analytical_balance的相关配置，使用cloudxr遥操作
This commit is contained in:
3
deps/cloudxr/INSTALL.md
vendored
3
deps/cloudxr/INSTALL.md
vendored
@@ -160,6 +160,7 @@ npm install ../nvidia-cloudxr-6.0.0-beta.tgz
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npm install
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npm install
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# 启动 HTTPS 开发服务器（端口 8080）
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# 启动 HTTPS 开发服务器（端口 8080）
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sudo sysctl fs.inotify.max_user_watches=524288
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npm run dev-server:https
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npm run dev-server:https
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```
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```
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@@ -177,7 +178,7 @@ npm run dev-server:https
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cd ~/IsaacLab
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cd ~/IsaacLab
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sudo ./docker/container.py start \
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sudo ./docker/container.py start \
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--files docker-compose.cloudxr-runtime.patch.yaml \
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--files docker-compose.cloudxr-runtime.patch.yaml \
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docker-compose.mindbot.patch.yaml \
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/home/maic/xh/mindbot/deps/cloudxr/docker-compose.mindbot.patch.yaml \
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--env-files .env.cloudxr-runtime
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--env-files .env.cloudxr-runtime
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# 进入 Isaac Lab 容器
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# 进入 Isaac Lab 容器
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47
source/mindbot/mindbot/assets/analytical_balance.py
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47
source/mindbot/mindbot/assets/analytical_balance.py
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@@ -0,0 +1,47 @@
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import isaaclab.sim as sim_utils
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
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from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
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from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
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from isaaclab.sim.schemas.schemas_cfg import (
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RigidBodyPropertiesCfg,
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CollisionPropertiesCfg,
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)
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from mindbot.utils.assets import MINDBOT_ASSETS_DIR
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import math
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BALANCE_CFG = ArticulationCfg(
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spawn=sim_utils.UsdFileCfg(
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usd_path=f"{MINDBOT_ASSETS_DIR}/devices/Analytical_Balance/Equipment_02.usd",
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scale=(0.012,0.012,0.012),
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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max_depenetration_velocity=1.0
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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fix_root_link=True, # 由 USD 内的 FixedJoint_ 负责固定底座
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enabled_self_collisions=False,
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solver_position_iteration_count=32,
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solver_velocity_iteration_count=16,
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stabilization_threshold=1e-6,
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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pos=[1.95, -0.45, 0.9],
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rot=[-0.7071, 0.0, 0.0, 0.7071],
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joint_pos={
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"RevoluteJoint": math.radians(0.0), # -100°，盖子打开位置
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"PrismaticJoint_0":math.radians(0.0),
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"PrismaticJoint_1":math.radians(0.0),
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},
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),
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actuators={
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"lid_open": ImplicitActuatorCfg(
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joint_names_expr=['PrismaticJoint', 'PrismaticJoint_0', 'PrismaticJoint_1'],
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stiffness=0, # 覆盖 USD 的 100，足够对抗重力保持开盖
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damping=5, # 阻尼同步加大，防止振荡
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effort_limit_sim=1000.0,
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velocity_limit_sim=100.0,
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),
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},
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)
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204
source/mindbot/mindbot/robot/mindbot_cloudxr.py
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204
source/mindbot/mindbot/robot/mindbot_cloudxr.py
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@@ -0,0 +1,204 @@
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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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"""Configuration for the Fourier Robots.
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The following configuration parameters are available:
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* :obj:'MINDBOT_CFG'
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* :obj:`GR1T2_HIGH_PD_CFG`: The GR1T2 humanoid configured with high PD gains on upper body joints for pick-place manipulation tasks.
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Reference: https://www.fftai.com/products-gr1
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"""
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import torch
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import isaaclab.sim as sim_utils
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab.assets import ArticulationCfg
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from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
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from mindbot.utils.assets import MINDBOT_ASSETS_DIR
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##
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# Configuration
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##
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MINDBOT_CFG = ArticulationCfg(
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spawn=sim_utils.UsdFileCfg(
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usd_path=(
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f"{MINDBOT_ASSETS_DIR}/robots/mindrobot-1105-lab/mindrobot_cd2.usd",
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),
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activate_contact_sensors=True,
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=True,
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retain_accelerations=False,
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linear_damping=0.0,
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angular_damping=0.0,
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max_linear_velocity=1000.0,
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max_angular_velocity=1000.0,
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max_depenetration_velocity=1.0,
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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enabled_self_collisions=True,
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solver_position_iteration_count=16,
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solver_velocity_iteration_count=8,
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stablization_threshold=1e-6,
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),
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collision_props=sim_utils.CollisionPropertiesCfg(
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collision_enabled=True,
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contact_offset=0.0005, # 尝试从默认值增大到 0.01 或 0.02
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rest_offset=0, # 保持略小于 contact_offset
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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pos=(0.0, 0.0, 0.7),
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joint_pos={
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# ====== Left arm (RM-65) — away from singularities ======
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# Elbow singularity: q3=0; Wrist singularity: q5=0.
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# Small offsets on q2/q4/q6 to avoid exact 90° Jacobian symmetry.
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"l_joint1": 1.5708, # 90°
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"l_joint2": -1.2217, # -70° (offset from -90° for better elbow workspace)
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"l_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
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"l_joint4": 1.3963, # 80° (offset from 90° to break wrist symmetry)
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"l_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
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"l_joint6": -1.3963, # -80° (offset from -90° to break wrist symmetry)
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# ====== Right arm (RM-65) — same joint values as left (verified visually) ======
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"r_joint1": 1.5708, # 90°
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"r_joint2": -1.2217, # -70°
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"r_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
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"r_joint4": 1.3963, # 80°
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"r_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
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"r_joint6": 1.3963, # -80°
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# ====== Grippers (0=open) ======
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"left_hand_joint_left": 0.0,
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"left_hand_joint_right": 0.0,
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"right_hand_joint_left": 0.0,
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"right_hand_joint_right": 0.0,
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# ====== Trunk & Head ======
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# NOTE: pos z = 0.44 (base clearance) + PrismaticJoint value.
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# If you change PrismaticJoint, update pos z accordingly to avoid
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# geometry clipping that causes the robot to fall on spawn.
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"PrismaticJoint": 0.26,
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"head_pitch_Joint": 0.0,
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"head_yaw_Joint": 0.0,
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},
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joint_vel={".*": 0.0},
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),
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actuators={
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"head": ImplicitActuatorCfg(
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joint_names_expr=[
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"head_.*",
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],
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effort_limit=None,
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velocity_limit=None,
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stiffness=None,
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damping=None,
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),
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"trunk": ImplicitActuatorCfg(
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joint_names_expr=[
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"PrismaticJoint",
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],
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effort_limit=None,
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velocity_limit=None,
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stiffness=None,
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damping=None,
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),
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"wheels": ImplicitActuatorCfg(
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# joint_names_expr=[".*_revolute_Joint"],
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joint_names_expr=[
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"right_b_revolute_Joint",
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"left_b_revolute_Joint",
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"left_f_revolute_Joint",
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"right_f_revolute_Joint",
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],
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effort_limit=None,
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velocity_limit=None,
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stiffness=None,
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damping=None,
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),
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"left_arm_shoulder": ImplicitActuatorCfg(
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joint_names_expr=["l_joint[1-3]"],
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effort_limit=torch.inf,
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velocity_limit=torch.inf,
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stiffness=None,
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damping=None,
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armature=0.0,
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),
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# RM-65 J4-J6: wrist — max 225°/s ≈ 3.93 rad/s
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"left_arm_wrist": ImplicitActuatorCfg(
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joint_names_expr=["l_joint[4-6]"],
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effort_limit=torch.inf,
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velocity_limit=torch.inf,
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stiffness=None,
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damping=None,
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armature=0.0,
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),
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"right_arm_shoulder": ImplicitActuatorCfg(
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joint_names_expr=["r_joint[1-3]"],
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effort_limit=torch.inf,
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velocity_limit=torch.inf,
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stiffness=None,
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damping=None,
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armature=0.0,
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),
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"right_arm_wrist": ImplicitActuatorCfg(
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joint_names_expr=["r_joint[4-6]"],
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effort_limit=torch.inf,
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velocity_limit=torch.inf,
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stiffness=None,
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damping=None,
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armature=0.0,
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),
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"grippers": ImplicitActuatorCfg(
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joint_names_expr=[".*_hand_joint.*"],
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effort_limit_sim=200.0,
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stiffness=2e3,
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damping=1e2,
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),
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# "right-arm": ImplicitActuatorCfg(
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# joint_names_expr=[
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# "right_shoulder_.*",
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# "right_elbow_.*",
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# "right_wrist_.*",
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# ],
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# effort_limit=torch.inf,
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# velocity_limit=torch.inf,
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# stiffness=None,
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# damping=None,
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# armature=0.0,
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# ),
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# "left-arm": ImplicitActuatorCfg(
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# joint_names_expr=[
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# "left_shoulder_.*",
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# "left_elbow_.*",
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# "left_wrist_.*",
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# ],
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# effort_limit=torch.inf,
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# velocity_limit=torch.inf,
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# stiffness=None,
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# damping=None,
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# armature=0.0,
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# ),
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# "right-hand": ImplicitActuatorCfg(
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# joint_names_expr=[
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# "R_.*",
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# ],
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# effort_limit=None,
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# velocity_limit=None,
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# stiffness=None,
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# damping=None,
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# ),
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# "left-hand": ImplicitActuatorCfg(
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# joint_names_expr=[
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# "L_.*",
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# ],
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# effort_limit=None,
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# velocity_limit=None,
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# stiffness=None,
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# damping=None,
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# ),
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},
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)
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@@ -17,6 +17,16 @@ gym.register(
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disable_env_checker=True,
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disable_env_checker=True,
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)
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)
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gym.register(
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id="Isaac-Balance-GR1T2-Abs-v0",
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entry_point="isaaclab.envs:ManagerBasedRLEnv",
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kwargs={
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"env_cfg_entry_point": f"{__name__}.openbalnace_gr1t2_env_cfg:OpenBalanceEnvCfg",
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"robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
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},
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disable_env_checker=True,
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)
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gym.register(
|
gym.register(
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id="Isaac-NutPour-GR1T2-Pink-IK-Abs-v0",
|
id="Isaac-NutPour-GR1T2-Pink-IK-Abs-v0",
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entry_point="isaaclab.envs:ManagerBasedRLEnv",
|
entry_point="isaaclab.envs:ManagerBasedRLEnv",
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@@ -0,0 +1,591 @@
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|
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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|
# All rights reserved.
|
||||||
|
#
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|
# SPDX-License-Identifier: BSD-3-Clause
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|
|
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|
import tempfile
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|
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|
import torch
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|
from pink.tasks import DampingTask, FrameTask
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|
|
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|
import carb
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|
|
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|
import isaaclab.controllers.utils as ControllerUtils
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|
import isaaclab.envs.mdp as base_mdp
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|
import isaaclab.sim as sim_utils
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|
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
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|
from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
|
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|
from isaaclab.devices.device_base import DevicesCfg
|
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|
from isaaclab.devices.openxr import ManusViveCfg, OpenXRDeviceCfg, XrCfg
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|
from isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter import GR1T2RetargeterCfg
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|
from isaaclab.envs import ManagerBasedRLEnvCfg
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|
from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
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|
from isaaclab.managers import EventTermCfg as EventTerm
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|
from isaaclab.managers import ObservationGroupCfg as ObsGroup
|
||||||
|
from isaaclab.managers import ObservationTermCfg as ObsTerm
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|
from isaaclab.managers import SceneEntityCfg
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|
from isaaclab.managers import TerminationTermCfg as DoneTerm
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|
from isaaclab.scene import InteractiveSceneCfg
|
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|
from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
|
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|
from isaaclab.utils import configclass
|
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|
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
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|
|
||||||
|
from . import mdp
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|
|
||||||
|
from mindbot.robot.gr1t2 import GR1T2_HIGH_PD_CFG # isort: skip
|
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|
from mindbot.assets.table import TABLE_CFG
|
||||||
|
from mindbot.assets.centrifuge import CENTRIFUGE_CFG
|
||||||
|
from mindbot.assets.analytical_balance import BALANCE_CFG
|
||||||
|
from mindbot.utils.assets import MINDBOT_ASSETS_DIR
|
||||||
|
|
||||||
|
##
|
||||||
|
# Scene definition
|
||||||
|
##
|
||||||
|
@configclass
|
||||||
|
class ObjectTableSceneCfg(InteractiveSceneCfg):
|
||||||
|
"""Configuration for the GR1T2 Pick Place Base Scene."""
|
||||||
|
|
||||||
|
# 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]),
|
||||||
|
spawn=UsdFileCfg(
|
||||||
|
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
|
||||||
|
rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
# table = AssetBaseCfg(
|
||||||
|
# prim_path="/World/envs/env_.*/Table",
|
||||||
|
# init_state=AssetBaseCfg.InitialStateCfg(pos=[0.6,-0.5,0.0],rot=[0.7071,0,0,0.7071]),
|
||||||
|
# spawn=UsdFileCfg(
|
||||||
|
# usd_path=f"{MINDBOT_ASSETS_DIR}/sences/Table_C_coll/Table_C.usd",
|
||||||
|
# rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||||
|
# ),
|
||||||
|
# )
|
||||||
|
|
||||||
|
# centrifuge01 = CENTRIFUGE_CFG.replace(
|
||||||
|
# prim_path="{ENV_REGEX_NS}/Centrifuge01",
|
||||||
|
# init_state=ArticulationCfg.InitialStateCfg(
|
||||||
|
# pos=[0.0, 0.55, 0.85],
|
||||||
|
# rot=[1.0, 0.0, 0.0, 0.0],
|
||||||
|
# joint_pos={"RevoluteJoint": -1.7453}, # -100°
|
||||||
|
# ),
|
||||||
|
# )
|
||||||
|
analytical_balance = BALANCE_CFG.replace(
|
||||||
|
prim_path="{ENV_REGEX_NS}/Balance",
|
||||||
|
init_state=ArticulationCfg.InitialStateCfg(
|
||||||
|
pos=[0.0, 0.45, 0.90],
|
||||||
|
rot=[1.0, 0.0, 0.0, 0.0],
|
||||||
|
# joint_pos={"RevoluteJoint": -1.7453}, # -100°
|
||||||
|
),
|
||||||
|
)
|
||||||
|
# centrifuge02 = CENTRIFUGE_CFG.replace(
|
||||||
|
# prim_path="{ENV_REGEX_NS}/Centrifuge02",
|
||||||
|
# init_state=ArticulationCfg.InitialStateCfg(
|
||||||
|
# pos=[0.5, -0.3, 0.85],
|
||||||
|
# rot=[-0.7071, 0.0, 0.0, 0.7071],
|
||||||
|
# joint_pos={"RevoluteJoint": -1.74},
|
||||||
|
# ),
|
||||||
|
# )
|
||||||
|
|
||||||
|
rack= RigidObjectCfg(
|
||||||
|
prim_path="{ENV_REGEX_NS}/Rack",
|
||||||
|
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.8996],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",
|
||||||
|
scale=(1.0,1.0,1.0),
|
||||||
|
rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
tube= RigidObjectCfg(
|
||||||
|
prim_path="{ENV_REGEX_NS}/Tube",
|
||||||
|
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,0.912],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",
|
||||||
|
scale=(0.8,0.8,1.0),
|
||||||
|
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
|
||||||
|
# rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
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
|
||||||
|
rot=[1, 0, 0, 0]
|
||||||
|
),
|
||||||
|
spawn=UsdFileCfg(
|
||||||
|
usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Beaker/beaker_500ml.usd",
|
||||||
|
|
||||||
|
# 尺寸适配：假设原始模型是 1:1 或需要缩放至 120mm 高度
|
||||||
|
scale=(0.35, 0.35, 0.35),
|
||||||
|
|
||||||
|
rigid_props=sim_utils.RigidBodyPropertiesCfg(
|
||||||
|
# solver_velocity_iteration_count=4,
|
||||||
|
# solver_position_iteration_count=16,
|
||||||
|
# max_angular_velocity=1000.0,
|
||||||
|
# max_linear_velocity=1000.0,
|
||||||
|
# # 启用 GPU 动力学，确保与 Isaac Lab 流程兼容
|
||||||
|
# disable_gravity=False,
|
||||||
|
),
|
||||||
|
mass_props=sim_utils.MassPropertiesCfg(mass=0.15), # 500ml 玻璃烧杯约 150g
|
||||||
|
collision_props=sim_utils.CollisionPropertiesCfg(),
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
# object = RigidObjectCfg(
|
||||||
|
# prim_path="{ENV_REGEX_NS}/Object",
|
||||||
|
# # init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0]),
|
||||||
|
# init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.65, 0.45, 0.9996], rot=[1, 0, 0, 0]),
|
||||||
|
# spawn=UsdFileCfg(
|
||||||
|
# usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
|
||||||
|
# scale=(0.75, 0.75, 0.75),
|
||||||
|
# rigid_props=sim_utils.RigidBodyPropertiesCfg(),
|
||||||
|
# ),
|
||||||
|
# )
|
||||||
|
|
||||||
|
# Humanoid robot configured for pick-place manipulation tasks
|
||||||
|
robot: ArticulationCfg = GR1T2_HIGH_PD_CFG.replace(
|
||||||
|
prim_path="/World/envs/env_.*/Robot",
|
||||||
|
init_state=ArticulationCfg.InitialStateCfg(
|
||||||
|
pos=(0, 0, 0.93),
|
||||||
|
rot=(0.7071, 0, 0, 0.7071),
|
||||||
|
joint_pos={
|
||||||
|
# right-arm
|
||||||
|
"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_wrist_yaw_joint": 0.0,
|
||||||
|
"right_wrist_roll_joint": 0.0,
|
||||||
|
"right_wrist_pitch_joint": 0.0,
|
||||||
|
# left-arm
|
||||||
|
"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_wrist_yaw_joint": 0.0,
|
||||||
|
"left_wrist_roll_joint": 0.0,
|
||||||
|
"left_wrist_pitch_joint": 0.0,
|
||||||
|
# --
|
||||||
|
"head_.*": 0.0,
|
||||||
|
"waist_.*": 0.0,
|
||||||
|
".*_hip_.*": 0.0,
|
||||||
|
".*_knee_.*": 0.0,
|
||||||
|
".*_ankle_.*": 0.0,
|
||||||
|
"R_.*": 0.0,
|
||||||
|
"L_.*": 0.0,
|
||||||
|
},
|
||||||
|
joint_vel={".*": 0.0},
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
# Ground plane
|
||||||
|
ground = AssetBaseCfg(
|
||||||
|
prim_path="/World/GroundPlane",
|
||||||
|
spawn=GroundPlaneCfg(),
|
||||||
|
)
|
||||||
|
|
||||||
|
# Lights
|
||||||
|
light = AssetBaseCfg(
|
||||||
|
prim_path="/World/light",
|
||||||
|
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
##
|
||||||
|
# MDP settings
|
||||||
|
##
|
||||||
|
@configclass
|
||||||
|
class ActionsCfg:
|
||||||
|
"""Action specifications for the MDP."""
|
||||||
|
|
||||||
|
upper_body_ik = PinkInverseKinematicsActionCfg(
|
||||||
|
pink_controlled_joint_names=[
|
||||||
|
"left_shoulder_pitch_joint",
|
||||||
|
"left_shoulder_roll_joint",
|
||||||
|
"left_shoulder_yaw_joint",
|
||||||
|
"left_elbow_pitch_joint",
|
||||||
|
"left_wrist_yaw_joint",
|
||||||
|
"left_wrist_roll_joint",
|
||||||
|
"left_wrist_pitch_joint",
|
||||||
|
"right_shoulder_pitch_joint",
|
||||||
|
"right_shoulder_roll_joint",
|
||||||
|
"right_shoulder_yaw_joint",
|
||||||
|
"right_elbow_pitch_joint",
|
||||||
|
"right_wrist_yaw_joint",
|
||||||
|
"right_wrist_roll_joint",
|
||||||
|
"right_wrist_pitch_joint",
|
||||||
|
],
|
||||||
|
hand_joint_names=[
|
||||||
|
"L_index_proximal_joint",
|
||||||
|
"L_middle_proximal_joint",
|
||||||
|
"L_pinky_proximal_joint",
|
||||||
|
"L_ring_proximal_joint",
|
||||||
|
"L_thumb_proximal_yaw_joint",
|
||||||
|
"R_index_proximal_joint",
|
||||||
|
"R_middle_proximal_joint",
|
||||||
|
"R_pinky_proximal_joint",
|
||||||
|
"R_ring_proximal_joint",
|
||||||
|
"R_thumb_proximal_yaw_joint",
|
||||||
|
"L_index_intermediate_joint",
|
||||||
|
"L_middle_intermediate_joint",
|
||||||
|
"L_pinky_intermediate_joint",
|
||||||
|
"L_ring_intermediate_joint",
|
||||||
|
"L_thumb_proximal_pitch_joint",
|
||||||
|
"R_index_intermediate_joint",
|
||||||
|
"R_middle_intermediate_joint",
|
||||||
|
"R_pinky_intermediate_joint",
|
||||||
|
"R_ring_intermediate_joint",
|
||||||
|
"R_thumb_proximal_pitch_joint",
|
||||||
|
"L_thumb_distal_joint",
|
||||||
|
"R_thumb_distal_joint",
|
||||||
|
],
|
||||||
|
target_eef_link_names={
|
||||||
|
"left_wrist": "left_hand_pitch_link",
|
||||||
|
"right_wrist": "right_hand_pitch_link",
|
||||||
|
},
|
||||||
|
# the robot in the sim scene we are controlling
|
||||||
|
asset_name="robot",
|
||||||
|
# Configuration for the IK controller
|
||||||
|
# The frames names are the ones present in the URDF file
|
||||||
|
# The urdf has to be generated from the USD that is being used in the scene
|
||||||
|
controller=PinkIKControllerCfg(
|
||||||
|
articulation_name="robot",
|
||||||
|
base_link_name="base_link",
|
||||||
|
num_hand_joints=22,
|
||||||
|
show_ik_warnings=False,
|
||||||
|
# Determines whether Pink IK solver will fail due to a joint limit violation
|
||||||
|
fail_on_joint_limit_violation=False,
|
||||||
|
variable_input_tasks=[
|
||||||
|
FrameTask(
|
||||||
|
"GR1T2_fourier_hand_6dof_left_hand_pitch_link",
|
||||||
|
position_cost=8.0, # [cost] / [m]
|
||||||
|
orientation_cost=1.0, # [cost] / [rad]
|
||||||
|
lm_damping=12, # dampening for solver for step jumps
|
||||||
|
gain=0.5,
|
||||||
|
),
|
||||||
|
FrameTask(
|
||||||
|
"GR1T2_fourier_hand_6dof_right_hand_pitch_link",
|
||||||
|
position_cost=8.0, # [cost] / [m]
|
||||||
|
orientation_cost=1.0, # [cost] / [rad]
|
||||||
|
lm_damping=12, # dampening for solver for step jumps
|
||||||
|
gain=0.5,
|
||||||
|
),
|
||||||
|
DampingTask(
|
||||||
|
cost=0.5, # [cost] * [s] / [rad]
|
||||||
|
),
|
||||||
|
NullSpacePostureTask(
|
||||||
|
cost=0.5,
|
||||||
|
lm_damping=1,
|
||||||
|
controlled_frames=[
|
||||||
|
"GR1T2_fourier_hand_6dof_left_hand_pitch_link",
|
||||||
|
"GR1T2_fourier_hand_6dof_right_hand_pitch_link",
|
||||||
|
],
|
||||||
|
controlled_joints=[
|
||||||
|
"left_shoulder_pitch_joint",
|
||||||
|
"left_shoulder_roll_joint",
|
||||||
|
"left_shoulder_yaw_joint",
|
||||||
|
"left_elbow_pitch_joint",
|
||||||
|
"right_shoulder_pitch_joint",
|
||||||
|
"right_shoulder_roll_joint",
|
||||||
|
"right_shoulder_yaw_joint",
|
||||||
|
"right_elbow_pitch_joint",
|
||||||
|
"waist_yaw_joint",
|
||||||
|
"waist_pitch_joint",
|
||||||
|
"waist_roll_joint",
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
fixed_input_tasks=[],
|
||||||
|
xr_enabled=bool(carb.settings.get_settings().get("/app/xr/enabled")),
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
# 每步强制把离心机盖子 PD 目标设为 -100°，防止重力或初始化问题导致盖子下落
|
||||||
|
# centrifuge_lid_hold = base_mdp.JointPositionActionCfg(
|
||||||
|
# asset_name="centrifuge01",
|
||||||
|
# joint_names=["RevoluteJoint"],
|
||||||
|
# scale=0.0, # RL/遥操作不控制此关节
|
||||||
|
# offset=-1.7453, # -100°，每步作为 PD 目标写入
|
||||||
|
# )
|
||||||
|
|
||||||
|
|
||||||
|
@configclass
|
||||||
|
class ObservationsCfg:
|
||||||
|
"""Observation specifications for the MDP."""
|
||||||
|
|
||||||
|
@configclass
|
||||||
|
class PolicyCfg(ObsGroup):
|
||||||
|
"""Observations for policy group with state values."""
|
||||||
|
|
||||||
|
actions = ObsTerm(func=mdp.last_action)
|
||||||
|
robot_joint_pos = ObsTerm(
|
||||||
|
func=base_mdp.joint_pos,
|
||||||
|
params={"asset_cfg": SceneEntityCfg("robot")},
|
||||||
|
)
|
||||||
|
robot_root_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("robot")})
|
||||||
|
robot_root_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("robot")})
|
||||||
|
# object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")})
|
||||||
|
# object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")})
|
||||||
|
robot_links_state = ObsTerm(func=mdp.get_all_robot_link_state)
|
||||||
|
|
||||||
|
left_eef_pos = ObsTerm(func=mdp.get_eef_pos, params={"link_name": "left_hand_roll_link"})
|
||||||
|
left_eef_quat = ObsTerm(func=mdp.get_eef_quat, params={"link_name": "left_hand_roll_link"})
|
||||||
|
right_eef_pos = ObsTerm(func=mdp.get_eef_pos, params={"link_name": "right_hand_roll_link"})
|
||||||
|
right_eef_quat = ObsTerm(func=mdp.get_eef_quat, params={"link_name": "right_hand_roll_link"})
|
||||||
|
|
||||||
|
hand_joint_state = ObsTerm(func=mdp.get_robot_joint_state, params={"joint_names": ["R_.*", "L_.*"]})
|
||||||
|
head_joint_state = ObsTerm(
|
||||||
|
func=mdp.get_robot_joint_state,
|
||||||
|
params={"joint_names": ["head_pitch_joint", "head_roll_joint", "head_yaw_joint"]},
|
||||||
|
)
|
||||||
|
|
||||||
|
# object = ObsTerm(
|
||||||
|
# func=mdp.object_obs,
|
||||||
|
# params={"left_eef_link_name": "left_hand_roll_link", "right_eef_link_name": "right_hand_roll_link"},
|
||||||
|
# )
|
||||||
|
|
||||||
|
def __post_init__(self):
|
||||||
|
self.enable_corruption = False
|
||||||
|
self.concatenate_terms = False
|
||||||
|
|
||||||
|
|
||||||
|
# observation groups
|
||||||
|
policy: PolicyCfg = PolicyCfg()
|
||||||
|
|
||||||
|
|
||||||
|
@configclass
|
||||||
|
class TerminationsCfg:
|
||||||
|
"""Termination terms for the MDP."""
|
||||||
|
|
||||||
|
time_out = DoneTerm(func=mdp.time_out, time_out=True)
|
||||||
|
|
||||||
|
# object_dropping = DoneTerm(
|
||||||
|
# func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
|
||||||
|
# )
|
||||||
|
|
||||||
|
# success = DoneTerm(func=mdp.task_done_pick_place, params={"task_link_name": "right_hand_roll_link"})
|
||||||
|
|
||||||
|
|
||||||
|
@configclass
|
||||||
|
class EventCfg:
|
||||||
|
"""Configuration for events."""
|
||||||
|
|
||||||
|
reset_balance_joints = EventTerm(
|
||||||
|
func=base_mdp.reset_joints_by_offset,
|
||||||
|
mode="reset",
|
||||||
|
params={
|
||||||
|
"asset_cfg": SceneEntityCfg("analytical_balance"),
|
||||||
|
"position_range": (0.0, 0.0),
|
||||||
|
"velocity_range": (0.0, 0.0),
|
||||||
|
},
|
||||||
|
)
|
||||||
|
|
||||||
|
reset_beaker_root = EventTerm(
|
||||||
|
func=base_mdp.reset_root_state_uniform,
|
||||||
|
mode="reset",
|
||||||
|
params={
|
||||||
|
"pose_range": {},
|
||||||
|
"velocity_range": {},
|
||||||
|
"asset_cfg": SceneEntityCfg("beaker"),
|
||||||
|
},
|
||||||
|
)
|
||||||
|
|
||||||
|
reset_robot_joints = EventTerm(
|
||||||
|
func=base_mdp.reset_joints_by_offset,
|
||||||
|
mode="reset",
|
||||||
|
params={
|
||||||
|
"asset_cfg": SceneEntityCfg("robot"),
|
||||||
|
"position_range": (0.0, 0.0),
|
||||||
|
"velocity_range": (0.0, 0.0),
|
||||||
|
},
|
||||||
|
)
|
||||||
|
|
||||||
|
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
|
||||||
|
class OpenBalanceEnvCfg(ManagerBasedRLEnvCfg):
|
||||||
|
"""Configuration for the GR1T2 environment."""
|
||||||
|
|
||||||
|
# Scene settings
|
||||||
|
scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=1, env_spacing=2.5, replicate_physics=True)
|
||||||
|
# Basic settings
|
||||||
|
observations: ObservationsCfg = ObservationsCfg()
|
||||||
|
actions: ActionsCfg = ActionsCfg()
|
||||||
|
# MDP settings
|
||||||
|
terminations: TerminationsCfg = TerminationsCfg()
|
||||||
|
events = EventCfg()
|
||||||
|
|
||||||
|
# Unused managers
|
||||||
|
commands = None
|
||||||
|
rewards = None
|
||||||
|
curriculum = None
|
||||||
|
|
||||||
|
# Position of the XR anchor in the world frame
|
||||||
|
xr: XrCfg = XrCfg(
|
||||||
|
anchor_pos=(0.0, 0.0, 0.0),
|
||||||
|
anchor_rot=(1.0, 0.0, 0.0, 0.0),
|
||||||
|
)
|
||||||
|
|
||||||
|
# OpenXR hand tracking has 26 joints per hand
|
||||||
|
NUM_OPENXR_HAND_JOINTS = 26
|
||||||
|
|
||||||
|
# Temporary directory for URDF files
|
||||||
|
temp_urdf_dir = tempfile.gettempdir()
|
||||||
|
|
||||||
|
# Idle action to hold robot in default pose
|
||||||
|
# Action format: [left arm pos (3), left arm quat (4), right arm pos (3), right arm quat (4),
|
||||||
|
# left hand joint pos (11), right hand joint pos (11), centrifuge lid (1)]
|
||||||
|
idle_action = torch.tensor(
|
||||||
|
[
|
||||||
|
-0.22878,
|
||||||
|
0.2536,
|
||||||
|
1.0953,
|
||||||
|
0.5,
|
||||||
|
0.5,
|
||||||
|
-0.5,
|
||||||
|
0.5,
|
||||||
|
0.22878,
|
||||||
|
0.2536,
|
||||||
|
1.0953,
|
||||||
|
0.5,
|
||||||
|
0.5,
|
||||||
|
-0.5,
|
||||||
|
0.5,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0, # centrifuge lid（scale=0，值无关紧要）
|
||||||
|
]
|
||||||
|
)
|
||||||
|
|
||||||
|
def __post_init__(self):
|
||||||
|
"""Post initialization."""
|
||||||
|
# general settings
|
||||||
|
self.decimation = 6
|
||||||
|
self.episode_length_s = 20.0
|
||||||
|
# simulation settings
|
||||||
|
self.sim.dt = 1 / 120 # 120Hz
|
||||||
|
self.sim.render_interval = 2
|
||||||
|
|
||||||
|
# self._setup_tube_material()
|
||||||
|
# Convert USD to URDF and change revolute joints to fixed
|
||||||
|
temp_urdf_output_path, temp_urdf_meshes_output_path = ControllerUtils.convert_usd_to_urdf(
|
||||||
|
self.scene.robot.spawn.usd_path, self.temp_urdf_dir, force_conversion=True
|
||||||
|
)
|
||||||
|
|
||||||
|
# Set the URDF and mesh paths for the IK controller
|
||||||
|
self.actions.upper_body_ik.controller.urdf_path = temp_urdf_output_path
|
||||||
|
self.actions.upper_body_ik.controller.mesh_path = temp_urdf_meshes_output_path
|
||||||
|
|
||||||
|
self.teleop_devices = DevicesCfg(
|
||||||
|
devices={
|
||||||
|
"handtracking": OpenXRDeviceCfg(
|
||||||
|
retargeters=[
|
||||||
|
GR1T2RetargeterCfg(
|
||||||
|
enable_visualization=True,
|
||||||
|
# number of joints in both hands
|
||||||
|
num_open_xr_hand_joints=2 * self.NUM_OPENXR_HAND_JOINTS,
|
||||||
|
sim_device=self.sim.device,
|
||||||
|
hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||||
|
),
|
||||||
|
],
|
||||||
|
sim_device=self.sim.device,
|
||||||
|
xr_cfg=self.xr,
|
||||||
|
),
|
||||||
|
"manusvive": ManusViveCfg(
|
||||||
|
retargeters=[
|
||||||
|
GR1T2RetargeterCfg(
|
||||||
|
enable_visualization=True,
|
||||||
|
num_open_xr_hand_joints=2 * 26,
|
||||||
|
sim_device=self.sim.device,
|
||||||
|
hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||||
|
),
|
||||||
|
],
|
||||||
|
sim_device=self.sim.device,
|
||||||
|
xr_cfg=self.xr,
|
||||||
|
),
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
@@ -96,7 +96,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
|
|||||||
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.32374,0.32415,0.862],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/Collected_Test_Tube_AA_01/Test_Tube_AA_01.usdc",
|
||||||
scale=(0.8,0.8,1.0),
|
scale=(0.8,0.8,1.0),
|
||||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
|
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
|
||||||
# rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
# rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||||
|
|||||||
Reference in New Issue
Block a user