provenance/generation_code/p03_dynamics/strategy/solve.py

# plan: [stages 1-3] card held; card aligned above slot; card seated and released
# origin=fresh
"""A state-feedback program for the registered Franka/OSC GPU-install task.

Only env.step(action) changes the world. No dataset, checkpoint, reset, state
restoration, controller replacement, or scene-parameter writes are used.
"""
import json
import math
from pathlib import Path


DART_SIGMA = 0.03
SOLVE_PARAMS = {'DART_SIGMA': None}
ENTRIES = {'start': 'unassembled card upright in holder, hand free',
           'preinsert': 'card genuinely held, above front entry, clear of all contacts'}

def solve(env, entry=None, stop_after=None) -> None:
    import torch
    from isaaclab.utils.math import (
        axis_angle_from_quat, quat_apply, quat_conjugate, quat_mul,
    )

    params = json.loads(Path(__file__).with_name('parameters.json').read_text())
    scene, robot = env.scene, env.robot
    art = robot.articulation
    dev, n = env.device, env.num_envs
    assert n == 1, 'This initial phase-1 delivery handles one environment per process'
    osc = robot.controller.controllers[0]
    assert type(osc).__name__ == 'OperationalSpaceController'
    assert robot.action_dim == 8
    hand = art.body_names.index('panda_hand')
    dt = env.dt * robot.control_period
    offset = float(scene.GRASP_PINCH_OFFSET)
    zero = torch.zeros(3, device=dev)
    integral_p, integral_r = zero.clone(), zero.clone()
    steps = 0
    active_phase = 'start'
    if entry not in (None, 'start', 'preinsert'): raise ValueError(entry)

    def v(values): return torch.tensor(values, device=dev, dtype=torch.float32)
    def mul(a,b): return quat_mul(a[None],b[None])[0]
    def inv(q): return quat_conjugate(q[None])[0]
    def rotate(q,x): return quat_apply(q[None],x[None])[0]
    def orientation_error(goal,current):
        if float(torch.dot(goal,current)) < 0: goal = -goal
        return axis_angle_from_quat(mul(goal, inv(current))[None])[0]
    def hp(): return art.data.body_pos_w[0,hand].clone()
    def hq(): return art.data.body_quat_w[0,hand].clone()
    def cp(): return scene.card.data.root_pos_w[0].clone()
    def cq(): return scene.card.data.root_quat_w[0].clone()
    def held(): return bool(scene.grasp_held[0].any())
    def pinch(): return hp() + rotate(hq(),v([0,0,offset]))
    def band(): return cp()+rotate(cq(),v([-.020,sum(scene.CARD_BODY_Y)/2,.1005]))

    def log(phase,**extra):
        print('PHASE1 '+json.dumps(dict(phase=phase,steps=steps,seconds=steps*dt,
            held=held(),card=cp().tolist(),hand=hp().tolist(),
            offset=scene._card_offset_in_case()[0].tolist(),
            depth=float(scene.engaged()[0]),integral_position=integral_p.tolist(),
            integral_rotation=integral_r.tolist(),**extra)),flush=True)

    def tick(goal,quat,finger):
        nonlocal integral_p, integral_r, steps
        ep, er = goal-hp(), orientation_error(quat,hq())
        integral_p=(integral_p+ep*dt).clamp(-.10,.10)
        integral_r=(integral_r+er*dt).clamp(-4.0,4.0)
        dp=ep+params['integral_position']*integral_p
        dr=er+params['integral_rotation']*integral_r
        dr=dr*min(1,2.5/max(float(dr.norm()),1e-9))
        action=torch.zeros((1,8),device=dev)
        action[0,:3]=(dp/osc.cfg.pos_scale).clamp(-6,6)
        action[0,3:6]=(dr/osc.cfg.rot_scale).clamp(-20,20)
        action[0,6:]=finger
        # The preset smooths pose DELTAS, rather than absolute targets. Account
        # for its documented filter in the command; never write controller state.
        if params.get('compensate_action_filter',False) and osc._prev_action is not None:
            alpha=float(osc.cfg.ema_factor)
            action[0,:6]=(action[0,:6]-(1-alpha)*osc._prev_action[0])/alpha
        assert torch.isfinite(action).all()
        # Noise offered independently of noise_scale. Recorder keeps labels clean.
        disturbance = torch.zeros_like(action)
        if active_phase in ('lift_clear', 'transport_waypoint', 'above_case') and float(hp()[2]) > .38:
            disturbance[0, :3] = DART_SIGMA * torch.randn(3, device=dev)
        env.step(action, noise=disturbance)
        steps+=1

    def move(goal_fn,grip,timeout,tag,tol=.002,rot_tol=.035,card_check=None):
        nonlocal active_phase
        active_phase = tag
        ref=hp(); good=0
        for _ in range(max(1,math.ceil(timeout/dt))):
            goal,quat=goal_fn()
            delta=goal-ref; length=float(delta.norm())
            ref=ref+delta*min(1,params['speed']*dt/max(length,1e-9))
            tick(ref,quat,grip)
            goal,quat=goal_fn()
            ok=float((hp()-goal).norm())<tol and float(orientation_error(quat,hq()).norm())<rot_tol
            if card_check is not None:ok=ok and card_check()
            good=good+1 if ok else 0
            if good>=8:log(tag,result='reached');return
        log(tag,result='timeout',position_error=float((hp()-goal).norm()),rotation_error=float(orientation_error(quat,hq()).norm()))
        raise RuntimeError('Stage did not reach its measured gate: '+tag)

    def hold(goal_fn,finger,seconds):
        nonlocal active_phase
        active_phase = 'hold'
        for _ in range(math.ceil(seconds/dt)):
            goal,quat=goal_fn();tick(goal,quat,finger)

    log('start')
    if entry != 'preinsert':
        # Stage 1: acquire the top band and verify a real grasp.
        down=[mul(cq(),v([0,0,1,0])),mul(cq(),v([0,1,0,0]))]
        pick_q=max(down,key=lambda q:abs(float(torch.dot(q,hq())))).clone()
        def pick_goal(height=0):
            return band()-rotate(pick_q,v([0,0,offset]))+v([0,0,height]),pick_q
        move(lambda:pick_goal(.10),.04,18,'above_card',tol=.004,rot_tol=.05)
        move(pick_goal,.04,16,'pinch_aligned',tol=.0025)
        for k in range(math.ceil(2/dt)):
            goal,quat=pick_goal()
            tick(goal,quat,.04+(.0172-.04)*min(1,(k+1)*dt/1.5))
        hold(pick_goal,.0172,1)
        if not held():log('grasp_failed');raise RuntimeError('No grasp after controlled closure')
        log('card_held')
    elif not held():
        raise RuntimeError('preinsert entry requires an actual grasp')
    rel_p=rotate(inv(hq()),cp()-hp())
    rel_q=mul(inv(hq()),cq())
    def card_goal(position,quat):
        # The grasp joint fixes this measured card-in-hand transform. A fixed
        # world-frame hand goal avoids moving the goal in response to its own lag.
        target_q=mul(quat,inv(rel_q))
        return position-rotate(target_q,rel_p),target_q
    def case_point(local):
        return scene.case.data.root_pos_w[0]+rotate(scene.case.data.root_quat_w[0],v(local))
    case_q=scene.case.data.root_quat_w[0].clone()
    seat=list(scene.cfg.seat_pos)
    forward=seat[0]+params['forward_clearance']
    if entry != 'preinsert':
        lift=cp();lift[2]=float(scene.cfg.surface_z)+params['carry_height']
        move(lambda:card_goal(lift,case_q),.0172,25,'lift_clear',tol=.003)
        if not held():raise RuntimeError('Grasp lost during lift')

        # Different plan: side staging stop, then transfer to the case entry.
        waypoint=cp(); waypoint[0]=.34; waypoint[1]=-.14
        waypoint[2]=float(scene.cfg.surface_z)+params['carry_height']
        move(lambda:card_goal(waypoint,case_q),.0172,30,'transport_waypoint',tol=.003)

        # Stage 2: enter forward of the rear panel, then slide through its cutout.
        high=[forward,seat[1],params['carry_height']-float(scene.cfg.case_lift)]
        move(lambda:card_goal(case_point(high),case_q),.0172,40,'above_case',tol=.003)
        if stop_after == 'above_case': return
    above=[forward,seat[1],float(scene.cfg.slot_mouth_z)+params['slide_height']]
    move(lambda:card_goal(case_point(above),case_q),.0172,20,'inside_case',tol=.002)
    aligned=[seat[0],seat[1],above[2]]
    def card_aligned():
        return float((cp()-case_point(aligned)).norm())<.0007 and float(orientation_error(case_q,cq()).norm())<.004
    move(lambda:card_goal(case_point(aligned),case_q),.0172,30,'slot_aligned',tol=.0004,rot_tol=.003,card_check=card_aligned)

    # Stage 3: press, release, retract, then leave the installed card unsupported.
    pressed=[seat[0],seat[1],seat[2]-.001]
    active_phase='press'
    press_z=aligned[2]
    for _ in range(math.ceil(25/dt)):
        press_z=max(pressed[2],press_z-params['press_speed']*dt)
        target,quat=card_goal(case_point([seat[0],seat[1],press_z]),case_q)
        tick(target,quat,.0172)
        if bool(scene.seated()[0]):break
    if not bool(scene.seated()[0]):log('press_failed');raise RuntimeError('Card did not seat')
    log('seated_before_release')
    keep=hp(); keep_q=hq()
    hold(lambda:(keep,keep_q),.04,2)
    up=keep+v([0,0,.14])
    move(lambda:(up,keep_q),.04,16,'hand_clear',tol=.004,rot_tol=.06)
    hold(lambda:(up,keep_q),.04,5)
    log('finished',seated=bool(scene.seated()[0]))
    if held() or not bool(scene.seated()[0]):raise RuntimeError('Card did not remain seated after release')