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GR1T2抓取试管环境

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hangX
2026-03-31 16:01:20 +08:00
parent 6f0ba1c49b
commit bc9e6960f2
22 changed files with 3352 additions and 16 deletions
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12
scripts/environments/teleoperation/teleop_se3_agent.py
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@@ -83,14 +83,15 @@ from isaaclab.devices.teleop_device_factory import create_teleop_device
from isaaclab.envs import ManagerBasedRLEnvCfg
from isaaclab.managers import TerminationTermCfg as DoneTerm
import isaaclab_tasks # noqa: F401
# import isaaclab_tasks # noqa: F401
import mindbot.tasks # noqa: F401
from isaaclab_tasks.manager_based.manipulation.lift import mdp
from isaaclab_tasks.utils import parse_env_cfg
if args_cli.enable_pinocchio:
import isaaclab_tasks.manager_based.locomanipulation.pick_place # noqa: F401
import isaaclab_tasks.manager_based.manipulation.pick_place # noqa: F401
# import isaaclab_tasks.manager_based.locomanipulation.pick_place # noqa: F401
# import isaaclab_tasks.manager_based.manipulation.pick_place # noqa: F401
import mindbot.tasks.manager_based.il.pick_place
# import logger
logger = logging.getLogger(__name__)
@@ -288,6 +289,11 @@ def main() -> None:
if teleoperation_active:
# process actions
actions = action.repeat(env.num_envs, 1)
# 自动补齐 action 维度（如有 scale=0 的 hold 关节）
expected_dim = env.single_action_space.shape[0]
if actions.shape[1] < expected_dim:
pad = torch.zeros(env.num_envs, expected_dim - actions.shape[1], device=actions.device)
actions = torch.cat([actions, pad], dim=1)
# apply actions
env.step(actions)
else: