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Pr/initial pip dip equal #3

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8a6fe4d
add placeholder function
Nan-Tetheria Aug 11, 2025
834fbae
the index of joints and actuators are changed to be consistent with t…
Nan-Tetheria Aug 13, 2025
503e068
stop tracking the placeholder file
Nan-Tetheria Aug 14, 2025
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18 changes: 9 additions & 9 deletions mujoco_playground/_src/manipulation/tetheria_hand/rotate_z.py
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Original file line number Diff line number Diff line change
Expand Up @@ -270,29 +270,29 @@ def domain_randomize(model: mjx.Model, rng: jax.Array):
hand_qids = mjx_env.get_qpos_ids(mj_model, consts.JOINT_NAMES)
hand_body_names = [
"palm",
"right_pinky_f_link",
"right_pinky_proximal_link",
"right_pinky_middle_link",
"right_pinky_distal_link",
"right_middle_f_link",
"right_middle_proximal_link",
"right_middle_middle_link",
"right_middle_distal_link",
"right_index_f_link",
"right_index_proximal_link",
"right_index_middle_link",
"right_index_distal_link",
"right_middle_f_link",
"right_middle_proximal_link",
"right_middle_middle_link",
"right_middle_distal_link",
"right_ring_f_link",
"right_ring_proximal_link",
"right_ring_middle_link",
"right_ring_distal_link",
"right_pinky_f_link",
"right_pinky_proximal_link",
"right_pinky_middle_link",
"right_pinky_distal_link",
"right_t_link",
"right_thumb_mcp_link",
"right_thumb_proximal_link",
"right_thumb_distal_link",
]
hand_body_ids = np.array([mj_model.body(n).id for n in hand_body_names])
fingertip_geoms = ["th_tip", "if_tip", "mf_tip", "rf_tip", "pf_tip"]
fingertip_geoms = ["if_tip", "mf_tip", "rf_tip", "pf_tip", "th_tip"]
fingertip_geom_ids = [mj_model.geom(g).id for g in fingertip_geoms]

@jax.vmap
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22 changes: 11 additions & 11 deletions mujoco_playground/_src/manipulation/tetheria_hand/tetheria_hand_constants.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,32 +25,32 @@

JOINT_NAMES = [
# index
"right_index_mcp_flex",
"right_index_mcp_abd",
"right_index_mcp_flex",
"right_index_pip",
"right_index_dip",
# "if_dip",
# middle
"right_middle_mcp_flex",
"right_middle_mcp_abd",
"right_middle_mcp_flex",
"right_middle_pip",
"right_middle_dip",
# "mf_dip",
# ring
"right_ring_mcp_flex",
"right_ring_mcp_abd",
"right_ring_mcp_flex",
"right_ring_pip",
"right_ring_dip",
# "rf_dip",
# pinky
"right_pinky_mcp_flex",
"right_pinky_mcp_abd",
"right_pinky_mcp_flex",
"right_pinky_pip",
"right_pinky_dip",
# "th_dip",
# thumb
"right_thumb_cmc_flex",
"right_thumb_cmc_abd",
"right_thumb_cmc_flex",
"right_thumb_mcp",
"right_thumb_ip",
# "th_ipl",
Expand Down Expand Up @@ -99,32 +99,32 @@

ACTUATOR_NAMES = [
# index
"right_index_A_mcp_flex",
"right_index_A_mcp_abd",
"right_index_A_mcp_flex",
"right_index_A_pip",
"right_index_A_dip",
# "if_dip_act",
# middle
"right_middle_A_mcp_flex",
"right_middle_A_mcp_abd",
"right_middle_A_mcp_flex",
"right_middle_A_pip",
"right_middle_A_dip",
# "mf_dip_act",
# ring
"right_ring_A_mcp_flex",
"right_ring_A_mcp_abd",
"right_ring_A_mcp_flex",
"right_ring_A_pip",
"right_ring_A_dip",
# "rf_dip_act",
# pinky
"right_pinky_A_mcp_flex",
"right_pinky_A_mcp_abd",
"right_pinky_A_mcp_flex",
"right_pinky_A_pip",
"right_pinky_A_dip",
# "th_dip_act",
# thumb
"right_thumb_A_mcp_abd",
"right_thumb_A_cmc_flex",
"right_thumb_A_cmc_abd",
"right_thumb_A_pip",
"right_thumb_A_dip",
# "th_ipl_act",
Expand All @@ -133,9 +133,9 @@
]

FINGERTIP_NAMES = [
"th_tip",
"if_tip",
"mf_tip",
"rf_tip",
"pf_tip",
"th_tip",
]
25 changes: 12 additions & 13 deletions mujoco_playground/_src/manipulation/tetheria_hand/xmls/PreGen1_RightHand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -105,8 +105,8 @@
<position ctrlrange="-0.1 1.3" />
</default>
<default class="thumb_ipl">
<joint range="0 1.5708"/>
<position ctrlrange="-0.1 1.58" />
<joint range="0 1.2217"/>
<position ctrlrange="-0.1 1.3" />
</default>
</default>

Expand Down Expand Up @@ -358,32 +358,31 @@

<actuator>
<!-- <position name="rh_A_FFJ0" tendon="rh_FFJ0" class="dip" /> -->
<position name="right_index_A_dip" joint="right_index_dip" class="pip" />
<position name="right_index_A_pip" joint="right_index_pip" class="dip" />
<position name="right_index_A_mcp_abd" joint="right_index_mcp_abd" class="mcp" />
<position name="right_index_A_mcp_flex" joint="right_index_mcp_flex" class="rot" />
<position name="right_index_A_pip" joint="right_index_pip" class="dip" />
<position name="right_index_A_dip" joint="right_index_dip" class="pip" />

<position name="right_middle_A_dip" joint="right_middle_dip" class="pip" />
<position name="right_middle_A_pip" joint="right_middle_pip" class="dip" />
<position name="right_middle_A_mcp_abd" joint="right_middle_mcp_abd" class="mcp" />
<position name="right_middle_A_mcp_flex" joint="right_middle_mcp_flex" class="rot" />
<position name="right_middle_A_pip" joint="right_middle_pip" class="dip" />
<position name="right_middle_A_dip" joint="right_middle_dip" class="pip" />

<position name="right_ring_A_dip" joint="right_ring_dip" class="pip" />
<position name="right_ring_A_pip" joint="right_ring_pip" class="dip" />
<position name="right_ring_A_mcp_abd" joint="right_ring_mcp_abd" class="mcp" />
<position name="right_ring_A_mcp_flex" joint="right_ring_mcp_flex" class="rot" />
<position name="right_ring_A_pip" joint="right_ring_pip" class="dip" />
<position name="right_ring_A_dip" joint="right_ring_dip" class="pip" />

<position name="right_pinky_A_dip" joint="right_pinky_dip" class="pip" />
<position name="right_pinky_A_pip" joint="right_pinky_pip" class="dip" />
<position name="right_pinky_A_mcp_abd" joint="right_pinky_mcp_abd" class="mcp" />
<position name="right_pinky_A_mcp_flex" joint="right_pinky_mcp_flex" class="rot" />
<position name="right_pinky_A_pip" joint="right_pinky_pip" class="dip" />
<position name="right_pinky_A_dip" joint="right_pinky_dip" class="pip" />

<!-- <position name="rh_A_TBJ0" tendon="rh_TBJ0" class="thumb_ipl" /> -->

<position name="right_thumb_A_dip" joint="right_thumb_ip" class="thumb_ipl" />
<position name="right_thumb_A_pip" joint="right_thumb_mcp" class="thumb_mcp" />
<position name="right_thumb_A_mcp_abd" joint="right_thumb_cmc_abd" class="thumb_cmc" />
<position name="right_thumb_A_cmc_flex" joint="right_thumb_cmc_flex" class="thumb_axl" />
<position name="right_thumb_A_pip" joint="right_thumb_mcp" class="thumb_mcp" />
<position name="right_thumb_A_dip" joint="right_thumb_ip" class="thumb_ipl" />
</actuator>

<!-- <equality> -->
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14 changes: 7 additions & 7 deletions mujoco_playground/_src/manipulation/tetheria_hand/xmls/scene_mjx_cube.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -51,17 +51,17 @@
<framezaxis name="cube_goal_upvector" objtype="body" objname="goal"/>
</sensor>
<keyframe>
<key name="home" qpos="0 0.8 0.8 0.8
<key name="home" qpos="0 0.75 0.75 0.75
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0.75 0.2 0.2 0.75
0.75 0.2 0.6 0.6
0.12 0.0 0.05 0.810967 -0.00262895 -0.585086 -0.000254303" ctrl="
0.75 0.75 0 0.75
0.75 0.75 0 0.75
0.75 0.75 0 0.75
0.75 0.75 0 0.75
0.75 0.2 0.75 0.2 " mpos="0.25 0.16 0" mquat="1 0 0 0"/>
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0.75 0.2 0.6 0.6 " mpos="0.25 0.16 0" mquat="1 0 0 0"/>
</keyframe>
<!-- <keyframe>
<key name="home" qpos="
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