双臂遥操多view

source/mindbot/config/extension.toml

@@ -20,6 +20,7 @@ keywords = ["extension", "template", "isaaclab"]
 "isaaclab_mimic" = {}
 "isaaclab_rl" = {}
 "isaaclab_tasks" = {}
+"sl.sensor.camera" = {}
 # NOTE: Add additional dependencies here
 
 [[python.module]]

source/mindbot/mindbot/assets/table.py

@@ -1,5 +1,6 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.sim.schemas.schemas_cfg import CollisionPropertiesCfg
 from mindbot.utils.assets import MINDBOT_ASSETS_DIR
 
 
@@ -11,5 +12,6 @@ TABLE_CFG = AssetBaseCfg(
     ),
     spawn=UsdFileCfg(
         usd_path=f"{MINDBOT_ASSETS_DIR}/sences/Table_C_coll/Table_C.usd",
+        collision_props=CollisionPropertiesCfg(collision_enabled=True),
     ),
 )

source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_dual_arm_ik_env_cfg.py

@@ -33,6 +33,7 @@ from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialCfg
 from isaaclab.utils import configclass
+from isaaclab.envs import ViewerCfg
 
 from . import mdp
 
@@ -277,6 +278,11 @@ class MindRobotDualArmIKAbsEnvCfg(ManagerBasedRLEnvCfg):
     def __post_init__(self):
         super().__post_init__()
 
+        self.viewer = ViewerCfg(
+            eye=(2.0, -1.5, 1.8),      # 相机位置
+            lookat=(0.0, 0.0, 0.8),    # 瞄准点（机器人腰部高度附近）
+            origin_type="world",
+        )
         self.decimation = 2
         self.episode_length_s = 50.0
         self.sim.dt = 0.01  # 100 Hz

source/mindbot/mindbot/utils/assets.py

@@ -20,6 +20,7 @@ import os
 ##
 MINDBOT_ASSETS_DIR: str = os.environ.get(
     "MINDBOT_ASSETS_DIR",
-    "/home/tangger/LYT/maic_usd_assets_moudle",
+    # "/home/tangger/LYT/maic_usd_assets_moudle",
+    "/home/maic/xh/maic_usd_assets_moudle"
     # "/home/maic/LYT/maic_usd_assets_moudle",
 )