From 9ba904e7d21fd6d51dc37c1962a9404eee5d7fb8 Mon Sep 17 00:00:00 2001 From: hangX Date: Wed, 4 Mar 2026 16:46:15 +0800 Subject: [PATCH] =?UTF-8?q?pro6000=5F=E5=8A=A0=E5=85=A5lab=E8=B5=84?= =?UTF-8?q?=E4=BA=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../il/open_drybox/mindrobot_cfg.py | 20 ++++++++-------- .../mindrobot_left_arm_ik_env_cfg.py | 23 +++++++++++++++---- .../rl/pullUltrasoundLidUp/mindbot_env_cfg.py | 12 +++++----- 3 files changed, 34 insertions(+), 21 deletions(-) diff --git a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py index bc908b0..35d0290 100644 --- a/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py +++ b/source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py @@ -16,7 +16,7 @@ MINDBOT_CFG = ArticulationCfg( # ===================================================== # ✅ 你的本地 USD 文件路径 # ===================================================== - usd_path="C:/Users/PC/workpalce/maic_usd_assets/robots/mindrobot-1105-lab/mindrobot_cd2.usd", + usd_path="/home/maic/LYT/Collected_mindrobot_cd2/mindrobot_cd2.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, max_depenetration_velocity=1.0, @@ -40,12 +40,12 @@ MINDBOT_CFG = ArticulationCfg( init_state=ArticulationCfg.InitialStateCfg( joint_pos={ # ====== 左臂关节（主控臂）====== - "l_joint1": 2.3562, # 135° - "l_joint2": -1.2217, # -70° - "l_joint3": -1.5708, # -90° - "l_joint4": 1.5708, # 90° - "l_joint5": 1.5708, # 90° - "l_joint6": -1.2217, # -70° + "l_joint1": 2.3562, # 135° + "l_joint2": -1.2217, # -70° + "l_joint3": -1.5708, # -90° + "l_joint4": 1.5708, # 90° + "l_joint5": 1.5708, # 90° + "l_joint6": -1.2217, # -70° # ====== 右臂关节（静止）====== "r_joint1": 0.0, "r_joint2": 0.0, @@ -54,8 +54,8 @@ MINDBOT_CFG = ArticulationCfg( "r_joint5": 0.0, "r_joint6": 0.0, # ====== 左手夹爪 ====== - "left_hand_joint_left": 0.0, # 0.0=打开, -0.03=闭合 - "left_hand_joint_right": 0.0, # 0.0=打开, 0.03=闭合 + "left_hand_joint_left": 0.0, # 0.0=打开, -0.03=闭合 + "left_hand_joint_right": 0.0, # 0.0=打开, 0.03=闭合 # ====== 右手夹爪 ====== "right_hand_joint_left": 0.0, "right_hand_joint_right": 0.0, @@ -65,7 +65,7 @@ MINDBOT_CFG = ArticulationCfg( "head_revoluteJoint": 0.0, }, # Lower the spawn height to sit on the ground (was 0.05m above ground) - pos=(0, 0, 0.0), + pos=(0.0, 0.0, 0.0), ), actuators={ "left_arm": ImplicitActuatorCfg( 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 4dc3947..e9403a3 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 @@ -47,6 +47,7 @@ import isaaclab.utils.assets as assets_utils # Scene Configuration # ===================================================================== + @configclass class MindRobotTeleopSceneCfg(InteractiveSceneCfg): """Minimal scene for MindRobot teleoperation: robot + table + optional cube.""" @@ -54,7 +55,7 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg): # Ground plane plane = AssetBaseCfg( prim_path="/World/GroundPlane", - init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]), + init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0]), spawn=GroundPlaneCfg(), ) @@ -75,15 +76,22 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg): 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) - ), + 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 = AssetBaseCfg( + prim_path="{ENV_REGEX_NS}/Room", + spawn=sim_utils.UsdFileCfg( + usd_path="/home/maic/LYT/maic_usd_assets/twinlab/Collected_lab2/lab.usd", + ), + ) + # MindRobot - robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") + robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot" + ) # Lighting light = AssetBaseCfg( @@ -99,6 +107,7 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg): # Actions Configuration # ===================================================================== + @configclass class MindRobotTeleopActionsCfg: """Actions for MindRobot left arm IK teleoperation.""" @@ -138,6 +147,7 @@ class MindRobotTeleopActionsCfg: # Observations Configuration # ===================================================================== + @configclass class MindRobotTeleopObsCfg: """Minimal observations for MindRobot teleoperation.""" @@ -165,6 +175,7 @@ class MindRobotTeleopObsCfg: # Terminations Configuration # ===================================================================== + @configclass class MindRobotTeleopTerminationsCfg: """Minimal terminations for teleoperation - only time_out or none.""" @@ -177,10 +188,12 @@ class MindRobotTeleopTerminationsCfg: # Main Environment Configuration # ===================================================================== + @configclass class EmptyCfg: pass + @configclass class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg): """MindRobot 左臂 IK-Rel 遥操作环境配置（最小化版本）。""" diff --git a/source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mindbot_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mindbot_env_cfg.py index b8a4c51..90037ed 100644 --- a/source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mindbot_env_cfg.py +++ b/source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mindbot_env_cfg.py @@ -97,12 +97,12 @@ LID_CFG = RigidObjectCfg( ), ) -ROOM_CFG = AssetBaseCfg( - prim_path="{ENV_REGEX_NS}/Room", - spawn=UsdFileCfg( - usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd", - ), -) +# ROOM_CFG = AssetBaseCfg( +# prim_path="{ENV_REGEX_NS}/Room", +# spawn=UsdFileCfg( +# usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd", +# ), +# ) ROOM_CFG = AssetBaseCfg( prim_path="{ENV_REGEX_NS}/Room", spawn=UsdFileCfg(