mani-skill-nightly 2025.10.21.2002__py3-none-any.whl → 2025.10.21.2011__py3-none-any.whl

mani_skill/agents/robots/__init__.py

@@ -2,6 +2,7 @@ from .allegro_hand import *
 from .anymal import ANYmalC
 from .dclaw import DClaw
 from .fetch import Fetch
+from .floating_ability_hand import FloatingAbilityHandRight
 from .floating_panda_gripper import FloatingPandaGripper
 from .floating_robotiq_2f_85_gripper import *
 from .googlerobot import *

mani_skill/agents/robots/floating_ability_hand/__init__.py

@@ -0,0 +1 @@
+from .floating_ability_hand import FloatingAbilityHandRight

mani_skill/agents/robots/floating_ability_hand/floating_ability_hand.py

@@ -0,0 +1,217 @@
+from copy import deepcopy
+from typing import Dict, Tuple
+
+import numpy as np
+import sapien
+import sapien.physx as physx
+
+from mani_skill import PACKAGE_ASSET_DIR
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
+from mani_skill.agents.controllers import *
+from mani_skill.agents.registration import register_agent
+from mani_skill.utils import sapien_utils
+
+
+@register_agent()
+class FloatingAbilityHandRight(BaseAgent):
+    uid = "floating_ability_hand_right"
+    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/ability_hand/ability_hand_right_floating.urdf"
+    urdf_config = dict(
+        _materials=dict(
+            front_finger=dict(
+                static_friction=2.0, dynamic_friction=1.5, restitution=0.0
+            )
+        ),
+        link=dict(
+            thumnb_L2=dict(
+                material="front_finger", patch_radius=0.05, min_patch_radius=0.04
+            ),
+            index_L2=dict(
+                material="front_finger", patch_radius=0.05, min_patch_radius=0.04
+            ),
+            middle_L2=dict(
+                material="front_finger", patch_radius=0.05, min_patch_radius=0.04
+            ),
+            ring_L2=dict(
+                material="front_finger", patch_radius=0.05, min_patch_radius=0.04
+            ),
+            pinky_L2=dict(
+                material="front_finger", patch_radius=0.05, min_patch_radius=0.04
+            ),
+        ),
+    )
+
+    keyframes = dict(
+        rest=Keyframe(
+            qpos=np.array(
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                ]
+            ),
+            pose=sapien.Pose(p=[0, 0, 0]),
+        )
+    )
+
+    root_joint_names = [
+        "root_x_axis_joint",
+        "root_y_axis_joint",
+        "root_z_axis_joint",
+        "root_x_rot_joint",
+        "root_y_rot_joint",
+        "root_z_rot_joint",
+    ]
+
+    def __init__(self, *args, **kwargs):
+
+        self.hand_joint_names = [
+            "index_q1",
+            "middle_q1",
+            "ring_q1",
+            "pinky_q1",
+            "index_q2",
+            "middle_q2",
+            "ring_q2",
+            "pinky_q2",
+
+            # "thumb_q1",
+            # "index_q1",
+            # "middle_q1",
+            # "ring_q1",
+            # "pinky_q1",
+            # "thumb_q2",
+            # "index_q2",
+            # "middle_q2",
+            # "ring_q2",
+            # "pinky_q2",
+        ]
+        self.thumb_joint_names = [
+            "thumb_q1",
+            "thumb_q2"
+        ]
+        self.hand_stiffness = 1e3
+        self.hand_damping = 1e2
+        self.hand_force_limit = 50
+
+        self.ee_link_name = "base"
+
+        super().__init__(*args, **kwargs)
+
+    @property
+    def _controller_configs(self):
+        # -------------------------------------------------------------------------- #
+        # Arm
+        # -------------------------------------------------------------------------- #
+        float_pd_joint_pos = PDJointPosControllerConfig(
+            joint_names=self.root_joint_names,
+            lower=None,
+            upper=None,
+            stiffness=1e3,
+            damping=1e2,
+            force_limit=100,
+            normalize_action=False,
+        )
+
+        # -------------------------------------------------------------------------- #
+        # Hand
+        # -------------------------------------------------------------------------- #
+        hand_joint_pos = PDJointPosMimicControllerConfig(
+            self.hand_joint_names,
+            None,# [0, 0, 0, 0, 0, 0, 0, 0, -2.0943951, 0],
+            None, # [2.0943951, 2.0943951, 2.0943951, 2.0943951, 2.65860, 2.65860, 2.65860, 2.65860, 0, 2.0943951],
+            self.hand_stiffness,
+            self.hand_damping,
+            self.hand_force_limit,
+            mimic={
+                "index_q2": {
+                    "joint": "index_q1",
+                    "multiplier": 1.05851325,
+                    "offset": 0.72349796,
+                },
+                "middle_q2": {
+                    "joint": "middle_q1",
+                    "multiplier": 1.05851325,
+                    "offset": 0.72349796,
+                },
+                "ring_q2": {
+                    "joint": "ring_q1",
+                    "multiplier": 1.05851325,
+                    "offset": 0.72349796,
+                },
+                "pinky_q2": {
+                    "joint": "pinky_q1",
+                    "multiplier": 1.05851325,
+                    "offset": 0.72349796,
+                },
+            },
+            normalize_action=False,
+        )
+        thumb_joint_pos = PDJointPosControllerConfig(
+            self.thumb_joint_names,
+            None, # [0, 0, 0, 0, 0, 0, 0, 0, -2.0943951, 0],
+            None, # [2.0943951, 2.0943951, 2.0943951, 2.0943951, 2.65860, 2.65860, 2.65860, 2.65860, 0, 2.0943951],
+            self.hand_stiffness,
+            self.hand_damping,
+            self.hand_force_limit,
+            normalize_action=False,
+        )
+        # hand_target_delta_pos.use_target = True
+
+        controller_configs = dict(
+            pd_joint_pos=dict(
+                root=float_pd_joint_pos, hand=hand_joint_pos, thumb=thumb_joint_pos
+            ),
+            # pd_joint_pos=dict(arm=arm_pd_joint_pos, gripper=hand_target_delta_pos),
+            # pd_ee_delta_pose=dict(
+            #     arm=arm_pd_ee_delta_pose, gripper=hand_target_delta_pos
+            # ),
+            # pd_ee_target_delta_pose=dict(
+            #     arm=arm_pd_ee_target_delta_pose, gripper=hand_target_delta_pos
+            # ),
+        )
+
+        # Make a deepcopy in case users modify any config
+        return deepcopy_dict(controller_configs)
+
+    def _after_init(self):
+        hand_front_link_names = [
+            "thumb_L2",
+            "index_L2",
+            "middle_L2",
+            "ring_L2",
+            "pinky_L2",
+        ]
+        self.hand_front_links = sapien_utils.get_objs_by_names(
+            self.robot.get_links(), hand_front_link_names
+        )
+
+        finger_tip_link_names = [
+            "thumb_tip",
+            "index_tip",
+            "middle_tip",
+            "ring_tip",
+            "pinky_tip",
+        ]
+        self.finger_tip_links = sapien_utils.get_objs_by_names(
+            self.robot.get_links(), finger_tip_link_names
+        )
+
+        self.tcp = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), self.ee_link_name
+        )
+
+        self.queries: Dict[str, Tuple[physx.PhysxGpuContactQuery, Tuple[int]]] = dict()