die-roboter
Version:
A TypeScript library for robot simulation and control with Three.js
160 lines (159 loc) • 6.08 kB
JavaScript
;
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Object.defineProperty(exports, "__esModule", { value: true });
exports.SO101 = void 0;
const enable3d_1 = require("enable3d");
const Robot_1 = require("./Robot");
const THREE = __importStar(require("three"));
/**
* SO101 Robot Implementation
* The first robot in the Die Roboter series
*
* taken from here : https://github.com/huggingface/lerobot/blob/945e1ff2669bb7b31cb7fe6033fe9679767c2442/src/lerobot/teleoperators/so100_leader/so100_leader.py#L47
*/
class SO101 extends Robot_1.Robot {
// Static method to create a cube mesh for physics representation
static createCubeMesh(dimensions, position, rotation) {
const geometry = new THREE.BoxGeometry(dimensions[0], dimensions[1], dimensions[2]);
const material = new THREE.MeshBasicMaterial({ color: 0x00ff00, wireframe: true });
const mesh = new enable3d_1.ExtendedMesh(geometry, material);
// Apply position if provided
if (position) {
mesh.position.set(position[0], position[1], position[2]);
}
// Apply rotation if provided
if (rotation) {
mesh.rotation.set(rotation[0], rotation[1], rotation[2]);
}
return mesh;
}
constructor() {
// Create a base physics representation for the robot
const basePhysicsRepresentation = SO101.createCubeMesh([1, 1, 1], [0, 1, 0], [0, 0, 0]);
// Create cube meshes for physics representations with position and rotation
const shoulderMesh = SO101.createCubeMesh([.6, .4, .7], [-0.25, 0, 0], [0, 0, 0]);
const upperArmMesh = SO101.createCubeMesh([1.3, .3, .7], [-0.4, 0, 0.2], [0, 0, 0]);
const lowerArmMesh = SO101.createCubeMesh([1.3, .3, .7], [-0.4, 0, 0.2], [0, 0, 0]);
const wristMesh = SO101.createCubeMesh([0.3, .8, .7], [0, -0.2, 0.2], [0, 0, 0]);
const gripperMesh = SO101.createCubeMesh([0.2, .8, .7], [-0.2, 0, -0.65], [0, 0, 0]);
const jawMesh = SO101.createCubeMesh([0.2, .8, .7], [0, -0.5, 0.2], [0, 0, 0]);
const base = SO101.createCubeMesh([0.7, .7, .7], [0, 0, 0.34], [0, 0, 0]);
// Define the unmapped pivot map for SO101 robot with names from the UI and -100 to 100 range
const unmappedPivotMap = {
'shoulder_pan': {
name: 'shoulder_pan',
jointName: 'Rotation',
value: 0,
lower: -100,
upper: 100,
physicsRepresentation: {}
},
'shoulder_lift': {
name: 'shoulder_lift',
jointName: 'Pitch',
value: 0,
lower: -100,
upper: 100,
physicsRepresentation: {}
},
'elbow_flex': {
name: 'elbow_flex',
jointName: 'Elbow',
value: 0,
lower: -100,
upper: 100,
physicsRepresentation: {},
},
'wrist_flex': {
name: 'wrist_flex',
jointName: 'Wrist_Pitch',
value: 0,
lower: -100,
upper: 100,
physicsRepresentation: {}
},
'wrist_roll': {
name: 'wrist_roll',
jointName: 'Wrist_Roll',
value: 0,
lower: -100,
upper: 100,
physicsRepresentation: {},
},
'gripper': {
name: 'gripper',
jointName: 'Jaw',
value: 50,
lower: 0,
upper: 100,
physicsRepresentation: {}
}
};
const linkPhysicsMap = {
'shoulder': {
physicsMesh: shoulderMesh
},
'upper_arm': {
physicsMesh: upperArmMesh
},
'lower_arm': {
physicsMesh: lowerArmMesh
},
'wrist': {
physicsMesh: wristMesh
},
'gripper': {
gripper_part_a: true,
physicsMesh: gripperMesh
},
'moving_jaw_so101_v1': {
gripper_part_b: true,
physicsMesh: jawMesh
},
'baseframe': {
physicsMesh: base
}
};
// Call super with options object
super({
name: "SO101",
modelPath: "https://cdn.jsdelivr.net/gh/therealadityashankar/die-roboter/urdf/so101.urdf",
unmappedPivotMap,
basePhysicsRepresentation,
linkPhysicsMap
});
}
}
exports.SO101 = SO101;