hangX/mindbot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix XR teleop: body-frame IK control for mobile chassis

Browse Source 
Switch arm IK from world-frame to body-frame control so that
pushing the XR controller forward always moves the arm in the
robot's forward direction, regardless of chassis rotation.

Key changes:
- dual_arm_agent: convert EEF observations to body frame before
  passing to XR controller; send body-frame IK targets directly
  (removed convert_action_world_to_root)
- xr_controller: XR deltas treated as body-frame deltas (no yaw
  rotation needed — VR view tracks robot heading naturally)
- streaming: add debug frame save for stereo alignment diagnostics
- mindrobot_2i_cfg: IdealPDActuator for trunk, disabled gravity
- Author headers updated to Yutang Li, SIAT

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
yt lee
2026-03-25 11:32:28 +08:00
parent 05a146bca6
commit bfe28b188a
12 changed files with 82 additions and 882 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
scripts/environments/teleoperation/xr_teleop/diagnostics.py
View File

@@ -1,4 +1,4 @@
# SPDX-FileCopyrightText: Copyright (c) 2022-2025, The Isaac Lab Project Developers.
# Copyright (c) 2025, Yutang Li, SIAT (yt.li2@siat.ac.cn)
# SPDX-License-Identifier: BSD-3-Clause
"""Periodic diagnostics reporter for teleoperation debugging."""