diff --git a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py index e623723..4dc3947 100755 --- a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py +++ b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py @@ -58,14 +58,14 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg): spawn=GroundPlaneCfg(), ) - # Table - table = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/Table", - init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]), - spawn=sim_utils.UsdFileCfg( - usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd" - ), - ) + # # Table + # table = AssetBaseCfg( + # prim_path="{ENV_REGEX_NS}/Table", + # init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]), + # spawn=sim_utils.UsdFileCfg( + # usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd" + # ), + # ) # Optional: Single cube for testing (can be removed if not needed) cube = RigidObjectCfg( @@ -269,296 +269,3 @@ class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg): self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"] self.gripper_open_val = 0.0 self.gripper_threshold = 0.005 -# # Copyright (c) 2024, MindRobot Project -# # SPDX-License-Identifier: BSD-3-Clause - -# """MindRobot left arm IK-Rel environment config with custom gripper control.""" - -# from __future__ import annotations - -# import math - -# import isaaclab.sim as sim_utils -# from isaaclab.assets import RigidObjectCfg, AssetBaseCfg -# from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg -# from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg -# from isaaclab.devices import DevicesCfg -# from isaaclab.devices.keyboard import Se3KeyboardCfg -# from isaaclab.devices.spacemouse import Se3SpaceMouseCfg -# from isaaclab.devices.gamepad import Se3GamepadCfg -# from isaaclab.envs import ManagerBasedEnvCfg -# from isaaclab.envs.mdp.actions.actions_cfg import ( -# BinaryJointPositionActionCfg, -# DifferentialInverseKinematicsActionCfg, -# ) -# 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.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg -# from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg -# from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg -# from isaaclab.utils import configclass -# from isaaclab.markers.config import FRAME_MARKER_CFG - -# # 导入基础配置和MDP函数 -# from isaaclab_tasks.manager_based.manipulation.stack import mdp -# from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg - -# # 导入 MindRobot 资产 -# from .mindrobot_cfg import MINDBOT_CFG, MINDBOT_HIGH_PD_CFG - - -# # ===================================================================== -# # Scene -# # ===================================================================== - -# @configclass -# class MindRobotSceneCfg(InteractiveSceneCfg): -# """Scene: MindRobot + table + cube.""" - -# # Ground -# plane = AssetBaseCfg( -# prim_path="/World/GroundPlane", -# init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]), -# spawn=GroundPlaneCfg(), -# ) - -# # Table -# table = RigidObjectCfg( -# prim_path="{ENV_REGEX_NS}/Table", -# spawn=sim_utils.CuboidCfg( -# size=(0.6, 0.8, 0.05), -# rigid_props=RigidBodyPropertiesCfg(kinematic_enabled=True), -# collision_props=sim_utils.CollisionPropertiesCfg(), -# visual_material=sim_utils.PreviewSurfaceCfg( -# diffuse_color=(0.6, 0.5, 0.4) -# ), -# ), -# init_state=RigidObjectCfg.InitialStateCfg(pos=(0.4, 0.15, 0.4)), -# ) - -# # Cube to manipulate -# cube = RigidObjectCfg( -# prim_path="{ENV_REGEX_NS}/Cube", -# spawn=sim_utils.CuboidCfg( -# size=(0.04, 0.04, 0.04), -# rigid_props=RigidBodyPropertiesCfg(), -# mass_props=sim_utils.MassPropertiesCfg(mass=0.1), -# collision_props=sim_utils.CollisionPropertiesCfg(), -# visual_material=sim_utils.PreviewSurfaceCfg( -# diffuse_color=(1.0, 0.0, 0.0) -# ), -# ), -# init_state=RigidObjectCfg.InitialStateCfg(pos=(0.4, 0.15, 0.45)), -# ) - -# # MindRobot - 使用高PD配置以获得更好的IK跟踪性能 -# robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") - -# # Lighting -# dome_light = sim_utils.DomeLightCfg( -# intensity=1500.0, color=(0.75, 0.75, 0.75) -# ) - -# # End-effector frame transformer -# # 注意：需要根据实际的USD文件中的body名称调整 -# # 常见的命名可能是 "left_hand", "left_gripper", "l_hand" 等 -# marker_cfg = FRAME_MARKER_CFG.copy() -# marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1) -# marker_cfg.prim_path = "/Visuals/FrameTransformer" -# ee_frame = FrameTransformerCfg( -# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/base_link", -# debug_vis=False, -# visualizer_cfg=marker_cfg, -# target_frames=[ -# FrameTransformerCfg.FrameCfg( -# # 根据实际USD文件调整body名称 -# # 如果USD中没有明确的end effector body，可能需要使用最后一个link -# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6", # 需要根据实际调整 -# name="end_effector", -# offset=OffsetCfg( -# pos=[0.0, 0.0, 0.0], # 根据实际夹爪中心位置调整 -# ), -# ), -# ], -# ) - - -# # ===================================================================== -# # Actions Configuration -# # ===================================================================== - -# @configclass -# class MindRobotLeftArmActionsCfg: -# """Actions for MindRobot left arm IK control.""" - -# # 左臂IK控制动作 -# arm_action = DifferentialInverseKinematicsActionCfg( -# asset_name="robot", -# joint_names=["l_joint[1-6]"], # 左臂6个关节 -# body_name="Link_6", # 需要根据实际USD文件调整 -# controller=DifferentialIKControllerCfg( -# command_type="pose", -# use_relative_mode=True, # 相对模式，适合遥操作 -# ik_method="dls", # Damped Least Squares方法 -# ), -# scale=0.5, # 动作缩放因子 -# body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg( -# pos=[0.0, 0.0, 0.0] # 根据实际夹爪中心位置调整 -# ), -# ) - -# # 左手夹爪控制动作（二进制控制：开/关） -# gripper_action = BinaryJointPositionActionCfg( -# asset_name="robot", -# joint_names=["left_hand_joint_left", "left_hand_joint_right"], -# open_command_expr={ -# "left_hand_joint_left": 0.0, # 打开位置 -# "left_hand_joint_right": 0.0, # 打开位置 -# }, -# close_command_expr={ -# "left_hand_joint_left": -0.03, # 闭合位置 -# "left_hand_joint_right": 0.03, # 闭合位置 -# }, -# ) - - -# # ===================================================================== -# # Observations Configuration -# # ===================================================================== - -# @configclass -# class MindRobotObsCfg: -# """Observations for MindRobot left arm.""" - -# @configclass -# class PolicyCfg(ObsGroup): -# """Observations for policy group.""" - -# actions = ObsTerm(func=mdp.last_action) -# joint_pos = ObsTerm(func=mdp.joint_pos_rel) -# joint_vel = ObsTerm(func=mdp.joint_vel_rel) -# # object = ObsTerm(func=mdp.object_obs) -# eef_pos = ObsTerm(func=mdp.ee_frame_pos) -# eef_quat = ObsTerm(func=mdp.ee_frame_quat) -# gripper_pos = ObsTerm(func=mdp.gripper_pos) - -# def __post_init__(self): -# self.enable_corruption = False -# self.concatenate_terms = False - -# # observation groups -# policy: PolicyCfg = PolicyCfg() - - -# # ===================================================================== -# # Main Environment Configuration -# # ===================================================================== - -# @configclass -# class MindRobotLeftArmIKEnvCfg(StackEnvCfg): -# """MindRobot 左臂 IK-Rel 遥操作环境配置。""" - -# def __post_init__(self): -# """后初始化，配置遥操作设备和机器人特定设置""" -# super().__post_init__() - -# # 基本参数 -# self.decimation = 2 -# self.episode_length_s = 50.0 - -# # 设置场景 -# self.scene.robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") -# # self.scene = MindRobotSceneCfg( -# # num_envs=1, -# # env_spacing=2.5, -# # ) - -# # 使用高PD配置的MindRobot -# # self.scene.robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") - -# # 设置Actions -# self.actions = MindRobotLeftArmActionsCfg() - -# # 配置左臂IK动作 -# self.actions.arm_action = DifferentialInverseKinematicsActionCfg( -# asset_name="robot", -# joint_names=["l_joint[1-6]"], -# body_name="Link_6", # ✅ 根据USD结构，应该是 l_hand_01 -# controller=DifferentialIKControllerCfg( -# command_type="pose", -# use_relative_mode=True, -# ik_method="dls", -# ), -# scale=0.5, -# body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg( -# pos=[0.0, 0.0, 0.0] # 可能需要根据实际夹爪中心位置调整 -# ), -# ) -# # 配置夹爪动作 -# self.actions.gripper_action = BinaryJointPositionActionCfg( -# asset_name="robot", -# joint_names=["left_hand_joint_left", "left_hand_joint_right"], -# open_command_expr={ -# "left_hand_joint_left": 0.0, -# "left_hand_joint_right": 0.0, -# }, -# close_command_expr={ -# "left_hand_joint_left": -0.03, -# "left_hand_joint_right": 0.03, -# }, -# ) - -# # 设置Observations -# self.observations = MindRobotObsCfg() - -# # 配置终止条件（遥操作通常不需要超时） -# # self.terminations.time_out = None - -# # 配置遥操作设备 -# self.teleop_devices = DevicesCfg( -# devices={ -# "keyboard": Se3KeyboardCfg( -# pos_sensitivity=0.05, -# rot_sensitivity=0.05, -# sim_device=self.sim.device, -# ), -# "spacemouse": Se3SpaceMouseCfg( -# pos_sensitivity=0.05, -# rot_sensitivity=0.05, -# sim_device=self.sim.device, -# ), -# "gamepad": Se3GamepadCfg( -# pos_sensitivity=0.1, -# rot_sensitivity=0.1, -# sim_device=self.sim.device, -# ), -# } -# ) - -# # 配置end-effector frame transformer -# marker_cfg = FRAME_MARKER_CFG.copy() -# marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1) -# marker_cfg.prim_path = "/Visuals/FrameTransformer" -# self.scene.ee_frame = FrameTransformerCfg( -# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6", # ✅ 使用左臂的base link -# debug_vis=False, -# visualizer_cfg=marker_cfg, -# target_frames=[ -# FrameTransformerCfg.FrameCfg( -# prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6", # ✅ 使用左手的body -# name="end_effector", -# offset=OffsetCfg( -# pos=[0.0, 0.0, 0.0], # 可能需要根据实际调整 -# ), -# ), -# ], -# ) - - -# # 设置夹爪相关参数（用于gripper状态检查） -# self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"] -# self.gripper_open_val = 0.0 -# self.gripper_threshold = 0.005 \ No newline at end of file