实验室工作

Report this week (5.30 — 6.5)

1. Inverse kinematics to control Piper going up and down;
2. Try to reproduce GraspNet-1B.

使用 IK 控制 Piper 机械臂的运动

Use curobo project, needs the urdf and usd of Piper

Python 代码示例 (IK/FK 控制 Piper 机械臂)

robot_cfg = RobotConfig.from_basic(URDF_PATH, BASE_LINK, EE_LINK)
ik_config = IKSolverConfig.load_from_robot_config(
    robot_cfg,
    position_threshold=0.05, # 位置阈值 (米)
    rotation_threshold=0.3, # 旋转阈值 (弧度)
    self_collision_check=False,
    self_collision_opt=False,
)
ik_solver = IKSolver(ik_config)

def IK(ee_position: torch.tensor, ee_quat: torch.tensor):
    # 确保是float32
    ee_position = ee_position.float()
    ee_quat = ee_quat.float()  
    goal = Pose(ee_position, ee_quat)
    result = ik_solver.solve_batch(goal)
    
    if torch.count_nonzero(result.success).item() > 0:
        return result.solution[0][0].cpu().numpy()
    else:
        raise RuntimeError("IK solution not found.")

def K(joint_angles: torch.tensor):
    joint_angles = joint_angles.float() # 确保是float32
    kin_state = ik_solver.fk(joint_angles)
    return kin_state.ee_position.cpu().numpy(), kin_state.ee_quaternion.cpu().numpy()

安装 GraspNet 环境

• python needs 3.8, the only one which can compile drivers successfully, but open3d errors (need glibc 2.18)
• Compile open3d by source code ot install by conda(conda cannot do this)?(need clang but I do not have SUDO)
• python3.7, cannot compile other cuda drivers.

Report this week (6.6 – 6.12)

Curobo in server

• load pytorch by pip, conda gets glibc error,
• need to run pip install scikit_build_core after load pytorch,
• module load cuda/12.1 gcc/9.3.0 before pip install -e . --no-build-isolation
• 暂时无法解决

Configure Curobo of Piper

• urdf and usd,
• use Lula Robot to create sphere,
  
• some configure need to change,
• current result:
  
• possible result: FK different from hands and gripper.