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Chaoyi Pan commited on
Commit
7283a8a
·
1 Parent(s): 8f34a8d

fix: sharpa palm site orientation + IK cost sweep videos

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The right_palm/left_palm sites in the sharpa hand were declared with
identity orientation (euler="0 0 0"), but the IK pipeline targets the
palm site's frame against the MANO wrist frame, which xhand handles by
rotating its palm site with quat="0 1 1 0" (= Rx(180°) * Rz(90°)).
Without that rotation the sharpa hand was facing the wrong way under
the IK target, so the solver hit ring/pinky PIP joint limits (clamped
at 100°) trying to compensate, producing the "stiff straight fingers"
look.

Add the same quat to sharpa right.xml + left.xml palm sites. After the
fix the achievable IK error is the same (~5mm) but ring/pinky PIP
angles fall back into the natural 30-70° grasping range instead of
saturating at 100°.

Also commits a sweep of IK cost configurations
(processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/) for
side-by-side inspection: combinations of wrist_pos_cost in {0.3, 2.0,
5.0, 10.0}, wrist_ori_cost in {0.3, 3.0, 5.0, 10.0, 20.0}, and
finger_pos_cost in {10.0, 30.0}.

Files changed (11) hide show
  1. processed/oakink/assets/robots/sharpa/left.xml +1 -1
  2. processed/oakink/assets/robots/sharpa/right.xml +1 -1
  3. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo0.3_fp10.0.mp4 +3 -0
  4. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo3.0_fp10.0.mp4 +3 -0
  5. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo3.0_fp30.0.mp4 +3 -0
  6. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp10.0_wo20.0_fp10.0.mp4 +3 -0
  7. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp10.0_wo20.0_fp30.0.mp4 +3 -0
  8. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp2.0_wo5.0_fp10.0.mp4 +3 -0
  9. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp2.0_wo5.0_fp30.0.mp4 +3 -0
  10. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp5.0_wo10.0_fp10.0.mp4 +3 -0
  11. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp5.0_wo5.0_fp30.0.mp4 +3 -0
processed/oakink/assets/robots/sharpa/left.xml CHANGED
@@ -87,7 +87,7 @@
87
  <geom name="collision_hand_left_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
- <site name="left_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
 
87
  <geom name="collision_hand_left_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
+ <site name="left_palm" pos="0 0 0.05" quat="0 1 1 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
processed/oakink/assets/robots/sharpa/right.xml CHANGED
@@ -87,7 +87,7 @@
87
  <geom name="collision_hand_right_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
- <site name="right_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
 
87
  <geom name="collision_hand_right_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
+ <site name="right_palm" pos="0 0 0.05" quat="0 1 1 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo0.3_fp10.0.mp4 ADDED
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processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp10.0_wo20.0_fp10.0.mp4 ADDED
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