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wheel contorl keyboard

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hangX
2026-03-09 21:34:52 +08:00
parent 2b290d805a
commit 0c557938a7
4 changed files with 221 additions and 4 deletions
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10
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py
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@@ -20,7 +20,7 @@ from mindbot.utils.assets import MINDBOT_ASSETS_DIR
MINDBOT_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{MINDBOT_ASSETS_DIR}/robots/mindbot/mindbot_cd2.usd",
usd_path=f"{MINDBOT_ASSETS_DIR}/robots/mindrobot/mindrobot_cd2.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=5.0,
@@ -106,7 +106,13 @@ MINDBOT_CFG = ArticulationCfg(
damping=100.0,
),
"wheels": ImplicitActuatorCfg(
joint_names_expr=[".*_revolute_Joint"],
# joint_names_expr=[".*_revolute_Joint"],
joint_names_expr=[
"right_b_revolute_Joint",
"left_b_revolute_Joint",
"left_f_revolute_Joint",
"right_f_revolute_Joint",
],
effort_limit_sim=200.0,
stiffness=0.0,
damping=100.0,

8
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py
View File

@@ -138,7 +138,13 @@ class MindRobotTeleopActionsCfg:
# Action vector: [right_b_vel, left_b_vel, left_f_vel, right_f_vel] in rad/s.
wheel_action = JointVelocityActionCfg(
asset_name="robot",
joint_names=[".*_revolute_Joint"],
# joint_names=[".*_revolute_Joint"],
joint_names=[
"right_b_revolute_Joint",
"left_b_revolute_Joint",
"left_f_revolute_Joint",
"right_f_revolute_Joint",
],
scale=1.0,
)

3
source/mindbot/mindbot/utils/assets.py
View File

@@ -20,5 +20,6 @@ import os
##
MINDBOT_ASSETS_DIR: str = os.environ.get(
"MINDBOT_ASSETS_DIR",
"/home/tangger/DataDisk/maic_usd_assets_moudle",
# "/home/tangger/DataDisk/maic_usd_assets_moudle",
"/home/maic/LYT/maic_usd_assets_moudle",
)