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@@ -58,14 +58,14 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
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spawn=GroundPlaneCfg(),
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)
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# Table
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table = AssetBaseCfg(
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prim_path="{ENV_REGEX_NS}/Table",
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init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
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spawn=sim_utils.UsdFileCfg(
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usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
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),
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)
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# # Table
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# table = AssetBaseCfg(
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# prim_path="{ENV_REGEX_NS}/Table",
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# init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
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# spawn=sim_utils.UsdFileCfg(
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# usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
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# ),
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# )
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# Optional: Single cube for testing (can be removed if not needed)
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cube = RigidObjectCfg(
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@@ -269,296 +269,3 @@ class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg):
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self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"]
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self.gripper_open_val = 0.0
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self.gripper_threshold = 0.005
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# # Copyright (c) 2024, MindRobot Project
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# # SPDX-License-Identifier: BSD-3-Clause
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# """MindRobot left arm IK-Rel environment config with custom gripper control."""
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# from __future__ import annotations
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# import math
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# import isaaclab.sim as sim_utils
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# from isaaclab.assets import RigidObjectCfg, AssetBaseCfg
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# from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
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# from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
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# from isaaclab.devices import DevicesCfg
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# from isaaclab.devices.keyboard import Se3KeyboardCfg
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# from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
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# from isaaclab.devices.gamepad import Se3GamepadCfg
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# from isaaclab.envs import ManagerBasedEnvCfg
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# from isaaclab.envs.mdp.actions.actions_cfg import (
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# BinaryJointPositionActionCfg,
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# DifferentialInverseKinematicsActionCfg,
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# )
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# from isaaclab.managers import ObservationGroupCfg as ObsGroup
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# 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.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
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# from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
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# from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
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# from isaaclab.utils import configclass
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# from isaaclab.markers.config import FRAME_MARKER_CFG
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# # 导入基础配置和MDP函数
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# from isaaclab_tasks.manager_based.manipulation.stack import mdp
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# from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg
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# # 导入 MindRobot 资产
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# from .mindrobot_cfg import MINDBOT_CFG, MINDBOT_HIGH_PD_CFG
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# # =====================================================================
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# # Scene
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# # =====================================================================
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# @configclass
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# class MindRobotSceneCfg(InteractiveSceneCfg):
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# """Scene: MindRobot + table + cube."""
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# # Ground
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# plane = AssetBaseCfg(
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# prim_path="/World/GroundPlane",
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# init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
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# spawn=GroundPlaneCfg(),
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# )
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# # Table
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# table = RigidObjectCfg(
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# prim_path="{ENV_REGEX_NS}/Table",
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# spawn=sim_utils.CuboidCfg(
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# size=(0.6, 0.8, 0.05),
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# rigid_props=RigidBodyPropertiesCfg(kinematic_enabled=True),
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# collision_props=sim_utils.CollisionPropertiesCfg(),
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# visual_material=sim_utils.PreviewSurfaceCfg(
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# diffuse_color=(0.6, 0.5, 0.4)
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# ),
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# ),
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# init_state=RigidObjectCfg.InitialStateCfg(pos=(0.4, 0.15, 0.4)),
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# )
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# # Cube to manipulate
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# cube = RigidObjectCfg(
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# prim_path="{ENV_REGEX_NS}/Cube",
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# spawn=sim_utils.CuboidCfg(
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# size=(0.04, 0.04, 0.04),
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# rigid_props=RigidBodyPropertiesCfg(),
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# mass_props=sim_utils.MassPropertiesCfg(mass=0.1),
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# collision_props=sim_utils.CollisionPropertiesCfg(),
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# visual_material=sim_utils.PreviewSurfaceCfg(
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# diffuse_color=(1.0, 0.0, 0.0)
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# ),
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# ),
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# init_state=RigidObjectCfg.InitialStateCfg(pos=(0.4, 0.15, 0.45)),
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# )
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# # MindRobot - 使用高PD配置以获得更好的IK跟踪性能
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# robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
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# # Lighting
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# dome_light = sim_utils.DomeLightCfg(
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# intensity=1500.0, color=(0.75, 0.75, 0.75)
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# )
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# # End-effector frame transformer
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# # 注意：需要根据实际的USD文件中的body名称调整
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# # 常见的命名可能是 "left_hand", "left_gripper", "l_hand" 等
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# marker_cfg = FRAME_MARKER_CFG.copy()
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# marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
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# marker_cfg.prim_path = "/Visuals/FrameTransformer"
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# ee_frame = FrameTransformerCfg(
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# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/base_link",
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# debug_vis=False,
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# visualizer_cfg=marker_cfg,
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# target_frames=[
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# FrameTransformerCfg.FrameCfg(
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# # 根据实际USD文件调整body名称
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# # 如果USD中没有明确的end effector body，可能需要使用最后一个link
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# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6", # 需要根据实际调整
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# name="end_effector",
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# offset=OffsetCfg(
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# pos=[0.0, 0.0, 0.0], # 根据实际夹爪中心位置调整
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# ),
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# ),
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# ],
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# )
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# # =====================================================================
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# # Actions Configuration
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# # =====================================================================
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# @configclass
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# class MindRobotLeftArmActionsCfg:
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# """Actions for MindRobot left arm IK control."""
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# # 左臂IK控制动作
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# arm_action = DifferentialInverseKinematicsActionCfg(
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# asset_name="robot",
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# joint_names=["l_joint[1-6]"], # 左臂6个关节
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# body_name="Link_6", # 需要根据实际USD文件调整
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# controller=DifferentialIKControllerCfg(
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# command_type="pose",
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# use_relative_mode=True, # 相对模式，适合遥操作
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# ik_method="dls", # Damped Least Squares方法
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# ),
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# scale=0.5, # 动作缩放因子
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# body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(
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# pos=[0.0, 0.0, 0.0] # 根据实际夹爪中心位置调整
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# ),
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# )
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# # 左手夹爪控制动作（二进制控制：开/关）
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# gripper_action = BinaryJointPositionActionCfg(
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# asset_name="robot",
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# joint_names=["left_hand_joint_left", "left_hand_joint_right"],
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# open_command_expr={
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# "left_hand_joint_left": 0.0, # 打开位置
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# "left_hand_joint_right": 0.0, # 打开位置
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# },
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# close_command_expr={
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# "left_hand_joint_left": -0.03, # 闭合位置
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# "left_hand_joint_right": 0.03, # 闭合位置
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# },
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# )
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# # =====================================================================
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# # Observations Configuration
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# # =====================================================================
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# @configclass
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# class MindRobotObsCfg:
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# """Observations for MindRobot left arm."""
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# @configclass
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# class PolicyCfg(ObsGroup):
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# """Observations for policy group."""
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# actions = ObsTerm(func=mdp.last_action)
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# joint_pos = ObsTerm(func=mdp.joint_pos_rel)
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# joint_vel = ObsTerm(func=mdp.joint_vel_rel)
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# # object = ObsTerm(func=mdp.object_obs)
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# eef_pos = ObsTerm(func=mdp.ee_frame_pos)
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# eef_quat = ObsTerm(func=mdp.ee_frame_quat)
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# gripper_pos = ObsTerm(func=mdp.gripper_pos)
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# def __post_init__(self):
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# self.enable_corruption = False
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# self.concatenate_terms = False
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# # observation groups
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# policy: PolicyCfg = PolicyCfg()
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# # =====================================================================
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# # Main Environment Configuration
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# # =====================================================================
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# @configclass
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# class MindRobotLeftArmIKEnvCfg(StackEnvCfg):
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# """MindRobot 左臂 IK-Rel 遥操作环境配置。"""
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# def __post_init__(self):
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# """后初始化，配置遥操作设备和机器人特定设置"""
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# super().__post_init__()
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# # 基本参数
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# self.decimation = 2
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# self.episode_length_s = 50.0
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# # 设置场景
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# self.scene.robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
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# # self.scene = MindRobotSceneCfg(
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# # num_envs=1,
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# # env_spacing=2.5,
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# # )
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# # 使用高PD配置的MindRobot
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# # self.scene.robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
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# # 设置Actions
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# self.actions = MindRobotLeftArmActionsCfg()
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# # 配置左臂IK动作
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# self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
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# asset_name="robot",
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# joint_names=["l_joint[1-6]"],
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# body_name="Link_6", # ✅ 根据USD结构，应该是 l_hand_01
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# controller=DifferentialIKControllerCfg(
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# command_type="pose",
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# use_relative_mode=True,
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# ik_method="dls",
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# ),
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# scale=0.5,
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# body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(
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# pos=[0.0, 0.0, 0.0] # 可能需要根据实际夹爪中心位置调整
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# ),
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# )
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# # 配置夹爪动作
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# self.actions.gripper_action = BinaryJointPositionActionCfg(
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# asset_name="robot",
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# joint_names=["left_hand_joint_left", "left_hand_joint_right"],
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# open_command_expr={
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# "left_hand_joint_left": 0.0,
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# "left_hand_joint_right": 0.0,
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# },
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# close_command_expr={
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# "left_hand_joint_left": -0.03,
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# "left_hand_joint_right": 0.03,
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# },
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# )
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# # 设置Observations
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# self.observations = MindRobotObsCfg()
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# # 配置终止条件（遥操作通常不需要超时）
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# # self.terminations.time_out = None
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# # 配置遥操作设备
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# self.teleop_devices = DevicesCfg(
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# devices={
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# "keyboard": Se3KeyboardCfg(
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# pos_sensitivity=0.05,
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# rot_sensitivity=0.05,
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# sim_device=self.sim.device,
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# ),
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# "spacemouse": Se3SpaceMouseCfg(
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# pos_sensitivity=0.05,
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# rot_sensitivity=0.05,
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# sim_device=self.sim.device,
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# ),
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# "gamepad": Se3GamepadCfg(
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# pos_sensitivity=0.1,
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# rot_sensitivity=0.1,
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# sim_device=self.sim.device,
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# ),
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# }
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# )
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# # 配置end-effector frame transformer
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# marker_cfg = FRAME_MARKER_CFG.copy()
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# marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
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# marker_cfg.prim_path = "/Visuals/FrameTransformer"
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# self.scene.ee_frame = FrameTransformerCfg(
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# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6", # ✅ 使用左臂的base link
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# debug_vis=False,
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# visualizer_cfg=marker_cfg,
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# target_frames=[
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# FrameTransformerCfg.FrameCfg(
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# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6", # ✅ 使用左手的body
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# name="end_effector",
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# offset=OffsetCfg(
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# pos=[0.0, 0.0, 0.0], # 可能需要根据实际调整
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# ),
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# ),
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# ],
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# )
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# # 设置夹爪相关参数（用于gripper状态检查）
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# self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"]
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# self.gripper_open_val = 0.0
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# self.gripper_threshold = 0.005
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