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cloudxr 相关资产配置：dryingbox,dryingoven,autosampler

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hangX
2026-04-13 17:19:02 +08:00
parent 3e3e1ed8ea
commit 579cd5f8c1
7 changed files with 1811 additions and 3 deletions
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47
source/mindbot/mindbot/assets/autosampler.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
AUTOSAMPLER_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{MINDBOT_ASSETS_DIR}/devices/Autosampler/Equipment_AA_01.usda",
scale=(0.8,0.8,0.8),
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=['RevoluteJoint'],
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,
),
},
)

47
source/mindbot/mindbot/assets/drying_oven.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
DRYINGOVEN_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{MINDBOT_ASSETS_DIR}/devices//Laboratory_Drying_Oven/Equipment_BB_09.usd",
scale=(1.0,1.0,1.0),
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=['RevoluteJoint'],
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,
),
},
)

33
source/mindbot/mindbot/tasks/manager_based/il/pick_place/__init__.py
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@@ -7,6 +7,7 @@ import gymnasium as gym
from . import agents
#大超声仪+试管架+试管
gym.register(
id="Isaac-PickPlace-GR1T2-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
@@ -16,7 +17,7 @@ gym.register(
},
disable_env_checker=True,
)
#电子天平+烧杯
gym.register(
id="Isaac-Balance-GR1T2-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
@@ -26,6 +27,36 @@ gym.register(
},
disable_env_checker=True,
)
#自动移液器
gym.register(
id="Isaac-Autosampler-GR1T2-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point":f"{__name__}.autosampler_gr1t2_env_cfg:OpenAutosamplerEnvCfg",
"robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
},
disable_env_checker=True,
)
#Labtory_drying_oven
gym.register(
id="Isaac-Dryingoven-GR1T2-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point":f"{__name__}.dryingoven_gr1t2_env_cfg:OpenDryingOvenEnvCfg",
"robomimic_bc_cfg_entry_point": f"{agents.__name__}:robomimic/bc_rnn_low_dim.json",
},
disable_env_checker=True,
)
#烘箱
gym.register(
id="Isaac-Dryingbox-GR1T2-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point":f"{__name__}.dryingbox_gr1t2_env_cfg:OpenDryingBoxEnvCfg",
"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",

561
source/mindbot/mindbot/tasks/manager_based/il/pick_place/autosampler_gr1t2_env_cfg.py Normal file
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@@ -0,0 +1,561 @@
# 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
from mindbot.assets.autosampler import AUTOSAMPLER_CFG
##
# 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),
# ),
# )
autosmapler = AUTOSAMPLER_CFG.replace(
prim_path="{ENV_REGEX_NS}/Autosampler",
init_state=ArticulationCfg.InitialStateCfg(
pos=[0.0, 0.55, 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]),
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(),
),
)
# 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_autosampler_joints = EventTerm(
func=base_mdp.reset_joints_by_offset,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("autosmapler"),
"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 OpenAutosamplerEnvCfg(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,
),
}
)

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# 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
from mindbot.assets.dryingbox import DRYINGBOX_CFG
##
# 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),
# ),
# )
dryingbox = DRYINGBOX_CFG.replace(
prim_path="{ENV_REGEX_NS}/Dryingbox",
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°
),
)
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(),
),
)
# 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_dryingbox_joints = EventTerm(
func=base_mdp.reset_joints_by_offset,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("dryingbox"),
"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 OpenDryingBoxEnvCfg(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,
),
}
)

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# 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
from mindbot.assets.drying_oven import DRYINGOVEN_CFG
##
# 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),
# ),
# )
dryingoven = DRYINGOVEN_CFG.replace(
prim_path="{ENV_REGEX_NS}/Dryingoven",
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°
),
)
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(),
),
)
# 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_dryingoven_joints = EventTerm(
func=base_mdp.reset_joints_by_offset,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("dryingoven"),
"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 OpenDryingOvenEnvCfg(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,
),
}
)

4
source/mindbot/mindbot/utils/assets.py
View File

@@ -21,7 +21,7 @@ import os
MINDBOT_ASSETS_DIR: str = os.environ.get(
"MINDBOT_ASSETS_DIR",
# "/home/tangger/LYT/maic_usd_assets_moudle",
# "/home/maic/xh/maic_usd_assets_moudle"
"/workspace/maic_usd_assets_moudle"
"/home/maic/xh/maic_usd_assets_moudle"
# "/workspace/maic_usd_assets_moudle"
# "/home/maic/LYT/maic_usd_assets_moudle",
)