From 1281ca5209723625c47939951497b1d9fc5c0fad Mon Sep 17 00:00:00 2001 From: hangX Date: Thu, 16 Apr 2026 09:49:00 +0800 Subject: [PATCH] =?UTF-8?q?=E7=83=98=E7=AE=B1=E5=92=8Cunitree?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .codex | 0 scripts/tools/record_demos.py | 33 +- source/mindbot/mindbot/assets/dryingbox.py | 51 +- source/mindbot/mindbot/robot/unitree.py | 612 ++++++++++++++++++ .../mindbot/mindbot/robot/unitree_brainco.py | 313 +++++++++ .../il/pick_place/dryingbox_gr1t2_env_cfg.py | 15 +- .../il/pick_place/dryingoven_gr1t2_env_cfg.py | 13 +- 7 files changed, 1000 insertions(+), 37 deletions(-) create mode 100644 .codex create mode 100644 source/mindbot/mindbot/robot/unitree.py create mode 100644 source/mindbot/mindbot/robot/unitree_brainco.py diff --git a/.codex b/.codex new file mode 100644 index 0000000..e69de29 diff --git a/scripts/tools/record_demos.py b/scripts/tools/record_demos.py index 763977b..324bde0 100644 --- a/scripts/tools/record_demos.py +++ b/scripts/tools/record_demos.py @@ -27,10 +27,27 @@ optional arguments: # Standard library imports import argparse import contextlib +import os +import sys +import traceback # Isaac Lab AppLauncher from isaaclab.app import AppLauncher +# Ensure local workspace packages are importable before any mindbot imports. +# The repository contains the Python package under source/mindbot, while this +# script lives under scripts/tools. Without adding these paths early, Python may +# resolve to an older installed mindbot package that still uses the legacy G1 +# tri-hand joint names (for example: left_hand_index_0_joint). +_REPO_ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +_LOCAL_IMPORT_PATHS = ( + os.path.join(_REPO_ROOT, "source", "mindbot"), + _REPO_ROOT, +) +for _path in reversed(_LOCAL_IMPORT_PATHS): + if _path not in sys.path: + sys.path.insert(0, _path) + # add argparse arguments parser = argparse.ArgumentParser(description="Record demonstrations for Isaac Lab environments.") parser.add_argument("--task", type=str, required=True, help="Name of the task.") @@ -91,8 +108,6 @@ simulation_app = app_launcher.app # Third-party imports import logging -import os -import sys import time import gymnasium as gym @@ -107,9 +122,13 @@ from isaaclab.devices.teleop_device_factory import create_teleop_device import isaaclab_mimic.envs # noqa: F401 from isaaclab_mimic.ui.instruction_display import InstructionDisplay, show_subtask_instructions +# if args_cli.enable_pinocchio: +# import isaaclab_tasks.manager_based.locomanipulation.pick_place # noqa: F401 +# import isaaclab_tasks.manager_based.manipulation.pick_place # noqa: F401 if args_cli.enable_pinocchio: - import isaaclab_tasks.manager_based.locomanipulation.pick_place # noqa: F401 - import isaaclab_tasks.manager_based.manipulation.pick_place # noqa: F401 + import mindbot.tasks.manager_based.il.locomanipulation.pick_place # noqa: F401 + import mindbot.tasks.manager_based.il.manipulation.pick_place # noqa: F401 + from collections.abc import Callable @@ -118,11 +137,6 @@ from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManager from isaaclab.envs.ui import EmptyWindow from isaaclab.managers import DatasetExportMode -# Add workspace root to sys.path so mindrobot_keyboard is importable as a package path. -# record_demos.py lives at scripts/tools/, workspace root is three levels up. -_ws_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -if _ws_root not in sys.path: - sys.path.insert(0, _ws_root) from scripts.environments.teleoperation.mindrobot_keyboard import MindRobotCombinedKeyboard # noqa: E402 import isaaclab_tasks # noqa: F401 @@ -265,6 +279,7 @@ def create_environment(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg) -> gym.En return env except Exception as e: logger.error(f"Failed to create environment: {e}") + traceback.print_exc() exit(1) diff --git a/source/mindbot/mindbot/assets/dryingbox.py b/source/mindbot/mindbot/assets/dryingbox.py index e1b28bc..aa79715 100644 --- a/source/mindbot/mindbot/assets/dryingbox.py +++ b/source/mindbot/mindbot/assets/dryingbox.py @@ -3,21 +3,29 @@ from isaaclab.actuators import ImplicitActuatorCfg from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.sim.schemas.schemas_cfg import ( - RigidBodyPropertiesCfg, - CollisionPropertiesCfg, -) +# from isaaclab.sim.schemas.schemas_cfg import ( +# RigidBodyPropertiesCfg, +# CollisionPropertiesCfg, +# ) from mindbot.utils.assets import MINDBOT_ASSETS_DIR DRYINGBOX_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{MINDBOT_ASSETS_DIR}/devices/DryingBox/Equipment_BB_13.usd", + usd_path=f"{MINDBOT_ASSETS_DIR}/devices/Collected_Equipment_BB_13(1)/Collected_Equipment_BB_13/Equipment_BB_13.usd", + activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, - max_depenetration_velocity=1.0 + max_depenetration_velocity=100.0, # 增大：穿透后更快弹出 + linear_damping=0.5, + angular_damping=0.5, + ), + collision_props=sim_utils.CollisionPropertiesCfg( + collision_enabled=True, + contact_offset=0.01, # 增大到10mm：提前检测接触，避免高速漏检 + rest_offset=0.001, # 略小于 contact_offset ), articulation_props=sim_utils.ArticulationRootPropertiesCfg( - fix_root_link=False, + # fix_root_link=True, # 固定烘箱根节点，防止碰撞时整体位移加剧穿透 enabled_self_collisions=False, solver_position_iteration_count=32, solver_velocity_iteration_count=16, @@ -27,15 +35,28 @@ DRYINGBOX_CFG = ArticulationCfg( init_state=ArticulationCfg.InitialStateCfg( pos=[1.95, -0.45, 0.9], rot=[-0.7071, 0.0, 0.0, 0.7071] ), - # actuators={} actuators={ - "passive_damper": ImplicitActuatorCfg( - # ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他） - joint_names_expr=["RevoluteJoint"], - stiffness=10000.0, - damping=1000.0, - effort_limit_sim=10000.0, - velocity_limit_sim=100.0, + "door_joint": ImplicitActuatorCfg( + joint_names_expr=["door_revoluteJoint"], + damping=0.5, + stiffness=0.0, # 初始被动；teleop 主循环触发后锁定 + effort_limit_sim=200.0, + ), + "hand_joint": ImplicitActuatorCfg( + joint_names_expr=["hand_revoluteJoint"], + stiffness=0.0, # 初始被动；event term 动态切换到 1000.0 触发锁定 + damping=0.5, + effort_limit_sim=200.0, # 锁定时 stiffness=1000 需要足够的驱动力 ), }, + # actuators={ + # "passive_damper": ImplicitActuatorCfg( + # # ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他） + # joint_names_expr=["RevoluteJoint"], + # stiffness=2e3, + # damping=1e2, + # effort_limit_sim=200.0, + # velocity_limit_sim=20.0, + # ), + # }, ) diff --git a/source/mindbot/mindbot/robot/unitree.py b/source/mindbot/mindbot/robot/unitree.py new file mode 100644 index 0000000..83ec1bd --- /dev/null +++ b/source/mindbot/mindbot/robot/unitree.py @@ -0,0 +1,612 @@ +# 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 + +"""Configuration for Unitree robots. + +The following configurations are available: + +* :obj:`UNITREE_A1_CFG`: Unitree A1 robot with DC motor model for the legs +* :obj:`UNITREE_GO1_CFG`: Unitree Go1 robot with actuator net model for the legs +* :obj:`UNITREE_GO2_CFG`: Unitree Go2 robot with DC motor model for the legs +* :obj:`H1_CFG`: H1 humanoid robot +* :obj:`H1_MINIMAL_CFG`: H1 humanoid robot with minimal collision bodies +* :obj:`G1_CFG`: G1 humanoid robot +* :obj:`G1_MINIMAL_CFG`: G1 humanoid robot with minimal collision bodies +* :obj:`G1_29DOF_CFG`: G1 humanoid robot configured for locomanipulation tasks +* :obj:`G1_INSPIRE_FTP_CFG`: G1 29DOF humanoid robot with Inspire 5-finger hand + +Reference: https://github.com/unitreerobotics/unitree_ros +""" + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ActuatorNetMLPCfg, DCMotorCfg, ImplicitActuatorCfg +from isaaclab.assets.articulation import ArticulationCfg +from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from mindbot.utils.assets import MINDBOT_ASSETS_DIR + +## +# Configuration - Actuators. +## + +GO1_ACTUATOR_CFG = ActuatorNetMLPCfg( + joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"], + network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/Unitree/unitree_go1.pt", + pos_scale=-1.0, + vel_scale=1.0, + torque_scale=1.0, + input_order="pos_vel", + input_idx=[0, 1, 2], + effort_limit=23.7, # taken from spec sheet + velocity_limit=30.0, # taken from spec sheet + saturation_effort=23.7, # same as effort limit +) +"""Configuration of Go1 actuators using MLP model. + +Actuator specifications: https://shop.unitree.com/products/go1-motor + +This model is taken from: https://github.com/Improbable-AI/walk-these-ways +""" + + +## +# Configuration +## + + +UNITREE_A1_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/A1/a1.usd", + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.42), + joint_pos={ + ".*L_hip_joint": 0.1, + ".*R_hip_joint": -0.1, + "F[L,R]_thigh_joint": 0.8, + "R[L,R]_thigh_joint": 1.0, + ".*_calf_joint": -1.5, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "base_legs": DCMotorCfg( + joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"], + effort_limit=33.5, + saturation_effort=33.5, + velocity_limit=21.0, + stiffness=25.0, + damping=0.5, + friction=0.0, + ), + }, +) +"""Configuration of Unitree A1 using DC motor. + +Note: Specifications taken from: https://www.trossenrobotics.com/a1-quadruped#specifications +""" + + +UNITREE_GO1_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/Go1/go1.usd", + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.4), + joint_pos={ + ".*L_hip_joint": 0.1, + ".*R_hip_joint": -0.1, + "F[L,R]_thigh_joint": 0.8, + "R[L,R]_thigh_joint": 1.0, + ".*_calf_joint": -1.5, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "base_legs": GO1_ACTUATOR_CFG, + }, +) +"""Configuration of Unitree Go1 using MLP-based actuator model.""" + + +UNITREE_GO2_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/Go2/go2.usd", + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.4), + joint_pos={ + ".*L_hip_joint": 0.1, + ".*R_hip_joint": -0.1, + "F[L,R]_thigh_joint": 0.8, + "R[L,R]_thigh_joint": 1.0, + ".*_calf_joint": -1.5, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "base_legs": DCMotorCfg( + joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"], + effort_limit=23.5, + saturation_effort=23.5, + velocity_limit=30.0, + stiffness=25.0, + damping=0.5, + friction=0.0, + ), + }, +) +"""Configuration of Unitree Go2 using DC-Motor actuator model.""" + + +H1_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1.usd", + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=4 + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 1.05), + joint_pos={ + ".*_hip_yaw": 0.0, + ".*_hip_roll": 0.0, + ".*_hip_pitch": -0.28, # -16 degrees + ".*_knee": 0.79, # 45 degrees + ".*_ankle": -0.52, # -30 degrees + "torso": 0.0, + ".*_shoulder_pitch": 0.28, + ".*_shoulder_roll": 0.0, + ".*_shoulder_yaw": 0.0, + ".*_elbow": 0.52, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "legs": ImplicitActuatorCfg( + joint_names_expr=[".*_hip_yaw", ".*_hip_roll", ".*_hip_pitch", ".*_knee", "torso"], + effort_limit_sim=300, + stiffness={ + ".*_hip_yaw": 150.0, + ".*_hip_roll": 150.0, + ".*_hip_pitch": 200.0, + ".*_knee": 200.0, + "torso": 200.0, + }, + damping={ + ".*_hip_yaw": 5.0, + ".*_hip_roll": 5.0, + ".*_hip_pitch": 5.0, + ".*_knee": 5.0, + "torso": 5.0, + }, + ), + "feet": ImplicitActuatorCfg( + joint_names_expr=[".*_ankle"], + effort_limit_sim=100, + stiffness={".*_ankle": 20.0}, + damping={".*_ankle": 4.0}, + ), + "arms": ImplicitActuatorCfg( + joint_names_expr=[".*_shoulder_pitch", ".*_shoulder_roll", ".*_shoulder_yaw", ".*_elbow"], + effort_limit_sim=300, + stiffness={ + ".*_shoulder_pitch": 40.0, + ".*_shoulder_roll": 40.0, + ".*_shoulder_yaw": 40.0, + ".*_elbow": 40.0, + }, + damping={ + ".*_shoulder_pitch": 10.0, + ".*_shoulder_roll": 10.0, + ".*_shoulder_yaw": 10.0, + ".*_elbow": 10.0, + }, + ), + }, +) +"""Configuration for the Unitree H1 Humanoid robot.""" + + +H1_MINIMAL_CFG = H1_CFG.copy() +H1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1_minimal.usd" +"""Configuration for the Unitree H1 Humanoid robot with fewer collision meshes. + +This configuration removes most collision meshes to speed up simulation. +""" + + +G1_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1.usd", + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, solver_position_iteration_count=8, solver_velocity_iteration_count=4 + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.74), + joint_pos={ + ".*_hip_pitch_joint": -0.20, + ".*_knee_joint": 0.42, + ".*_ankle_pitch_joint": -0.23, + ".*_elbow_pitch_joint": 0.87, + "left_shoulder_roll_joint": 0.16, + "left_shoulder_pitch_joint": 0.35, + "right_shoulder_roll_joint": -0.16, + "right_shoulder_pitch_joint": 0.35, + "left_one_joint": 1.0, + "right_one_joint": -1.0, + "left_two_joint": 0.52, + "right_two_joint": -0.52, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "legs": ImplicitActuatorCfg( + joint_names_expr=[ + ".*_hip_yaw_joint", + ".*_hip_roll_joint", + ".*_hip_pitch_joint", + ".*_knee_joint", + "torso_joint", + ], + effort_limit_sim=300, + stiffness={ + ".*_hip_yaw_joint": 150.0, + ".*_hip_roll_joint": 150.0, + ".*_hip_pitch_joint": 200.0, + ".*_knee_joint": 200.0, + "torso_joint": 200.0, + }, + damping={ + ".*_hip_yaw_joint": 5.0, + ".*_hip_roll_joint": 5.0, + ".*_hip_pitch_joint": 5.0, + ".*_knee_joint": 5.0, + "torso_joint": 5.0, + }, + armature={ + ".*_hip_.*": 0.01, + ".*_knee_joint": 0.01, + "torso_joint": 0.01, + }, + ), + "feet": ImplicitActuatorCfg( + effort_limit_sim=20, + joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"], + stiffness=20.0, + damping=2.0, + armature=0.01, + ), + "arms": ImplicitActuatorCfg( + joint_names_expr=[ + ".*_shoulder_pitch_joint", + ".*_shoulder_roll_joint", + ".*_shoulder_yaw_joint", + ".*_elbow_pitch_joint", + ".*_elbow_roll_joint", + ".*_five_joint", + ".*_three_joint", + ".*_six_joint", + ".*_four_joint", + ".*_zero_joint", + ".*_one_joint", + ".*_two_joint", + ], + effort_limit_sim=300, + stiffness=40.0, + damping=10.0, + armature={ + ".*_shoulder_.*": 0.01, + ".*_elbow_.*": 0.01, + ".*_five_joint": 0.001, + ".*_three_joint": 0.001, + ".*_six_joint": 0.001, + ".*_four_joint": 0.001, + ".*_zero_joint": 0.001, + ".*_one_joint": 0.001, + ".*_two_joint": 0.001, + }, + ), + }, +) +"""Configuration for the Unitree G1 Humanoid robot.""" + + +G1_MINIMAL_CFG = G1_CFG.copy() +G1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1_minimal.usd" +"""Configuration for the Unitree G1 Humanoid robot with fewer collision meshes. + +This configuration removes most collision meshes to speed up simulation. +""" + + +G1_29DOF_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Unitree/G1/g1.usd", + activate_contact_sensors=False, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, + fix_root_link=False, # Configurable - can be set to True for fixed base + solver_position_iteration_count=8, + solver_velocity_iteration_count=4, + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.75), + rot=(0.7071, 0, 0, 0.7071), + joint_pos={ + ".*_hip_pitch_joint": -0.10, + ".*_knee_joint": 0.30, + ".*_ankle_pitch_joint": -0.20, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "legs": DCMotorCfg( + joint_names_expr=[ + ".*_hip_yaw_joint", + ".*_hip_roll_joint", + ".*_hip_pitch_joint", + ".*_knee_joint", + ], + effort_limit={ + ".*_hip_yaw_joint": 88.0, + ".*_hip_roll_joint": 88.0, + ".*_hip_pitch_joint": 88.0, + ".*_knee_joint": 139.0, + }, + velocity_limit={ + ".*_hip_yaw_joint": 32.0, + ".*_hip_roll_joint": 32.0, + ".*_hip_pitch_joint": 32.0, + ".*_knee_joint": 20.0, + }, + stiffness={ + ".*_hip_yaw_joint": 100.0, + ".*_hip_roll_joint": 100.0, + ".*_hip_pitch_joint": 100.0, + ".*_knee_joint": 200.0, + }, + damping={ + ".*_hip_yaw_joint": 2.5, + ".*_hip_roll_joint": 2.5, + ".*_hip_pitch_joint": 2.5, + ".*_knee_joint": 5.0, + }, + armature={ + ".*_hip_.*": 0.03, + ".*_knee_joint": 0.03, + }, + saturation_effort=180.0, + ), + "feet": DCMotorCfg( + joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"], + stiffness={ + ".*_ankle_pitch_joint": 20.0, + ".*_ankle_roll_joint": 20.0, + }, + damping={ + ".*_ankle_pitch_joint": 0.2, + ".*_ankle_roll_joint": 0.1, + }, + effort_limit={ + ".*_ankle_pitch_joint": 50.0, + ".*_ankle_roll_joint": 50.0, + }, + velocity_limit={ + ".*_ankle_pitch_joint": 37.0, + ".*_ankle_roll_joint": 37.0, + }, + armature=0.03, + saturation_effort=80.0, + ), + "waist": ImplicitActuatorCfg( + joint_names_expr=[ + "waist_.*_joint", + ], + effort_limit={ + "waist_yaw_joint": 88.0, + "waist_roll_joint": 50.0, + "waist_pitch_joint": 50.0, + }, + velocity_limit={ + "waist_yaw_joint": 32.0, + "waist_roll_joint": 37.0, + "waist_pitch_joint": 37.0, + }, + stiffness={ + "waist_yaw_joint": 5000.0, + "waist_roll_joint": 5000.0, + "waist_pitch_joint": 5000.0, + }, + damping={ + "waist_yaw_joint": 5.0, + "waist_roll_joint": 5.0, + "waist_pitch_joint": 5.0, + }, + armature=0.001, + ), + "arms": ImplicitActuatorCfg( + joint_names_expr=[ + ".*_shoulder_pitch_joint", + ".*_shoulder_roll_joint", + ".*_shoulder_yaw_joint", + ".*_elbow_joint", + ".*_wrist_.*_joint", + ], + effort_limit=300, + velocity_limit=100, + stiffness=3000.0, + damping=10.0, + armature={ + ".*_shoulder_.*": 0.001, + ".*_elbow_.*": 0.001, + ".*_wrist_.*_joint": 0.001, + }, + ), + "hands": ImplicitActuatorCfg( + joint_names_expr=[ + ".*_index_.*", + ".*_middle_.*", + ".*_thumb_.*", + ], + effort_limit=300, + velocity_limit=100, + stiffness=20, + damping=2, + armature=0.001, + ), + }, + prim_path="/World/envs/env_.*/Robot", +) +"""Configuration for the Unitree G1 Humanoid robot for locomanipulation tasks. + +This configuration sets up the G1 humanoid robot for locomanipulation tasks, +allowing both locomotion and manipulation capabilities. The robot can be configured +for either fixed base or mobile scenarios by modifying the fix_root_link parameter. + +Key features: +- Configurable base (fixed or mobile) via fix_root_link parameter +- Optimized actuator parameters for locomanipulation tasks +- Enhanced hand and arm configurations for manipulation + +Usage examples: + # For fixed base scenarios (upper body manipulation only) + fixed_base_cfg = G1_29DOF_CFG.copy() + fixed_base_cfg.spawn.articulation_props.fix_root_link = True + + # For mobile scenarios (locomotion + manipulation) + mobile_cfg = G1_29DOF_CFG.copy() + mobile_cfg.spawn.articulation_props.fix_root_link = False +""" + +""" +Configuration for the Unitree G1 Humanoid robot with Inspire 5fingers hand. +The Unitree G1 URDF can be found here: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf +The Inspire hand URDF is available at: https://github.com/unitreerobotics/xr_teleoperate/tree/main/assets/inspire_hand +The merging code for the hand and robot can be found here: https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb, +Necessary modifications should be made to ensure the correct parent–child relationship. +""" +# Inherit PD settings from G1_29DOF_CFG, with minor adjustments for grasping task +G1_INSPIRE_FTP_CFG = G1_29DOF_CFG.copy() +G1_INSPIRE_FTP_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1_29dof_inspire_hand.usd" +G1_INSPIRE_FTP_CFG.spawn.activate_contact_sensors = True +G1_INSPIRE_FTP_CFG.spawn.rigid_props.disable_gravity = True +G1_INSPIRE_FTP_CFG.spawn.articulation_props.fix_root_link = True +G1_INSPIRE_FTP_CFG.init_state = ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 1.0), + joint_pos={".*": 0.0}, + joint_vel={".*": 0.0}, +) +# Actuator configuration for arms (stability focused for manipulation) +# Increased damping improves stability of arm movements +G1_INSPIRE_FTP_CFG.actuators["arms"] = ImplicitActuatorCfg( + joint_names_expr=[ + ".*_shoulder_pitch_joint", + ".*_shoulder_roll_joint", + ".*_shoulder_yaw_joint", + ".*_elbow_joint", + ".*_wrist_.*_joint", + ], + effort_limit=300, + velocity_limit=100, + stiffness=3000.0, + damping=100.0, + armature={ + ".*_shoulder_.*": 0.001, + ".*_elbow_.*": 0.001, + ".*_wrist_.*_joint": 0.001, + }, +) +# Actuator configuration for hands (flexibility focused for grasping) +# Lower stiffness and damping to improve finger flexibility when grasping objects +G1_INSPIRE_FTP_CFG.actuators["hands"] = ImplicitActuatorCfg( + joint_names_expr=[ + ".*_index_.*", + ".*_middle_.*", + ".*_thumb_.*", + ".*_ring_.*", + ".*_pinky_.*", + ], + effort_limit_sim=30.0, + velocity_limit_sim=10.0, + stiffness=10.0, + damping=0.2, + armature=0.001, +) diff --git a/source/mindbot/mindbot/robot/unitree_brainco.py b/source/mindbot/mindbot/robot/unitree_brainco.py new file mode 100644 index 0000000..048d33d --- /dev/null +++ b/source/mindbot/mindbot/robot/unitree_brainco.py @@ -0,0 +1,313 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Configuration for the Unitree G1 robot with BrainCo hands. + +Available configurations: + +* :obj:`G1_BRAINCO_29DOF_CFG`: Mobile-base BrainCo G1 for locomanipulation tasks. +* :obj:`G1_BRAINCO_CFG`: Alias of :obj:`G1_BRAINCO_29DOF_CFG`. +* :obj:`G1_BRAINCO_FTP_CFG`: Fixed-base variant for teleoperation / demo collection. +""" + +import isaaclab.sim as sim_utils +from isaaclab.actuators import DCMotorCfg, ImplicitActuatorCfg +from isaaclab.assets.articulation import ArticulationCfg + +from mindbot.utils.assets import MINDBOT_ASSETS_DIR + + +G1_BRAINCO_ASSET_DIR = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand" +"""Asset directory for the rewritten BrainCo-hand G1 robot.""" + + +G1_BRAINCO_USD_PATH = f"{G1_BRAINCO_ASSET_DIR}/g1_29dof_mode_15_brainco_hand.usd" +"""Default USD path for the BrainCo-hand G1 asset.""" + + +G1_BRAINCO_URDF_PATH = f"{G1_BRAINCO_ASSET_DIR}/g1_29dof_mode_15_brainco_hand.urdf" +"""URDF path used by Pinocchio / Pink IK for the BrainCo-hand G1 asset.""" + + +G1_BRAINCO_URDF_MESH_DIR = G1_BRAINCO_ASSET_DIR +"""Root mesh directory for resolving relative URDF mesh paths.""" + + +G1_BRAINCO_LEFT_HAND_JOINT_NAMES = [ + "left_index_proximal_joint", + "left_middle_proximal_joint", + "left_ring_proximal_joint", + "left_pinky_proximal_joint", + "left_thumb_metacarpal_joint", + "left_thumb_proximal_joint", +] +"""Actuated left-hand joints in the rewritten BrainCo asset.""" + + +G1_BRAINCO_RIGHT_HAND_JOINT_NAMES = [ + "right_index_proximal_joint", + "right_middle_proximal_joint", + "right_ring_proximal_joint", + "right_pinky_proximal_joint", + "right_thumb_metacarpal_joint", + "right_thumb_proximal_joint", +] +"""Actuated right-hand joints in the rewritten BrainCo asset.""" + + +G1_BRAINCO_HAND_JOINT_NAMES = G1_BRAINCO_LEFT_HAND_JOINT_NAMES + G1_BRAINCO_RIGHT_HAND_JOINT_NAMES +"""Ordered actuated hand joints used by teleoperation and Pink IK action terms.""" + + +G1_BRAINCO_HAND_JOINT_PATTERNS = [ + ".*_index_proximal_joint", + ".*_middle_proximal_joint", + ".*_ring_proximal_joint", + ".*_pinky_proximal_joint", + ".*_thumb_metacarpal_joint", + ".*_thumb_proximal_joint", +] +"""Regex patterns that match actuated BrainCo finger joints in the rewritten USD.""" + + +G1_BRAINCO_29DOF_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=G1_BRAINCO_USD_PATH, + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, + fix_root_link=False, + solver_position_iteration_count=8, + solver_velocity_iteration_count=4, + ), + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.75), + rot=(0.7071, 0.0, 0.0, 0.7071), + joint_pos={ + ".*_hip_pitch_joint": -0.10, + ".*_knee_joint": 0.30, + ".*_ankle_pitch_joint": -0.20, + ".*_shoulder_pitch_joint": 0.35, + "left_shoulder_roll_joint": 0.16, + "right_shoulder_roll_joint": -0.16, + ".*_elbow_joint": 0.50, + # ".*": 0.0, + }, + joint_vel={".*": 0.0}, + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "legs": DCMotorCfg( + joint_names_expr=[ + ".*_hip_yaw_joint", + ".*_hip_roll_joint", + ".*_hip_pitch_joint", + ".*_knee_joint", + ], + effort_limit={ + ".*_hip_yaw_joint": 88.0, + ".*_hip_roll_joint": 139.0, + ".*_hip_pitch_joint": 88.0, + ".*_knee_joint": 139.0, + }, + velocity_limit={ + ".*_hip_yaw_joint": 32.0, + ".*_hip_roll_joint": 32.0, + ".*_hip_pitch_joint": 32.0, + ".*_knee_joint": 20.0, + }, + stiffness={ + ".*_hip_yaw_joint": 150.4769, + ".*_hip_roll_joint": 62.1413, + ".*_hip_pitch_joint": 24.8449, + ".*_knee_joint": 230.0900, + }, + damping={ + ".*_hip_yaw_joint": 0.0602, + ".*_hip_roll_joint": 0.0249, + ".*_hip_pitch_joint": 0.0099, + ".*_knee_joint": 0.0920, + }, + armature={ + ".*_hip_.*": 0.03, + ".*_knee_joint": 0.03, + }, + saturation_effort=180.0, + ), + "feet": DCMotorCfg( + joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"], + effort_limit={ + ".*_ankle_pitch_joint": 50.0, + ".*_ankle_roll_joint": 50.0, + }, + velocity_limit={ + ".*_ankle_pitch_joint": 37.0, + ".*_ankle_roll_joint": 37.0, + }, + stiffness={ + ".*_ankle_pitch_joint": 64.9368, + ".*_ankle_roll_joint": 2.3020, + }, + damping={ + ".*_ankle_pitch_joint": 0.0260, + ".*_ankle_roll_joint": 0.0009, + }, + armature=0.03, + saturation_effort=80.0, + ), + "waist": ImplicitActuatorCfg( + joint_names_expr=["waist_.*_joint"], + effort_limit={ + "waist_yaw_joint": 88.0, + "waist_roll_joint": 50.0, + "waist_pitch_joint": 50.0, + }, + velocity_limit={ + "waist_yaw_joint": 32.0, + "waist_roll_joint": 37.0, + "waist_pitch_joint": 37.0, + }, + stiffness={ + "waist_yaw_joint": 27.7928, + "waist_roll_joint": 54.2666, + "waist_pitch_joint": 53.3254, + }, + damping={ + "waist_yaw_joint": 0.0111, + "waist_roll_joint": 0.0217, + "waist_pitch_joint": 0.0213, + }, + armature=0.001, + ), + "arms": ImplicitActuatorCfg( + joint_names_expr=[ + ".*_shoulder_pitch_joint", + ".*_shoulder_roll_joint", + ".*_shoulder_yaw_joint", + ".*_elbow_joint", + ".*_wrist_.*_joint", + ], + effort_limit={ + ".*_shoulder_pitch_joint": 25.0, + ".*_shoulder_roll_joint": 25.0, + ".*_shoulder_yaw_joint": 25.0, + ".*_elbow_joint": 25.0, + ".*_wrist_roll_joint": 25.0, + ".*_wrist_pitch_joint": 5.0, + ".*_wrist_yaw_joint": 5.0, + }, + velocity_limit=100.0, + stiffness={ + ".*_shoulder_pitch_joint": 168.7152, + ".*_shoulder_roll_joint": 151.6808, + ".*_shoulder_yaw_joint": 141.6967, + ".*_elbow_joint": 88.9802, + ".*_wrist_roll_joint": 66.6865, + ".*_wrist_pitch_joint": 26.5734, + ".*_wrist_yaw_joint": 16.3066, + }, + damping={ + ".*_shoulder_pitch_joint": 0.0675, + ".*_shoulder_roll_joint": 0.0607, + ".*_shoulder_yaw_joint": 0.0567, + ".*_elbow_joint": 0.0356, + ".*_wrist_roll_joint": 0.0267, + ".*_wrist_pitch_joint": 0.0106, + ".*_wrist_yaw_joint": 0.0065, + }, + armature={ + ".*_shoulder_.*": 0.001, + ".*_elbow_.*": 0.001, + ".*_wrist_.*_joint": 0.001, + }, + ), + "hands": ImplicitActuatorCfg( + joint_names_expr=G1_BRAINCO_HAND_JOINT_PATTERNS, + effort_limit_sim=30.0, + velocity_limit_sim=10.0, + stiffness={ + ".*_(index|middle|ring|pinky)_proximal_joint": 0.25, + ".*_thumb_metacarpal_joint": 0.31, + ".*_thumb_proximal_joint": 0.13, + }, + damping={ + ".*_(index|middle|ring|pinky)_proximal_joint": 0.0001, + ".*_thumb_metacarpal_joint": 0.0001, + ".*_thumb_proximal_joint": 0.00005, + }, + armature=0.001, + ), + }, + prim_path="/World/envs/env_.*/Robot", +) +"""Mobile-base BrainCo G1 configuration for locomotion + manipulation tasks.""" + + +G1_BRAINCO_CFG = G1_BRAINCO_29DOF_CFG +"""Backward-compatible alias used by task configuration files.""" + + +G1_BRAINCO_FTP_CFG = G1_BRAINCO_29DOF_CFG.copy() +G1_BRAINCO_FTP_CFG.spawn.activate_contact_sensors = True +G1_BRAINCO_FTP_CFG.spawn.articulation_props.fix_root_link = True +G1_BRAINCO_FTP_CFG.init_state = ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 1.0), + joint_pos={ + ".*_hip_pitch_joint": -0.10, + ".*_knee_joint": 0.30, + ".*_ankle_pitch_joint": -0.20, + ".*_shoulder_pitch_joint": 0.35, + "left_shoulder_roll_joint": 0.16, + "right_shoulder_roll_joint": -0.16, + ".*_elbow_joint": 0.50, + ".*": 0.0, + }, + joint_vel={".*": 0.0}, +) +G1_BRAINCO_FTP_CFG.actuators["arms"] = ImplicitActuatorCfg( + joint_names_expr=[ + ".*_shoulder_pitch_joint", + ".*_shoulder_roll_joint", + ".*_shoulder_yaw_joint", + ".*_elbow_joint", + ".*_wrist_.*_joint", + ], + effort_limit={ + ".*_shoulder_pitch_joint": 25.0, + ".*_shoulder_roll_joint": 25.0, + ".*_shoulder_yaw_joint": 25.0, + ".*_elbow_joint": 25.0, + ".*_wrist_roll_joint": 25.0, + ".*_wrist_pitch_joint": 5.0, + ".*_wrist_yaw_joint": 5.0, + }, + velocity_limit=100.0, + stiffness=3000.0, + damping=100.0, + armature={ + ".*_shoulder_.*": 0.001, + ".*_elbow_.*": 0.001, + ".*_wrist_.*_joint": 0.001, + }, +) +G1_BRAINCO_FTP_CFG.actuators["hands"] = ImplicitActuatorCfg( + joint_names_expr=G1_BRAINCO_HAND_JOINT_PATTERNS, + effort_limit_sim=30.0, + velocity_limit_sim=10.0, + stiffness=10.0, + damping=0.2, + armature=0.001, +) +"""Fixed-base BrainCo G1 configuration suited for teleoperation and demo recording.""" diff --git a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingbox_gr1t2_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingbox_gr1t2_env_cfg.py index 77fc9c3..8e42d93 100644 --- a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingbox_gr1t2_env_cfg.py +++ b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingbox_gr1t2_env_cfg.py @@ -51,7 +51,8 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): prim_path="/World/envs/env_.*/PackingTable", init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.1], rot=[1.0, 0.0, 0.0, 0.0]), spawn=UsdFileCfg( - usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd", + # usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd", + usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/PackingTable/packing_table_v2.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True), ), ) @@ -67,14 +68,14 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): dryingbox = DRYINGBOX_CFG.replace( prim_path="{ENV_REGEX_NS}/Dryingbox", init_state=ArticulationCfg.InitialStateCfg( - pos=[0.0, 0.45, 0.90], + pos=[-0.05, 0.65, 0.90], rot=[1.0, 0.0, 0.0, 0.0], # joint_pos={"RevoluteJoint": -1.7453}, # -100° ), ) rack= RigidObjectCfg( prim_path="{ENV_REGEX_NS}/Rack", - init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.8996],rot=[1,0,0,0]), + init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.5,0.4,0.8996],rot=[1,0,0,0]), spawn=UsdFileCfg( # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd", usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc", @@ -84,7 +85,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): ) tube= RigidObjectCfg( prim_path="{ENV_REGEX_NS}/Tube", - init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,0.912],rot=[1,0,0,0]), + init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.52374,0.32415,0.912],rot=[1,0,0,0]), spawn=UsdFileCfg( # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd", usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Collected_Test_Tube_AA_01/Test_Tube_AA_01.usdc", @@ -96,7 +97,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): beaker = RigidObjectCfg( prim_path="{ENV_REGEX_NS}/Beaker", init_state=RigidObjectCfg.InitialStateCfg( - pos=[-0.20, 0.324, 0.93], # 根据你的天平中心位置微调 + pos=[-0.30, 0.324, 0.93], # 根据你的天平中心位置微调 rot=[1, 0, 0, 0] ), spawn=UsdFileCfg( @@ -129,7 +130,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): "right_shoulder_pitch_joint": 0.0, "right_shoulder_roll_joint": 0.0, "right_shoulder_yaw_joint": 0.0, - "right_elbow_pitch_joint": -1.5708, + "right_elbow_pitch_joint": 0.0,#-1.5708 "right_wrist_yaw_joint": 0.0, "right_wrist_roll_joint": 0.0, "right_wrist_pitch_joint": 0.0, @@ -137,7 +138,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): "left_shoulder_pitch_joint": 0.0, "left_shoulder_roll_joint": 0.0, "left_shoulder_yaw_joint": 0.0, - "left_elbow_pitch_joint": -1.5708, + "left_elbow_pitch_joint": 0.0,#-1.5708 "left_wrist_yaw_joint": 0.0, "left_wrist_roll_joint": 0.0, "left_wrist_pitch_joint": 0.0, diff --git a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingoven_gr1t2_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingoven_gr1t2_env_cfg.py index 178a6b0..80e5341 100644 --- a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingoven_gr1t2_env_cfg.py +++ b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingoven_gr1t2_env_cfg.py @@ -49,9 +49,10 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): # Table packing_table = AssetBaseCfg( prim_path="/World/envs/env_.*/PackingTable", - init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.1], rot=[1.0, 0.0, 0.0, 0.0]), + init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, 0.0], rot=[1.0, 0.0, 0.0, 0.0]), spawn=UsdFileCfg( - usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd", + # usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd", + usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/PackingTable/packing_table_v2.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True), ), ) @@ -67,14 +68,14 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): dryingoven = DRYINGOVEN_CFG.replace( prim_path="{ENV_REGEX_NS}/Dryingoven", init_state=ArticulationCfg.InitialStateCfg( - pos=[0.0, 0.45, 0.90], + pos=[0.0, 0.5, 1.0], rot=[1.0, 0.0, 0.0, 0.0], # joint_pos={"RevoluteJoint": -1.7453}, # -100° ), ) rack= RigidObjectCfg( prim_path="{ENV_REGEX_NS}/Rack", - init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.8996],rot=[1,0,0,0]), + init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.9996],rot=[1,0,0,0]), spawn=UsdFileCfg( # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd", usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc", @@ -84,7 +85,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): ) tube= RigidObjectCfg( prim_path="{ENV_REGEX_NS}/Tube", - init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,0.912],rot=[1,0,0,0]), + init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,1.012],rot=[1,0,0,0]), spawn=UsdFileCfg( # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd", usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Collected_Test_Tube_AA_01/Test_Tube_AA_01.usdc", @@ -96,7 +97,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg): beaker = RigidObjectCfg( prim_path="{ENV_REGEX_NS}/Beaker", init_state=RigidObjectCfg.InitialStateCfg( - pos=[-0.20, 0.324, 0.93], # 根据你的天平中心位置微调 + pos=[-0.20, 0.324, 1.03], # 根据你的天平中心位置微调 rot=[1, 0, 0, 0] ), spawn=UsdFileCfg(