Add Haply device API with force feedback and teleoperation demo

scripts/demos/haply_teleoperation.py

@@ -0,0 +1,375 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Demonstration of Haply device teleoperation with a robotic arm.
+
+This script demonstrates how to use a Haply device (Inverse3 + VerseGrip) to
+teleoperate a robotic arm in Isaac Lab. The Haply provides:
+- Position tracking from the Inverse3 device
+- Orientation and button inputs from the VerseGrip device
+- Bidirectional force feedback
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p scripts/demos/haply_teleoperation.py
+
+    # With custom WebSocket URI
+    ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001
+
+    # With sensitivity adjustment
+    ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --sensitivity 2.0
+
+Prerequisites:
+    1. Install websockets package: pip install websockets
+    2. Have Haply SDK running and accessible via WebSocket
+    3. Connect Inverse3 and VerseGrip devices
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Demonstration of Haply device teleoperation with Isaac Lab.")
+parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to spawn.")
+parser.add_argument(
+    "--websocket_uri",
+    type=str,
+    default="ws://localhost:10001",
+    help="WebSocket URI for Haply SDK connection.",
+)
+parser.add_argument(
+    "--pos_sensitivity",
+    type=float,
+    default=1.0,
+    help="Position sensitivity scaling factor.",
+)
+
+AppLauncher.add_app_launcher_args(parser)
+args_cli = parser.parse_args()
+# launch the simulator first
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+import numpy as np
+import torch
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import Articulation, AssetBaseCfg, RigidObject, RigidObjectCfg
+from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg
+from isaaclab.devices import HaplyDevice, HaplyDeviceCfg
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.sensors import ContactSensor, ContactSensorCfg
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+
+from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+
+# Workspace mapping constants
+HAPLY_Z_OFFSET = 0.2  # Haply physical start height offset (m)
+POSITION_SCALE = 1.65  # Scaling factor for position control
+WORKSPACE_LIMITS = {
+    "x": (0.2, 0.9),  # Robot workspace X limits (m)
+    "y": (-0.50, 0.50),  # Robot workspace Y limits (m)
+    "z": (1.05, 1.85),  # Robot workspace Z limits (m)
+}
+
+
+def apply_haply_to_robot_mapping(haply_pos, haply_quat, haply_initial_pos, robot_initial_pos):
+    """Apply coordinate mapping from Haply workspace to Franka Panda end-effector.
+
+    Uses absolute position control: robot position = robot_initial_pos + haply_pos (transformed)
+
+    Args:
+        haply_pos: Current Haply absolute position [x, y, z] in meters
+        haply_quat: Current Haply quaternion [qx, qy, qz, qw] from VerseGrip
+        haply_initial_pos: Haply's zero reference position [x, y, z]
+        robot_initial_pos: Base offset for robot end-effector
+
+    Returns:
+        robot_pos: Target position for robot EE in world frame [x, y, z]
+        robot_quat: Target quaternion in Isaac format [qw, qx, qy, qz]
+    """
+    # Convert to numpy
+    if isinstance(haply_pos, torch.Tensor):
+        haply_pos = haply_pos.cpu().numpy()
+    if isinstance(haply_quat, torch.Tensor):
+        haply_quat = haply_quat.cpu().numpy()
+    if isinstance(robot_initial_pos, torch.Tensor):
+        robot_initial_pos = robot_initial_pos.cpu().numpy()
+
+    haply_delta = haply_pos - haply_initial_pos
+
+    # Coordinate system mapping: Haply (X, Y, Z) -> Robot (-Y, X, Z-offset)
+    robot_offset = np.array([-haply_delta[1], haply_delta[0], haply_delta[2] - HAPLY_Z_OFFSET])
+    robot_offset_scaled = robot_offset * POSITION_SCALE
+    robot_pos = robot_initial_pos + robot_offset_scaled
+
+    # Apply workspace limits for safety
+    robot_pos[0] = np.clip(robot_pos[0], WORKSPACE_LIMITS["x"][0], WORKSPACE_LIMITS["x"][1])
+    robot_pos[1] = np.clip(robot_pos[1], WORKSPACE_LIMITS["y"][0], WORKSPACE_LIMITS["y"][1])
+    robot_pos[2] = np.clip(robot_pos[2], WORKSPACE_LIMITS["z"][0], WORKSPACE_LIMITS["z"][1])
+
+    robot_quat = np.array([haply_quat[3], haply_quat[0], haply_quat[1], haply_quat[2]])
+
+    return robot_pos, robot_quat
+
+
+@configclass
+class FrankaHaplySceneCfg(InteractiveSceneCfg):
+    """Configuration for Franka scene with Haply teleoperation and contact sensors."""
+
+    # Ground plane
+    ground = AssetBaseCfg(
+        prim_path="/World/defaultGroundPlane",
+        spawn=sim_utils.GroundPlaneCfg(),
+    )
+
+    dome_light = AssetBaseCfg(
+        prim_path="/World/Light",
+        spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),
+    )
+
+    table = AssetBaseCfg(
+        prim_path="{ENV_REGEX_NS}/Table",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd",
+            scale=(2.0, 1.0, 1.0),
+        ),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.50, 0.0, 1.05)),
+    )
+
+    robot: Articulation = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+    robot.init_state.pos = (0.1, 0.0, 1.05)
+    robot.spawn.activate_contact_sensors = True
+
+    cube = RigidObjectCfg(
+        prim_path="{ENV_REGEX_NS}/Cube",
+        spawn=sim_utils.CuboidCfg(
+            size=(0.06, 0.06, 0.06),
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+            mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
+            collision_props=sim_utils.CollisionPropertiesCfg(),
+            physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.5, dynamic_friction=0.5),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.2, 0.8, 0.2), metallic=0.2),
+        ),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.65, -0.05, 1.15)),
+    )
+
+    left_finger_contact_sensor = ContactSensorCfg(
+        prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
+        update_period=0.0,
+        history_length=3,
+        debug_vis=True,
+        track_pose=True,
+    )
+
+    right_finger_contact_sensor = ContactSensorCfg(
+        prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
+        update_period=0.0,
+        history_length=3,
+        debug_vis=True,
+        track_pose=True,
+    )
+
+
+def run_simulator(
+    sim: sim_utils.SimulationContext,
+    scene: InteractiveScene,
+    haply_device: HaplyDevice,
+):
+    """Runs the simulation loop with Haply teleoperation."""
+    sim_dt = sim.get_physics_dt()
+    count = 1
+
+    robot: Articulation = scene["robot"]
+    cube: RigidObject = scene["cube"]
+    left_finger_sensor: ContactSensor = scene["left_finger_contact_sensor"]
+    right_finger_sensor: ContactSensor = scene["right_finger_contact_sensor"]
+
+    ee_body_name = "panda_hand"
+    ee_body_idx = robot.body_names.index(ee_body_name)
+
+    joint_pos = robot.data.default_joint_pos.clone()
+    joint_pos[0, :7] = torch.tensor([0.0, -0.569, 0.0, -2.81, 0.0, 3.037, 0.741], device=robot.device)
+    joint_vel = robot.data.default_joint_vel.clone()
+    robot.write_joint_state_to_sim(joint_pos, joint_vel)
+
+    for i in range(10):
+        scene.write_data_to_sim()
+        sim.step()
+        scene.update(sim_dt)
+
+    # Initialize the position of franka
+    robot_initial_pos = robot.data.body_pos_w[0, ee_body_idx].cpu().numpy()
+    haply_initial_pos = [0, 0, 0]
+
+    ik_controller_cfg = DifferentialIKControllerCfg(
+        command_type="position",
+        use_relative_mode=False,
+        ik_method="dls",
+        ik_params={"lambda_val": 0.05},
+    )
+
+    arm_joint_names = [
+        "panda_joint1",
+        "panda_joint2",
+        "panda_joint3",
+        "panda_joint4",
+        "panda_joint5",
+        "panda_joint6",
+        "panda_joint7",
+    ]
+    arm_joint_indices = [robot.joint_names.index(name) for name in arm_joint_names]
+
+    # Initialize IK controller
+    ik_controller = DifferentialIKController(cfg=ik_controller_cfg, num_envs=scene.num_envs, device=sim.device)
+
+    initial_ee_quat = robot.data.body_quat_w[:, ee_body_idx]
+    ik_controller.set_command(command=torch.zeros(scene.num_envs, 3, device=sim.device), ee_quat=initial_ee_quat)
+
+    prev_button_a = False
+    prev_button_b = False
+    prev_button_c = False
+
+    gripper_target = 0.04
+
+    # Initialize the rotation of franka end-effector
+    ee_rotation_angle = robot.data.joint_pos[0, 6].item()
+    rotation_step = np.pi / 3
+
+    print("\n[INFO] Teleoperation ready!")
+    print("  Move handler: Control pose of the end-effector")
+    print("  Button A: Open | Button B: Close | Button C: Rotate EE (60°)\n")
+
+    while simulation_app.is_running():
+        if count % 10000 == 0:
+            count = 1
+            root_state = robot.data.default_root_state.clone()
+            root_state[:, :3] += scene.env_origins
+            robot.write_root_pose_to_sim(root_state[:, :7])
+            robot.write_root_velocity_to_sim(root_state[:, 7:])
+
+            joint_pos = robot.data.default_joint_pos.clone()
+            joint_pos[0, :7] = torch.tensor([0.0, -0.569, 0.0, -2.81, 0.0, 3.037, 0.741], device=robot.device)
+            joint_vel = robot.data.default_joint_vel.clone()
+            robot.write_joint_state_to_sim(joint_pos, joint_vel)
+
+            cube_state = cube.data.default_root_state.clone()
+            cube_state[:, :3] += scene.env_origins
+            cube.write_root_pose_to_sim(cube_state[:, :7])
+            cube.write_root_velocity_to_sim(cube_state[:, 7:])
+
+            scene.reset()
+            haply_device.reset()
+            ik_controller.reset()
+            print("[INFO]: Resetting robot state...")
+
+        # Get the data from Haply device
+        haply_data = haply_device.advance()
+
+        haply_pos = haply_data[:3]
+        haply_quat = haply_data[3:7]
+        button_a = haply_data[7].item() > 0.5
+        button_b = haply_data[8].item() > 0.5
+        button_c = haply_data[9].item() > 0.5
+
+        if button_a and not prev_button_a:
+            gripper_target = 0.04  # Open gripper
+        if button_b and not prev_button_b:
+            gripper_target = 0.0  # Close gripper
+        if button_c and not prev_button_c:
+            joint_7_limit = 3.0
+            ee_rotation_angle += rotation_step
+
+            if ee_rotation_angle > joint_7_limit:
+                ee_rotation_angle = -joint_7_limit + (ee_rotation_angle - joint_7_limit)
+            elif ee_rotation_angle < -joint_7_limit:
+                ee_rotation_angle = joint_7_limit + (ee_rotation_angle + joint_7_limit)
+
+        prev_button_a = button_a
+        prev_button_b = button_b
+        prev_button_c = button_c
+
+        # Compute IK
+        target_pos, target_quat = apply_haply_to_robot_mapping(
+            haply_pos, haply_quat, haply_initial_pos, robot_initial_pos
+        )
+
+        target_pos_tensor = torch.tensor(target_pos, dtype=torch.float32, device=sim.device).unsqueeze(0)
+
+        current_joint_pos = robot.data.joint_pos[:, arm_joint_indices]
+        ee_pos_w = robot.data.body_pos_w[:, ee_body_idx]
+        ee_quat_w = robot.data.body_quat_w[:, ee_body_idx]
+
+        jacobian = robot.root_physx_view.get_jacobians()[:, ee_body_idx, :, arm_joint_indices]
+        ik_controller.set_command(command=target_pos_tensor, ee_quat=ee_quat_w)
+        joint_pos_des = ik_controller.compute(ee_pos_w, ee_quat_w, jacobian, current_joint_pos)
+
+        joint_pos_target = robot.data.joint_pos[0].clone()
+
+        # Update joints
+        joint_pos_target[arm_joint_indices[:-1]] = joint_pos_des[0, :-1]  # joints 0-5 from IK
+        joint_pos_target[6] = ee_rotation_angle  # end-effector rotation
+        joint_pos_target[[-2, -1]] = gripper_target  # gripper
+
+        robot.set_joint_position_target(joint_pos_target.unsqueeze(0))
+
+        for _ in range(5):
+            scene.write_data_to_sim()
+            sim.step()
+
+        scene.update(sim_dt)
+        count += 1
+
+        # Force feedback
+        left_finger_forces = left_finger_sensor.data.net_forces_w[0, 0]
+        right_finger_forces = right_finger_sensor.data.net_forces_w[0, 0]
+        total_contact_force = (left_finger_forces + right_finger_forces) * 0.5
+        feedback_force = torch.clamp(total_contact_force, -2.0, 2.0)
+        haply_device.set_force_feedback(feedback_force[0].item(), feedback_force[1].item(), feedback_force[2].item())
+
+
+def main():
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, dt=1 / 200)
+    sim = sim_utils.SimulationContext(sim_cfg)
+
+    # set the simulation view
+    sim.set_camera_view([1.6, 1.0, 1.70], [0.4, 0.0, 1.0])
+
+    scene_cfg = FrankaHaplySceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
+    scene = InteractiveScene(scene_cfg)
+
+    # Create Haply device
+    print(f"[INFO] Connecting to Haply device at {args_cli.websocket_uri}...")
+    haply_cfg = HaplyDeviceCfg(
+        websocket_uri=args_cli.websocket_uri,
+        pos_sensitivity=args_cli.pos_sensitivity,
+        sim_device=args_cli.device,
+    )
+
+    try:
+        haply_device = HaplyDevice(cfg=haply_cfg)
+        print(f"[INFO] Haply connected: {args_cli.websocket_uri}")
+    except Exception as e:
+        print(f"[ERROR] Failed to connect: {e}")
+        simulation_app.close()
+        return
+
+    sim.reset()
+
+    try:
+        run_simulator(sim, scene, haply_device)
+    finally:
+        haply_device.close()
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()

source/isaaclab/isaaclab/devices/__init__.py

@@ -11,6 +11,7 @@
 * **Spacemouse**: 3D mouse with 6 degrees of freedom.
 * **Gamepad**: Gamepad with 2D two joysticks and buttons. Example: Xbox controller.
 * **OpenXR**: Uses hand tracking of index/thumb tip avg to drive the target pose. Gripping is done with pinching.
+* **Haply**: Haptic device (Inverse3 + VerseGrip) with position, orientation tracking and force feedback.
 
 All device interfaces inherit from the :class:`DeviceBase` class, which provides a
 common interface for all devices. The device interface reads the input data when
@@ -21,6 +22,7 @@
 
 from .device_base import DeviceBase, DeviceCfg, DevicesCfg
 from .gamepad import Se2Gamepad, Se2GamepadCfg, Se3Gamepad, Se3GamepadCfg
+from .haply import HaplyDevice, HaplyDeviceCfg
 from .keyboard import Se2Keyboard, Se2KeyboardCfg, Se3Keyboard, Se3KeyboardCfg
 from .openxr import ManusVive, ManusViveCfg, OpenXRDevice, OpenXRDeviceCfg
 from .retargeter_base import RetargeterBase, RetargeterCfg