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hangX
2026-04-07 21:49:35 +08:00
parent bc9e6960f2
commit ac5377f86e
2 changed files with 24 additions and 23 deletions
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7
deps/cloudxr/INSTALL.md vendored
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@@ -179,9 +179,10 @@ npm run dev-server:https
```bash ```bash
cd ~/IsaacLab cd ~/IsaacLab
./docker/container.py start \ sudo ./docker/container.py start \
--files docker-compose.cloudxr-runtime.patch.yaml \ --files docker-compose.cloudxr-runtime.patch.yaml \
--env-file .env.cloudxr-runtime docker-compose.mindbot.patch.yaml \
--env-files .env.cloudxr-runtime
# 进入 Isaac Lab 容器 # 进入 Isaac Lab 容器
./docker/container.py enter base ./docker/container.py enter base
@@ -190,7 +191,7 @@ cd ~/IsaacLab
容器内运行 MindBot 遥操作： 容器内运行 MindBot 遥操作：
```bash ```bash
./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \ /workspace/isaaclab/isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
--task Isaac-PickPlace-GR1T2-Abs-v0 \ --task Isaac-PickPlace-GR1T2-Abs-v0 \
--teleop_device handtracking \ --teleop_device handtracking \
--enable_pinocchio --enable_pinocchio

40
source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
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@@ -103,16 +103,16 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
), ),
) )
object = RigidObjectCfg( # object = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Object", # prim_path="{ENV_REGEX_NS}/Object",
# init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0]), # # init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0]),
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.65, 0.45, 0.9996], rot=[1, 0, 0, 0]), # init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.65, 0.45, 0.9996], rot=[1, 0, 0, 0]),
spawn=UsdFileCfg( # spawn=UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd", # usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
scale=(0.75, 0.75, 0.75), # scale=(0.75, 0.75, 0.75),
rigid_props=sim_utils.RigidBodyPropertiesCfg(), # rigid_props=sim_utils.RigidBodyPropertiesCfg(),
), # ),
) # )
# Humanoid robot configured for pick-place manipulation tasks # Humanoid robot configured for pick-place manipulation tasks
robot: ArticulationCfg = GR1T2_HIGH_PD_CFG.replace( robot: ArticulationCfg = GR1T2_HIGH_PD_CFG.replace(
@@ -296,8 +296,8 @@ class ObservationsCfg:
) )
robot_root_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("robot")}) robot_root_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("robot")})
robot_root_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("robot")}) robot_root_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("robot")})
object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")}) # object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")})
object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")}) # object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")})
robot_links_state = ObsTerm(func=mdp.get_all_robot_link_state) robot_links_state = ObsTerm(func=mdp.get_all_robot_link_state)
left_eef_pos = ObsTerm(func=mdp.get_eef_pos, params={"link_name": "left_hand_roll_link"}) left_eef_pos = ObsTerm(func=mdp.get_eef_pos, params={"link_name": "left_hand_roll_link"})
@@ -311,10 +311,10 @@ class ObservationsCfg:
params={"joint_names": ["head_pitch_joint", "head_roll_joint", "head_yaw_joint"]}, params={"joint_names": ["head_pitch_joint", "head_roll_joint", "head_yaw_joint"]},
) )
object = ObsTerm( # object = ObsTerm(
func=mdp.object_obs, # func=mdp.object_obs,
params={"left_eef_link_name": "left_hand_roll_link", "right_eef_link_name": "right_hand_roll_link"}, # params={"left_eef_link_name": "left_hand_roll_link", "right_eef_link_name": "right_hand_roll_link"},
) # )
def __post_init__(self): def __post_init__(self):
self.enable_corruption = False self.enable_corruption = False
@@ -330,11 +330,11 @@ class TerminationsCfg:
time_out = DoneTerm(func=mdp.time_out, time_out=True) time_out = DoneTerm(func=mdp.time_out, time_out=True)
object_dropping = DoneTerm( # object_dropping = DoneTerm(
func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")} # func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
) # )
success = DoneTerm(func=mdp.task_done_pick_place, params={"task_link_name": "right_hand_roll_link"}) # success = DoneTerm(func=mdp.task_done_pick_place, params={"task_link_name": "right_hand_roll_link"})
@configclass @configclass