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Adam mujoco fix 1 #33

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Adam mujoco fix 1 #33

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7f1d3ee
Controller Support for localAnchor + debugging MotionControllerActuator
AdamRashid96 Nov 2, 2024
30ce957
Fixed motionControllerActuator
AdamRashid96 Nov 5, 2024
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46 changes: 5 additions & 41 deletions docs/tutorials/physics/mocap_control.md
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ from textwrap import dedent
from killport import kill_ports
from vuer import Vuer, VuerSession
from vuer.events import ClientEvent
from vuer.schemas import MuJoCo, Scene, Fog, Sphere, Hands, HandActuator
from vuer.schemas import MuJoCo, Scene, Fog, Sphere, Hands, HandActuator, MotionControllers, MotionControllerActuator
```


Expand Down Expand Up @@ -90,7 +90,8 @@ async def main(sess: VuerSession):
# grid=False,
bgChildren=[
Fog(color=0x2C3F57, near=10, far=20),
Hands(),
# Hands(),
MotionControllers(),
Sphere(
args=[50, 10, 10],
materialType="basic",
Expand All @@ -101,8 +102,8 @@ async def main(sess: VuerSession):
await sleep(0.0005)
sess.upsert @ MuJoCo(

HandActuator(key="pinch-on-squeeze"),

# HandActuator(key="pinch-on-squeeze"),
MotionControllerActuator(high=0.15, low=0.01, ctrlId=-1),
key="franka-gripper",
src=asset_pref + "scene.xml",
assets=[asset_pref + fn for fn in ASSETS_LIST],
Expand All @@ -113,40 +114,3 @@ async def main(sess: VuerSession):

await sleep(100.0)
```


```{admonition} Note
:class: tip

Note the `HandActuator` that is used to add control to the
gripper fingers. This is currently hand-specific.

class HandActuator(SceneElement):
tag = "HandActuator"

ctrlId = -1
offset = 0.01
low = 0.01
high = 1.0
cond = 'right-squeeze'
value = "right:thumb-tip,right:index-finger-tip"
scale = 1.0
```

This correspond to the following actuator definition
in the MJCF file:

```xml
...
<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint2" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>

...
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
<position ctrllimited="true" ctrlrange="0.001 0.2" joint="finger_joint1" kp="30"
gear="3" name="finger_joint"/>
</actuator>
</mujoco>
```
11 changes: 6 additions & 5 deletions docs/tutorials/physics/mocap_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@

from cmx import doc

MAKE_DOCS = os.getenv("MAKE_DOCS", True)
MAKE_DOCS = os.getenv("MAKE_DOCS", False)

doc @ """
# MuJoCo VR Mocap Example
Expand All @@ -17,7 +17,7 @@
from killport import kill_ports
from vuer import Vuer, VuerSession
from vuer.events import ClientEvent
from vuer.schemas import MuJoCo, Scene, Fog, Sphere, Hands, HandActuator
from vuer.schemas import MuJoCo, Scene, Fog, Sphere, Hands, HandActuator, MotionControllers, MotionControllerActuator

doc @ """

Expand Down Expand Up @@ -97,7 +97,8 @@ async def main(sess: VuerSession):
# grid=False,
bgChildren=[
Fog(color=0x2C3F57, near=10, far=20),
Hands(),
# Hands(),
MotionControllers(),
Sphere(
args=[50, 10, 10],
materialType="basic",
Expand All @@ -108,8 +109,8 @@ async def main(sess: VuerSession):
await sleep(0.0005)
sess.upsert @ MuJoCo(

HandActuator(key="pinch-on-squeeze"),

# HandActuator(key="pinch-on-squeeze"),
MotionControllerActuator(high=0.15, low=0.01, ctrlId=-1),
key="franka-gripper",
src=asset_pref + "scene.xml",
assets=[asset_pref + fn for fn in ASSETS_LIST],
Expand Down
31 changes: 31 additions & 0 deletions vuer/schemas/physics_components.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,3 +49,34 @@ class HandActuator(SceneElement):
cond = 'right-squeeze'
value = "right:thumb-tip,right:index-finger-tip"
scale = 1.0

class MotionControllerActuator(SceneElement):
"""
MotionControllerActuator component for actuating the MuJoCo simulation based on motion controller inputs.

:param ctrlId: The control ID in the MuJoCo simulation to actuate.
:type ctrlId: int
:param low: The minimum value for actuation.
:type low: float
:param high: The maximum value for actuation.
:type high: float
:param cond: The condition for actuation, e.g., 'right-trigger'.
:type cond: str
:param scale: The scaling factor applied to the input value for actuation.
:type scale: float
"""
tag = "MotionControllerActuator"

ctrlId: int = -1
low: float = 0.0
high: float = 1.0
cond: str = 'right-trigger'
scale: float = 1.0

def __init__(self, ctrlId=-1, low=0.0, high=1.0, cond='right-trigger', scale=1.0, **kwargs):
super().__init__(**kwargs)
self.ctrlId = ctrlId
self.low = low
self.high = high
self.cond = cond
self.scale = scale
44 changes: 44 additions & 0 deletions vuer/schemas/scene_components.py
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Original file line number Diff line number Diff line change
Expand Up @@ -628,6 +628,49 @@ def __init__(
**kwargs,
)

class MotionControllers(SceneElement):
"""
MotionController for tracking XR controller poses and button states.

:param key: Unique identifier for the controller.
:type key: str, optional
:param eventTypes: A tuple or list of events to track (e.g., "trigger", "squeeze").
:type eventTypes: tuple or list, optional
:param stream: Whether to enable streaming of controller data.
:type stream: bool, optional
:param left: Boolean indicating if the left controller should be tracked.
:type left: bool, optional
:param right: Boolean indicating if the right controller should be tracked.
:type right: bool, optional
:param showLeft: Boolean indicating if the left controller visualization should be shown.
:type showLeft: bool, optional
:param showRight: Boolean indicating if the right controller visualization should be shown.
:type showRight: bool, optional
"""

tag = "MotionControllers"

def __init__(
self,
key="motionControllers",
eventTypes=("trigger", "squeeze"),
stream=True,
left=None,
right=None,
showLeft=True,
showRight=True,
**kwargs,
):
super().__init__(
key=key,
eventTypes=eventTypes,
stream=stream,
left=left,
right=right,
showLeft=showLeft,
showRight=showRight,
**kwargs,
)

class Obj(SceneElement):
tag = "Obj"
Expand Down Expand Up @@ -771,6 +814,7 @@ def __init__(
AmbientLight(key="ambient", intensity=0.25),
PointLight(key="spot", intensity=1, position=[0, 1, 1]),
Hands(fps=30, eventType=["squeeze"], stream=True),
MotionControllers(fps=30, eventType=["trigger", "squeeze"], stream=True),
]

self.up = up
Expand Down