Merge branch 'main' of https://git.matai.center/hangX/mindbot
This commit is contained in:
@@ -0,0 +1,8 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
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||||
|
||||
"""Imitation learning tasks."""
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import gymnasium as gym # noqa: F401
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||||
40
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/__init__.py
Executable file
40
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/__init__.py
Executable file
@@ -0,0 +1,40 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
import gymnasium as gym
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||||
|
||||
# from . import agents
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||||
from .agents import *
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||||
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##
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# Register Gym environments.
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||||
##
|
||||
|
||||
##
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||||
# MindRobot Left Arm IK-Rel (keyboard teleop)
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||||
##
|
||||
|
||||
# gym.register(
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||||
# id="Isaac-MindRobot-LeftArm-IK-Rel-v0",
|
||||
# entry_point="isaaclab.envs:ManagerBasedRLEnv",
|
||||
# kwargs={
|
||||
# "env_cfg_entry_point": (
|
||||
# "isaaclab_tasks.manager_based.manipulation.mindrobot."
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||||
# "mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKRelEnvCfg"
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||||
# ),
|
||||
# "robomimic_bc_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.mindrobot.agents:robomimic/bc_rnn_low_dim.json",
|
||||
# },
|
||||
# disable_env_checker=True,
|
||||
# )
|
||||
# ...existing code...
|
||||
gym.register(
|
||||
id="Isaac-MindRobot-LeftArm-IK-Rel-v0",
|
||||
entry_point="isaaclab.envs:ManagerBasedRLEnv",
|
||||
kwargs={
|
||||
"env_cfg_entry_point": f"{__name__}.mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKEnvCfg",
|
||||
"robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
|
||||
},
|
||||
disable_env_checker=True,
|
||||
)
|
||||
# ...existing code...
|
||||
@@ -0,0 +1,4 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
@@ -0,0 +1,219 @@
|
||||
{
|
||||
"algo_name": "bc",
|
||||
"experiment": {
|
||||
"name": "bc_rnn_image_franka_stack",
|
||||
"validate": false,
|
||||
"logging": {
|
||||
"terminal_output_to_txt": true,
|
||||
"log_tb": true
|
||||
},
|
||||
"save": {
|
||||
"enabled": true,
|
||||
"every_n_seconds": null,
|
||||
"every_n_epochs": 20,
|
||||
"epochs": [],
|
||||
"on_best_validation": false,
|
||||
"on_best_rollout_return": false,
|
||||
"on_best_rollout_success_rate": true
|
||||
},
|
||||
"epoch_every_n_steps": 500,
|
||||
"env": null,
|
||||
"additional_envs": null,
|
||||
"render": false,
|
||||
"render_video": false,
|
||||
"rollout": {
|
||||
"enabled": false
|
||||
}
|
||||
},
|
||||
"train": {
|
||||
"data": null,
|
||||
"num_data_workers": 4,
|
||||
"hdf5_cache_mode": "low_dim",
|
||||
"hdf5_use_swmr": true,
|
||||
"hdf5_load_next_obs": false,
|
||||
"hdf5_normalize_obs": false,
|
||||
"hdf5_filter_key": null,
|
||||
"hdf5_validation_filter_key": null,
|
||||
"seq_length": 10,
|
||||
"pad_seq_length": true,
|
||||
"frame_stack": 1,
|
||||
"pad_frame_stack": true,
|
||||
"dataset_keys": [
|
||||
"actions",
|
||||
"rewards",
|
||||
"dones"
|
||||
],
|
||||
"goal_mode": null,
|
||||
"cuda": true,
|
||||
"batch_size": 16,
|
||||
"num_epochs": 600,
|
||||
"seed": 101
|
||||
},
|
||||
"algo": {
|
||||
"optim_params": {
|
||||
"policy": {
|
||||
"optimizer_type": "adam",
|
||||
"learning_rate": {
|
||||
"initial": 0.0001,
|
||||
"decay_factor": 0.1,
|
||||
"epoch_schedule": [],
|
||||
"scheduler_type": "multistep"
|
||||
},
|
||||
"regularization": {
|
||||
"L2": 0.0
|
||||
}
|
||||
}
|
||||
},
|
||||
"loss": {
|
||||
"l2_weight": 1.0,
|
||||
"l1_weight": 0.0,
|
||||
"cos_weight": 0.0
|
||||
},
|
||||
"actor_layer_dims": [],
|
||||
"gaussian": {
|
||||
"enabled": false,
|
||||
"fixed_std": false,
|
||||
"init_std": 0.1,
|
||||
"min_std": 0.01,
|
||||
"std_activation": "softplus",
|
||||
"low_noise_eval": true
|
||||
},
|
||||
"gmm": {
|
||||
"enabled": true,
|
||||
"num_modes": 5,
|
||||
"min_std": 0.0001,
|
||||
"std_activation": "softplus",
|
||||
"low_noise_eval": true
|
||||
},
|
||||
"vae": {
|
||||
"enabled": false,
|
||||
"latent_dim": 14,
|
||||
"latent_clip": null,
|
||||
"kl_weight": 1.0,
|
||||
"decoder": {
|
||||
"is_conditioned": true,
|
||||
"reconstruction_sum_across_elements": false
|
||||
},
|
||||
"prior": {
|
||||
"learn": false,
|
||||
"is_conditioned": false,
|
||||
"use_gmm": false,
|
||||
"gmm_num_modes": 10,
|
||||
"gmm_learn_weights": false,
|
||||
"use_categorical": false,
|
||||
"categorical_dim": 10,
|
||||
"categorical_gumbel_softmax_hard": false,
|
||||
"categorical_init_temp": 1.0,
|
||||
"categorical_temp_anneal_step": 0.001,
|
||||
"categorical_min_temp": 0.3
|
||||
},
|
||||
"encoder_layer_dims": [
|
||||
300,
|
||||
400
|
||||
],
|
||||
"decoder_layer_dims": [
|
||||
300,
|
||||
400
|
||||
],
|
||||
"prior_layer_dims": [
|
||||
300,
|
||||
400
|
||||
]
|
||||
},
|
||||
"rnn": {
|
||||
"enabled": true,
|
||||
"horizon": 10,
|
||||
"hidden_dim": 1000,
|
||||
"rnn_type": "LSTM",
|
||||
"num_layers": 2,
|
||||
"open_loop": false,
|
||||
"kwargs": {
|
||||
"bidirectional": false
|
||||
}
|
||||
},
|
||||
"transformer": {
|
||||
"enabled": false,
|
||||
"context_length": 10,
|
||||
"embed_dim": 512,
|
||||
"num_layers": 6,
|
||||
"num_heads": 8,
|
||||
"emb_dropout": 0.1,
|
||||
"attn_dropout": 0.1,
|
||||
"block_output_dropout": 0.1,
|
||||
"sinusoidal_embedding": false,
|
||||
"activation": "gelu",
|
||||
"supervise_all_steps": false,
|
||||
"nn_parameter_for_timesteps": true
|
||||
}
|
||||
},
|
||||
"observation": {
|
||||
"modalities": {
|
||||
"obs": {
|
||||
"low_dim": [
|
||||
"eef_pos",
|
||||
"eef_quat",
|
||||
"gripper_pos"
|
||||
],
|
||||
"rgb": [
|
||||
"table_cam",
|
||||
"wrist_cam"
|
||||
],
|
||||
"depth": [],
|
||||
"scan": []
|
||||
},
|
||||
"goal": {
|
||||
"low_dim": [],
|
||||
"rgb": [],
|
||||
"depth": [],
|
||||
"scan": []
|
||||
}
|
||||
},
|
||||
"encoder": {
|
||||
"low_dim": {
|
||||
"core_class": null,
|
||||
"core_kwargs": {},
|
||||
"obs_randomizer_class": null,
|
||||
"obs_randomizer_kwargs": {}
|
||||
},
|
||||
"rgb": {
|
||||
"core_class": "VisualCore",
|
||||
"core_kwargs": {
|
||||
"feature_dimension": 64,
|
||||
"flatten": true,
|
||||
"backbone_class": "ResNet18Conv",
|
||||
"backbone_kwargs": {
|
||||
"pretrained": false,
|
||||
"input_coord_conv": false
|
||||
},
|
||||
"pool_class": "SpatialSoftmax",
|
||||
"pool_kwargs": {
|
||||
"num_kp": 32,
|
||||
"learnable_temperature": false,
|
||||
"temperature": 1.0,
|
||||
"noise_std": 0.0,
|
||||
"output_variance": false
|
||||
}
|
||||
},
|
||||
"obs_randomizer_class": "CropRandomizer",
|
||||
"obs_randomizer_kwargs": {
|
||||
"crop_height": 181,
|
||||
"crop_width": 181,
|
||||
"num_crops": 1,
|
||||
"pos_enc": false
|
||||
}
|
||||
},
|
||||
"depth": {
|
||||
"core_class": "VisualCore",
|
||||
"core_kwargs": {},
|
||||
"obs_randomizer_class": null,
|
||||
"obs_randomizer_kwargs": {}
|
||||
},
|
||||
"scan": {
|
||||
"core_class": "ScanCore",
|
||||
"core_kwargs": {},
|
||||
"obs_randomizer_class": null,
|
||||
"obs_randomizer_kwargs": {}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,218 @@
|
||||
{
|
||||
"algo_name": "bc",
|
||||
"experiment": {
|
||||
"name": "bc_rnn_image_franka_stack_cosmos",
|
||||
"validate": false,
|
||||
"logging": {
|
||||
"terminal_output_to_txt": true,
|
||||
"log_tb": true
|
||||
},
|
||||
"save": {
|
||||
"enabled": true,
|
||||
"every_n_seconds": null,
|
||||
"every_n_epochs": 20,
|
||||
"epochs": [],
|
||||
"on_best_validation": false,
|
||||
"on_best_rollout_return": false,
|
||||
"on_best_rollout_success_rate": true
|
||||
},
|
||||
"epoch_every_n_steps": 500,
|
||||
"env": null,
|
||||
"additional_envs": null,
|
||||
"render": false,
|
||||
"render_video": false,
|
||||
"rollout": {
|
||||
"enabled": false
|
||||
}
|
||||
},
|
||||
"train": {
|
||||
"data": null,
|
||||
"num_data_workers": 4,
|
||||
"hdf5_cache_mode": "low_dim",
|
||||
"hdf5_use_swmr": true,
|
||||
"hdf5_load_next_obs": false,
|
||||
"hdf5_normalize_obs": false,
|
||||
"hdf5_filter_key": null,
|
||||
"hdf5_validation_filter_key": null,
|
||||
"seq_length": 10,
|
||||
"pad_seq_length": true,
|
||||
"frame_stack": 1,
|
||||
"pad_frame_stack": true,
|
||||
"dataset_keys": [
|
||||
"actions",
|
||||
"rewards",
|
||||
"dones"
|
||||
],
|
||||
"goal_mode": null,
|
||||
"cuda": true,
|
||||
"batch_size": 16,
|
||||
"num_epochs": 600,
|
||||
"seed": 101
|
||||
},
|
||||
"algo": {
|
||||
"optim_params": {
|
||||
"policy": {
|
||||
"optimizer_type": "adam",
|
||||
"learning_rate": {
|
||||
"initial": 0.0001,
|
||||
"decay_factor": 0.1,
|
||||
"epoch_schedule": [],
|
||||
"scheduler_type": "multistep"
|
||||
},
|
||||
"regularization": {
|
||||
"L2": 0.0
|
||||
}
|
||||
}
|
||||
},
|
||||
"loss": {
|
||||
"l2_weight": 1.0,
|
||||
"l1_weight": 0.0,
|
||||
"cos_weight": 0.0
|
||||
},
|
||||
"actor_layer_dims": [],
|
||||
"gaussian": {
|
||||
"enabled": false,
|
||||
"fixed_std": false,
|
||||
"init_std": 0.1,
|
||||
"min_std": 0.01,
|
||||
"std_activation": "softplus",
|
||||
"low_noise_eval": true
|
||||
},
|
||||
"gmm": {
|
||||
"enabled": true,
|
||||
"num_modes": 5,
|
||||
"min_std": 0.0001,
|
||||
"std_activation": "softplus",
|
||||
"low_noise_eval": true
|
||||
},
|
||||
"vae": {
|
||||
"enabled": false,
|
||||
"latent_dim": 14,
|
||||
"latent_clip": null,
|
||||
"kl_weight": 1.0,
|
||||
"decoder": {
|
||||
"is_conditioned": true,
|
||||
"reconstruction_sum_across_elements": false
|
||||
},
|
||||
"prior": {
|
||||
"learn": false,
|
||||
"is_conditioned": false,
|
||||
"use_gmm": false,
|
||||
"gmm_num_modes": 10,
|
||||
"gmm_learn_weights": false,
|
||||
"use_categorical": false,
|
||||
"categorical_dim": 10,
|
||||
"categorical_gumbel_softmax_hard": false,
|
||||
"categorical_init_temp": 1.0,
|
||||
"categorical_temp_anneal_step": 0.001,
|
||||
"categorical_min_temp": 0.3
|
||||
},
|
||||
"encoder_layer_dims": [
|
||||
300,
|
||||
400
|
||||
],
|
||||
"decoder_layer_dims": [
|
||||
300,
|
||||
400
|
||||
],
|
||||
"prior_layer_dims": [
|
||||
300,
|
||||
400
|
||||
]
|
||||
},
|
||||
"rnn": {
|
||||
"enabled": true,
|
||||
"horizon": 10,
|
||||
"hidden_dim": 1000,
|
||||
"rnn_type": "LSTM",
|
||||
"num_layers": 2,
|
||||
"open_loop": false,
|
||||
"kwargs": {
|
||||
"bidirectional": false
|
||||
}
|
||||
},
|
||||
"transformer": {
|
||||
"enabled": false,
|
||||
"context_length": 10,
|
||||
"embed_dim": 512,
|
||||
"num_layers": 6,
|
||||
"num_heads": 8,
|
||||
"emb_dropout": 0.1,
|
||||
"attn_dropout": 0.1,
|
||||
"block_output_dropout": 0.1,
|
||||
"sinusoidal_embedding": false,
|
||||
"activation": "gelu",
|
||||
"supervise_all_steps": false,
|
||||
"nn_parameter_for_timesteps": true
|
||||
}
|
||||
},
|
||||
"observation": {
|
||||
"modalities": {
|
||||
"obs": {
|
||||
"low_dim": [
|
||||
"eef_pos",
|
||||
"eef_quat",
|
||||
"gripper_pos"
|
||||
],
|
||||
"rgb": [
|
||||
"table_cam"
|
||||
],
|
||||
"depth": [],
|
||||
"scan": []
|
||||
},
|
||||
"goal": {
|
||||
"low_dim": [],
|
||||
"rgb": [],
|
||||
"depth": [],
|
||||
"scan": []
|
||||
}
|
||||
},
|
||||
"encoder": {
|
||||
"low_dim": {
|
||||
"core_class": null,
|
||||
"core_kwargs": {},
|
||||
"obs_randomizer_class": null,
|
||||
"obs_randomizer_kwargs": {}
|
||||
},
|
||||
"rgb": {
|
||||
"core_class": "VisualCore",
|
||||
"core_kwargs": {
|
||||
"feature_dimension": 64,
|
||||
"flatten": true,
|
||||
"backbone_class": "ResNet18Conv",
|
||||
"backbone_kwargs": {
|
||||
"pretrained": false,
|
||||
"input_coord_conv": false
|
||||
},
|
||||
"pool_class": "SpatialSoftmax",
|
||||
"pool_kwargs": {
|
||||
"num_kp": 32,
|
||||
"learnable_temperature": false,
|
||||
"temperature": 1.0,
|
||||
"noise_std": 0.0,
|
||||
"output_variance": false
|
||||
}
|
||||
},
|
||||
"obs_randomizer_class": "CropRandomizer",
|
||||
"obs_randomizer_kwargs": {
|
||||
"crop_height": 180,
|
||||
"crop_width": 180,
|
||||
"num_crops": 1,
|
||||
"pos_enc": false
|
||||
}
|
||||
},
|
||||
"depth": {
|
||||
"core_class": "VisualCore",
|
||||
"core_kwargs": {},
|
||||
"obs_randomizer_class": null,
|
||||
"obs_randomizer_kwargs": {}
|
||||
},
|
||||
"scan": {
|
||||
"core_class": "ScanCore",
|
||||
"core_kwargs": {},
|
||||
"obs_randomizer_class": null,
|
||||
"obs_randomizer_kwargs": {}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,101 @@
|
||||
{
|
||||
"algo_name": "bc",
|
||||
"experiment": {
|
||||
"name": "bc_rnn_low_dim_mindbot_stack",
|
||||
"validate": false,
|
||||
"logging": {
|
||||
"terminal_output_to_txt": true,
|
||||
"log_tb": true
|
||||
},
|
||||
"save": {
|
||||
"enabled": true,
|
||||
"every_n_seconds": null,
|
||||
"every_n_epochs": 100,
|
||||
"epochs": [],
|
||||
"on_best_validation": false,
|
||||
"on_best_rollout_return": false,
|
||||
"on_best_rollout_success_rate": true
|
||||
},
|
||||
"epoch_every_n_steps": 100,
|
||||
"env": null,
|
||||
"additional_envs": null,
|
||||
"render": false,
|
||||
"render_video": false,
|
||||
"rollout": {
|
||||
"enabled": false
|
||||
}
|
||||
},
|
||||
"train": {
|
||||
"data": null,
|
||||
"num_data_workers": 4,
|
||||
"hdf5_cache_mode": "all",
|
||||
"hdf5_use_swmr": true,
|
||||
"hdf5_normalize_obs": false,
|
||||
"hdf5_filter_key": null,
|
||||
"hdf5_validation_filter_key": null,
|
||||
"seq_length": 10,
|
||||
"dataset_keys": [
|
||||
"actions"
|
||||
],
|
||||
"goal_mode": null,
|
||||
"cuda": true,
|
||||
"batch_size": 100,
|
||||
"num_epochs": 2000,
|
||||
"seed": 101
|
||||
},
|
||||
"algo": {
|
||||
"optim_params": {
|
||||
"policy": {
|
||||
"optimizer_type": "adam",
|
||||
"learning_rate": {
|
||||
"initial": 0.001,
|
||||
"decay_factor": 0.1,
|
||||
"epoch_schedule": [],
|
||||
"scheduler_type": "multistep"
|
||||
},
|
||||
"regularization": {
|
||||
"L2": 0.0
|
||||
}
|
||||
}
|
||||
},
|
||||
"loss": {
|
||||
"l2_weight": 1.0,
|
||||
"l1_weight": 0.0,
|
||||
"cos_weight": 0.0
|
||||
},
|
||||
"actor_layer_dims": [],
|
||||
"gmm": {
|
||||
"enabled": true,
|
||||
"num_modes": 5,
|
||||
"min_std": 0.0001,
|
||||
"std_activation": "softplus",
|
||||
"low_noise_eval": true
|
||||
},
|
||||
"rnn": {
|
||||
"enabled": true,
|
||||
"horizon": 10,
|
||||
"hidden_dim": 400,
|
||||
"rnn_type": "LSTM",
|
||||
"num_layers": 2,
|
||||
"open_loop": false,
|
||||
"kwargs": {
|
||||
"bidirectional": false
|
||||
}
|
||||
}
|
||||
},
|
||||
"observation": {
|
||||
"modalities": {
|
||||
"obs": {
|
||||
"low_dim": [
|
||||
"eef_pos",
|
||||
"eef_quat",
|
||||
"gripper_pos",
|
||||
"object"
|
||||
],
|
||||
"rgb": [],
|
||||
"depth": [],
|
||||
"scan": []
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
120
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py
Executable file
120
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py
Executable file
@@ -0,0 +1,120 @@
|
||||
# Copyright (c) 2024, MindRobot Project
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
"""Configuration for MindRobot dual-arm robot."""
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.actuators import ImplicitActuatorCfg
|
||||
from isaaclab.assets import ArticulationCfg
|
||||
|
||||
##
|
||||
# ✅ 使用你的本地 USD 绝对路径
|
||||
##
|
||||
|
||||
MINDBOT_CFG = ArticulationCfg(
|
||||
spawn=sim_utils.UsdFileCfg(
|
||||
# =====================================================
|
||||
# ✅ 你的本地 USD 文件路径
|
||||
# =====================================================
|
||||
usd_path="/home/tangger/DataDisk/maic_usd_assets/robots/mindrobot-1105-lab/mindrobot_cd2.usd",
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(
|
||||
disable_gravity=False,
|
||||
max_depenetration_velocity=1.0,
|
||||
linear_damping=0.5,
|
||||
angular_damping=0.5,
|
||||
),
|
||||
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
|
||||
fix_root_link=True,
|
||||
enabled_self_collisions=False,
|
||||
solver_position_iteration_count=16,
|
||||
solver_velocity_iteration_count=8,
|
||||
stabilization_threshold=1e-6,
|
||||
),
|
||||
collision_props=sim_utils.CollisionPropertiesCfg(
|
||||
collision_enabled=True,
|
||||
contact_offset=0.0005,
|
||||
rest_offset=0,
|
||||
),
|
||||
),
|
||||
init_state=ArticulationCfg.InitialStateCfg(
|
||||
joint_pos={
|
||||
# ====== 左臂关节（主控臂）======
|
||||
"l_joint1": 2.3562, # 135°
|
||||
"l_joint2": -1.2217, # -70°
|
||||
"l_joint3": -1.5708, # -90°
|
||||
"l_joint4": 1.5708, # 90°
|
||||
"l_joint5": 1.5708, # 90°
|
||||
"l_joint6": -1.2217, # -70°
|
||||
# ====== 右臂关节（静止）======
|
||||
"r_joint1": 0.0,
|
||||
"r_joint2": 0.0,
|
||||
"r_joint3": 0.0,
|
||||
"r_joint4": 0.0,
|
||||
"r_joint5": 0.0,
|
||||
"r_joint6": 0.0,
|
||||
# ====== 左手夹爪 ======
|
||||
"left_hand_joint_left": 0.0, # 0.0=打开, -0.03=闭合
|
||||
"left_hand_joint_right": 0.0, # 0.0=打开, 0.03=闭合
|
||||
# ====== 右手夹爪 ======
|
||||
"right_hand_joint_left": 0.0,
|
||||
"right_hand_joint_right": 0.0,
|
||||
# ====== 躯干 ======
|
||||
"PrismaticJoint": 0.26,
|
||||
# ====== 头部 ======
|
||||
"head_revoluteJoint": 0.0,
|
||||
},
|
||||
pos=(0, 0, 0.05),
|
||||
),
|
||||
actuators={
|
||||
"left_arm": ImplicitActuatorCfg(
|
||||
joint_names_expr=["l_joint[1-6]"],
|
||||
effort_limit_sim=100.0,
|
||||
velocity_limit_sim=100.0,
|
||||
# ✅ IK 控制需要高刚度
|
||||
stiffness=10000.0,
|
||||
damping=1000.0,
|
||||
),
|
||||
"right_arm": ImplicitActuatorCfg(
|
||||
joint_names_expr=["r_joint[1-6]"],
|
||||
effort_limit_sim=100.0,
|
||||
velocity_limit_sim=100.0,
|
||||
stiffness=10000.0,
|
||||
damping=1000.0,
|
||||
),
|
||||
"head": ImplicitActuatorCfg(
|
||||
joint_names_expr=["head_revoluteJoint"],
|
||||
stiffness=10000.0,
|
||||
damping=1000.0,
|
||||
),
|
||||
"trunk": ImplicitActuatorCfg(
|
||||
joint_names_expr=["PrismaticJoint"],
|
||||
stiffness=40000.0,
|
||||
damping=4000.0,
|
||||
effort_limit_sim=10000.0,
|
||||
velocity_limit_sim=0.2,
|
||||
),
|
||||
"wheels": ImplicitActuatorCfg(
|
||||
joint_names_expr=[".*_revolute_Joint"],
|
||||
stiffness=0.0,
|
||||
damping=100.0,
|
||||
effort_limit_sim=200.0,
|
||||
velocity_limit_sim=50.0,
|
||||
),
|
||||
# ✅ 夹爪：高刚度确保精准控制
|
||||
"grippers": ImplicitActuatorCfg(
|
||||
joint_names_expr=[".*_hand_joint.*"],
|
||||
stiffness=10000.0,
|
||||
damping=1000.0,
|
||||
effort_limit_sim=50.0,
|
||||
velocity_limit_sim=50.0,
|
||||
),
|
||||
},
|
||||
)
|
||||
|
||||
##
|
||||
# ✅ 专用于 IK 控制的高 PD 版本（可选但推荐）
|
||||
##
|
||||
|
||||
MINDBOT_HIGH_PD_CFG = MINDBOT_CFG.copy()
|
||||
MINDBOT_HIGH_PD_CFG.actuators["left_arm"].stiffness = 40000.0
|
||||
MINDBOT_HIGH_PD_CFG.actuators["left_arm"].damping = 4000.0
|
||||
@@ -0,0 +1,271 @@
|
||||
# Copyright (c) 2024, MindRobot Project
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
"""MindRobot left arm IK-Rel environment config for teleoperation."""
|
||||
|
||||
from __future__ import annotations
|
||||
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
|
||||
from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
|
||||
from isaaclab.devices import DevicesCfg
|
||||
from isaaclab.devices.keyboard import Se3KeyboardCfg
|
||||
from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
|
||||
from isaaclab.devices.gamepad import Se3GamepadCfg
|
||||
from isaaclab.envs import ManagerBasedRLEnvCfg
|
||||
from isaaclab.envs.mdp.actions.actions_cfg import (
|
||||
BinaryJointPositionActionCfg,
|
||||
DifferentialInverseKinematicsActionCfg,
|
||||
)
|
||||
from isaaclab.managers import ObservationGroupCfg as ObsGroup
|
||||
from isaaclab.managers import ObservationTermCfg as ObsTerm
|
||||
from isaaclab.managers import TerminationTermCfg as DoneTerm
|
||||
from isaaclab.scene import InteractiveSceneCfg
|
||||
from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
|
||||
from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
|
||||
from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
|
||||
from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
|
||||
from isaaclab.utils import configclass
|
||||
from isaaclab.markers.config import FRAME_MARKER_CFG
|
||||
from isaaclab.devices.openxr import XrCfg
|
||||
|
||||
# 导入基础配置和MDP函数
|
||||
from isaaclab_tasks.manager_based.manipulation.stack import mdp
|
||||
|
||||
# 导入 MindRobot 资产
|
||||
from .mindrobot_cfg import MINDBOT_HIGH_PD_CFG
|
||||
|
||||
# 在文件开头添加
|
||||
import isaaclab.utils.assets as assets_utils
|
||||
|
||||
# # 然后在 scene 配置中使用
|
||||
# spawn=sim_utils.UsdFileCfg(
|
||||
# usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
|
||||
# ),
|
||||
# =====================================================================
|
||||
# Scene Configuration
|
||||
# =====================================================================
|
||||
|
||||
@configclass
|
||||
class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
|
||||
"""Minimal scene for MindRobot teleoperation: robot + table + optional cube."""
|
||||
|
||||
# Ground plane
|
||||
plane = AssetBaseCfg(
|
||||
prim_path="/World/GroundPlane",
|
||||
init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
|
||||
spawn=GroundPlaneCfg(),
|
||||
)
|
||||
|
||||
# # Table
|
||||
# table = AssetBaseCfg(
|
||||
# prim_path="{ENV_REGEX_NS}/Table",
|
||||
# init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
|
||||
# spawn=sim_utils.UsdFileCfg(
|
||||
# usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
|
||||
# ),
|
||||
# )
|
||||
|
||||
# Optional: Single cube for testing (can be removed if not needed)
|
||||
cube = RigidObjectCfg(
|
||||
prim_path="{ENV_REGEX_NS}/Cube",
|
||||
spawn=sim_utils.CuboidCfg(
|
||||
size=(0.04, 0.04, 0.04),
|
||||
rigid_props=RigidBodyPropertiesCfg(),
|
||||
mass_props=sim_utils.MassPropertiesCfg(mass=0.1),
|
||||
collision_props=sim_utils.CollisionPropertiesCfg(),
|
||||
visual_material=sim_utils.PreviewSurfaceCfg(
|
||||
diffuse_color=(1.0, 0.0, 0.0)
|
||||
),
|
||||
),
|
||||
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.45)),
|
||||
)
|
||||
|
||||
# MindRobot
|
||||
robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
|
||||
|
||||
# Lighting
|
||||
light = AssetBaseCfg(
|
||||
prim_path="/World/light",
|
||||
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
|
||||
)
|
||||
|
||||
# End-effector frame transformer
|
||||
ee_frame: FrameTransformerCfg = None # Will be set in __post_init__
|
||||
|
||||
|
||||
# =====================================================================
|
||||
# Actions Configuration
|
||||
# =====================================================================
|
||||
|
||||
@configclass
|
||||
class MindRobotTeleopActionsCfg:
|
||||
"""Actions for MindRobot left arm IK teleoperation."""
|
||||
|
||||
# Left arm IK control
|
||||
arm_action = DifferentialInverseKinematicsActionCfg(
|
||||
asset_name="robot",
|
||||
joint_names=["l_joint[1-6]"],
|
||||
body_name="Link_6", # Last link of left arm
|
||||
controller=DifferentialIKControllerCfg(
|
||||
command_type="pose",
|
||||
use_relative_mode=True,
|
||||
ik_method="dls",
|
||||
),
|
||||
scale=0.5,
|
||||
body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(
|
||||
pos=[0.0, 0.0, 0.0]
|
||||
),
|
||||
)
|
||||
|
||||
# Left gripper control (binary: open/close)
|
||||
gripper_action = BinaryJointPositionActionCfg(
|
||||
asset_name="robot",
|
||||
joint_names=["left_hand_joint_left", "left_hand_joint_right"],
|
||||
open_command_expr={
|
||||
"left_hand_joint_left": 0.0,
|
||||
"left_hand_joint_right": 0.0,
|
||||
},
|
||||
close_command_expr={
|
||||
"left_hand_joint_left": -0.03,
|
||||
"left_hand_joint_right": 0.03,
|
||||
},
|
||||
)
|
||||
|
||||
|
||||
# =====================================================================
|
||||
# Observations Configuration
|
||||
# =====================================================================
|
||||
|
||||
@configclass
|
||||
class MindRobotTeleopObsCfg:
|
||||
"""Minimal observations for MindRobot teleoperation."""
|
||||
|
||||
@configclass
|
||||
class PolicyCfg(ObsGroup):
|
||||
"""Observations for policy group - only robot state, no cube dependencies."""
|
||||
|
||||
actions = ObsTerm(func=mdp.last_action)
|
||||
joint_pos = ObsTerm(func=mdp.joint_pos_rel)
|
||||
joint_vel = ObsTerm(func=mdp.joint_vel_rel)
|
||||
eef_pos = ObsTerm(func=mdp.ee_frame_pos)
|
||||
eef_quat = ObsTerm(func=mdp.ee_frame_quat)
|
||||
gripper_pos = ObsTerm(func=mdp.gripper_pos)
|
||||
|
||||
def __post_init__(self):
|
||||
self.enable_corruption = False
|
||||
self.concatenate_terms = False
|
||||
|
||||
# observation groups
|
||||
policy: PolicyCfg = PolicyCfg()
|
||||
|
||||
|
||||
# =====================================================================
|
||||
# Terminations Configuration
|
||||
# =====================================================================
|
||||
|
||||
@configclass
|
||||
class MindRobotTeleopTerminationsCfg:
|
||||
"""Minimal terminations for teleoperation - only time_out or none."""
|
||||
|
||||
# Optional: Keep time_out for safety, or remove entirely
|
||||
time_out = DoneTerm(func=mdp.time_out, time_out=True)
|
||||
|
||||
|
||||
# =====================================================================
|
||||
# Main Environment Configuration
|
||||
# =====================================================================
|
||||
|
||||
@configclass
|
||||
class EmptyCfg:
|
||||
pass
|
||||
|
||||
@configclass
|
||||
class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg):
|
||||
"""MindRobot 左臂 IK-Rel 遥操作环境配置（最小化版本）。"""
|
||||
|
||||
# Scene settings
|
||||
scene: MindRobotTeleopSceneCfg = MindRobotTeleopSceneCfg(
|
||||
num_envs=1,
|
||||
env_spacing=2.5,
|
||||
)
|
||||
|
||||
# Basic settings
|
||||
observations: MindRobotTeleopObsCfg = MindRobotTeleopObsCfg()
|
||||
actions: MindRobotTeleopActionsCfg = MindRobotTeleopActionsCfg()
|
||||
|
||||
# MDP settings
|
||||
terminations: MindRobotTeleopTerminationsCfg = MindRobotTeleopTerminationsCfg()
|
||||
|
||||
# Unused managers
|
||||
commands: EmptyCfg = EmptyCfg()
|
||||
rewards: EmptyCfg = EmptyCfg()
|
||||
events: EmptyCfg = EmptyCfg()
|
||||
curriculum: EmptyCfg = EmptyCfg()
|
||||
|
||||
# XR configuration for hand tracking (if needed)
|
||||
xr: XrCfg = XrCfg(
|
||||
anchor_pos=(-0.1, -0.5, -1.05),
|
||||
anchor_rot=(0.866, 0, 0, -0.5),
|
||||
)
|
||||
|
||||
def __post_init__(self):
|
||||
"""Post initialization."""
|
||||
super().__post_init__()
|
||||
|
||||
# General settings
|
||||
self.decimation = 2
|
||||
self.episode_length_s = 50.0
|
||||
|
||||
# Simulation settings
|
||||
self.sim.dt = 0.01 # 100Hz
|
||||
self.sim.render_interval = 2
|
||||
|
||||
# Set MindRobot
|
||||
self.scene.robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
|
||||
|
||||
# Configure end-effector frame transformer
|
||||
marker_cfg = FRAME_MARKER_CFG.copy()
|
||||
marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
|
||||
marker_cfg.prim_path = "/Visuals/FrameTransformer"
|
||||
self.scene.ee_frame = FrameTransformerCfg(
|
||||
prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/base_link",
|
||||
debug_vis=False,
|
||||
visualizer_cfg=marker_cfg,
|
||||
target_frames=[
|
||||
FrameTransformerCfg.FrameCfg(
|
||||
prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6",
|
||||
name="end_effector",
|
||||
offset=OffsetCfg(
|
||||
pos=[0.0, 0.0, 0.0],
|
||||
),
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
# Configure teleoperation devices
|
||||
self.teleop_devices = DevicesCfg(
|
||||
devices={
|
||||
"keyboard": Se3KeyboardCfg(
|
||||
pos_sensitivity=0.05,
|
||||
rot_sensitivity=0.05,
|
||||
sim_device=self.sim.device,
|
||||
),
|
||||
"spacemouse": Se3SpaceMouseCfg(
|
||||
pos_sensitivity=0.05,
|
||||
rot_sensitivity=0.05,
|
||||
sim_device=self.sim.device,
|
||||
),
|
||||
"gamepad": Se3GamepadCfg(
|
||||
pos_sensitivity=0.1,
|
||||
rot_sensitivity=0.1,
|
||||
sim_device=self.sim.device,
|
||||
),
|
||||
}
|
||||
)
|
||||
|
||||
# Gripper parameters for status checking
|
||||
self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"]
|
||||
self.gripper_open_val = 0.0
|
||||
self.gripper_threshold = 0.005
|
||||
@@ -0,0 +1,8 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
"""Reinforcement learning tasks."""
|
||||
|
||||
import gymnasium as gym # noqa: F401
|
||||
Reference in New Issue
Block a user