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analytical_balance的相关配置，使用cloudxr遥操作

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hangX
2026-04-13 10:09:38 +08:00
parent 34f1a0c100
commit 3e3e1ed8ea
6 changed files with 855 additions and 2 deletions
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3
deps/cloudxr/INSTALL.md vendored
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@@ -160,6 +160,7 @@ npm install ../nvidia-cloudxr-6.0.0-beta.tgz
npm install
# 启动 HTTPS 开发服务器（端口 8080）
sudo sysctl fs.inotify.max_user_watches=524288
npm run dev-server:https
```
@@ -177,7 +178,7 @@ npm run dev-server:https
cd ~/IsaacLab
sudo ./docker/container.py start \
--files docker-compose.cloudxr-runtime.patch.yaml \
docker-compose.mindbot.patch.yaml \
/home/maic/xh/mindbot/deps/cloudxr/docker-compose.mindbot.patch.yaml \
--env-files .env.cloudxr-runtime
# 进入 Isaac Lab 容器

47
source/mindbot/mindbot/assets/analytical_balance.py Normal file
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@@ -0,0 +1,47 @@
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
import math
BALANCE_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{MINDBOT_ASSETS_DIR}/devices/Analytical_Balance/Equipment_02.usd",
scale=(0.012,0.012,0.012),
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
fix_root_link=True, # 由 USD 内的 FixedJoint_ 负责固定底座
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],
joint_pos={
"RevoluteJoint": math.radians(0.0), # -100°，盖子打开位置
"PrismaticJoint_0":math.radians(0.0),
"PrismaticJoint_1":math.radians(0.0),
},
),
actuators={
"lid_open": ImplicitActuatorCfg(
joint_names_expr=['PrismaticJoint', 'PrismaticJoint_0', 'PrismaticJoint_1'],
stiffness=0, # 覆盖 USD 的 100，足够对抗重力保持开盖
damping=5, # 阻尼同步加大，防止振荡
effort_limit_sim=1000.0,
velocity_limit_sim=100.0,
),
},
)

204
source/mindbot/mindbot/robot/mindbot_cloudxr.py Normal file
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@@ -0,0 +1,204 @@
# 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 the Fourier Robots.
The following configuration parameters are available:
* :obj:'MINDBOT_CFG'
* :obj:`GR1T2_HIGH_PD_CFG`: The GR1T2 humanoid configured with high PD gains on upper body joints for pick-place manipulation tasks.
Reference: https://www.fftai.com/products-gr1
"""
import torch
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets import ArticulationCfg
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
from mindbot.utils.assets import MINDBOT_ASSETS_DIR
##
# Configuration
##
MINDBOT_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=(
f"{MINDBOT_ASSETS_DIR}/robots/mindrobot-1105-lab/mindrobot_cd2.usd",
),
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=True,
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=True,
solver_position_iteration_count=16,
solver_velocity_iteration_count=8,
stablization_threshold=1e-6,
),
collision_props=sim_utils.CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005, # 尝试从默认值增大到 0.01 或 0.02
rest_offset=0, # 保持略小于 contact_offset
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.7),
joint_pos={
# ====== Left arm (RM-65) — away from singularities ======
# Elbow singularity: q3=0; Wrist singularity: q5=0.
# Small offsets on q2/q4/q6 to avoid exact 90° Jacobian symmetry.
"l_joint1": 1.5708, # 90°
"l_joint2": -1.2217, # -70° (offset from -90° for better elbow workspace)
"l_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
"l_joint4": 1.3963, # 80° (offset from 90° to break wrist symmetry)
"l_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
"l_joint6": -1.3963, # -80° (offset from -90° to break wrist symmetry)
# ====== Right arm (RM-65) — same joint values as left (verified visually) ======
"r_joint1": 1.5708, # 90°
"r_joint2": -1.2217, # -70°
"r_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
"r_joint4": 1.3963, # 80°
"r_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
"r_joint6": 1.3963, # -80°
# ====== Grippers (0=open) ======
"left_hand_joint_left": 0.0,
"left_hand_joint_right": 0.0,
"right_hand_joint_left": 0.0,
"right_hand_joint_right": 0.0,
# ====== Trunk & Head ======
# NOTE: pos z = 0.44 (base clearance) + PrismaticJoint value.
# If you change PrismaticJoint, update pos z accordingly to avoid
# geometry clipping that causes the robot to fall on spawn.
"PrismaticJoint": 0.26,
"head_pitch_Joint": 0.0,
"head_yaw_Joint": 0.0,
},
joint_vel={".*": 0.0},
),
actuators={
"head": ImplicitActuatorCfg(
joint_names_expr=[
"head_.*",
],
effort_limit=None,
velocity_limit=None,
stiffness=None,
damping=None,
),
"trunk": ImplicitActuatorCfg(
joint_names_expr=[
"PrismaticJoint",
],
effort_limit=None,
velocity_limit=None,
stiffness=None,
damping=None,
),
"wheels": ImplicitActuatorCfg(
# joint_names_expr=[".*_revolute_Joint"],
joint_names_expr=[
"right_b_revolute_Joint",
"left_b_revolute_Joint",
"left_f_revolute_Joint",
"right_f_revolute_Joint",
],
effort_limit=None,
velocity_limit=None,
stiffness=None,
damping=None,
),
"left_arm_shoulder": ImplicitActuatorCfg(
joint_names_expr=["l_joint[1-3]"],
effort_limit=torch.inf,
velocity_limit=torch.inf,
stiffness=None,
damping=None,
armature=0.0,
),
# RM-65 J4-J6: wrist — max 225°/s ≈ 3.93 rad/s
"left_arm_wrist": ImplicitActuatorCfg(
joint_names_expr=["l_joint[4-6]"],
effort_limit=torch.inf,
velocity_limit=torch.inf,
stiffness=None,
damping=None,
armature=0.0,
),
"right_arm_shoulder": ImplicitActuatorCfg(
joint_names_expr=["r_joint[1-3]"],
effort_limit=torch.inf,
velocity_limit=torch.inf,
stiffness=None,
damping=None,
armature=0.0,
),
"right_arm_wrist": ImplicitActuatorCfg(
joint_names_expr=["r_joint[4-6]"],
effort_limit=torch.inf,
velocity_limit=torch.inf,
stiffness=None,
damping=None,
armature=0.0,
),
"grippers": ImplicitActuatorCfg(
joint_names_expr=[".*_hand_joint.*"],
effort_limit_sim=200.0,
stiffness=2e3,
damping=1e2,
),
# "right-arm": ImplicitActuatorCfg(
# joint_names_expr=[
# "right_shoulder_.*",
# "right_elbow_.*",
# "right_wrist_.*",
# ],
# effort_limit=torch.inf,
# velocity_limit=torch.inf,
# stiffness=None,
# damping=None,
# armature=0.0,
# ),
# "left-arm": ImplicitActuatorCfg(
# joint_names_expr=[
# "left_shoulder_.*",
# "left_elbow_.*",
# "left_wrist_.*",
# ],
# effort_limit=torch.inf,
# velocity_limit=torch.inf,
# stiffness=None,
# damping=None,
# armature=0.0,
# ),
# "right-hand": ImplicitActuatorCfg(
# joint_names_expr=[
# "R_.*",
# ],
# effort_limit=None,
# velocity_limit=None,
# stiffness=None,
# damping=None,
# ),
# "left-hand": ImplicitActuatorCfg(
# joint_names_expr=[
# "L_.*",
# ],
# effort_limit=None,
# velocity_limit=None,
# stiffness=None,
# damping=None,
# ),
},
)

10
source/mindbot/mindbot/tasks/manager_based/il/pick_place/__init__.py
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@@ -17,6 +17,16 @@ gym.register(
disable_env_checker=True,
)
gym.register(
id="Isaac-Balance-GR1T2-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{__name__}.openbalnace_gr1t2_env_cfg:OpenBalanceEnvCfg",
"robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-NutPour-GR1T2-Pink-IK-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",

591
source/mindbot/mindbot/tasks/manager_based/il/pick_place/openbalnace_gr1t2_env_cfg.py Normal file
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@@ -0,0 +1,591 @@
# 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
import tempfile
import torch
from pink.tasks import DampingTask, FrameTask
import carb
import isaaclab.controllers.utils as ControllerUtils
import isaaclab.envs.mdp as base_mdp
import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
from isaaclab.devices.device_base import DevicesCfg
from isaaclab.devices.openxr import ManusViveCfg, OpenXRDeviceCfg, XrCfg
from isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter import GR1T2RetargeterCfg
from isaaclab.envs import ManagerBasedRLEnvCfg
from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
from isaaclab.managers import EventTermCfg as EventTerm
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.managers import SceneEntityCfg
from isaaclab.managers import TerminationTermCfg as DoneTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
from isaaclab.utils import configclass
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from . import mdp
from mindbot.robot.gr1t2 import GR1T2_HIGH_PD_CFG # isort: skip
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,
),
}
)

2
source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
View File

@@ -96,7 +96,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.32374,0.32415,0.862],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/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),
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
# rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),