From 763e555862eb3c53cf6e6b4527a5b6def180ca6a Mon Sep 17 00:00:00 2001 From: yt lee Date: Sat, 14 Mar 2026 20:45:41 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=8C=E8=87=82=E7=83=98=E7=AE=B1=E8=B0=83?= =?UTF-8?q?=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../teleoperation/teleop_xr_agent.py | 60 ++++++++-- source/mindbot/mindbot/assets/dryingbox.py | 6 +- source/mindbot/mindbot/assets/lab.py | 2 +- source/mindbot/mindbot/assets/table.py | 23 +--- .../manager_based/il/open_drybox/CLAUDE.md | 86 +++++++++++++++ .../manager_based/il/open_drybox/README.md | 103 ++++++++++++++++++ .../mindrobot_dual_arm_ik_env_cfg.py | 29 +++-- .../mindrobot_left_arm_ik_env_cfg.py | 22 ++-- 8 files changed, 275 insertions(+), 56 deletions(-) create mode 100644 source/mindbot/mindbot/tasks/manager_based/il/open_drybox/CLAUDE.md create mode 100644 source/mindbot/mindbot/tasks/manager_based/il/open_drybox/README.md diff --git a/scripts/environments/teleoperation/teleop_xr_agent.py b/scripts/environments/teleoperation/teleop_xr_agent.py index 870fd01..dc345a6 100644 --- a/scripts/environments/teleoperation/teleop_xr_agent.py +++ b/scripts/environments/teleoperation/teleop_xr_agent.py @@ -44,8 +44,10 @@ parser.add_argument( parser.add_argument("--pos_sensitivity", type=float, default=None, help="Position sensitivity. Default: 1.0.") parser.add_argument("--rot_sensitivity", type=float, default=None, help="Rotation sensitivity. Default: 0.3.") parser.add_argument("--arm", type=str, default="left", choices=["left", "right"], help="Which arm/controller to use.") -parser.add_argument("--base_speed", type=float, default=3.0, help="Max wheel speed (rad/s) for joystick full forward.") +parser.add_argument("--base_speed", type=float, default=5.0, help="Max wheel speed (rad/s) for joystick full forward.") parser.add_argument("--base_turn", type=float, default=2.0, help="Max wheel differential (rad/s) for joystick full left/right.") +parser.add_argument("--drive_speed", type=float, default=0.5, help="Max robot linear speed (m/s) for direct base control. Default: 0.5") +parser.add_argument("--drive_turn", type=float, default=1.5, help="Max robot yaw rate (rad/s) for direct base control. Default: 1.5") AppLauncher.add_app_launcher_args(parser) args_cli = parser.parse_args() @@ -392,19 +394,54 @@ def main() -> None: out[3:7] = torch.tensor(quat_root, dtype=torch.float32) return out - def get_wheel_action() -> torch.Tensor: - """Read left joystick → 4-DOF wheel velocity [right_b, left_b, left_f, right_f].""" + def get_chassis_commands() -> tuple[torch.Tensor, float, float]: + """Read left joystick → (wheel_cmd 4D, v_fwd m/s, omega rad/s). + + wheel_cmd : differential wheel velocities for the action vector (training data). + v_fwd : desired robot forward speed in m/s (for direct base control). + omega : desired robot yaw rate in rad/s (for direct base control). + """ try: joy = teleop_interface.xr_client.get_joystick("left") jy = float(joy[1]) jx = float(joy[0]) except Exception: - return torch.zeros(4) - v = jy * args_cli.base_speed - omega = jx * args_cli.base_turn - right_vel = v - omega - left_vel = v + omega - return torch.tensor([right_vel, left_vel, left_vel, right_vel], dtype=torch.float32) + return torch.zeros(4), 0.0, 0.0 + # Wheel velocity commands for action vector (rad/s) + v_w = jy * args_cli.base_speed + omega_w = jx * args_cli.base_turn + right_vel = v_w - omega_w + left_vel = v_w + omega_w + wheel_cmd = torch.tensor([right_vel, left_vel, left_vel, right_vel], dtype=torch.float32) + if abs(v_w) > 0.1 or abs(omega_w) > 0.1: + print(f"[WHEEL] joy=({jx:+.2f},{jy:+.2f}) v_wheel={v_w:.2f} ω_wheel={omega_w:.2f} → {wheel_cmd.tolist()}") + # Direct base velocity commands (m/s, rad/s) + v_fwd = jy * args_cli.drive_speed + omega = -jx * args_cli.drive_turn # jx<0 (left push) → positive yaw = left turn + return wheel_cmd, v_fwd, omega + + def apply_base_velocity(v_fwd: float, omega: float) -> None: + """Directly set robot root linear+angular velocity to bypass isotropic friction. + + PhysX uses isotropic friction, so skid-steer lateral slip is impossible through + wheel torques alone. This function overrides the base velocity each step to give + clean translational + rotational motion regardless of friction. + The write is buffered and applied at the start of the next env.step(). + """ + if abs(v_fwd) < 1e-4 and abs(omega) < 1e-4: + return + robot = env.unwrapped.scene["robot"] + rq = robot.data.root_quat_w # [N, 4] wxyz + w_q, x_q, y_q, z_q = rq[:, 0], rq[:, 1], rq[:, 2], rq[:, 3] + # Robot forward direction in world frame (rotate [1,0,0] by root quaternion) + fwd_x = 1.0 - 2.0 * (y_q * y_q + z_q * z_q) + fwd_y = 2.0 * (x_q * y_q + w_q * z_q) + vel = torch.zeros(env.num_envs, 6, device=device) + vel[:, 0] = v_fwd * fwd_x # world x linear + vel[:, 1] = v_fwd * fwd_y # world y linear + # vel[:, 2] = 0 # z: let physics handle gravity/contact + vel[:, 5] = omega # world z angular (yaw) + robot.write_root_velocity_to_sim(vel) obs, _ = env.reset() clear_ik_target_state() @@ -446,7 +483,7 @@ def main() -> None: continue policy_obs = obs["policy"] - wheel_np = get_wheel_action() + wheel_np, v_fwd, omega_base = get_chassis_commands() if is_dual_arm: eef_pos_left = policy_obs["eef_pos_left"][0].cpu().numpy() @@ -482,6 +519,9 @@ def main() -> None: actions = action_np.unsqueeze(0).repeat(env.num_envs, 1).to(device) obs, _, _, _, _ = env.step(actions) + # Direct base velocity override: bypasses isotropic friction limitation + # so skid-steer turning works correctly. + apply_base_velocity(v_fwd, omega_base) sim_frame += 1 if sim_frame % 30 == 0: diff --git a/source/mindbot/mindbot/assets/dryingbox.py b/source/mindbot/mindbot/assets/dryingbox.py index 5d9324b..e1b28bc 100644 --- a/source/mindbot/mindbot/assets/dryingbox.py +++ b/source/mindbot/mindbot/assets/dryingbox.py @@ -11,11 +11,13 @@ from mindbot.utils.assets import MINDBOT_ASSETS_DIR DRYINGBOX_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=r"c:\Users\PC\workpalce\maic_usd_assets_moudle\devices\DryingBox\Equipment_BB_13.usd", + usd_path=f"{MINDBOT_ASSETS_DIR}/devices/DryingBox/Equipment_BB_13.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=True, max_depenetration_velocity=1.0 + disable_gravity=False, + max_depenetration_velocity=1.0 ), articulation_props=sim_utils.ArticulationRootPropertiesCfg( + fix_root_link=False, enabled_self_collisions=False, solver_position_iteration_count=32, solver_velocity_iteration_count=16, diff --git a/source/mindbot/mindbot/assets/lab.py b/source/mindbot/mindbot/assets/lab.py index 3c9cb6f..b448c9d 100644 --- a/source/mindbot/mindbot/assets/lab.py +++ b/source/mindbot/mindbot/assets/lab.py @@ -12,7 +12,7 @@ from mindbot.utils.assets import MINDBOT_ASSETS_DIR ROOM_CFG = AssetBaseCfg( # prim_path="{ENV_REGEX_NS}/Room", spawn=UsdFileCfg( - usd_path=f"{MINDBOT_ASSETS_DIR}\\sences\\Lab\\lab.usd", + usd_path=f"{MINDBOT_ASSETS_DIR}/sences/Lab/lab.usd", ), ) \ No newline at end of file diff --git a/source/mindbot/mindbot/assets/table.py b/source/mindbot/mindbot/assets/table.py index 2e5e905..bdeffc0 100644 --- a/source/mindbot/mindbot/assets/table.py +++ b/source/mindbot/mindbot/assets/table.py @@ -1,14 +1,8 @@ -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.assets import AssetBaseCfg 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 + TABLE_CFG = AssetBaseCfg( # prim_path="{ENV_REGEX_NS}/Table", init_state=AssetBaseCfg.InitialStateCfg( @@ -16,17 +10,6 @@ TABLE_CFG = AssetBaseCfg( rot=[0.7071, 0.0, 0.0, -0.7071], ), spawn=UsdFileCfg( - usd_path=f"{MINDBOT_ASSETS_DIR}\\sences\\Table_C\\Table_C.usd", - rigid_props=RigidBodyPropertiesCfg( - rigid_body_enabled=True, - solver_position_iteration_count=32, - solver_velocity_iteration_count=16, - disable_gravity=False, - ), - collision_props=CollisionPropertiesCfg( - collision_enabled=True, - contact_offset=0.0005, # original 0.02 - rest_offset=0, - ), + usd_path=f"{MINDBOT_ASSETS_DIR}/sences/Table_C_coll/Table_C.usd", ), ) \ No newline at end of file diff --git a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/CLAUDE.md b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/CLAUDE.md new file mode 100644 index 0000000..fe33c38 --- /dev/null +++ b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/CLAUDE.md @@ -0,0 +1,86 @@ +# open_drybox 子目录 — Claude 编码指引 + +本文件是 `source/mindbot/mindbot/tasks/manager_based/il/open_drybox/` 的局部 Claude 指引， +补充根目录 `CLAUDE.md` 中未覆盖的细节。 + +--- + +## 文件职责速查 + +| 文件 | 职责 | 修改频率 | +|---|---|---| +| `mindrobot_cfg.py` | 机器人物理参数、初始位姿、关节名称常量 | 低（调参时改） | +| `mindrobot_left_arm_ik_env_cfg.py` | 单臂 IK 环境（Rel/Abs）配置 | 中 | +| `mindrobot_dual_arm_ik_env_cfg.py` | 双臂 IK 环境配置，**直接继承** `ManagerBasedRLEnvCfg` | 中 | +| `mdp/__init__.py` | 聚合 MDP 函数，**import 顺序决定覆盖优先级**（后者覆盖前者） | 低 | +| `mdp/observations.py` | 自定义观测函数，覆盖 IsaacLab 同名函数 | 低 | +| `__init__.py` | Gym 注册，新增任务必须在这里 `gym.register` | 加任务时改 | + +--- + +## 关键设计决策 + +### 1. 不修改 IsaacLab 源码 +所有自定义函数放在本地 `mdp/` 中，通过 import 覆盖机制生效： +```python +# mdp/__init__.py 的 import 顺序 +from isaaclab.envs.mdp import * # 基础函数 +from isaaclab_tasks...stack.mdp import * # stack 任务函数（含 ee_frame_pos 等） +from .observations import * # 本地覆盖（gripper_pos 等） +``` + +### 2. 双臂 env cfg 独立，不继承单臂 +`mindrobot_dual_arm_ik_env_cfg.py` 直接继承 `ManagerBasedRLEnvCfg`， +避免单臂配置的耦合问题。 + +### 3. gripper_pos 必须指定 joint_names +```python +# 正确用法 +ObsTerm(func=mdp.gripper_pos, params={"joint_names": MINDBOT_LEFT_GRIPPER_JOINTS}) +# 错误：不传 joint_names 会抛 ValueError +ObsTerm(func=mdp.gripper_pos) +``` + +### 4. XR 双臂共享 XrClient +两个 `XrTeleopController` 实例必须共享同一个 `XrClient`，否则 SDK 崩溃： +```python +shared_client = XrClient() +teleop_left = XrTeleopController(arm="left", xr_client=shared_client) +teleop_right = XrTeleopController(arm="right", xr_client=shared_client) +``` + +### 5. 关节锁定（grip 松开时） +teleop 主循环缓存 root-frame IK 命令（`last_root_left/right`）， +grip 未按下时发送冻结的缓存值，防止底盘漂移带动关节运动。 + +--- + +## 修改检查清单 + +**新增关节组或重命名关节** +- [ ] 更新 `mindrobot_cfg.py` 中的常量（`MINDBOT_*`） +- [ ] 同步更新 `mindrobot_dual_arm_ik_env_cfg.py` 的 Actions/Observations + +**新增观测函数** +- [ ] 在 `mdp/observations.py` 中添加 +- [ ] 确认 `mdp/__init__.py` 的 import 顺序不会被覆盖 +- [ ] 在 env cfg 的 `PolicyCfg` 中添加 `ObsTerm` + +**新增任务** +- [ ] 在 `__init__.py` 中 `gym.register` +- [ ] 确认 `mindbot/tasks/manager_based/__init__.py` 已 import 本包 + +**修改初始位姿** +- 注意避免奇异点：肘关节 `q3≠0`，腕关节 `q5≠0` +- 修改后在仿真中目视验证 + +--- + +## 常见错误 + +| 错误 | 原因 | 修复 | +|---|---|---| +| `AttributeError: module 'mdp' has no attribute 'ee_frame_pos'` | `mdp/__init__.py` 缺少 `stack.mdp` import | 确认三行 import 都在 | +| `KeyError: 'arm_action'` in teleop | 双臂任务动作名是 `left_arm_action`，不是 `arm_action` | 检查 `clear_ik_target_state` 的 is_dual_arm 分支 | +| `terminate called without an active exception` (XR SDK) | 两个 `XrClient()` 实例并存 | 共享 `shared_client` 传入两个控制器 | +| gripper obs assertion error | `gripper_pos` 未传 `joint_names` | 加 `params={"joint_names": ...}` | diff --git a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/README.md b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/README.md new file mode 100644 index 0000000..5c3ac73 --- /dev/null +++ b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/README.md @@ -0,0 +1,103 @@ +# open_drybox — MindRobot IL 遥操作任务 + +基于 Isaac Lab `ManagerBasedRLEnv` 的模仿学习（IL）数据采集任务，支持 MindRobot 单臂/双臂 IK 绝对/相对控制，配合 XR 手柄或键盘进行遥操作。 + +--- + +## 注册的任务 ID + +| 任务 ID | 控制模式 | 说明 | +|---|---|---| +| `Isaac-MindRobot-LeftArm-IK-Rel-v0` | 左臂 IK 相对 | EEF 增量控制 | +| `Isaac-MindRobot-LeftArm-IK-Abs-v0` | 左臂 IK 绝对 | EEF 绝对位姿控制 | +| `Isaac-MindRobot-DualArm-IK-Abs-v0` | 双臂 IK 绝对 | 双臂 + 底盘，20D 动作空间 | + +--- + +## 目录结构 + +``` +open_drybox/ +├── __init__.py # Gym 任务注册 +├── mindrobot_cfg.py # 机器人关节/执行器/初始位姿配置（MINDBOT_CFG） +│ # 及所有关节名称常量（MINDBOT_*） +├── mindrobot_left_arm_ik_env_cfg.py # 单臂任务环境配置 +├── mindrobot_dual_arm_ik_env_cfg.py # 双臂任务环境配置（继承 ManagerBasedRLEnvCfg） +├── mdp/ +│ ├── __init__.py # 聚合 isaaclab.envs.mdp + stack.mdp + 本地 obs +│ └── observations.py # gripper_pos(joint_names) — 支持双爪独立观测 +└── agents/ + └── robomimic/ + ├── bc_rnn_low_dim.json # RoboMimic BC-RNN 低维观测配置 + ├── bc_rnn_image_200.json # BC-RNN 图像观测配置 + └── bc_rnn_image_cosmos.json # BC-RNN Cosmos 图像配置 +``` + +--- + +## 双臂动作空间（20D） + +``` +[ left_arm(7) | wheel(4) | left_gripper(1) | right_arm(7) | right_gripper(1) ] + EEF 绝对位姿 轮速rad/s +1=开/-1=关 EEF 绝对位姿 +1=开/-1=关 + [x,y,z,qw,qx,qy,qz] [x,y,z,qw,qx,qy,qz] +``` + +轮子顺序（与 `MINDBOT_WHEEL_JOINTS` 一致）：`[right_b, left_b, left_f, right_f]` + +--- + +## 关键常量（mindrobot_cfg.py） + +```python +MINDBOT_LEFT_ARM_JOINTS = "l_joint[1-6]" +MINDBOT_RIGHT_ARM_JOINTS = "r_joint[1-6]" +MINDBOT_LEFT_GRIPPER_JOINTS = ["left_hand_joint_left", "left_hand_joint_right"] +MINDBOT_RIGHT_GRIPPER_JOINTS = ["right_hand_joint_left", "right_hand_joint_right"] +MINDBOT_WHEEL_JOINTS = ["right_b_revolute_Joint", "left_b_revolute_Joint", + "left_f_revolute_Joint", "right_f_revolute_Joint"] +MINDBOT_LEFT_EEF_BODY = "left_hand_body" +MINDBOT_RIGHT_EEF_BODY = "right_hand_body" +``` + +--- + +## 遥操作启动命令 + +```bash +# XR 双臂 +~/IsaacLab/isaaclab.sh -p scripts/environments/teleoperation/teleop_xr_agent.py \ + --task Isaac-MindRobot-DualArm-IK-Abs-v0 + +# XR 单臂 +~/IsaacLab/isaaclab.sh -p scripts/environments/teleoperation/teleop_xr_agent.py \ + --task Isaac-MindRobot-LeftArm-IK-Abs-v0 + +# 键盘 + 差速底盘 +~/IsaacLab/isaaclab.sh -p scripts/environments/teleoperation/tele_se3_with_wheel_agent.py \ + --task Isaac-MindRobot-LeftArm-IK-Rel-v0 +``` + +--- + +## 数据采集 / 回放 + +```bash +# 录制 demo（输出 HDF5） +~/IsaacLab/isaaclab.sh -p scripts/tools/record_demos.py \ + --task Isaac-MindRobot-DualArm-IK-Abs-v0 --num_demos 10 + +# 回放 demo 验证 +~/IsaacLab/isaaclab.sh -p scripts/tools/replay_demos.py \ + --task Isaac-MindRobot-DualArm-IK-Abs-v0 --dataset path/to/demo.hdf5 +``` + +--- + +## 注意事项 + +- 所有 Isaac Lab 脚本必须通过 `~/IsaacLab/isaaclab.sh -p` 启动 +- USD 资源路径通过环境变量设置：`export MINDBOT_ASSETS_DIR=/your/path` +- `mdp/observations.py` 的 `gripper_pos` 覆盖了 `stack.mdp` 的同名函数， + 支持通过 `joint_names` 参数区分左右夹爪，**不需要修改 IsaacLab 源码** +- 双臂环境的 `FrameTransformer` 根节点是各臂的 `base_link`，目标是 EEF prim diff --git a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_dual_arm_ik_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_dual_arm_ik_env_cfg.py index d41eae3..2d940e4 100644 --- a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_dual_arm_ik_env_cfg.py +++ b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_dual_arm_ik_env_cfg.py @@ -31,6 +31,7 @@ from isaaclab.scene import InteractiveSceneCfg from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg 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 . import mdp @@ -50,6 +51,9 @@ from .mindrobot_cfg import ( MINDBOT_RIGHT_EEF_PRIM, ) +from mindbot.assets.lab import ROOM_CFG +from mindbot.assets.table import TABLE_CFG +from mindbot.assets.dryingbox import DRYINGBOX_CFG # ===================================================================== # Scene Configuration @@ -62,20 +66,21 @@ class MindRobotDualArmSceneCfg(InteractiveSceneCfg): plane = AssetBaseCfg( prim_path="/World/GroundPlane", init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0]), - spawn=GroundPlaneCfg(), - ) - - 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)), + spawn=GroundPlaneCfg( + # Moderate friction: enough traction to move forward, low enough to + # allow skid-steer lateral wheel slip for turning. + # Default (1.0/1.0) moves but can't turn; 0.4/0.3 spins in place. + physics_material=RigidBodyMaterialCfg( + static_friction=0.7, + dynamic_friction=0.5, + restitution=0.0, + ) ), - init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.45)), ) + + room = ROOM_CFG.replace(prim_path="{ENV_REGEX_NS}/Room") + table = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table") + drying_box = DRYINGBOX_CFG.replace(prim_path="{ENV_REGEX_NS}/DryingBox") robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") 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 ed35006..3167456 100644 --- 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 @@ -84,17 +84,17 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg): # ) # Optional: Single cube for testing (can be removed if not needed) - 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=(0.5, 0.0, 0.45)), - ) + # 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=(0.5, 0.0, 0.45)), + # ) room = ROOM_CFG.replace(prim_path="{ENV_REGEX_NS}/Room") table = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")