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dual arm XR teleoperation: env cfg, shared client, joint locking

Browse Source 
- Add MindRobotDualArmIKAbsEnvCfg: standalone dual-arm env inheriting
  ManagerBasedRLEnvCfg directly (no single-arm dependency), 20D action
  space (left_arm7 | wheel4 | left_gripper1 | right_arm7 | right_gripper1)
- Add local mdp/ with parameterized gripper_pos(joint_names) to support
  independent left/right gripper observations without modifying IsaacLab
- Update teleop_xr_agent.py for dual-arm mode: shared XrClient to avoid
  SDK double-init crash, root-frame IK command caching so arm joints are
  locked when grip not pressed (EEF world pos still tracks chassis)
- Tune mindrobot_cfg.py initial poses with singularity-avoiding offsets
- Add CLAUDE.md project instructions and debug_action_assembly.py

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
yt lee
2026-03-14 13:31:26 +08:00
parent 0c557938a7
commit 7be48b3964
10 changed files with 986 additions and 268 deletions
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10
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/__init__.py
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@@ -46,4 +46,14 @@ gym.register(
"robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-MindRobot-DualArm-IK-Abs-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{__name__}.mindrobot_dual_arm_ik_env_cfg:MindRobotDualArmIKAbsEnvCfg",
"robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
},
disable_env_checker=True,
)

9
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mdp/__init__.py Normal file
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@@ -0,0 +1,9 @@
# Copyright (c) 2024, MindRobot Project
# SPDX-License-Identifier: BSD-3-Clause
"""MDP functions specific to the open_drybox teleoperation environments."""
from isaaclab.envs.mdp import * # noqa: F401, F403
from isaaclab_tasks.manager_based.manipulation.stack.mdp import * # noqa: F401, F403
from .observations import * # noqa: F401, F403

48
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mdp/observations.py Normal file
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@@ -0,0 +1,48 @@
# Copyright (c) 2024, MindRobot Project
# SPDX-License-Identifier: BSD-3-Clause
"""Custom observation functions for open_drybox teleoperation environments."""
from __future__ import annotations
from typing import TYPE_CHECKING
import torch
from isaaclab.managers import SceneEntityCfg
if TYPE_CHECKING:
from isaaclab.envs import ManagerBasedRLEnv
def gripper_pos(
env: ManagerBasedRLEnv,
robot_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
joint_names: list[str] = None,
) -> torch.Tensor:
"""Return the opening state of a parallel gripper specified by joint names.
Unlike the built-in ``gripper_pos`` which reads from ``env.cfg.gripper_joint_names``,
this version accepts ``joint_names`` directly so the same function can be used
for both left and right grippers in a dual-arm setup.
Args:
robot_cfg: Scene entity config for the robot articulation.
joint_names: List of exactly 2 joint names ``[joint_open_positive, joint_open_negative]``.
The first joint increases with opening, the second decreases.
Returns:
Tensor of shape ``(num_envs, 2)`` with the joint positions (sign-corrected).
"""
if joint_names is None:
raise ValueError("joint_names must be specified")
robot = env.scene[robot_cfg.name]
ids, _ = robot.find_joints(joint_names)
if len(ids) != 2:
raise ValueError(f"Expected exactly 2 gripper joints, got {len(ids)} for {joint_names}")
j1 = robot.data.joint_pos[:, ids[0]].clone().unsqueeze(1)
j2 = -1.0 * robot.data.joint_pos[:, ids[1]].clone().unsqueeze(1)
return torch.cat((j1, j2), dim=1)

56
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py
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@@ -36,20 +36,20 @@ MINDBOT_CFG = ArticulationCfg(
joint_pos={
# ====== Left arm (RM-65) — away from singularities ======
# Elbow singularity: q3=0; Wrist singularity: q5=0.
# The pose below keeps q3≠0 and q5≠0.
"l_joint1": 1.5708, # 135°
"l_joint2": -1.5708, # -70°
"l_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
"l_joint4": 1.5708, # 90°
"l_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
"l_joint6": -1.5708, # -70°
# ====== Right arm (RM-65) ======
"r_joint1": -2.3562,
"r_joint2": -1.2217,
"r_joint3": 1.5708,
"r_joint4": -1.5708,
"r_joint5": -1.5708,
"r_joint6": 1.2217,
# Small offsets on q2/q4/q6 to avoid exact 90° Jacobian symmetry.
"l_joint1": 1.5708, # 90°
"l_joint2": -1.2217, # -70° (offset from -90° for better elbow workspace)
"l_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
"l_joint4": 1.3963, # 80° (offset from 90° to break wrist symmetry)
"l_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
"l_joint6": -1.3963, # -80° (offset from -90° to break wrist symmetry)
# ====== Right arm (RM-65) — same joint values as left (verified visually) ======
"r_joint1": 1.5708, # 90°
"r_joint2": -1.2217, # -70°
"r_joint3": -1.5708, # -90° (away from elbow singularity q3=0)
"r_joint4": 1.3963, # 80°
"r_joint5": 1.5708, # 90° (away from wrist singularity q5=0)
"r_joint6": 1.3963, # -80°
# ====== Grippers (0=open) ======
"left_hand_joint_left": 0.0,
"left_hand_joint_right": 0.0,
@@ -139,3 +139,31 @@ MINDBOT_HIGH_PD_CFG.actuators["right_arm_shoulder"].damping = 80.0
MINDBOT_HIGH_PD_CFG.actuators["right_arm_wrist"].stiffness = 400.0
MINDBOT_HIGH_PD_CFG.actuators["right_arm_wrist"].damping = 80.0
"""IK task-space control configuration. Gravity disabled, stiffer PD for tracking."""
# =====================================================================
# Robot Body / Joint Name Constants
# Keep all robot-specific strings here so env cfgs stay robot-agnostic.
# =====================================================================
# Joint name patterns (regex, for use in action/actuator configs)
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",
]
# EEF body names (as defined in the USD asset)
MINDBOT_LEFT_EEF_BODY = "left_hand_body"
MINDBOT_RIGHT_EEF_BODY = "right_hand_body"
# Prim paths relative to the Robot prim (i.e. after "{ENV_REGEX_NS}/Robot/")
MINDBOT_LEFT_ARM_PRIM_ROOT = "rm_65_fb_left"
MINDBOT_RIGHT_ARM_PRIM_ROOT = "rm_65_b_right"
MINDBOT_LEFT_EEF_PRIM = "rm_65_fb_left/l_hand_01/left_hand_body"
MINDBOT_RIGHT_EEF_PRIM = "rm_65_b_right/r_hand/right_hand_body"

343
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_dual_arm_ik_env_cfg.py Normal file
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@@ -0,0 +1,343 @@
# Copyright (c) 2024, MindRobot Project
# SPDX-License-Identifier: BSD-3-Clause
"""MindRobot dual-arm IK absolute environment config for XR teleoperation."""
from __future__ import annotations
import torch
import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
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.devices.openxr import XrCfg
from isaaclab.envs import ManagerBasedRLEnvCfg
from isaaclab.envs.mdp.actions.actions_cfg import (
BinaryJointPositionActionCfg,
DifferentialInverseKinematicsActionCfg,
JointVelocityActionCfg,
)
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.markers.config import FRAME_MARKER_CFG
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.utils import configclass
from . import mdp
from .mindrobot_cfg import (
MINDBOT_HIGH_PD_CFG,
MINDBOT_LEFT_ARM_JOINTS,
MINDBOT_RIGHT_ARM_JOINTS,
MINDBOT_LEFT_EEF_BODY,
MINDBOT_RIGHT_EEF_BODY,
MINDBOT_LEFT_GRIPPER_JOINTS,
MINDBOT_RIGHT_GRIPPER_JOINTS,
MINDBOT_WHEEL_JOINTS,
MINDBOT_LEFT_ARM_PRIM_ROOT,
MINDBOT_RIGHT_ARM_PRIM_ROOT,
MINDBOT_LEFT_EEF_PRIM,
MINDBOT_RIGHT_EEF_PRIM,
)
# =====================================================================
# Scene Configuration
# =====================================================================
@configclass
class MindRobotDualArmSceneCfg(InteractiveSceneCfg):
"""Scene for MindRobot dual-arm teleoperation."""
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)),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.45)),
)
robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
)
# EEF frame transformers — set in __post_init__
ee_frame: FrameTransformerCfg = None
ee_frame_right: FrameTransformerCfg = None
# =====================================================================
# Actions Configuration
# =====================================================================
@configclass
class MindRobotDualArmActionsCfg:
"""Actions for MindRobot dual-arm IK teleoperation (absolute mode).
Action vector layout (total 20D):
left_arm_action (7D): [x, y, z, qw, qx, qy, qz] absolute EEF pose, root frame
wheel_action (4D): [right_b, left_b, left_f, right_f] wheel vel (rad/s)
left_gripper_action (1D): +1=open, -1=close
right_arm_action (7D): [x, y, z, qw, qx, qy, qz] absolute EEF pose, root frame
right_gripper_action(1D): +1=open, -1=close
"""
left_arm_action = DifferentialInverseKinematicsActionCfg(
asset_name="robot",
joint_names=[MINDBOT_LEFT_ARM_JOINTS],
body_name=MINDBOT_LEFT_EEF_BODY,
controller=DifferentialIKControllerCfg(
command_type="pose",
use_relative_mode=False,
ik_method="dls",
),
scale=1,
body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.0]),
)
wheel_action = JointVelocityActionCfg(
asset_name="robot",
joint_names=MINDBOT_WHEEL_JOINTS,
scale=1.0,
)
left_gripper_action = BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=MINDBOT_LEFT_GRIPPER_JOINTS,
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},
)
right_arm_action = DifferentialInverseKinematicsActionCfg(
asset_name="robot",
joint_names=[MINDBOT_RIGHT_ARM_JOINTS],
body_name=MINDBOT_RIGHT_EEF_BODY,
controller=DifferentialIKControllerCfg(
command_type="pose",
use_relative_mode=False,
ik_method="dls",
),
scale=1,
body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.0]),
)
right_gripper_action = BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=MINDBOT_RIGHT_GRIPPER_JOINTS,
open_command_expr={"right_hand_joint_left": 0.0, "right_hand_joint_right": 0.0},
close_command_expr={"right_hand_joint_left": -0.03, "right_hand_joint_right": 0.03},
)
# =====================================================================
# Observations Configuration
# =====================================================================
@configclass
class MindRobotDualArmObsCfg:
"""Observations for dual-arm teleoperation."""
@configclass
class PolicyCfg(ObsGroup):
actions = ObsTerm(func=mdp.last_action)
joint_pos = ObsTerm(func=mdp.joint_pos_rel)
joint_vel = ObsTerm(func=mdp.joint_vel_rel)
# Left arm EEF
eef_pos_left = ObsTerm(func=mdp.ee_frame_pos)
eef_quat_left = ObsTerm(func=mdp.ee_frame_quat)
# Left gripper (2 joints)
left_gripper_pos = ObsTerm(
func=mdp.gripper_pos,
params={"joint_names": MINDBOT_LEFT_GRIPPER_JOINTS},
)
# Right arm EEF
eef_pos_right = ObsTerm(
func=mdp.ee_frame_pos,
params={"ee_frame_cfg": SceneEntityCfg("ee_frame_right")},
)
eef_quat_right = ObsTerm(
func=mdp.ee_frame_quat,
params={"ee_frame_cfg": SceneEntityCfg("ee_frame_right")},
)
# Right gripper (2 joints)
right_gripper_pos = ObsTerm(
func=mdp.gripper_pos,
params={"joint_names": MINDBOT_RIGHT_GRIPPER_JOINTS},
)
def __post_init__(self):
self.enable_corruption = False
self.concatenate_terms = False
policy: PolicyCfg = PolicyCfg()
# =====================================================================
# Terminations Configuration
# =====================================================================
@configclass
class MindRobotDualArmTerminationsCfg:
time_out = DoneTerm(func=mdp.time_out, time_out=True)
# =====================================================================
# Events Configuration
# =====================================================================
def _disable_arm_gravity(env, env_ids: torch.Tensor):
"""Disable gravity for both arm subtrees at startup."""
import isaaclab.sim.schemas as schemas
arm_cfg = RigidBodyPropertiesCfg(disable_gravity=True)
for env_id in range(env.num_envs):
for arm_path in [
f"/World/envs/env_{env_id}/Robot/{MINDBOT_LEFT_ARM_PRIM_ROOT}",
f"/World/envs/env_{env_id}/Robot/{MINDBOT_RIGHT_ARM_PRIM_ROOT}",
]:
schemas.modify_rigid_body_properties(arm_path, arm_cfg)
@configclass
class MindRobotDualArmEventsCfg:
disable_arm_gravity = EventTerm(
func=_disable_arm_gravity,
mode="startup",
)
reset_scene = EventTerm(
func=mdp.reset_scene_to_default,
mode="reset",
)
# =====================================================================
# Empty placeholder configs
# =====================================================================
@configclass
class EmptyCfg:
pass
# =====================================================================
# Main Environment Configuration
# =====================================================================
@configclass
class MindRobotDualArmIKAbsEnvCfg(ManagerBasedRLEnvCfg):
"""MindRobot 双臂 IK-Abs 遥操作环境配置（XR 控制器）。"""
scene: MindRobotDualArmSceneCfg = MindRobotDualArmSceneCfg(
num_envs=1,
env_spacing=2.5,
)
observations: MindRobotDualArmObsCfg = MindRobotDualArmObsCfg()
actions: MindRobotDualArmActionsCfg = MindRobotDualArmActionsCfg()
terminations: MindRobotDualArmTerminationsCfg = MindRobotDualArmTerminationsCfg()
events: MindRobotDualArmEventsCfg = MindRobotDualArmEventsCfg()
commands: EmptyCfg = EmptyCfg()
rewards: EmptyCfg = EmptyCfg()
curriculum: EmptyCfg = EmptyCfg()
xr: XrCfg = XrCfg(
anchor_pos=(-0.1, -0.5, -1.05),
anchor_rot=(0.866, 0, 0, -0.5),
)
def __post_init__(self):
super().__post_init__()
self.decimation = 2
self.episode_length_s = 50.0
self.sim.dt = 0.01 # 100 Hz
self.sim.render_interval = 2
# Mobile base — root link not fixed
robot_cfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
robot_cfg.spawn.articulation_props.fix_root_link = False
self.scene.robot = robot_cfg
# Left arm EEF frame transformer
marker_cfg = FRAME_MARKER_CFG.copy()
marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
marker_cfg.prim_path = "/Visuals/FrameTransformerLeft"
self.scene.ee_frame = FrameTransformerCfg(
prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_LEFT_ARM_PRIM_ROOT}/base_link",
debug_vis=False,
visualizer_cfg=marker_cfg,
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_LEFT_EEF_PRIM}",
name="end_effector",
offset=OffsetCfg(pos=[0.0, 0.0, 0.0]),
),
],
)
# Right arm EEF frame transformer
marker_cfg_right = FRAME_MARKER_CFG.copy()
marker_cfg_right.markers["frame"].scale = (0.1, 0.1, 0.1)
marker_cfg_right.prim_path = "/Visuals/FrameTransformerRight"
self.scene.ee_frame_right = FrameTransformerCfg(
prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_RIGHT_ARM_PRIM_ROOT}/base_link",
debug_vis=False,
visualizer_cfg=marker_cfg_right,
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_RIGHT_EEF_PRIM}",
name="end_effector",
offset=OffsetCfg(pos=[0.0, 0.0, 0.0]),
),
],
)
# Teleoperation devices
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,
),
}
)
# Gripper params (left gripper for single-arm compat; dual-arm uses obs directly)
self.gripper_joint_names = MINDBOT_LEFT_GRIPPER_JOINTS
self.gripper_open_val = 0.0
self.gripper_threshold = 0.005

40
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py
View File

@@ -37,7 +37,16 @@ from isaaclab.devices.openxr import XrCfg
from isaaclab_tasks.manager_based.manipulation.stack import mdp
# 导入 MindRobot 资产
from .mindrobot_cfg import MINDBOT_HIGH_PD_CFG
from .mindrobot_cfg import (
MINDBOT_HIGH_PD_CFG,
MINDBOT_LEFT_ARM_JOINTS,
MINDBOT_LEFT_EEF_BODY,
MINDBOT_LEFT_GRIPPER_JOINTS,
MINDBOT_WHEEL_JOINTS,
MINDBOT_LEFT_ARM_PRIM_ROOT,
MINDBOT_LEFT_EEF_PRIM,
MINDBOT_RIGHT_ARM_PRIM_ROOT,
)
# 在文件开头添加
import isaaclab.utils.assets as assets_utils
@@ -119,8 +128,8 @@ class MindRobotTeleopActionsCfg:
# Left arm IK control
arm_action = DifferentialInverseKinematicsActionCfg(
asset_name="robot",
joint_names=["l_joint[1-6]"],
body_name="left_hand_body",
joint_names=[MINDBOT_LEFT_ARM_JOINTS],
body_name=MINDBOT_LEFT_EEF_BODY,
controller=DifferentialIKControllerCfg(
command_type="pose",
use_relative_mode=True,
@@ -134,24 +143,17 @@ class MindRobotTeleopActionsCfg:
# Wheel velocity control for differential drive (skid-steer).
# Joint order in articulation: right_b, left_b, left_f, right_f
# (from terminal joint index listing: [2],[3],[4],[5]).
# Action vector: [right_b_vel, left_b_vel, left_f_vel, right_f_vel] in rad/s.
wheel_action = JointVelocityActionCfg(
asset_name="robot",
# joint_names=[".*_revolute_Joint"],
joint_names=[
"right_b_revolute_Joint",
"left_b_revolute_Joint",
"left_f_revolute_Joint",
"right_f_revolute_Joint",
],
joint_names=MINDBOT_WHEEL_JOINTS,
scale=1.0,
)
# Left gripper control (binary: open/close)
gripper_action = BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["left_hand_joint_left", "left_hand_joint_right"],
joint_names=MINDBOT_LEFT_GRIPPER_JOINTS,
open_command_expr={
"left_hand_joint_left": 0.0,
"left_hand_joint_right": 0.0,
@@ -225,8 +227,8 @@ def _disable_arm_gravity(env, env_ids: torch.Tensor):
arm_cfg = RigidBodyPropertiesCfg(disable_gravity=True)
for env_id in range(env.num_envs):
for arm_path in [
f"/World/envs/env_{env_id}/Robot/rm_65_fb_left",
f"/World/envs/env_{env_id}/Robot/rm_65_b_right",
f"/World/envs/env_{env_id}/Robot/{MINDBOT_LEFT_ARM_PRIM_ROOT}",
f"/World/envs/env_{env_id}/Robot/{MINDBOT_RIGHT_ARM_PRIM_ROOT}",
]:
schemas.modify_rigid_body_properties(arm_path, arm_cfg)
@@ -309,16 +311,14 @@ class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg):
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/base_link",
prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_LEFT_ARM_PRIM_ROOT}/base_link",
debug_vis=False,
visualizer_cfg=marker_cfg,
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/l_hand_01/left_hand_body",
prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_LEFT_EEF_PRIM}",
name="end_effector",
offset=OffsetCfg(
pos=[0.0, 0.0, 0.0],
),
offset=OffsetCfg(pos=[0.0, 0.0, 0.0]),
),
],
)
@@ -346,7 +346,7 @@ class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg):
)
# Gripper parameters for status checking
self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"]
self.gripper_joint_names = MINDBOT_LEFT_GRIPPER_JOINTS
self.gripper_open_val = 0.0
self.gripper_threshold = 0.005

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

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