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(WIP) Add glove to hand joints translation

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Simon Alibert
2025-05-21 16:18:51 +02:00
parent a3c671f7dd
commit 1572e9b2aa
1 changed files with 49 additions and 0 deletions
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lerobot/common/robots/hope_jr/joints_translation.py Normal file
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INDEX_SPLAY = 0.1
MIDDLE_SPLAY = 0.1
RING_SPLAY = 0.1
PINKY_SPLAY = -0.1
def get_ulnar_flexion(flexion: float, abduction: float, splay: float):
return (100 - abduction) * splay + flexion * (1 - splay)
def get_radial_flexion(flexion: float, abduction: float, splay: float):
return abduction * splay + flexion * (1 - splay)
def homonculus_glove_to_hope_jr_hand(glove_action: dict[str, float]) -> dict[str, float]:
return {
"thumb_cmc.pos": glove_action["thumb_cmc.pos"],
"thumb_mcp.pos": glove_action["thumb_mcp.pos"],
"thumb_pip.pos": glove_action["thumb_pip.pos"],
"thumb_dip.pos": glove_action["thumb_dip.pos"],
"index_radial_flexor.pos": get_radial_flexion(
glove_action["index_mcp_flexion.pos"], glove_action["index_mcp_abduction.pos"], INDEX_SPLAY
),
"index_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["index_mcp_flexion.pos"], glove_action["index_mcp_abduction.pos"], INDEX_SPLAY
),
"index_pip_dip.pos": glove_action["index_pip_dip.pos"],
"middle_radial_flexor.pos": get_radial_flexion(
glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY
),
"middle_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY
),
"middle_pip_dip.pos": glove_action["middle_pip_dip.pos"],
"ring_radial_flexor.pos": get_radial_flexion(
glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY
),
"ring_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY
),
"ring_pip_dip.pos": glove_action["ring_pip_dip.pos"],
"pinky_radial_flexor.pos": get_radial_flexion(
glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY
),
"pinky_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY
),
"pinky_pip_dip.pos": glove_action["pinky_pip_dip.pos"],
}