场景

source/mindbot/mindbot/assets/dryingbox.py

@@ -0,0 +1,39 @@
+import isaaclab.sim as sim_utils
+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 mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+DRYINGBOX_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=r"c:\Users\PC\workpalce\maic_usd_assets_moudle\devices\DryingBox\Equipment_BB_13.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=True, max_depenetration_velocity=1.0
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            solver_position_iteration_count=32,
+            solver_velocity_iteration_count=16,
+            stabilization_threshold=1e-6,
+        ),
+    ),
+    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,
+        ),
+    },
+)

source/mindbot/mindbot/assets/lab.py

@@ -0,0 +1,18 @@
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg
+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 mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+ROOM_CFG = AssetBaseCfg(
+    # prim_path="{ENV_REGEX_NS}/Room",
+    spawn=UsdFileCfg(
+        usd_path=f"{MINDBOT_ASSETS_DIR}\\sences\\Lab\\lab.usd",
+    ),
+    
+)

source/mindbot/mindbot/assets/table.py

@@ -0,0 +1,32 @@
+import isaaclab.sim as sim_utils
+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 mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+TABLE_CFG = AssetBaseCfg(
+    # prim_path="{ENV_REGEX_NS}/Table",
+    init_state=AssetBaseCfg.InitialStateCfg(
+        pos=[1.95, -0.3, 0.005],
+        rot=[0.7071, 0.0, 0.0, -0.7071],
+    ),
+    spawn=UsdFileCfg(
+        usd_path=f"{MINDBOT_ASSETS_DIR}\\sences\\Table_C\\Table_C.usd",
+        rigid_props=RigidBodyPropertiesCfg(
+            rigid_body_enabled=True,
+            solver_position_iteration_count=32,
+            solver_velocity_iteration_count=16,
+            disable_gravity=False,
+        ),
+        collision_props=CollisionPropertiesCfg(
+            collision_enabled=True,
+            contact_offset=0.0005,  # original 0.02
+            rest_offset=0,
+        ),
+    ),
+)

source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py

@@ -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/mindrobot/mindrobot_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,

source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py

@@ -42,7 +42,9 @@ from .mindrobot_cfg import MINDBOT_HIGH_PD_CFG
 # 在文件开头添加
 import isaaclab.utils.assets as assets_utils
 from mindbot.utils.assets import MINDBOT_ASSETS_DIR
-
+from mindbot.assets.lab import ROOM_CFG
+from mindbot.assets.table import TABLE_CFG
+from mindbot.assets.dryingbox import DRYINGBOX_CFG
 # # 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"
@@ -84,7 +86,10 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
         ),
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.45)),
     )
-
+    
+    room = ROOM_CFG.replace(prim_path="{ENV_REGEX_NS}/Room")
+    table = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")
+    drying_box = DRYINGBOX_CFG.replace(prim_path="{ENV_REGEX_NS}/DryingBox")
     # room = AssetBaseCfg(
     #     prim_path="{ENV_REGEX_NS}/Room",
     #     spawn=sim_utils.UsdFileCfg(
@@ -136,17 +141,17 @@ class MindRobotTeleopActionsCfg:
     # Joint order in articulation: right_b, left_b, left_f, right_f
     # (from terminal joint index listing: [2],[3],[4],[5]).
     # Action vector: [right_b_vel, left_b_vel, left_f_vel, right_f_vel] in rad/s.
-    wheel_action = JointVelocityActionCfg(
+    # wheel_action = JointVelocityActionCfg(
-        asset_name="robot",
+    #     asset_name="robot",
-        # joint_names=[".*_revolute_Joint"],
+    #     # joint_names=[".*_revolute_Joint"],
-        joint_names=[
+    #     joint_names=[
-            "right_b_revolute_Joint",
+    #         "right_b_revolute_Joint",
-            "left_b_revolute_Joint",
+    #         "left_b_revolute_Joint",
-            "left_f_revolute_Joint",
+    #         "left_f_revolute_Joint",
-            "right_f_revolute_Joint",
+    #         "right_f_revolute_Joint",
-        ],
+    #     ],
-        scale=1.0,
+    #     scale=1.0,
-    )
+    # )
 
     # Left gripper control (binary: open/close)
     gripper_action = BinaryJointPositionActionCfg(

source/mindbot/mindbot/utils/assets.py

@@ -21,5 +21,5 @@ import os
 MINDBOT_ASSETS_DIR: str = os.environ.get(
     "MINDBOT_ASSETS_DIR",
     # "/home/tangger/DataDisk/maic_usd_assets_moudle",
-    "/home/maic/LYT/maic_usd_assets_moudle",
+    r"c:\Users\PC\workpalce\maic_usd_assets_moudle",
 )