记录动作以及回放record_demo,replay_demo

scripts/environments/teleoperation/tele_se3_with_wheel_agent.py

@@ -13,8 +13,6 @@ Extends teleop_se3_agent.py with differential-drive keyboard control:
 """
 
 import argparse
-import weakref
-import numpy as np
 import torch
 
 from isaaclab.app import AppLauncher
@@ -35,98 +33,20 @@ simulation_app = app_launcher.app
 
 import logging
 import gymnasium as gym
-import carb
 
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
-from isaaclab.managers import TerminationTermCfg as DoneTerm
 
 import mindbot.tasks  # noqa: F401
 from isaaclab_tasks.utils import parse_env_cfg
 
+# mindrobot_keyboard.py lives in the same directory as this script.
+# Python adds the script's own directory to sys.path, so a direct import works.
+from mindrobot_keyboard import WheelKeyboard, MindRobotCombinedKeyboard  # noqa: E402
+
 logger = logging.getLogger(__name__)
 
 
-# ─────────────────────────────────────────────────────────────
-# WheelKeyboard: 监听方向键，输出 4 维轮速 tensor
-# ─────────────────────────────────────────────────────────────
-class WheelKeyboard:
-    """Differential-drive (skid-steer) keyboard controller.
-
-    Listens to arrow keys via Carb and produces a 4-D joint-velocity
-    command: [right_b, left_b, left_f, right_f]  (rad/s).
-
-    Key mappings
-    ─────────────────────────────────────────────────────
-    ↑  (UP)    forward   [ v,  v,  v,  v]
-    ↓  (DOWN)  backward  [-v, -v, -v, -v]
-    ←  (LEFT)  left turn [ v, -v, -v,  v]  right wheels fwd
-    →  (RIGHT) right turn[-v,  v,  v, -v]  left  wheels fwd
-    ─────────────────────────────────────────────────────
-    """
-
-    _WHEEL_KEYS = {"UP", "DOWN", "LEFT", "RIGHT"}
-
-    def __init__(self, wheel_speed: float = 5.0, sim_device: str = "cuda:0"):
-        self.wheel_speed = wheel_speed
-        self._sim_device = sim_device
-        # 4 维速度缓冲：[right_b, left_b, left_f, right_f]
-        self._wheel_vel = np.zeros(4)
-        # 按键 → 速度向量映射 (在 _create_bindings 中填充)
-        self._key_map: dict[str, np.ndarray] = {}
-        self._create_bindings()
-
-        # 订阅 Carb 键盘事件
-        import omni
-        self._appwindow = omni.appwindow.get_default_app_window()
-        self._input = carb.input.acquire_input_interface()
-        self._keyboard = self._appwindow.get_keyboard()
-        self._keyboard_sub = self._input.subscribe_to_keyboard_events(
-            self._keyboard,
-            lambda event, *args, obj=weakref.proxy(self): obj._on_keyboard_event(event, *args),
-        )
-
-    def __del__(self):
-        self._input.unsubscribe_to_keyboard_events(self._keyboard, self._keyboard_sub)
-
-    def __str__(self) -> str:
-        return (
-            "WheelKeyboard (skid-steer chassis controller)\n"
-            "\t↑ UP    — forward\n"
-            "\t↓ DOWN  — backward\n"
-            "\t← LEFT  — left turn (in-place)\n"
-            "\t→ RIGHT — right turn (in-place)"
-        )
-
-    def reset(self):
-        self._wheel_vel = np.zeros(4)
-
-    def advance(self) -> torch.Tensor:
-        """Returns 4-D wheel velocity tensor [right_b, left_b, left_f, right_f]."""
-        return torch.tensor(self._wheel_vel.copy(), dtype=torch.float32, device=self._sim_device)
-
-    def _create_bindings(self):
-        v = self.wheel_speed
-        # [right_b, left_b, left_f, right_f]
-        self._key_map = {
-            "UP":    np.array([ v,  v,  v,  v]),   # 前进
-            "DOWN":  np.array([-v, -v, -v, -v]),   # 后退
-            "LEFT":  np.array([ v, -v, -v,  v]),   # 左转
-            "RIGHT": np.array([-v,  v,  v, -v]),   # 右转
-        }
-
-    def _on_keyboard_event(self, event, *args, **kwargs):
-        if event.type == carb.input.KeyboardEventType.KEY_PRESS:
-            key = event.input.name
-            if key in self._key_map:
-                self._wheel_vel += self._key_map[key]
-        if event.type == carb.input.KeyboardEventType.KEY_RELEASE:
-            key = event.input.name
-            if key in self._key_map:
-                self._wheel_vel -= self._key_map[key]
-        return True
-
-
 # ─────────────────────────────────────────────────────────────
 # main
 # ─────────────────────────────────────────────────────────────
@@ -201,4 +121,4 @@ def main() -> None:
 
 if __name__ == "__main__":
     main()
-    simulation_app.close()
+    simulation_app.close()