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机器人重置

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hangX
2026-04-08 14:52:35 +08:00
parent 265f81d22e
commit 34f1a0c100
1 changed files with 71 additions and 17 deletions
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88
source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
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@@ -47,7 +47,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
# Table # Table
packing_table = AssetBaseCfg( packing_table = AssetBaseCfg(
prim_path="/World/envs/env_.*/PackingTable", prim_path="/World/envs/env_.*/PackingTable",
init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, 0.0], rot=[1.0, 0.0, 0.0, 0.0]), init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.15], rot=[1.0, 0.0, 0.0, 0.0]),
spawn=UsdFileCfg( spawn=UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd", usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True), rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
@@ -66,7 +66,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
centrifuge01 = CENTRIFUGE_CFG.replace( centrifuge01 = CENTRIFUGE_CFG.replace(
prim_path="{ENV_REGEX_NS}/Centrifuge01", prim_path="{ENV_REGEX_NS}/Centrifuge01",
init_state=ArticulationCfg.InitialStateCfg( init_state=ArticulationCfg.InitialStateCfg(
pos=[0.0, 0.55, 1.0], pos=[0.0, 0.55, 0.85],
rot=[1.0, 0.0, 0.0, 0.0], rot=[1.0, 0.0, 0.0, 0.0],
joint_pos={"RevoluteJoint": -1.7453}, # -100° joint_pos={"RevoluteJoint": -1.7453}, # -100°
), ),
@@ -82,7 +82,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
rack= RigidObjectCfg( rack= RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Rack", prim_path="{ENV_REGEX_NS}/Rack",
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.3,0.4,0.9996],rot=[1,0,0,0]), init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.3,0.4,0.8496],rot=[1,0,0,0]),
spawn=UsdFileCfg( 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)/tube.usd",
usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc", usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc",
@@ -93,7 +93,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
tube= RigidObjectCfg( tube= RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Tube", prim_path="{ENV_REGEX_NS}/Tube",
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.31574,0.32615,1.02],rot=[1,0,0,0]), init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.32374,0.32415,0.862],rot=[1,0,0,0]),
spawn=UsdFileCfg( 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)/tube.usd",
usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube/Test_Tube_AA_01.usdc", usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube/Test_Tube_AA_01.usdc",
@@ -350,20 +350,74 @@ class EventCfg:
"velocity_range": (0.0, 0.0), "velocity_range": (0.0, 0.0),
}, },
) )
# reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
# reset_object = EventTerm( reset_robot_joints = EventTerm(
# func=mdp.reset_root_state_uniform, func=base_mdp.reset_joints_by_offset,
# mode="reset", mode="reset",
# params={ params={
# "pose_range": { "asset_cfg": SceneEntityCfg("robot"),
# "x": [-0.01, 0.01], "position_range": (0.0, 0.0),
# "y": [-0.01, 0.01], "velocity_range": (0.0, 0.0),
# }, },
# "velocity_range": {}, )
# "asset_cfg": SceneEntityCfg("object"),
# }, reset_robot_root = EventTerm(
# ) func=base_mdp.reset_root_state_uniform,
mode="reset",
params={
"pose_range": {},
"velocity_range": {},
"asset_cfg": SceneEntityCfg("robot"),
},
)
reset_tube = EventTerm(
func=base_mdp.reset_root_state_uniform,
mode="reset",
params={
"pose_range": {},
"velocity_range": {},
"asset_cfg": SceneEntityCfg("tube"),
},
)
reset_rack = EventTerm(
func=base_mdp.reset_root_state_uniform,
mode="reset",
params={
"pose_range": {},
"velocity_range": {},
"asset_cfg": SceneEntityCfg("rack"),
},
)
# @configclass
# class EventCfg:
# """Configuration for events."""
# reset_centrifuge_joints = EventTerm(
# func=base_mdp.reset_joints_by_offset,
# mode="reset",
# params={
# "asset_cfg": SceneEntityCfg("centrifuge01"),
# "position_range": (0.0, 0.0),
# "velocity_range": (0.0, 0.0),
# },
# )
# # reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
# # reset_object = EventTerm(
# # func=mdp.reset_root_state_uniform,
# # mode="reset",
# # params={
# # "pose_range": {
# # "x": [-0.01, 0.01],
# # "y": [-0.01, 0.01],
# # },
# # "velocity_range": {},
# # "asset_cfg": SceneEntityCfg("object"),
# # },
# # )
@configclass @configclass