below pointing at the SAME physical URDF chain (and therefore the same -# real hardware) it always did -- only the upstream symbol names changed. +# NOTE: bimanual_arm_cfg.py's LEFT_*/RIGHT_* now name the correct physical +# arm (URDF's "L"-suffixed chain is actually the right arm). This file's +# left_*/right_* locals mean something different -- "driven by the +# left/right Quest wrist" -- so the aliases below just keep them pointing at +# the same physical arm as before, unaffected by that rename. from bimanual_arm_cfg import ( # noqa: E402 BIMANUAL_ARM_CFG, GRIPPER_CLOSED, @@ -145,13 +115,10 @@ _RIGHT_GRIPPER_OPEN = {"joint7": -0.05, "joint8": 0.05} _RIGHT_GRIPPER_CLOSED = {"joint7": 0.0, "joint8": 0.0} -# WebXR (Y-up: X-right, Y-up, -Z-forward) -> simulation world frame (Z-up). -# Routes qx into the forward-reach row and qz into the lateral row (this -# headset/webxr_server's local reference space has them swapped relative to -# the assumed X-right/-Z-forward convention). Must stay a proper rotation -# (det +1) -- don't negate a row, that corrupts orientation via -# quat_from_matrix. Use _AXIS_SIGN_LEFT/RIGHT below to flip individual axes -# instead. +# WebXR (X-right, Y-up, -Z-forward) -> world (Z-up). Routes qx into forward +# and qz into lateral (swapped vs. the naive X-right/-Z-forward mapping). +# Must stay a proper rotation (det +1) -- flip signs via _AXIS_SIGN_LEFT/ +# RIGHT below, not by negating a row here (that corrupts quat_from_matrix). _QUEST_TO_WORLD = torch.tensor( [[-1.0, 0.0, 0.0], [0.0, 0.0, 1.0], @@ -167,33 +134,26 @@ _MAX_REACH_M = 0.28 -# Home/rest IK target X offset. Keep at 0 -- the arm should run at its -# natural rest position; fix camera/framing issues on the camera/enclosure -# side (see _HEAD_VIEWPOINT_HOME_* below), not by dragging the arm's target -# away from where it actually rests. +# Home/rest IK target X offset. Keep at 0 -- fix camera/framing issues on +# the camera/enclosure side instead of moving the arm's actual rest target. _HOME_TIP_X_OFFSET = 0.0 -# Real-hardware bridge timing (see --publish-real-left-arm). Mirrors -# Task_space_controller/robot_arm_controllers/task_space_real.py's -# PUBLISH_PERIOD/PUBLISH_START_DELAY exactly -- same joint_command_node on -# the other end, which applies NO velocity/delta rate-limiting to the very -# first ArmPose message it receives after startup. An un-delayed first -# publish could snap the real arm hard from wherever it physically is to the -# sim's current target. The delay exists so a human can manually position -# the real arm near the sim pose first -- don't shorten it. +# Real-hardware bridge timing (see --publish-real-left-arm). Matches +# task_space_real.py's PUBLISH_PERIOD/PUBLISH_START_DELAY -- joint_command_node +# applies no rate-limiting to the first ArmPose it receives, so an un-delayed +# publish could snap the real arm from its physical pose to the sim's +# current target. The delay gives a human time to position it near the sim +# pose first -- don't shorten it. _REAL_ARM_PUBLISH_PERIOD_S = 0.02 # 20ms = 50Hz, matches joint_command_node's control_rate_hz _REAL_ARM_PUBLISH_START_DELAY_S = 5.0 _WRIST_ORIENT_OFFSET_LEFT = torch.tensor([1.0, 0.0, 0.0, 0.0]) _WRIST_ORIENT_OFFSET_RIGHT = torch.tensor([0.0, 0.0, 0.0, 1.0]) -# Per-arm rotation-offset conjugation applied to the wrist orientation delta. -# Identity = no correction. If rotating your wrist drives the EE the wrong -# way, retune per the README's "Wrist orientation alignment" table -- but if -# a fixed-angle offset doesn't fix a "rotate one way, EE goes the opposite -# way" feel, it's likely a chirality/mirror issue (WebXR can report -# left/right hand joints in mirrored local conventions), which needs a sign -# flip on the raw wrist quaternion components instead, not a rotation offset -# here. +# Per-arm rotation offset applied to the wrist orientation delta (identity = +# no correction). Retune per the README's "Wrist orientation alignment" +# table if wrist rotation drives the EE the wrong way -- but if a fixed +# offset can't fix an inverted feel, it's a chirality/mirror issue instead, +# needing a sign flip on the raw wrist quaternion, not a rotation offset. _THUMB_TIP_IDX = 4 _INDEX_TIP_IDX = 9 @@ -201,20 +161,14 @@ _PINCH_OPEN_M = 0.050 _DLS_LAMBDA = 0.2 -# Right arm gets extra damping (not a smaller _MAX_REACH_M): near full -# extension its Jacobian conditioning is worse than the left arm's (the two -# arms' default joint poses were measured independently, not mirrored), and -# it would freeze mid-reach with target_err stuck near the clamp. Heavier -# damping keeps the full reach distance but makes the solver more -# conservative exactly where conditioning gets bad. Retune live if it's -# sluggish well before full extension, or still locks up at the extreme. +# Right arm gets extra damping, not a smaller _MAX_REACH_M: its Jacobian +# conditioning is worse near full extension, so it'd otherwise freeze +# mid-reach. Retune live if sluggish early or still locking up at extension. _DLS_LAMBDA_RIGHT = 0.35 _ENCLOSURE_MATERIAL = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0), emissive_color=(1.0, 1.0, 1.0)) -# Back wall shifted to clear the mount/stand structural bar. Front boundary -# extended to 0.75m so the enclosure actually contains the arms' full reach -# (rest EE X~0.42-0.43 + _MAX_REACH_M=0.28 = ~0.71m) instead of the arms -# sticking out past it. +# Front boundary extended to 0.75m so the enclosure actually contains the +# arms' full reach (rest EE X~0.42-0.43 + _MAX_REACH_M=0.28 = ~0.71m). _ENCLOSURE_BACK_X = -0.45 _ENCLOSURE_FRONT_X = 0.75 # open front (arm reach direction) -- extended to actually contain the arms, see above _ENCLOSURE_Y_MIN = -0.9 @@ -232,29 +186,22 @@ # Stereo camera pair (real depth via two eye textures, not a flat # single-camera POV): two RealSense D455s mounted on base_link, fixed at -# _HEAD_VIEWPOINT_HOME_POS/QUAT (head tracking is currently disabled -- see -# the "FULLY FIXED" note further down -- head_pose is still read from -# QuestHandPose.msg but unused for positioning). +# _HEAD_VIEWPOINT_HOME_POS/QUAT -- head tracking is disabled, head_pose is +# read from QuestHandPose.msg but unused for positioning. # -# rsd455's local axes: +X = lens boresight (forward), +Z = up. That makes -# local -Y "right" (forward x up = X x Z = -Y) -- IPD offset is applied -# along that axis, rotated by the viewpoint's current orientation. +# rsd455 local axes: +X = boresight (forward), +Z = up, so local -Y = right +# (X x Z = -Y) -- IPD offset is applied along that axis. _RSD455_USD_URL = ( "https://omniverse-content-production.s3-us-west-2.amazonaws.com/" "Assets/Isaac/5.1/Isaac/Sensors/Intel/RealSense/rsd455.usd" ) _HEAD_VIEWPOINT_HOME_POS = (0.0, 0.0, 0.75) # translate xyz, relative to base_link _HEAD_VIEWPOINT_HOME_QUAT = (0.9026085152688121, 0.0, 0.43046238879166954, 0.0) # ~51deg downward pitch, facing +X -# Computed look-at: direction from _HEAD_VIEWPOINT_HOME_POS to the average of -# both arms' natural rest tip positions (~(0.422, 0.016, 0.229), see the -# "[Quest][diag] rest EE pos" log line), via atan2 of the XZ-plane -# components (the small ~0.016m Y offset is ignored for this -# single-axis-rotation aim). Recompute if the rest pose or camera position -# changes. +# Look-at from _HEAD_VIEWPOINT_HOME_POS toward both arms' rest tip positions +# (~(0.422, 0.016, 0.229)) -- recompute if the rest pose or camera moves. _EYE_LOCAL_RIGHT = torch.tensor([0.0, -1.0, 0.0]) _EYE_IPD_M = 0.063 -# Sub-path to the actual renderable Camera prim inside the rsd455 payload -- -# same as the SO101 vial task's camera_external_D455 (task_env_cfg.py). +# Sub-path to the renderable Camera prim inside the rsd455 payload. _RSD455_CAMERA_SUBPATH = "rsd455/RSD455/Camera_OmniVision_OV9782_Right" @@ -275,12 +222,11 @@ def _set_mount_pose(mount_path: str, translate: tuple, orient_wxyz: tuple, creat """Set (or create) a camera mount Xform's translate/orient. Called every frame for the stereo eye mounts to follow head tracking. - NOTE: AddTranslateOp()/AddOrientOp() are NOT idempotent in this USD - version -- calling them again on a prim that already has that op raises - 'xformOp already exists in xformOpOrder' (confirmed live, this used to - assume otherwise and crashed on the second frame). So ops are added ONCE - at create=True, and every subsequent call fetches the existing ops via - GetOrderedXformOps() and .Set()s them directly instead.""" + NOTE: AddTranslateOp()/AddOrientOp() are NOT idempotent -- calling them + again on a prim that already has that op raises 'xformOp already exists + in xformOpOrder'. So ops are added ONCE at create=True, and every + subsequent call fetches the existing ops via GetOrderedXformOps() and + .Set()s them directly instead.""" stage = omni.usd.get_context().get_stage() if create: prim = UsdGeom.Xform.Define(stage, mount_path) @@ -302,11 +248,10 @@ def _set_mount_pose(mount_path: str, translate: tuple, orient_wxyz: tuple, creat def _open_pov_viewport(camera_prim_path: str, window_name: str): """Best-effort: open a Kit viewport window locked to a camera prim, for a - live POV feed on the host monitor AND the source for the periodic + live POV feed on the host monitor and as the source for the periodic capture_viewport_to_file calls that feed the Quest browser (see - _POV_FRAME_PATH_LEFT/RIGHT in run_simulator). Returns the viewport_api or - None if the viewport extension isn't available in this Kit experience -- - a missing viewport degrades the feed, it doesn't crash teleop.""" + _POV_FRAME_PATH_LEFT/RIGHT). Returns None if unavailable -- degrades the + feed rather than crashing teleop.""" try: from omni.kit.viewport.utility import create_viewport_window @@ -318,15 +263,10 @@ def _open_pov_viewport(camera_prim_path: str, window_name: str): return None -# Frames the eye viewports get captured to, for the Quest browser to fetch as -# payload.head_pose-tracked stereo textures (see index.html's -# leftEyeTexture/rightEyeTexture). Live in the WebXR static dir -# (autonomy/teleop/quest_teleop/static/) so webxr_server.py's existing -# SimpleHTTPRequestHandler serves them as plain static files -- no server -# code changes needed. Captured every _POV_CAPTURE_EVERY_N_STEPS sim steps -# (100Hz sim loop / 10 = ~10Hz feed); the camera mounts themselves are -# repositioned every frame (cheap USD attribute writes) so head tracking -# feels responsive even though the rendered image only updates at ~10Hz. +# Frames the eye viewports get captured to, for the Quest browser to fetch +# as stereo textures (index.html's leftEyeTexture/rightEyeTexture). Live in +# the WebXR static dir so webxr_server.py serves them as plain static files. +# Captured every _POV_CAPTURE_EVERY_N_STEPS sim steps (100Hz / 10 = ~10Hz). _POV_STATIC_DIR = _SIM_DIR.parent / "teleop" / "quest_teleop" / "static" _POV_FRAME_PATH_LEFT = _POV_STATIC_DIR / "pov_left.png" _POV_FRAME_PATH_RIGHT = _POV_STATIC_DIR / "pov_right.png" @@ -482,6 +422,50 @@ def _publish_real_left_arm_pose(pub, clock_node, joint_pos_des_rad) -> None: pub.publish(msg) +def _update_arm_target( + arm, xyz_q, quat, tracked, init_tip_pos_b, init_tip_quat_b, gain, + quest_to_world, quest_to_world_quat, axis_sign, root_quat_w, label, + target_pos_b, target_quat_b, +): + """Home an arm on its first tracked sample (anchored to the fixed + launch-time rest pose), then compute this frame's fingertip-tip IK + target from the wrist delta since homing. If untracked (before or after + homing), target_pos_b/target_quat_b pass through unchanged -- the arm + holds its last commanded pose rather than resetting. + + Returns (target_pos_b, target_quat_b, gain_used) -- gain_used is None on + any frame the target wasn't recomputed.""" + if arm.quest_home_xyz is None: + if not tracked: + return target_pos_b, target_quat_b, None + arm.quest_home_xyz = xyz_q.clone() + arm.quest_home_quat = quat.clone() + arm.home_tip_pos_b = init_tip_pos_b.clone() + arm.home_tip_quat_b = init_tip_quat_b.clone() + print(f"[Quest] {label} wrist tracked — homed at {xyz_q.tolist()}", flush=True) + + if not tracked: + return target_pos_b, target_quat_b, None + + disp_raw = xyz_q - arm.quest_home_xyz + arm_gain = _ramped_gain(disp_raw.norm(), gain) + delta_w = (quest_to_world @ disp_raw) * arm_gain * axis_sign + delta_w = delta_w * min(1.0, _MAX_REACH_M / max(delta_w.norm().item(), 1e-6)) + target_pos_b = arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, delta_w.unsqueeze(0)) + if disp_raw.norm().item() > 0.05: + print(f"[Quest][axisdbg] {label[0]} quest_disp(x,y,z)={disp_raw.tolist()} " + f"world_delta={delta_w.tolist()} " + f"base_delta_from_home={(target_pos_b - arm.home_tip_pos_b)[0].tolist()}", flush=True) + + dq = quat_mul(quat.unsqueeze(0), quat_inv(arm.quest_home_quat.unsqueeze(0))) + dq_world = quat_mul(quat_mul(quest_to_world_quat, dq), quat_inv(quest_to_world_quat)) + dq_world = quat_mul(quat_mul(arm.wrist_orient_offset, dq_world), quat_inv(arm.wrist_orient_offset)) + dq_base = quat_mul(quat_mul(quat_inv(root_quat_w), dq_world), root_quat_w) + target_quat_b = quat_mul(dq_base, arm.home_tip_quat_b) + + return target_pos_b, target_quat_b, arm_gain + + def _ee_pose_in_base(robot, body_id: int): root_pose_w = robot.data.root_state_w[:, 0:7] ee_pose_w = robot.data.body_state_w[:, body_id, 0:7] @@ -547,8 +531,8 @@ def solve_and_apply(self, robot, device, target_pos_b, target_quat_b): self.last_joint_pos_des = joint_pos_des # Snap directly to the DLS solution instead of waiting on the PD - # actuator to catch up — see module docstring for why (live testing - # found ~0.1 rad of actuator lag on the shoulder joint alone). + # actuator to catch up (live testing found ~0.1 rad of lag on the + # shoulder joint alone). robot.set_joint_position_target(joint_pos_des, joint_ids=self.arm_ids) robot.write_joint_state_to_sim( joint_pos_des, @@ -638,10 +622,9 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) -> receiver = QuestRosReceiver() threading.Thread(target=rclpy.spin, args=(receiver,), daemon=True).start() - # Real-hardware bridge (left arm only, see --publish-real-left-arm help - # text and the module-level REAL_ARM_PUBLISH_* constants for the safety - # rationale). Publisher is created on the SAME node/spin-thread as the - # Quest receiver above rather than a second rclpy context. + # Real-hardware bridge (left arm only, see --publish-real-left-arm). + # Publisher shares the Quest receiver's node/spin-thread rather than a + # second rclpy context. real_left_arm_pub = None real_left_arm_elapsed_s = 0.0 real_left_arm_since_publish_s = 0.0 @@ -660,9 +643,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) -> target_pos_b_right = init_tip_pos_b_r.clone() target_quat_b_right = init_tip_quat_b_r.clone() - # Head-tracked stereo viewpoint state -- same home-on-first-tracked-sample - # pattern as the arms above, homed independently (a person can start - # moving their head before their wrists are tracked or vice versa). + # Head viewpoint state -- same home-on-first-tracked-sample pattern as + # the arms above, homed independently of them. head_home_xyz: torch.Tensor | None = None head_home_quat: torch.Tensor | None = None head_home_viewpoint_pos_b = torch.tensor([_HEAD_VIEWPOINT_HOME_POS], dtype=torch.float32, device=device) @@ -734,76 +716,21 @@ def _on_keyboard_event(event, *args, **kwargs) -> None: tip_pos_b_l, _ = left_arm.tip_pose_b(robot, root_pose_w) tip_pos_b_r, _ = right_arm.tip_pose_b(robot, root_pose_w) - # ── Homing (fingertip-tip anchored) ───────────────────────────────── - if left_arm.quest_home_xyz is None and left_tracked: - left_arm.quest_home_xyz = left_xyz_q.clone() - left_arm.quest_home_quat = left_quat.clone() - # Anchor to the fixed launch-time rest tip pose, not wherever - # the tip currently sits -- avoids baking in IK lag / making - # recalibration a no-op. - left_arm.home_tip_pos_b = init_tip_pos_b_l.clone() - left_arm.home_tip_quat_b = init_tip_quat_b_l.clone() - target_pos_b_left = left_arm.home_tip_pos_b.clone() - target_quat_b_left = left_arm.home_tip_quat_b.clone() - print(f"[Quest] Left wrist tracked — homed at {left_xyz_q.tolist()}", flush=True) - - if right_arm.quest_home_xyz is None and right_tracked: - right_arm.quest_home_xyz = right_xyz_q.clone() - right_arm.quest_home_quat = right_quat.clone() - right_arm.home_tip_pos_b = init_tip_pos_b_r.clone() - right_arm.home_tip_quat_b = init_tip_quat_b_r.clone() - target_pos_b_right = right_arm.home_tip_pos_b.clone() - target_quat_b_right = right_arm.home_tip_quat_b.clone() - print(f"[Quest] Right wrist tracked — homed at {right_xyz_q.tolist()}", flush=True) - - # ── Target (fingertip-tip, base frame) ────────────────────────────── - if left_arm.quest_home_xyz is not None and left_tracked: - left_disp_raw = left_xyz_q - left_arm.quest_home_xyz - left_gain = _ramped_gain(left_disp_raw.norm(), gain) - left_delta_w = (quest_to_world @ left_disp_raw) * left_gain * axis_sign_left - left_delta_w = left_delta_w * min(1.0, _MAX_REACH_M / max(left_delta_w.norm().item(), 1e-6)) - target_pos_b_left_dbg = ( - left_arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, left_delta_w.unsqueeze(0)) - ) - if left_disp_raw.norm().item() > 0.05: - print(f"[Quest][axisdbg] L quest_disp(x,y,z)={left_disp_raw.tolist()} " - f"world_delta={left_delta_w.tolist()} " - f"base_delta_from_home={(target_pos_b_left_dbg - left_arm.home_tip_pos_b)[0].tolist()}", - flush=True) - target_pos_b_left = target_pos_b_left_dbg - dq_left = quat_mul(left_quat.unsqueeze(0), quat_inv(left_arm.quest_home_quat.unsqueeze(0))) - dq_left_world = quat_mul(quat_mul(quest_to_world_quat, dq_left), quat_inv(quest_to_world_quat)) - dq_left_world = quat_mul(quat_mul(left_arm.wrist_orient_offset, dq_left_world), - quat_inv(left_arm.wrist_orient_offset)) - dq_left_base = quat_mul(quat_mul(quat_inv(root_quat_w), dq_left_world), root_quat_w) - target_quat_b_left = quat_mul(dq_left_base, left_arm.home_tip_quat_b) - - if right_arm.quest_home_xyz is not None and right_tracked: - right_disp_raw = right_xyz_q - right_arm.quest_home_xyz - right_gain = _ramped_gain(right_disp_raw.norm(), gain) - right_delta_w = (quest_to_world @ right_disp_raw) * right_gain * axis_sign_right - right_delta_w = right_delta_w * min(1.0, _MAX_REACH_M / max(right_delta_w.norm().item(), 1e-6)) - target_pos_b_right_dbg = ( - right_arm.home_tip_pos_b + quat_apply_inverse(root_quat_w, right_delta_w.unsqueeze(0)) - ) - if right_disp_raw.norm().item() > 0.05: - print(f"[Quest][axisdbg] R quest_disp(x,y,z)={right_disp_raw.tolist()} " - f"world_delta={right_delta_w.tolist()} " - f"base_delta_from_home={(target_pos_b_right_dbg - right_arm.home_tip_pos_b)[0].tolist()}", - flush=True) - target_pos_b_right = target_pos_b_right_dbg - dq_right = quat_mul(right_quat.unsqueeze(0), quat_inv(right_arm.quest_home_quat.unsqueeze(0))) - dq_right_world = quat_mul(quat_mul(quest_to_world_quat, dq_right), quat_inv(quest_to_world_quat)) - dq_right_world = quat_mul(quat_mul(right_arm.wrist_orient_offset, dq_right_world), - quat_inv(right_arm.wrist_orient_offset)) - dq_right_base = quat_mul(quat_mul(quat_inv(root_quat_w), dq_right_world), root_quat_w) - target_quat_b_right = quat_mul(dq_right_base, right_arm.home_tip_quat_b) + # ── Homing + target (fingertip-tip, base frame) ───────────────────── + target_pos_b_left, target_quat_b_left, left_gain = _update_arm_target( + left_arm, left_xyz_q, left_quat, left_tracked, init_tip_pos_b_l, init_tip_quat_b_l, + gain, quest_to_world, quest_to_world_quat, axis_sign_left, root_quat_w, "Left", + target_pos_b_left, target_quat_b_left, + ) + target_pos_b_right, target_quat_b_right, right_gain = _update_arm_target( + right_arm, right_xyz_q, right_quat, right_tracked, init_tip_pos_b_r, init_tip_quat_b_r, + gain, quest_to_world, quest_to_world_quat, axis_sign_right, root_quat_w, "Right", + target_pos_b_right, target_quat_b_right, + ) # Stereo viewpoint is fully fixed -- no head tracking. - # head_viewpoint_pos_b/quat_b stay at their home values for the - # whole run; head_home_xyz/quat/head_tracked above are unused for - # positioning (only feed _is_tracked). Head-tracked position and - # rotate-only variants are both in git history if wanted again. + # head_viewpoint_pos_b/quat_b stay at their home values; the + # head_home_xyz/quat/head_tracked vars above only feed _is_tracked. diag_frame += 1 if diag_frame % 100 == 0: @@ -839,10 +766,9 @@ def _on_keyboard_event(event, *args, **kwargs) -> None: tip_pos_b_r_now = right_arm.solve_and_apply(robot, device, target_pos_b_right, target_quat_b_right) # ── Real-hardware bridge (left arm only) ───────────────────────────────── - # Same held-off-then-throttled pattern as task_space_real.py: elapsed - # time only starts accumulating toward the publish period AFTER the - # startup delay has fully passed, so it can't build up a backlog - # during the hold and burst-publish once the delay ends. + # Held-off-then-throttled, same as task_space_real.py: the publish + # timer only starts after the startup delay, so it can't build up a + # backlog and burst-publish once the delay ends. if real_left_arm_pub is not None: real_left_arm_elapsed_s += sim_dt if real_left_arm_elapsed_s >= _REAL_ARM_PUBLISH_START_DELAY_S: @@ -871,9 +797,8 @@ def _on_keyboard_event(event, *args, **kwargs) -> None: sim.step() scene.update(sim_dt) - # Stereo eye mounts follow the current head viewpoint (a no-op right - # now since it's fixed -- see above -- but cheap, and ready if head - # tracking comes back). IPD offset applied along the viewpoint's + # Stereo eye mounts follow the head viewpoint (a no-op since it's + # fixed, but cheap). IPD offset applied along the viewpoint's # current "right" axis, rotated into base frame. right_offset_b = quat_apply(head_viewpoint_quat_b, eye_local_right.unsqueeze(0)) * (_EYE_IPD_M / 2) left_eye_pos_b = (head_viewpoint_pos_b - right_offset_b)[0].tolist() diff --git a/autonomy/teleop/quest_teleop/static/pov_left.png b/autonomy/teleop/quest_teleop/static/pov_left.png new file mode 100644 index 0000000000000000000000000000000000000000..88980f040973f92cfea2147cb41cc2dc3e2ab28a GIT binary patch literal 958192 zcmWifdq7M7|HrqT?QFGM>$-K@YU!fex+>DP%9_vxpQQR^-QyD~B)+t*b*0NnQlVCg zK7^2jux^?zOyZM-bwLpop;9})e&>&K&R^%e-{*B+@AvEVd_7({{=VLLRb5pW42Ivx z_1X%9p;m4Yatyd~d3OA5AdFCPXQLN;drDZOm8~sAMB-?$DvGcd!ZBv3y-UxeGMP+( zmt+Gkm9g_gr<3qbeeo~IKQcVVp20{X1z}5{$fO+|9ny~84rzDWV`+DHoAmM1r_!GG z9_h1Z=#C|vzWx*rQZC2NFMhRb&mvOE?;icHYv$*d9hp>SDr0Hk2ip910X&9y^VIXV z#2*f_)8r(aTC5QQ-rZ)1#K~f+vPeOM&udE8CIm@9qSqV#_LJ<-MmOL$$ljU^H6#Q% zNb@)jNc9J5JGuJHX7PrMcj7#DhZ(Q{i=)vUm!+e?I6pr8q_wqiTS*~&+?m5MO)ycS 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