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

pro6000_xh配置

Browse Source
This commit is contained in:
hangX
2026-03-04 16:45:34 +08:00
parent 9325184f4d
commit c7c88e5d8d
85 changed files with 3257 additions and 1316 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
source/mindbot/mindbot/robot/mindbot.py
View File

@@ -19,8 +19,8 @@ MINDBOT_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
# 1. UPDATE THE USD PATH to your local file
# C:\Users\PC\workpalce\maic_usd_assets\twinlab\MIC_sim-3.0\pupet_arm_sim_product\sim_data_acquisition\usds\Collected_robot_2_3\robot_2_4.usd
usd_path="C:/Users/PC/workpalce/maic_usd_assets/robots/mindrobot-1105-lab/mindrobot_cd2.usd",
# usd_path="C:/Users/PC/workpalce/maic_usd_assets/twinlab/MIC_sim-3.0/pupet_arm_sim_product/sim_data_acquisition/usds/Collected_robot_2_3/robot_2_6.usd",
usd_path="/home/maic/LYT/maic_usd_assets/robots/mindrobot-1105-lab/mindrobot_cd2.usd",
# usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/pupet_arm_sim_product/sim_data_acquisition/usds/Collected_robot_2_3/robot_2_6.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0,
@@ -36,8 +36,8 @@ MINDBOT_CFG = ArticulationCfg(
),
collision_props=sim_utils.CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005, # 尝试从默认值增大到 0.01 或 0.02
rest_offset=0, # 保持略小于 contact_offset
contact_offset=0.0005, # 尝试从默认值增大到 0.01 或 0.02
rest_offset=0, # 保持略小于 contact_offset
),
),
init_state=ArticulationCfg.InitialStateCfg(
@@ -45,7 +45,7 @@ MINDBOT_CFG = ArticulationCfg(
# All are set to 0.0 here, but you should adjust them for a suitable "home" position.
joint_pos={
# Left arm joints
# Left arm joints
# Left arm joints
# 135° -> 2.3562
"l_joint1": 2.3562,
# -70° -> -1.2217
@@ -65,7 +65,7 @@ MINDBOT_CFG = ArticulationCfg(
# "l_joint4": 0.0,
# "l_joint5": 0.0,
# "l_joint6": 0.0,
# Right arm joints
# Right arm joints
# # -45° -> -0.7854
# "r_joint1": -0.7854,
# # 70° -> 1.2217
@@ -95,15 +95,15 @@ MINDBOT_CFG = ArticulationCfg(
# left gripper
# 注意：如果希望初始状态为完全打开，应该设置为 left=0.0, right=0.0
# 当前设置为 right=0.01 表示略微闭合状态
"left_hand_joint_left": 0.0, # 范围：(-0.03, 0.0)，0.0=打开，-0.03=闭合
"left_hand_joint_left": 0.0, # 范围：(-0.03, 0.0)，0.0=打开，-0.03=闭合
"left_hand_joint_right": 0.0, # 范围：(0.0, 0.03)，0.0=打开，0.03=闭合
# right gripper
"right_hand_joint_left": 0.0,
"right_hand_joint_right": 0.0,
# trunk
"PrismaticJoint": 0.23, # 0.30
"PrismaticJoint": 0.23, # 0.30
# head
"head_revoluteJoint": 0.0 #0.5236
"head_revoluteJoint": 0.0, # 0.5236
},
# The initial (x, y, z) position of the robot's base in the world
pos=(0, 0, 0.05),
@@ -112,40 +112,46 @@ MINDBOT_CFG = ArticulationCfg(
# 3. DEFINE ACTUATOR GROUPS FOR THE ARMS
# Group for the 6 left arm joints using a regular expression
"left_arm": ImplicitActuatorCfg(
joint_names_expr=["l_joint[1-6]"], # This matches l_joint1, l_joint2, ..., l_joint6
effort_limit_sim=100.0, # Note: Tune this based on your robot's specs
velocity_limit_sim=100.0, # Note: Tune this based on your robot's specs
stiffness=0.0, #10000.0, # Note: Tune this for desired control performance
damping=1000.0, #10000.0, # Note: Tune this for desired control performance
joint_names_expr=[
"l_joint[1-6]"
], # This matches l_joint1, l_joint2, ..., l_joint6
effort_limit_sim=100.0, # Note: Tune this based on your robot's specs
velocity_limit_sim=100.0, # Note: Tune this based on your robot's specs
stiffness=0.0, # 10000.0, # Note: Tune this for desired control performance
damping=1000.0, # 10000.0, # Note: Tune this for desired control performance
),
# Group for the 6 right arm joints using a regular expression
"right_arm": ImplicitActuatorCfg(
joint_names_expr=["r_joint[1-6]"], # This matches r_joint1, r_joint2, ..., r_joint6
effort_limit_sim=100.0, # Note: Tune this based on your robot's specs
velocity_limit_sim=100.0, # Note: Tune this based on your robot's specs
stiffness=10000.0, #10000.0, # Note: Tune this for desired control performance1
damping=1000.0, #10000.0, # Note: Tune this for desired control performance
joint_names_expr=[
"r_joint[1-6]"
], # This matches r_joint1, r_joint2, ..., r_joint6
effort_limit_sim=100.0, # Note: Tune this based on your robot's specs
velocity_limit_sim=100.0, # Note: Tune this based on your robot's specs
stiffness=10000.0, # 10000.0, # Note: Tune this for desired control performance1
damping=1000.0, # 10000.0, # Note: Tune this for desired control performance
),
"head": ImplicitActuatorCfg(
joint_names_expr=["head_revoluteJoint"], stiffness=10000.0, damping=1000.0
),
"head": ImplicitActuatorCfg(joint_names_expr=["head_revoluteJoint"], stiffness=10000.0, damping=1000.0),
"trunk": ImplicitActuatorCfg(
joint_names_expr=["PrismaticJoint"],
stiffness=40000.0, # 从 10000 增：强持位
damping=4000.0, # 从 1000 增：抗振荡
stiffness=40000.0, # 从 10000 增：强持位
damping=4000.0, # 从 1000 增：抗振荡
effort_limit_sim=10000.0,
velocity_limit_sim=0.2,
),
"wheels": ImplicitActuatorCfg(
joint_names_expr=[".*_revolute_Joint"],
stiffness=0.0,
joint_names_expr=[".*_revolute_Joint"],
stiffness=0.0,
damping=100.0,
effort_limit_sim=200.0, # <<<<<< 新增：力矩上限，足够驱动轮子
velocity_limit_sim=50.0, # <<<<<< 新增：速度上限，防止过快
velocity_limit_sim=50.0, # <<<<<< 新增：速度上限，防止过快
),
"grippers": ImplicitActuatorCfg(
joint_names_expr=[".*_hand_joint.*"],
stiffness=10000.0, #10000.0
joint_names_expr=[".*_hand_joint.*"],
stiffness=10000.0, # 10000.0
damping=1000.0,
effort_limit_sim=50.0, # default is 10, gemini said it is too small, so I set it to 50.
effort_limit_sim=50.0, # default is 10, gemini said it is too small, so I set it to 50.
velocity_limit_sim=50.0,
),
},

8
source/mindbot/mindbot/tasks/manager_based/il/__init__.py Normal file
View File

@@ -0,0 +1,8 @@
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Imitation learning tasks."""
import gymnasium as gym # noqa: F401

40
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/__init__.py Normal file
View File

@@ -0,0 +1,40 @@
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
# from . import agents
from .agents import *
##
# Register Gym environments.
##
##
# MindRobot Left Arm IK-Rel (keyboard teleop)
##
# gym.register(
# id="Isaac-MindRobot-LeftArm-IK-Rel-v0",
# entry_point="isaaclab.envs:ManagerBasedRLEnv",
# kwargs={
# "env_cfg_entry_point": (
# "isaaclab_tasks.manager_based.manipulation.mindrobot."
# "mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKRelEnvCfg"
# ),
# "robomimic_bc_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.mindrobot.agents:robomimic/bc_rnn_low_dim.json",
# },
# disable_env_checker=True,
# )
# ...existing code...
gym.register(
id="Isaac-MindRobot-LeftArm-IK-Rel-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{__name__}.mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKEnvCfg",
"robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
},
disable_env_checker=True,
)
# ...existing code...

4
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/agents/__init__.py Normal file
View File

@@ -0,0 +1,4 @@
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

219
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/agents/robomimic/bc_rnn_image_200.json Normal file
View File

@@ -0,0 +1,219 @@
{
"algo_name": "bc",
"experiment": {
"name": "bc_rnn_image_franka_stack",
"validate": false,
"logging": {
"terminal_output_to_txt": true,
"log_tb": true
},
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 20,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
"on_best_rollout_success_rate": true
},
"epoch_every_n_steps": 500,
"env": null,
"additional_envs": null,
"render": false,
"render_video": false,
"rollout": {
"enabled": false
}
},
"train": {
"data": null,
"num_data_workers": 4,
"hdf5_cache_mode": "low_dim",
"hdf5_use_swmr": true,
"hdf5_load_next_obs": false,
"hdf5_normalize_obs": false,
"hdf5_filter_key": null,
"hdf5_validation_filter_key": null,
"seq_length": 10,
"pad_seq_length": true,
"frame_stack": 1,
"pad_frame_stack": true,
"dataset_keys": [
"actions",
"rewards",
"dones"
],
"goal_mode": null,
"cuda": true,
"batch_size": 16,
"num_epochs": 600,
"seed": 101
},
"algo": {
"optim_params": {
"policy": {
"optimizer_type": "adam",
"learning_rate": {
"initial": 0.0001,
"decay_factor": 0.1,
"epoch_schedule": [],
"scheduler_type": "multistep"
},
"regularization": {
"L2": 0.0
}
}
},
"loss": {
"l2_weight": 1.0,
"l1_weight": 0.0,
"cos_weight": 0.0
},
"actor_layer_dims": [],
"gaussian": {
"enabled": false,
"fixed_std": false,
"init_std": 0.1,
"min_std": 0.01,
"std_activation": "softplus",
"low_noise_eval": true
},
"gmm": {
"enabled": true,
"num_modes": 5,
"min_std": 0.0001,
"std_activation": "softplus",
"low_noise_eval": true
},
"vae": {
"enabled": false,
"latent_dim": 14,
"latent_clip": null,
"kl_weight": 1.0,
"decoder": {
"is_conditioned": true,
"reconstruction_sum_across_elements": false
},
"prior": {
"learn": false,
"is_conditioned": false,
"use_gmm": false,
"gmm_num_modes": 10,
"gmm_learn_weights": false,
"use_categorical": false,
"categorical_dim": 10,
"categorical_gumbel_softmax_hard": false,
"categorical_init_temp": 1.0,
"categorical_temp_anneal_step": 0.001,
"categorical_min_temp": 0.3
},
"encoder_layer_dims": [
300,
400
],
"decoder_layer_dims": [
300,
400
],
"prior_layer_dims": [
300,
400
]
},
"rnn": {
"enabled": true,
"horizon": 10,
"hidden_dim": 1000,
"rnn_type": "LSTM",
"num_layers": 2,
"open_loop": false,
"kwargs": {
"bidirectional": false
}
},
"transformer": {
"enabled": false,
"context_length": 10,
"embed_dim": 512,
"num_layers": 6,
"num_heads": 8,
"emb_dropout": 0.1,
"attn_dropout": 0.1,
"block_output_dropout": 0.1,
"sinusoidal_embedding": false,
"activation": "gelu",
"supervise_all_steps": false,
"nn_parameter_for_timesteps": true
}
},
"observation": {
"modalities": {
"obs": {
"low_dim": [
"eef_pos",
"eef_quat",
"gripper_pos"
],
"rgb": [
"table_cam",
"wrist_cam"
],
"depth": [],
"scan": []
},
"goal": {
"low_dim": [],
"rgb": [],
"depth": [],
"scan": []
}
},
"encoder": {
"low_dim": {
"core_class": null,
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"rgb": {
"core_class": "VisualCore",
"core_kwargs": {
"feature_dimension": 64,
"flatten": true,
"backbone_class": "ResNet18Conv",
"backbone_kwargs": {
"pretrained": false,
"input_coord_conv": false
},
"pool_class": "SpatialSoftmax",
"pool_kwargs": {
"num_kp": 32,
"learnable_temperature": false,
"temperature": 1.0,
"noise_std": 0.0,
"output_variance": false
}
},
"obs_randomizer_class": "CropRandomizer",
"obs_randomizer_kwargs": {
"crop_height": 181,
"crop_width": 181,
"num_crops": 1,
"pos_enc": false
}
},
"depth": {
"core_class": "VisualCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"scan": {
"core_class": "ScanCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
}
}
}
}

218
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/agents/robomimic/bc_rnn_image_cosmos.json Normal file
View File

@@ -0,0 +1,218 @@
{
"algo_name": "bc",
"experiment": {
"name": "bc_rnn_image_franka_stack_cosmos",
"validate": false,
"logging": {
"terminal_output_to_txt": true,
"log_tb": true
},
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 20,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
"on_best_rollout_success_rate": true
},
"epoch_every_n_steps": 500,
"env": null,
"additional_envs": null,
"render": false,
"render_video": false,
"rollout": {
"enabled": false
}
},
"train": {
"data": null,
"num_data_workers": 4,
"hdf5_cache_mode": "low_dim",
"hdf5_use_swmr": true,
"hdf5_load_next_obs": false,
"hdf5_normalize_obs": false,
"hdf5_filter_key": null,
"hdf5_validation_filter_key": null,
"seq_length": 10,
"pad_seq_length": true,
"frame_stack": 1,
"pad_frame_stack": true,
"dataset_keys": [
"actions",
"rewards",
"dones"
],
"goal_mode": null,
"cuda": true,
"batch_size": 16,
"num_epochs": 600,
"seed": 101
},
"algo": {
"optim_params": {
"policy": {
"optimizer_type": "adam",
"learning_rate": {
"initial": 0.0001,
"decay_factor": 0.1,
"epoch_schedule": [],
"scheduler_type": "multistep"
},
"regularization": {
"L2": 0.0
}
}
},
"loss": {
"l2_weight": 1.0,
"l1_weight": 0.0,
"cos_weight": 0.0
},
"actor_layer_dims": [],
"gaussian": {
"enabled": false,
"fixed_std": false,
"init_std": 0.1,
"min_std": 0.01,
"std_activation": "softplus",
"low_noise_eval": true
},
"gmm": {
"enabled": true,
"num_modes": 5,
"min_std": 0.0001,
"std_activation": "softplus",
"low_noise_eval": true
},
"vae": {
"enabled": false,
"latent_dim": 14,
"latent_clip": null,
"kl_weight": 1.0,
"decoder": {
"is_conditioned": true,
"reconstruction_sum_across_elements": false
},
"prior": {
"learn": false,
"is_conditioned": false,
"use_gmm": false,
"gmm_num_modes": 10,
"gmm_learn_weights": false,
"use_categorical": false,
"categorical_dim": 10,
"categorical_gumbel_softmax_hard": false,
"categorical_init_temp": 1.0,
"categorical_temp_anneal_step": 0.001,
"categorical_min_temp": 0.3
},
"encoder_layer_dims": [
300,
400
],
"decoder_layer_dims": [
300,
400
],
"prior_layer_dims": [
300,
400
]
},
"rnn": {
"enabled": true,
"horizon": 10,
"hidden_dim": 1000,
"rnn_type": "LSTM",
"num_layers": 2,
"open_loop": false,
"kwargs": {
"bidirectional": false
}
},
"transformer": {
"enabled": false,
"context_length": 10,
"embed_dim": 512,
"num_layers": 6,
"num_heads": 8,
"emb_dropout": 0.1,
"attn_dropout": 0.1,
"block_output_dropout": 0.1,
"sinusoidal_embedding": false,
"activation": "gelu",
"supervise_all_steps": false,
"nn_parameter_for_timesteps": true
}
},
"observation": {
"modalities": {
"obs": {
"low_dim": [
"eef_pos",
"eef_quat",
"gripper_pos"
],
"rgb": [
"table_cam"
],
"depth": [],
"scan": []
},
"goal": {
"low_dim": [],
"rgb": [],
"depth": [],
"scan": []
}
},
"encoder": {
"low_dim": {
"core_class": null,
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"rgb": {
"core_class": "VisualCore",
"core_kwargs": {
"feature_dimension": 64,
"flatten": true,
"backbone_class": "ResNet18Conv",
"backbone_kwargs": {
"pretrained": false,
"input_coord_conv": false
},
"pool_class": "SpatialSoftmax",
"pool_kwargs": {
"num_kp": 32,
"learnable_temperature": false,
"temperature": 1.0,
"noise_std": 0.0,
"output_variance": false
}
},
"obs_randomizer_class": "CropRandomizer",
"obs_randomizer_kwargs": {
"crop_height": 180,
"crop_width": 180,
"num_crops": 1,
"pos_enc": false
}
},
"depth": {
"core_class": "VisualCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"scan": {
"core_class": "ScanCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
}
}
}
}

101
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/agents/robomimic/bc_rnn_low_dim.json Normal file
View File

@@ -0,0 +1,101 @@
{
"algo_name": "bc",
"experiment": {
"name": "bc_rnn_low_dim_mindbot_stack",
"validate": false,
"logging": {
"terminal_output_to_txt": true,
"log_tb": true
},
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 100,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
"on_best_rollout_success_rate": true
},
"epoch_every_n_steps": 100,
"env": null,
"additional_envs": null,
"render": false,
"render_video": false,
"rollout": {
"enabled": false
}
},
"train": {
"data": null,
"num_data_workers": 4,
"hdf5_cache_mode": "all",
"hdf5_use_swmr": true,
"hdf5_normalize_obs": false,
"hdf5_filter_key": null,
"hdf5_validation_filter_key": null,
"seq_length": 10,
"dataset_keys": [
"actions"
],
"goal_mode": null,
"cuda": true,
"batch_size": 100,
"num_epochs": 2000,
"seed": 101
},
"algo": {
"optim_params": {
"policy": {
"optimizer_type": "adam",
"learning_rate": {
"initial": 0.001,
"decay_factor": 0.1,
"epoch_schedule": [],
"scheduler_type": "multistep"
},
"regularization": {
"L2": 0.0
}
}
},
"loss": {
"l2_weight": 1.0,
"l1_weight": 0.0,
"cos_weight": 0.0
},
"actor_layer_dims": [],
"gmm": {
"enabled": true,
"num_modes": 5,
"min_std": 0.0001,
"std_activation": "softplus",
"low_noise_eval": true
},
"rnn": {
"enabled": true,
"horizon": 10,
"hidden_dim": 400,
"rnn_type": "LSTM",
"num_layers": 2,
"open_loop": false,
"kwargs": {
"bidirectional": false
}
}
},
"observation": {
"modalities": {
"obs": {
"low_dim": [
"eef_pos",
"eef_quat",
"gripper_pos",
"object"
],
"rgb": [],
"depth": [],
"scan": []
}
}
}
}

122
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_cfg.py Normal file
View File

@@ -0,0 +1,122 @@
# Copyright (c) 2024, MindRobot Project
# SPDX-License-Identifier: BSD-3-Clause
"""Configuration for MindRobot dual-arm robot."""
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets import ArticulationCfg
##
# ✅ 使用你的本地 USD 绝对路径
##
MINDBOT_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
# =====================================================
# ✅ 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",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0,
linear_damping=0.5,
angular_damping=0.5,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
# Allow root to be affected by physics (gravity) so robot won't hover
fix_root_link=False,
enabled_self_collisions=False,
solver_position_iteration_count=16,
solver_velocity_iteration_count=8,
stabilization_threshold=1e-6,
),
collision_props=sim_utils.CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,
rest_offset=0,
),
),
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°
# ====== 右臂关节（静止）======
"r_joint1": 0.0,
"r_joint2": 0.0,
"r_joint3": 0.0,
"r_joint4": 0.0,
"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
# ====== 右手夹爪 ======
"right_hand_joint_left": 0.0,
"right_hand_joint_right": 0.0,
# ====== 躯干 ======
"PrismaticJoint": 0.26,
# ====== 头部 ======
"head_revoluteJoint": 0.0,
},
# Lower the spawn height to sit on the ground (was 0.05m above ground)
pos=(0, 0, 0.0),
),
actuators={
"left_arm": ImplicitActuatorCfg(
joint_names_expr=["l_joint[1-6]"],
effort_limit_sim=100.0,
velocity_limit_sim=100.0,
# ✅ IK 控制需要高刚度
stiffness=10000.0,
damping=1000.0,
),
"right_arm": ImplicitActuatorCfg(
joint_names_expr=["r_joint[1-6]"],
effort_limit_sim=100.0,
velocity_limit_sim=100.0,
stiffness=10000.0,
damping=1000.0,
),
"head": ImplicitActuatorCfg(
joint_names_expr=["head_revoluteJoint"],
stiffness=10000.0,
damping=1000.0,
),
"trunk": ImplicitActuatorCfg(
joint_names_expr=["PrismaticJoint"],
stiffness=40000.0,
damping=4000.0,
effort_limit_sim=10000.0,
velocity_limit_sim=0.2,
),
"wheels": ImplicitActuatorCfg(
joint_names_expr=[".*_revolute_Joint"],
stiffness=0.0,
damping=100.0,
effort_limit_sim=200.0,
velocity_limit_sim=50.0,
),
# ✅ 夹爪：高刚度确保精准控制
"grippers": ImplicitActuatorCfg(
joint_names_expr=[".*_hand_joint.*"],
stiffness=10000.0,
damping=1000.0,
effort_limit_sim=50.0,
velocity_limit_sim=50.0,
),
},
)
##
# ✅ 专用于 IK 控制的高 PD 版本（可选但推荐）
##
MINDBOT_HIGH_PD_CFG = MINDBOT_CFG.copy()
MINDBOT_HIGH_PD_CFG.actuators["left_arm"].stiffness = 40000.0
MINDBOT_HIGH_PD_CFG.actuators["left_arm"].damping = 4000.0

271
source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py Normal file
View File

@@ -0,0 +1,271 @@
# Copyright (c) 2024, MindRobot Project
# SPDX-License-Identifier: BSD-3-Clause
"""MindRobot left arm IK-Rel environment config for teleoperation."""
from __future__ import annotations
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
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.envs import ManagerBasedRLEnvCfg
from isaaclab.envs.mdp.actions.actions_cfg import (
BinaryJointPositionActionCfg,
DifferentialInverseKinematicsActionCfg,
)
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.managers import TerminationTermCfg as DoneTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
from isaaclab.sensors.frame_transformer.frame_transformer_cfg import 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 isaaclab.markers.config import FRAME_MARKER_CFG
from isaaclab.devices.openxr import XrCfg
# 导入基础配置和MDP函数
from isaaclab_tasks.manager_based.manipulation.stack import mdp
# 导入 MindRobot 资产
from .mindrobot_cfg import MINDBOT_HIGH_PD_CFG
# 在文件开头添加
import isaaclab.utils.assets as assets_utils
# # 然后在 scene 配置中使用
# spawn=sim_utils.UsdFileCfg(
# usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
# ),
# =====================================================================
# Scene Configuration
# =====================================================================
@configclass
class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
"""Minimal scene for MindRobot teleoperation: robot + table + optional cube."""
# Ground plane
plane = AssetBaseCfg(
prim_path="/World/GroundPlane",
init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
spawn=GroundPlaneCfg(),
)
# # Table
# table = AssetBaseCfg(
# prim_path="{ENV_REGEX_NS}/Table",
# init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
# spawn=sim_utils.UsdFileCfg(
# usd_path=f"{assets_utils.ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
# ),
# )
# Optional: Single cube for testing (can be removed if not needed)
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)),
)
# MindRobot
robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# Lighting
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
)
# End-effector frame transformer
ee_frame: FrameTransformerCfg = None # Will be set in __post_init__
# =====================================================================
# Actions Configuration
# =====================================================================
@configclass
class MindRobotTeleopActionsCfg:
"""Actions for MindRobot left arm IK teleoperation."""
# Left arm IK control
arm_action = DifferentialInverseKinematicsActionCfg(
asset_name="robot",
joint_names=["l_joint[1-6]"],
body_name="Link_6", # Last link of left arm
controller=DifferentialIKControllerCfg(
command_type="pose",
use_relative_mode=True,
ik_method="dls",
),
scale=0.5,
body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(
pos=[0.0, 0.0, 0.0]
),
)
# Left gripper control (binary: open/close)
gripper_action = BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["left_hand_joint_left", "left_hand_joint_right"],
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,
},
)
# =====================================================================
# Observations Configuration
# =====================================================================
@configclass
class MindRobotTeleopObsCfg:
"""Minimal observations for MindRobot teleoperation."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for policy group - only robot state, no cube dependencies."""
actions = ObsTerm(func=mdp.last_action)
joint_pos = ObsTerm(func=mdp.joint_pos_rel)
joint_vel = ObsTerm(func=mdp.joint_vel_rel)
eef_pos = ObsTerm(func=mdp.ee_frame_pos)
eef_quat = ObsTerm(func=mdp.ee_frame_quat)
gripper_pos = ObsTerm(func=mdp.gripper_pos)
def __post_init__(self):
self.enable_corruption = False
self.concatenate_terms = False
# observation groups
policy: PolicyCfg = PolicyCfg()
# =====================================================================
# Terminations Configuration
# =====================================================================
@configclass
class MindRobotTeleopTerminationsCfg:
"""Minimal terminations for teleoperation - only time_out or none."""
# Optional: Keep time_out for safety, or remove entirely
time_out = DoneTerm(func=mdp.time_out, time_out=True)
# =====================================================================
# 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）。"""
# Scene settings
scene: MindRobotTeleopSceneCfg = MindRobotTeleopSceneCfg(
num_envs=1,
env_spacing=2.5,
)
# Basic settings
observations: MindRobotTeleopObsCfg = MindRobotTeleopObsCfg()
actions: MindRobotTeleopActionsCfg = MindRobotTeleopActionsCfg()
# MDP settings
terminations: MindRobotTeleopTerminationsCfg = MindRobotTeleopTerminationsCfg()
# Unused managers
commands: EmptyCfg = EmptyCfg()
rewards: EmptyCfg = EmptyCfg()
events: EmptyCfg = EmptyCfg()
curriculum: EmptyCfg = EmptyCfg()
# XR configuration for hand tracking (if needed)
xr: XrCfg = XrCfg(
anchor_pos=(-0.1, -0.5, -1.05),
anchor_rot=(0.866, 0, 0, -0.5),
)
def __post_init__(self):
"""Post initialization."""
super().__post_init__()
# General settings
self.decimation = 2
self.episode_length_s = 50.0
# Simulation settings
self.sim.dt = 0.01 # 100Hz
self.sim.render_interval = 2
# Set MindRobot
self.scene.robot = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# Configure end-effector frame transformer
marker_cfg = FRAME_MARKER_CFG.copy()
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",
debug_vis=False,
visualizer_cfg=marker_cfg,
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Robot/rm_65_fb_left/Link_6",
name="end_effector",
offset=OffsetCfg(
pos=[0.0, 0.0, 0.0],
),
),
],
)
# Configure 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 parameters for status checking
self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"]
self.gripper_open_val = 0.0
self.gripper_threshold = 0.005

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/rl_games_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/rl_games_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/rsl_rl_ppo_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/rsl_rl_ppo_cfg.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/sb3_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/sb3_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/skrl_amp_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/skrl_amp_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/skrl_ippo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/skrl_ippo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/skrl_mappo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/skrl_mappo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/skrl_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/agents/skrl_ppo_cfg.yaml
View File

240
source/mindbot/mindbot/tasks/manager_based/centrifuge/centrifuge_env_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/centrifuge_env_cfg.py
View File

@@ -21,7 +21,10 @@ from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.utils import configclass
from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg, BinaryJointPositionActionCfg
from isaaclab.envs.mdp.actions.actions_cfg import (
DifferentialInverseKinematicsActionCfg,
BinaryJointPositionActionCfg,
)
from isaaclab.sensors import CameraCfg
from . import mdp
@@ -34,10 +37,13 @@ from mindbot.robot.mindbot import MINDBOT_CFG
# ====== 其他物体配置 ======
from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg, CollisionPropertiesCfg
from isaaclab.sim.schemas.schemas_cfg import (
RigidBodyPropertiesCfg,
CollisionPropertiesCfg,
)
TABLE_CFG=RigidObjectCfg(
TABLE_CFG = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Table",
init_state=RigidObjectCfg.InitialStateCfg(
pos=[0.95, -0.3, 0.005],
@@ -46,17 +52,17 @@ TABLE_CFG=RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/table/Table_C.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/table/Table_C.usd",
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -65,30 +71,30 @@ LID_CFG = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Lid",
init_state=RigidObjectCfg.InitialStateCfg(
# pos=[0.9523,-0.2512,1.0923],
pos=[0.803 , -0.25, 1.0282],#(0.9988, -0.2977, 1.0498633)
pos=[0.803, -0.25, 1.0282], # (0.9988, -0.2977, 1.0498633)
# rot=[-0.7071, 0.0, 0.0, 0.7071],
rot=[0.0, 0.0, 0.0, 1.0],
lin_vel=[0.0, 0.0, 0.0],
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/assets/Collected_equipment001/Equipment/tube1.usd",
usd_path="/home/maic/LYT/maic_usd_assets/assets/Collected_equipment001/Equipment/tube1.usd",
# scale=(0.2, 0.2, 0.2),
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
max_depenetration_velocity=0.5,#original 5.0
linear_damping=5.0, #original 0.5
angular_damping=5.0, #original 0.5
max_depenetration_velocity=0.5, # original 5.0
linear_damping=5.0, # original 0.5
angular_damping=5.0, # original 0.5
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -104,7 +110,7 @@ LID_CFG = RigidObjectCfg(
# ang_vel=[0.0, 0.0, 0.0],
# ),
# spawn=UsdFileCfg(
# usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/centrifuge/Lid_B.usd",
# usd_path="/home/maic/LYT/maic_usd_assets/equipment/centrifuge/Lid_B.usd",
# # scale=(0.2, 0.2, 0.2),
# rigid_props=RigidBodyPropertiesCfg(
# rigid_body_enabled= True,
@@ -127,9 +133,9 @@ LID_CFG = RigidObjectCfg(
CENTRIFUGE_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/centrifuge/centrifuge.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/centrifuge/centrifuge.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
disable_gravity=False,
max_depenetration_velocity=1.0,
linear_damping=0.5,
angular_damping=0.5,
@@ -140,45 +146,41 @@ CENTRIFUGE_CFG = ArticulationCfg(
solver_velocity_iteration_count=16,
stabilization_threshold=1e-6,
# 【重要】必须要固定底座，否则机器人按盖子时，离心机会翻倒
# fix_root_link=True,
# fix_root_link=True,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
init_state=ArticulationCfg.InitialStateCfg(
# 1. 参照机器人配置，在这里定义初始关节角度
joint_pos={
"r1": math.radians(0.0), # 转子位置（无关紧要）
"r1": math.radians(0.0), # 转子位置（无关紧要）
# 【关键修改】：初始让盖子处于打开状态
# 您的 USD 限位是 (-100, 0)，-100度为最大开启
"r2": math.radians(-100.0),
"r2": math.radians(-100.0),
},
pos=(0.80, -0.25, 0.8085),#(0.95, -0.3, 0.8085)
pos=(0.80, -0.25, 0.8085), # (0.95, -0.3, 0.8085)
rot=[-0.7071, 0.0, 0.0, 0.7071],
# rot=[0.0, 0.0, 0.0, 1.0],
),
actuators={
"lid_passive_mechanism": ImplicitActuatorCfg(
joint_names_expr=["r2"],
# 【关键差异说明】
# 机器人的手臂 stiffness 是 10000.0，因为机器人需要精准定位且不晃动。
#
#
# 但是！离心机盖子如果设为 10000，它就会像焊死在空中一样，机器人根本按不动。
# 这里设为 200.0 左右：
# 1. 力度足以克服重力，让盖子初始保持打开。
# 2. 力度又足够软，当机器人用力下压时，盖子会顺从地闭合。
stiffness=200.0,
stiffness=200.0,
# 阻尼：给一点阻力，模拟液压杆手感，防止像弹簧一样乱晃
damping=20.0,
damping=20.0,
# 确保力矩上限不要太小，否则托不住盖子
effort_limit_sim=1000.0,
effort_limit_sim=1000.0,
velocity_limit_sim=100.0,
),
# 转子可以硬一点，不需要被机器人按动
@@ -187,14 +189,14 @@ CENTRIFUGE_CFG = ArticulationCfg(
stiffness=0.0,
damping=10.0,
),
}
},
)
ROOM_CFG = AssetBaseCfg(
prim_path="{ENV_REGEX_NS}/Room",
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
),
)
@@ -217,7 +219,9 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# Room: AssetBaseCfg = ROOM_CFG.replace(prim_path="{ENV_REGEX_NS}/Room")
Mindbot: ArticulationCfg = MINDBOT_CFG.replace(prim_path="{ENV_REGEX_NS}/Mindbot")
table: RigidObjectCfg = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")
centrifuge: ArticulationCfg = CENTRIFUGE_CFG.replace(prim_path="{ENV_REGEX_NS}/centrifuge")
centrifuge: ArticulationCfg = CENTRIFUGE_CFG.replace(
prim_path="{ENV_REGEX_NS}/centrifuge"
)
lid: RigidObjectCfg = LID_CFG.replace(prim_path="{ENV_REGEX_NS}/Lid")
# lights
dome_light = AssetBaseCfg(
@@ -236,7 +240,7 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# )
"""
# left_hand_camera=CameraCfg(
# prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_fb_left/Link_6/robot___left_8_02/cam_left_hand",
# prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_fb_left/Link_6/robot___left_8_02/cam_left_hand",
# update_period=1/120,
# height=480,
# width=640,
@@ -244,7 +248,7 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# spawn=None,
# )
# right_hand_camera=CameraCfg(
# prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_b_right/Link6/robot___right_8_2/cam_right_hand",
# prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_b_right/Link6/robot___right_8_2/cam_right_hand",
# update_period=1/120,
# height=480,
# width=640,
@@ -252,7 +256,7 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# spawn=None,
# )
# head_camera=CameraCfg(
# prim_path="{ENV_REGEX_NS}/Mindbot/robot_head/cam_head",
# prim_path="{ENV_REGEX_NS}/Mindbot/robot_head/cam_head",
# update_period=1/120,
# height=480,
# width=640,
@@ -260,18 +264,23 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# spawn=None,
# )
# chest_camera=CameraCfg(
# prim_path="{ENV_REGEX_NS}/Mindbot/robot_trunk/cam_chest",
# prim_path="{ENV_REGEX_NS}/Mindbot/robot_trunk/cam_chest",
# update_period=1/120,
# height=480,
# width=640,
# data_types=["rgb"],
# spawn=None,
# )
##
# MDP settings
##
def left_gripper_pos_w(env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")) -> torch.Tensor:
def left_gripper_pos_w(
env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")
) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
body_ids, _ = asset.find_bodies(["left_hand_body"], preserve_order=True)
pos_w = asset.data.body_pos_w[:, body_ids[0]] - env.scene.env_origins
@@ -294,14 +303,12 @@ class ActionsCfg:
# ),
# scale=(0.01, 0.01, 0.01, 0.025, 0.025, 0.025),
# )
right_arm_fixed = mdp.JointPositionActionCfg(
asset_name="Mindbot",
joint_names=["r_joint[1-6]"], # 对应 l_joint1 到 l_joint6
joint_names=["r_joint[1-6]"], # 对应 l_joint1 到 l_joint6
# 1. 缩放设为 0：这让 RL 策略无法控制它，它不会动
scale=0.0,
scale=0.0,
# 2. 偏移设为你的目标角度（弧度）：这告诉电机“永远停在这里”
# 对应 (135, -70, -90, 90, 90, -70)
offset={
@@ -317,34 +324,35 @@ class ActionsCfg:
grippers_position = mdp.BinaryJointPositionActionCfg(
asset_name="Mindbot",
joint_names=["left_hand_joint_left", "left_hand_joint_right"],
# 修正：使用字典格式
# open_command_expr={"关节名正则": 值}
open_command_expr={"left_hand_joint_left": 0.0, "left_hand_joint_right": 0.0},
# close_command_expr={"关节名正则": 值}
close_command_expr={"left_hand_joint_left": -0.03, "left_hand_joint_right": 0.03},
close_command_expr={
"left_hand_joint_left": -0.03,
"left_hand_joint_right": 0.03,
},
)
trunk_position = mdp.JointPositionActionCfg(
asset_name="Mindbot",
joint_names=["PrismaticJoint"],
scale=0.00,
offset=0.24, # 0.3
clip=None
offset=0.24, # 0.3
clip=None,
)
centrifuge_lid_passive = mdp.JointPositionActionCfg(
asset_name="centrifuge", # 对应场景中的名称
asset_name="centrifuge", # 对应场景中的名称
joint_names=["r2"],
# 将 scale 设为 0，意味着 RL 算法输出的任何值都会被乘 0，即无法干扰它
scale=0.00,
scale=0.00,
# 将 offset 设为目标角度，这会成为 PD 控制器的恒定 Target
offset= -1.7453,
clip=None
offset=-1.7453,
clip=None,
)
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@@ -353,15 +361,29 @@ class ObservationsCfg:
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
mindbot_joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_pos = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_quat = ObsTerm(func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
left_gripper_pos = ObsTerm(func=left_gripper_pos_w,
params={"asset_cfg": SceneEntityCfg("Mindbot", body_names=["left_hand_body"])})
lid_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")})
centrifuge_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("centrifuge")})
mindbot_joint_pos_rel = ObsTerm(
func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_pos = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_quat = ObsTerm(
func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
left_gripper_pos = ObsTerm(
func=left_gripper_pos_w,
params={
"asset_cfg": SceneEntityCfg("Mindbot", body_names=["left_hand_body"])
},
)
lid_pos_abs = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")}
)
centrifuge_pos_abs = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("centrifuge")}
)
def __post_init__(self) -> None:
self.enable_corruption = False
self.concatenate_terms = True
@@ -409,29 +431,36 @@ class EventCfg:
"velocity_range": (0.0, 0.0),
},
)
reset_table=EventTerm(func=mdp.reset_root_state_uniform,mode="reset",
params={"asset_cfg": SceneEntityCfg("table"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_table = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("table"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_centrifuge = EventTerm(
func=mdp.reset_root_state_uniform,
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("centrifuge"),
# "pose_range": {"x": (-0.07, 0.07), "y": (-0.07, 0.07), "yaw": (-0.1, 0.1)},
"pose_range": {"x": (0.0, 0.0), "y": (0.0, 0.0), "z": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)}
}
)
"asset_cfg": SceneEntityCfg("centrifuge"),
# "pose_range": {"x": (-0.07, 0.07), "y": (-0.07, 0.07), "yaw": (-0.1, 0.1)},
"pose_range": {"x": (0.0, 0.0), "y": (0.0, 0.0), "z": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_lid = EventTerm(
func=mdp.reset_root_state_uniform,
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("lid"),
# "pose_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "yaw": (-1.5, 1.5)},
"pose_range": {"x": (0.0, 0.0), "y": (0.0, 0.0), "z": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)}
}
)
"asset_cfg": SceneEntityCfg("lid"),
# "pose_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "yaw": (-1.5, 1.5)},
"pose_range": {"x": (0.0, 0.0), "y": (0.0, 0.0), "z": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
@configclass
@@ -444,12 +473,12 @@ class RewardsCfg:
"lid_cfg": SceneEntityCfg("lid"),
"robot_cfg": SceneEntityCfg("Mindbot"),
"gripper_body_name": "right_hand_body",
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"lid_handle_axis": (0.0, 1.0, 0.0),
"max_angle_deg": 85.0, # 允许60度内的偏差
},
weight=5.0 #original 5.0
weight=5.0, # original 5.0
)
# stage 2
@@ -462,9 +491,9 @@ class RewardsCfg:
"left_gripper_name": "right_hand_l",
"right_gripper_name": "right_hand__r",
"height_offset": 0.115, # Z方向：lid 上方 0.1m
"std": 0.3, # 位置对齐的容忍度
"std": 0.3, # 位置对齐的容忍度
},
weight=3.0 #original 3.0
weight=3.0, # original 3.0
)
approach_lid_penalty = RewTerm(
func=mdp.gripper_lid_distance_penalty,
@@ -477,7 +506,7 @@ class RewardsCfg:
},
# weight 为负数表示惩罚。
# 假设距离 0.5m，惩罚就是 -0.5 * 2.0 = -1.0 分。
weight=-1.0
weight=-1.0,
)
# # 【新增】精细对齐 (引导进入 2cm 圈)
# gripper_lid_fine_alignment = RewTerm(
@@ -493,7 +522,7 @@ class RewardsCfg:
# weight=10.0 # 高权重
# )
# gripper_close_interaction = RewTerm(
# gripper_close_interaction = RewTerm(
# func=mdp.gripper_close_when_near,
# params={
# "lid_cfg": SceneEntityCfg("lid"),
@@ -527,12 +556,10 @@ class RewardsCfg:
# "std": 0.1
# },
# # 权重设大一点，告诉它这是最终目标
# weight=10.0
# weight=10.0
# )
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
@@ -543,7 +570,7 @@ class TerminationsCfg:
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("Mindbot"), "maximum_height": 2.0},
)
lid_fly_away = DoneTerm(
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("lid"), "maximum_height": 2.0},
@@ -552,25 +579,25 @@ class TerminationsCfg:
# 新增：盖子掉落判定
# 如果盖子掉回桌面（高度接近初始高度），且已经运行了一段时间（避开刚开始重置的瞬间）
lid_dropped = DoneTerm(
func=mdp.base_height_failure, # 复用高度判定函数
func=mdp.base_height_failure, # 复用高度判定函数
params={
"asset_cfg": SceneEntityCfg("lid"),
"minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
"asset_cfg": SceneEntityCfg("lid"),
"minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
},
)
##
# Environment configuration
##
@configclass
class CurriculumCfg:
pass
# action_rate = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "action_rate", "weight": -1e-1, "num_steps": 10000})
# joint_vel = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "joint_vel", "weight": -1e-1, "num_steps": 10000})
@@ -579,10 +606,10 @@ class CurriculumCfg:
# params={
# # 路径：rewards管理器 -> 你的奖励项名 -> params字典 -> std键
# "address": "rewards.gripper_lid_position_alignment.params.std",
# # 修改逻辑：使用我们刚才写的函数
# "modify_fn": mdp.annealing_std,
# # 传给函数的参数
# "modify_params": {
# "start_step": 00, # 约 600 轮
@@ -593,6 +620,7 @@ class CurriculumCfg:
# }
# )
@configclass
class MindbotEnvCfg(ManagerBasedRLEnvCfg):
# Scene settings
@@ -610,20 +638,20 @@ class MindbotEnvCfg(ManagerBasedRLEnvCfg):
def __post_init__(self) -> None:
"""Post initialization."""
# general settings
self.decimation = 4 #original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.decimation = 4 # original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.episode_length_s = 10
# viewer settings
self.viewer.eye = (3.5, 0.0, 13.2)#(3.5, 0.0, 3.2)
self.viewer.eye = (3.5, 0.0, 13.2) # (3.5, 0.0, 3.2)
# simulation settings
self.sim.dt = 1 / 120 #original 1 / 60
self.sim.dt = 1 / 120 # original 1 / 60
self.sim.render_interval = self.decimation
# # 1. 基础堆内存
self.sim.physx.gpu_heap_capacity = 256 * 1024 * 1024 # 256MB
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_temp_buffer_capacity = 128 * 1024 * 1024
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
# # 5. 聚合对容量 (针对复杂的 Articulation)
self.sim.physx.gpu_found_lost_pairs_capacity = 16 * 1024 * 1024
self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 16 * 1024 * 1024

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/mdp/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/mdp/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/mdp/curriculums.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/mdp/curriculums.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/mdp/gripper.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/mdp/gripper.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/mdp/rewards.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/mdp/rewards.py
View File

0
source/mindbot/mindbot/tasks/manager_based/centrifuge/mdp/terminations.py → source/mindbot/mindbot/tasks/manager_based/rl/centrifuge/mdp/terminations.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/rl_games_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/rl_games_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/rsl_rl_ppo_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/rsl_rl_ppo_cfg.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/sb3_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/sb3_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/skrl_amp_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/skrl_amp_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/skrl_ippo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/skrl_ippo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/skrl_mappo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/skrl_mappo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/agents/skrl_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/agents/skrl_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/mdp/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/mdp/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/mdp/curriculums.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/mdp/curriculums.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/mdp/gripper.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/mdp/gripper.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/mdp/rewards.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/mdp/rewards.py
View File

0
source/mindbot/mindbot/tasks/manager_based/mindbot/mdp/terminations.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/mdp/terminations.py
View File

212
source/mindbot/mindbot/tasks/manager_based/mindbot/mindbot_env_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/mindbot/mindbot_env_cfg.py
View File

@@ -21,7 +21,10 @@ from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.utils import configclass
from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg, BinaryJointPositionActionCfg
from isaaclab.envs.mdp.actions.actions_cfg import (
DifferentialInverseKinematicsActionCfg,
BinaryJointPositionActionCfg,
)
from . import mdp
@@ -33,10 +36,13 @@ from mindbot.robot.mindbot import MINDBOT_CFG
# ====== 其他物体配置 ======
from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg, CollisionPropertiesCfg
from isaaclab.sim.schemas.schemas_cfg import (
RigidBodyPropertiesCfg,
CollisionPropertiesCfg,
)
TABLE_CFG=RigidObjectCfg(
TABLE_CFG = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Table",
init_state=RigidObjectCfg.InitialStateCfg(
pos=[0.95, -0.3, 0.005],
@@ -45,17 +51,17 @@ TABLE_CFG=RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/table/Table_C.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/table/Table_C.usd",
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -69,23 +75,23 @@ LID_CFG = RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/ultrasound/ultrasound_lid.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/ultrasound/ultrasound_lid.usd",
# scale=(0.2, 0.2, 0.2),
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
max_depenetration_velocity=0.5,#original 5.0
linear_damping=5.0, #original 0.5
angular_damping=5.0, #original 0.5
max_depenetration_velocity=0.5, # original 5.0
linear_damping=5.0, # original 0.5
angular_damping=5.0, # original 0.5
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -93,13 +99,12 @@ LID_CFG = RigidObjectCfg(
ULTRASOUND_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/ultrasound/ultrasound.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/ultrasound/ultrasound.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0
disable_gravity=False, max_depenetration_velocity=1.0
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,#
enabled_self_collisions=False, #
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
stabilization_threshold=1e-6,
@@ -112,13 +117,12 @@ ULTRASOUND_CFG = ArticulationCfg(
"passive_damper": ImplicitActuatorCfg(
# ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
joint_names_expr=[".*"],
stiffness=0.0,
damping=1000.0,
effort_limit_sim=10000.0,
stiffness=0.0,
damping=1000.0,
effort_limit_sim=10000.0,
velocity_limit_sim=100.0,
),
}
},
)
##
@@ -139,7 +143,9 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# robot
Mindbot: ArticulationCfg = MINDBOT_CFG.replace(prim_path="{ENV_REGEX_NS}/Mindbot")
table: RigidObjectCfg = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")
ultrasound: ArticulationCfg = ULTRASOUND_CFG.replace(prim_path="{ENV_REGEX_NS}/ultrasound")
ultrasound: ArticulationCfg = ULTRASOUND_CFG.replace(
prim_path="{ENV_REGEX_NS}/ultrasound"
)
lid: RigidObjectCfg = LID_CFG.replace(prim_path="{ENV_REGEX_NS}/Lid")
# lights
dome_light = AssetBaseCfg(
@@ -152,7 +158,10 @@ class MindbotSceneCfg(InteractiveSceneCfg):
# MDP settings
##
def left_gripper_pos_w(env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")) -> torch.Tensor:
def left_gripper_pos_w(
env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")
) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
body_ids, _ = asset.find_bodies(["left_hand_body"], preserve_order=True)
pos_w = asset.data.body_pos_w[:, body_ids[0]] - env.scene.env_origins
@@ -167,11 +176,11 @@ class ActionsCfg:
left_arm_ee = DifferentialInverseKinematicsActionCfg(
asset_name="Mindbot",
joint_names=["l_joint[1-6]"], # 左臂的6个关节
body_name="left_hand_body", # 末端执行器body名称
body_name="left_hand_body", # 末端执行器body名称
controller=DifferentialIKControllerCfg(
command_type="pose", # 控制位置+姿态
use_relative_mode=True, # 相对模式：动作是增量
ik_method="dls", # Damped Least Squares方法
command_type="pose", # 控制位置+姿态
use_relative_mode=True, # 相对模式：动作是增量
ik_method="dls", # Damped Least Squares方法
),
scale=(0.01, 0.01, 0.01, 0.025, 0.025, 0.025),
)
@@ -197,22 +206,22 @@ class ActionsCfg:
grippers_position = mdp.BinaryJointPositionActionCfg(
asset_name="Mindbot",
joint_names=["left_hand_joint_left", "left_hand_joint_right"],
# 修正：使用字典格式
# open_command_expr={"关节名正则": 值}
open_command_expr={"left_hand_joint_left": 0.0, "left_hand_joint_right": 0.0},
# close_command_expr={"关节名正则": 值}
close_command_expr={"left_hand_joint_left": -0.03, "left_hand_joint_right": 0.03},
close_command_expr={
"left_hand_joint_left": -0.03,
"left_hand_joint_right": 0.03,
},
)
trunk_position = mdp.JointPositionActionCfg(
asset_name="Mindbot",
joint_names=["PrismaticJoint"],
scale=0.00,
offset=0.3,
clip=None
clip=None,
)
@@ -224,15 +233,29 @@ class ObservationsCfg:
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
mindbot_joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_pos = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_quat = ObsTerm(func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
left_gripper_pos = ObsTerm(func=left_gripper_pos_w,
params={"asset_cfg": SceneEntityCfg("Mindbot", body_names=["left_hand_body"])})
lid_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")})
ultrasound_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("ultrasound")})
mindbot_joint_pos_rel = ObsTerm(
func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_pos = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_quat = ObsTerm(
func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
left_gripper_pos = ObsTerm(
func=left_gripper_pos_w,
params={
"asset_cfg": SceneEntityCfg("Mindbot", body_names=["left_hand_body"])
},
)
lid_pos_abs = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")}
)
ultrasound_pos_abs = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("ultrasound")}
)
def __post_init__(self) -> None:
self.enable_corruption = False
self.concatenate_terms = True
@@ -244,6 +267,7 @@ class ObservationsCfg:
@configclass
class EventCfg:
"""Configuration for events."""
# reset_mindbot_root=EventTerm(
# func=mdp.reset_root_state_uniform,
# mode="reset",
@@ -273,18 +297,39 @@ class EventCfg:
"velocity_range": (0.0, 0.0),
},
)
reset_table=EventTerm(func=mdp.reset_root_state_uniform,mode="reset",
params={"asset_cfg": SceneEntityCfg("table"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_ultrasound = EventTerm(func=mdp.reset_root_state_uniform, mode="reset",
params={"asset_cfg": SceneEntityCfg("ultrasound"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_lid = EventTerm(func=mdp.reset_root_state_uniform, mode="reset",
params={"asset_cfg": SceneEntityCfg("lid"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_table = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("table"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_ultrasound = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("ultrasound"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_lid = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("lid"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# 姿态对齐奖励： stage 1
# gripper_lid_orientation_alignment = RewTerm(
# func=mdp.gripper_lid_orientation_alignment,
@@ -292,8 +337,8 @@ class RewardsCfg:
# "lid_cfg": SceneEntityCfg("lid"),
# "robot_cfg": SceneEntityCfg("Mindbot"),
# "gripper_body_name": "left_hand_body",
# "gripper_forward_axis": (0.0, 0.0, 1.0),
# "gripper_width_axis": (0.0, 1.0, 0.0),
# "gripper_forward_axis": (0.0, 0.0, 1.0),
# "gripper_width_axis": (0.0, 1.0, 0.0),
# "lid_handle_axis": (0.0, 1.0, 0.0)
# },
# weight=1.0
@@ -305,12 +350,12 @@ class RewardsCfg:
"lid_cfg": SceneEntityCfg("lid"),
"robot_cfg": SceneEntityCfg("Mindbot"),
"gripper_body_name": "left_hand_body",
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"lid_handle_axis": (0.0, 1.0, 0.0),
"max_angle_deg": 85.0, # 允许60度内的偏差
},
weight=5
weight=5,
)
# stage 2
@@ -325,7 +370,7 @@ class RewardsCfg:
"height_offset": 0.07, # Z方向：lid 上方 0.1m
"std": 0.3, # 位置对齐的容忍度
},
weight=3.0
weight=3.0,
)
# 【新增】精细对齐 (引导进入 2cm 圈)
@@ -336,13 +381,13 @@ class RewardsCfg:
"robot_cfg": SceneEntityCfg("Mindbot"),
"left_gripper_name": "left_hand__l",
"right_gripper_name": "left_hand_r",
"height_offset": 0.07, # 【注意】这个高度必须非常准，和 interaction 判定高度一致
"std": 0.05, # 非常陡峭的梯度，只在 5-10cm 内有效
"height_offset": 0.07, # 【注意】这个高度必须非常准，和 interaction 判定高度一致
"std": 0.05, # 非常陡峭的梯度，只在 5-10cm 内有效
},
weight=10.0 # 高权重
weight=10.0, # 高权重
)
gripper_close_interaction = RewTerm(
gripper_close_interaction = RewTerm(
func=mdp.gripper_close_when_near,
params={
"lid_cfg": SceneEntityCfg("lid"),
@@ -354,34 +399,32 @@ class RewardsCfg:
"height_offset": 0.04,
"grasp_radius": 0.03,
},
weight=10.0
weight=10.0,
)
lid_lifted_reward = RewTerm(
func=mdp.lid_is_lifted, # 使用 rewards.py 中已有的函数
func=mdp.lid_is_lifted, # 使用 rewards.py 中已有的函数
params={
"lid_cfg": SceneEntityCfg("lid"),
"minimal_height": 1.0, # 根据你的场景调整，比初始高度高 5cm 左右
"minimal_height": 1.0, # 根据你的场景调整，比初始高度高 5cm 左右
},
weight=10.0 # 给一个足够大的权重
weight=10.0, # 给一个足够大的权重
)
lid_lifting_reward = RewTerm(
func=mdp.lid_lift_progress_reward,
params={
"lid_cfg": SceneEntityCfg("lid"),
"initial_height": 0.8, # 请务必核实这个值！在 print 里看一下 lid 的 z 坐标
"initial_height": 0.8, # 请务必核实这个值！在 print 里看一下 lid 的 z 坐标
"target_height_lift": 0.2,
"height_offset": 0.07, # 与其他奖励保持一致
"std": 0.1
"height_offset": 0.07, # 与其他奖励保持一致
"std": 0.1,
},
# 权重设大一点，告诉它这是最终目标
weight=10.0
weight=10.0,
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
@@ -392,7 +435,7 @@ class TerminationsCfg:
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("Mindbot"), "maximum_height": 2.0},
)
lid_fly_away = DoneTerm(
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("lid"), "maximum_height": 2.0},
@@ -401,25 +444,25 @@ class TerminationsCfg:
# 新增：盖子掉落判定
# 如果盖子掉回桌面（高度接近初始高度），且已经运行了一段时间（避开刚开始重置的瞬间）
lid_dropped = DoneTerm(
func=mdp.base_height_failure, # 复用高度判定函数
func=mdp.base_height_failure, # 复用高度判定函数
params={
"asset_cfg": SceneEntityCfg("lid"),
"minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
"asset_cfg": SceneEntityCfg("lid"),
"minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
},
)
##
# Environment configuration
##
@configclass
class CurriculumCfg:
pass
# action_rate = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "action_rate", "weight": -1e-1, "num_steps": 10000})
# joint_vel = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "joint_vel", "weight": -1e-1, "num_steps": 10000})
@@ -428,10 +471,10 @@ class CurriculumCfg:
# params={
# # 路径：rewards管理器 -> 你的奖励项名 -> params字典 -> std键
# "address": "rewards.gripper_lid_position_alignment.params.std",
# # 修改逻辑：使用我们刚才写的函数
# "modify_fn": mdp.annealing_std,
# # 传给函数的参数
# "modify_params": {
# "start_step": 00, # 约 600 轮
@@ -442,6 +485,7 @@ class CurriculumCfg:
# }
# )
@configclass
class MindbotEnvCfg(ManagerBasedRLEnvCfg):
# Scene settings
@@ -459,20 +503,20 @@ class MindbotEnvCfg(ManagerBasedRLEnvCfg):
def __post_init__(self) -> None:
"""Post initialization."""
# general settings
self.decimation = 4 #original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.decimation = 4 # original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.episode_length_s = 10
# viewer settings
self.viewer.eye = (3.5, 0.0, 3.2)
# simulation settings
self.sim.dt = 1 / 120 #original 1 / 60
self.sim.dt = 1 / 120 # original 1 / 60
self.sim.render_interval = self.decimation
# # 1. 基础堆内存
self.sim.physx.gpu_heap_capacity = 256 * 1024 * 1024 # 256MB
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_temp_buffer_capacity = 128 * 1024 * 1024
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
# # 5. 聚合对容量 (针对复杂的 Articulation)
self.sim.physx.gpu_found_lost_pairs_capacity = 16 * 1024 * 1024
self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 16 * 1024 * 1024

0
source/mindbot/mindbot/tasks/manager_based/pull/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/rl_games_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/rl_games_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/rsl_rl_ppo_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/rsl_rl_ppo_cfg.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/sb3_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/sb3_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/skrl_amp_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/skrl_amp_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/skrl_ippo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/skrl_ippo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/skrl_mappo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/skrl_mappo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/agents/skrl_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pull/agents/skrl_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/curriculums.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/curriculums.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/gripper.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/gripper.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/rewards.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/rewards.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/rewards.py.bak → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/rewards.py.bak
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/rewards.py.bak1 → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/rewards.py.bak1
View File

0
source/mindbot/mindbot/tasks/manager_based/pull/mdp/terminations.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/mdp/terminations.py
View File

239
source/mindbot/mindbot/tasks/manager_based/pull/pull_env_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/pull/pull_env_cfg.py
View File

@@ -21,22 +21,28 @@ from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.utils import configclass
from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg, BinaryJointPositionActionCfg
from isaaclab.envs.mdp.actions.actions_cfg import (
DifferentialInverseKinematicsActionCfg,
BinaryJointPositionActionCfg,
)
from . import mdp
##
# Pre-defined configs
##
from mindbot.robot.mindbot import MINDBOT_CFG
# ====== 其他物体配置 ======
from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg, CollisionPropertiesCfg
from isaaclab.sim.schemas.schemas_cfg import (
RigidBodyPropertiesCfg,
CollisionPropertiesCfg,
)
TABLE_CFG=RigidObjectCfg(
TABLE_CFG = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Table",
init_state=RigidObjectCfg.InitialStateCfg(
pos=[0.95, -0.3, 0.005],
@@ -45,30 +51,29 @@ TABLE_CFG=RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/table/Table_C.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/table/Table_C.usd",
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
DRYINGBOX_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/assets/Collected_Equipment_BB_0B/Equipment/Equipment_BB_13.usd",
usd_path="/home/maic/LYT/maic_usd_assets/assets/Collected_Equipment_BB_0B/Equipment/Equipment_BB_13.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0
disable_gravity=False, max_depenetration_velocity=1.0
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,#
enabled_self_collisions=False, #
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
stabilization_threshold=1e-6,
@@ -76,21 +81,19 @@ DRYINGBOX_CFG = ArticulationCfg(
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=[0.95, -0.45, 0.9],
rot=[-0.7071, 0.0, 0.0, 0.7071]
),
pos=[0.95, -0.45, 0.9], rot=[-0.7071, 0.0, 0.0, 0.7071]
),
# actuators={}
actuators={
"passive_damper": ImplicitActuatorCfg(
# ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
joint_names_expr=["RevoluteJoint"],
stiffness=10000.0,
damping=1000.0,
effort_limit_sim=10000.0,
stiffness=10000.0,
damping=1000.0,
effort_limit_sim=10000.0,
velocity_limit_sim=100.0,
),
}
},
)
LID_CFG = RigidObjectCfg(
@@ -102,23 +105,23 @@ LID_CFG = RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/ultrasound/ultrasound_lid.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/ultrasound/ultrasound_lid.usd",
# scale=(0.2, 0.2, 0.2),
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
max_depenetration_velocity=0.5,#original 5.0
linear_damping=5.0, #original 0.5
angular_damping=5.0, #original 0.5
max_depenetration_velocity=0.5, # original 5.0
linear_damping=5.0, # original 0.5
angular_damping=5.0, # original 0.5
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -126,13 +129,12 @@ LID_CFG = RigidObjectCfg(
ULTRASOUND_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/ultrasound/ultrasound.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/ultrasound/ultrasound.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0
disable_gravity=False, max_depenetration_velocity=1.0
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,#
enabled_self_collisions=False, #
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
stabilization_threshold=1e-6,
@@ -145,13 +147,12 @@ ULTRASOUND_CFG = ArticulationCfg(
"passive_damper": ImplicitActuatorCfg(
# ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
joint_names_expr=[".*"],
stiffness=0.0,
damping=1000.0,
effort_limit_sim=10000.0,
stiffness=0.0,
damping=1000.0,
effort_limit_sim=10000.0,
velocity_limit_sim=100.0,
),
}
},
)
##
@@ -160,6 +161,7 @@ ULTRASOUND_CFG = ArticulationCfg(
from isaaclab.sensors import CameraCfg
import isaaclab.sim as sim_utils
@configclass
class PullSceneCfg(InteractiveSceneCfg):
"""Configuration for a cart-pole scene."""
@@ -173,7 +175,9 @@ class PullSceneCfg(InteractiveSceneCfg):
# robot
Mindbot: ArticulationCfg = MINDBOT_CFG.replace(prim_path="{ENV_REGEX_NS}/Mindbot")
table: RigidObjectCfg = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")
dryingbox: ArticulationCfg = DRYINGBOX_CFG.replace(prim_path="{ENV_REGEX_NS}/Dryingbox")
dryingbox: ArticulationCfg = DRYINGBOX_CFG.replace(
prim_path="{ENV_REGEX_NS}/Dryingbox"
)
# ultrasound: ArticulationCfg = ULTRASOUND_CFG.replace(prim_path="{ENV_REGEX_NS}/ultrasound")
# lid: RigidObjectCfg = LID_CFG.replace(prim_path="{ENV_REGEX_NS}/Lid")
@@ -291,17 +295,22 @@ class PullSceneCfg(InteractiveSceneCfg):
# MDP settings
##
def right_gripper_pos_w(env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")) -> torch.Tensor:
def right_gripper_pos_w(
env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")
) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
body_ids, _ = asset.find_bodies(["right_hand_body"], preserve_order=True)
pos_w = asset.data.body_pos_w[:, body_ids[0]] - env.scene.env_origins
return pos_w
def get_body_pos_rel(env, asset_cfg: SceneEntityCfg) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
body_ids, _ = asset.find_bodies(asset_cfg.body_names, preserve_order=True)
return asset.data.body_pos_w[:, body_ids[0]] - env.scene.env_origins
# 新增：通用获取 body 世界姿态的函数
def get_body_quat_w(env, asset_cfg: SceneEntityCfg) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
@@ -317,16 +326,15 @@ class ActionsCfg:
right_arm_ee = DifferentialInverseKinematicsActionCfg(
asset_name="Mindbot",
joint_names=["r_joint[1-6]"], # 左臂的6个关节
body_name="right_hand_body", # 末端执行器body名称
body_name="right_hand_body", # 末端执行器body名称
controller=DifferentialIKControllerCfg(
command_type="pose", # 控制位置+姿态
use_relative_mode=True, # 相对模式：动作是增量
ik_method="dls", # Damped Least Squares方法
command_type="pose", # 控制位置+姿态
use_relative_mode=True, # 相对模式：动作是增量
ik_method="dls", # Damped Least Squares方法
),
scale=(0.01, 0.01, 0.01, 0.025, 0.025, 0.025),
)
grippers_position = mdp.BinaryJointPositionActionCfg(
asset_name="Mindbot",
joint_names=["right_hand_joint_left", "right_hand_joint_right"],
@@ -334,7 +342,10 @@ class ActionsCfg:
# open_command_expr={"关节名正则": 值}
open_command_expr={"right_hand_joint_left": 0.0, "right_hand_joint_right": 0.0},
# close_command_expr={"关节名正则": 值}
close_command_expr={"right_hand_joint_left": -0.03, "right_hand_joint_right": 0.03},
close_command_expr={
"right_hand_joint_left": -0.03,
"right_hand_joint_right": 0.03,
},
)
trunk_position = mdp.JointPositionActionCfg(
@@ -342,7 +353,7 @@ class ActionsCfg:
joint_names=["PrismaticJoint"],
scale=0.00,
offset=0.25,
clip=None
clip=None,
)
@@ -354,23 +365,41 @@ class ObservationsCfg:
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
mindbot_joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_pos = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_quat = ObsTerm(func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
right_gripper_pos = ObsTerm(func=right_gripper_pos_w,
params={"asset_cfg": SceneEntityCfg("Mindbot", body_names=["right_hand_body"])})
mindbot_joint_pos_rel = ObsTerm(
func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_pos = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_quat = ObsTerm(
func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
right_gripper_pos = ObsTerm(
func=right_gripper_pos_w,
params={
"asset_cfg": SceneEntityCfg("Mindbot", body_names=["right_hand_body"])
},
)
dryingbox_handle_pos = ObsTerm(
func=get_body_pos_rel,
params={"asset_cfg": SceneEntityCfg("dryingbox", body_names=["Equipment_BB_13_C"])}
func=get_body_pos_rel,
params={
"asset_cfg": SceneEntityCfg(
"dryingbox", body_names=["Equipment_BB_13_C"]
)
},
)
dryingbox_handle_quat = ObsTerm(
func=get_body_quat_w,
params={"asset_cfg": SceneEntityCfg("dryingbox", body_names=["Equipment_BB_13_C"])}
func=get_body_quat_w,
params={
"asset_cfg": SceneEntityCfg(
"dryingbox", body_names=["Equipment_BB_13_C"]
)
},
)
# lid_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")})
# ultrasound_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("ultrasound")})
def __post_init__(self) -> None:
self.enable_corruption = False
self.concatenate_terms = True
@@ -382,6 +411,7 @@ class ObservationsCfg:
@configclass
class EventCfg:
"""Configuration for events."""
# 重置所有关节到 init_state（无偏移）
reset_mindbot_all_joints = EventTerm(
func=mdp.reset_joints_by_offset,
@@ -402,15 +432,30 @@ class EventCfg:
"velocity_range": (0.0, 0.0),
},
)
reset_table=EventTerm(func=mdp.reset_root_state_uniform,mode="reset",
params={"asset_cfg": SceneEntityCfg("table"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_dryingbox=EventTerm(func=mdp.reset_root_state_uniform,mode="reset",
params={"asset_cfg": SceneEntityCfg("dryingbox"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_table = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("table"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_dryingbox = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("dryingbox"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# 1. 姿态对齐：保持不变，这是基础
gripper_handle_orientation_alignment = RewTerm(
func=mdp.gripper_handle_orientation_alignment,
@@ -419,12 +464,12 @@ class RewardsCfg:
"robot_cfg": SceneEntityCfg("Mindbot"),
"handle_name": "Equipment_BB_13_C",
"gripper_body_name": "right_hand_body",
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"lid_handle_axis": (0.0, 0.0, 1.0),
"max_angle_deg": 60.0, # 稍微放宽一点，或者保持 30.0，看前期训练难度
"max_angle_deg": 60.0, # 稍微放宽一点，或者保持 30.0，看前期训练难度
},
weight=4.0
weight=4.0,
)
# 2. 位置对齐 (合并了之前的粗略和精细对齐)
# std=0.05 提供了从 15cm 到 0cm 全程较好的梯度，解决了之前的梯度消失问题
@@ -433,13 +478,13 @@ class RewardsCfg:
params={
"dryingbox_cfg": SceneEntityCfg("dryingbox"),
"robot_cfg": SceneEntityCfg("Mindbot"),
"handle_name":"Equipment_BB_13_C",
"handle_name": "Equipment_BB_13_C",
"left_gripper_name": "right_hand_l",
"right_gripper_name": "right_hand__r",
"height_offset": 0.00,
"std": 0.05, # 关键修改：0.3太松，0.03太紧导致梯度消失，0.05是平衡点
},
weight=6.0 # 提高权重，作为主导奖励
weight=6.0, # 提高权重，作为主导奖励
)
# 3. 远距离闭合惩罚 (逻辑已修正)
# 现在它只惩罚“在远处就闭眼”的行为，不会阻挡机器人靠近
@@ -452,27 +497,27 @@ class RewardsCfg:
"left_gripper_name": "right_hand_l",
"right_gripper_name": "right_hand__r",
"joint_names": ["right_hand_joint_left", "right_hand_joint_right"],
"dist_threshold": 0.06, # 2.5cm 保护区，进入后允许闭合
"dist_threshold": 0.06, # 2.5cm 保护区，进入后允许闭合
},
weight=0.5 # 权重降低，作为辅助约束，不要喧宾夺主
weight=0.5, # 权重降低，作为辅助约束，不要喧宾夺主
)
# ... 在 RewardsCfg 类中修改 ...
# 4. 近距离抓取交互 (改用 V2 版本或增加稳定性项)
gripper_close_interaction = RewTerm(
func=mdp.gripper_close_interaction_v2, # 切换到带稳定性的版本
gripper_close_interaction = RewTerm(
func=mdp.gripper_close_interaction_v2, # 切换到带稳定性的版本
params={
"dryingbox_cfg": SceneEntityCfg("dryingbox"),
"robot_cfg": SceneEntityCfg("Mindbot"),
"handle_name":"Equipment_BB_13_C",
"handle_name": "Equipment_BB_13_C",
"left_gripper_name": "right_hand_l",
"right_gripper_name": "right_hand__r",
"joint_names": ["right_hand_joint_left", "right_hand_joint_right"],
"target_close_pos": 0.012,
"target_close_pos": 0.012,
"height_offset": 0.00,
"grasp_radius": 0.05,
},
weight=8.0 # 适当调低一点点，为稳定性奖励腾出空间
weight=8.0, # 适当调低一点点，为稳定性奖励腾出空间
)
# 5. 新增：抓取稳定性奖励 (核心：惩罚抖动)
@@ -483,10 +528,10 @@ class RewardsCfg:
"joint_names": ["right_hand_joint_left", "right_hand_joint_right"],
"vel_threshold": 0.005,
},
weight=4.0 # 只要保持静止就一直给分
weight=4.0, # 只要保持静止就一直给分
)
# 4. 近距离抓取交互 (修正了目标值)
# gripper_close_interaction = RewTerm(
# gripper_close_interaction = RewTerm(
# func=mdp.gripper_close_when_near,
# params={
# "dryingbox_cfg": SceneEntityCfg("dryingbox"),
@@ -495,19 +540,20 @@ class RewardsCfg:
# "left_gripper_name": "right_hand_l",
# "right_gripper_name": "right_hand__r",
# "joint_names": ["right_hand_joint_left", "right_hand_joint_right"],
# # 关键修改：物理接触点计算
# # 夹爪空载全闭是0.03 (对应0cm)
# # 把手宽3.88cm -> 单侧行程 (6-3.88)/2 = 1.06cm = 0.0106m
# # 设为 0.012 确保接触时计算出的奖励是满分 (ratio >= 1.0)
# "target_close_pos": 0.012,
# "target_close_pos": 0.012,
# "height_offset": 0.00,
# "grasp_radius": 0.05,
# },
# weight=10.0 # 只有成功抓到才给的大奖
# )
# @configclass
# class RewardsCfg:
# """Reward terms for the MDP."""
@@ -519,8 +565,8 @@ class RewardsCfg:
# "robot_cfg": SceneEntityCfg("Mindbot"),
# "handle_name": "Equipment_BB_13_C",
# "gripper_body_name": "right_hand_body",
# "gripper_forward_axis": (0.0, 0.0, 1.0),
# "gripper_width_axis": (0.0, 1.0, 0.0),
# "gripper_forward_axis": (0.0, 0.0, 1.0),
# "gripper_width_axis": (0.0, 1.0, 0.0),
# "lid_handle_axis": (0.0, 0.0, 1.0),
# # 删除了 handle_axis，因为新函数中不再使用它
# "max_angle_deg": 30.0, # 建议改为 30.0 或更小，85.0 对指向性约束来说太宽松
@@ -530,7 +576,7 @@ class RewardsCfg:
# # stage 2
# # 位置对齐奖励：鼓励夹爪位于 lid 两侧，且 Z 方向在 lid 上方 0.1m
# gripper_handle_position_alignment = RewTerm(
# func=mdp.gripper_handle_position_alignment,
# params={
@@ -596,7 +642,7 @@ class RewardsCfg:
# # },
# # weight=10.0
# # )
# gripper_close_interaction = RewTerm(
# gripper_close_interaction = RewTerm(
# func=mdp.gripper_close_when_near,
# params={
# "dryingbox_cfg": SceneEntityCfg("dryingbox"),
@@ -631,12 +677,10 @@ class RewardsCfg:
# # "std": 0.1
# # },
# # # 权重设大一点，告诉它这是最终目标
# # weight=10.0
# # weight=10.0
# # )
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
@@ -647,7 +691,7 @@ class TerminationsCfg:
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("Mindbot"), "maximum_height": 2.0},
)
# lid_fly_away = DoneTerm(
# func=mdp.base_height_failure,
# params={"asset_cfg": SceneEntityCfg("lid"), "maximum_height": 2.0},
@@ -658,23 +702,23 @@ class TerminationsCfg:
# lid_dropped = DoneTerm(
# func=mdp.base_height_failure, # 复用高度判定函数
# params={
# "asset_cfg": SceneEntityCfg("lid"),
# "asset_cfg": SceneEntityCfg("lid"),
# "minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
# },
# )
##
# Environment configuration
##
@configclass
class CurriculumCfg:
pass
# action_rate = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "action_rate", "weight": -1e-1, "num_steps": 10000})
# joint_vel = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "joint_vel", "weight": -1e-1, "num_steps": 10000})
@@ -683,10 +727,10 @@ class CurriculumCfg:
# params={
# # 路径：rewards管理器 -> 你的奖励项名 -> params字典 -> std键
# "address": "rewards.gripper_lid_position_alignment.params.std",
# # 修改逻辑：使用我们刚才写的函数
# "modify_fn": mdp.annealing_std,
# # 传给函数的参数
# "modify_params": {
# "start_step": 00, # 约 600 轮
@@ -697,6 +741,7 @@ class CurriculumCfg:
# }
# )
@configclass
class PullEnvCfg(ManagerBasedRLEnvCfg):
# Scene settings
@@ -714,20 +759,20 @@ class PullEnvCfg(ManagerBasedRLEnvCfg):
def __post_init__(self) -> None:
"""Post initialization."""
# general settings
self.decimation = 4 #original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.decimation = 4 # original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.episode_length_s = 10
# viewer settings
self.viewer.eye = (3.5, 0.0, 3.2)
# simulation settings
self.sim.dt = 1 / 120 #original 1 / 60
self.sim.dt = 1 / 120 # original 1 / 60
self.sim.render_interval = self.decimation
# # 1. 基础堆内存
self.sim.physx.gpu_heap_capacity = 256 * 1024 * 1024 # 256MB
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_temp_buffer_capacity = 128 * 1024 * 1024
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
# # 5. 聚合对容量 (针对复杂的 Articulation)
self.sim.physx.gpu_found_lost_pairs_capacity = 16 * 1024 * 1024
self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 16 * 1024 * 1024

0
source/mindbot/mindbot/tasks/manager_based/pull/pull_env_cfg.py.bak → source/mindbot/mindbot/tasks/manager_based/rl/pull/pull_env_cfg.py.bak
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/rl_games_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/rl_games_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/rsl_rl_ppo_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/rsl_rl_ppo_cfg.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/sb3_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/sb3_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/skrl_amp_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/skrl_amp_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/skrl_ippo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/skrl_ippo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/skrl_mappo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/skrl_mappo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/agents/skrl_ppo_cfg.yaml → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/agents/skrl_ppo_cfg.yaml
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mdp/__init__.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mdp/__init__.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mdp/curriculums.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mdp/curriculums.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mdp/gripper.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mdp/gripper.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mdp/rewards.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mdp/rewards.py
View File

0
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mdp/terminations.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mdp/terminations.py
View File

258
source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mindbot_env_cfg.py → source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mindbot_env_cfg.py
View File

@@ -21,7 +21,10 @@ from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.utils import configclass
from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg, BinaryJointPositionActionCfg
from isaaclab.envs.mdp.actions.actions_cfg import (
DifferentialInverseKinematicsActionCfg,
BinaryJointPositionActionCfg,
)
from isaaclab.sensors import CameraCfg
from . import mdp
@@ -34,10 +37,13 @@ from mindbot.robot.mindbot import MINDBOT_CFG
# ====== 其他物体配置 ======
from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg, CollisionPropertiesCfg
from isaaclab.sim.schemas.schemas_cfg import (
RigidBodyPropertiesCfg,
CollisionPropertiesCfg,
)
TABLE_CFG=RigidObjectCfg(
TABLE_CFG = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Table",
init_state=RigidObjectCfg.InitialStateCfg(
pos=[0.95, -0.3, 0.005],
@@ -46,17 +52,17 @@ TABLE_CFG=RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/table/Table_C.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/table/Table_C.usd",
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -70,23 +76,23 @@ LID_CFG = RigidObjectCfg(
ang_vel=[0.0, 0.0, 0.0],
),
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/ultrasound/ultrasound_lid.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/ultrasound/ultrasound_lid.usd",
# scale=(0.2, 0.2, 0.2),
rigid_props=RigidBodyPropertiesCfg(
rigid_body_enabled= True,
rigid_body_enabled=True,
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
max_depenetration_velocity=0.5,#original 5.0
linear_damping=5.0, #original 0.5
angular_damping=5.0, #original 0.5
max_depenetration_velocity=0.5, # original 5.0
linear_damping=5.0, # original 0.5
angular_damping=5.0, # original 0.5
disable_gravity=False,
),
collision_props=CollisionPropertiesCfg(
collision_enabled=True,
contact_offset=0.0005,#original 0.02
rest_offset=0
contact_offset=0.0005, # original 0.02
rest_offset=0,
),
),
)
@@ -94,13 +100,13 @@ LID_CFG = RigidObjectCfg(
ROOM_CFG = AssetBaseCfg(
prim_path="{ENV_REGEX_NS}/Room",
spawn=UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
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="C:/Users/PC/workpalce/maic_usd_assets/twinlab/Collected_lab2/lab.usd",
usd_path="/home/maic/LYT/maic_usd_assets/twinlab/Collected_lab2/lab.usd",
),
)
@@ -113,7 +119,7 @@ ROOM_CFG = AssetBaseCfg(
# ang_vel=[0.0, 0.0, 0.0],
# ),
# spawn=UsdFileCfg(
# usd_path="C:/Users/PC/workpalce/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
# usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
# # scale=(0.2, 0.2, 0.2),
# rigid_props=RigidBodyPropertiesCfg(
# rigid_body_enabled= True,
@@ -135,16 +141,14 @@ ROOM_CFG = AssetBaseCfg(
# )
ULTRASOUND_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/ultrasound/ultrasound.usd",
usd_path="/home/maic/LYT/maic_usd_assets/equipment/ultrasound/ultrasound.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=1.0
disable_gravity=False, max_depenetration_velocity=1.0
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,#
enabled_self_collisions=False, #
solver_position_iteration_count=32,
solver_velocity_iteration_count=16,
stabilization_threshold=1e-6,
@@ -157,13 +161,12 @@ ULTRASOUND_CFG = ArticulationCfg(
"passive_damper": ImplicitActuatorCfg(
# ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
joint_names_expr=[".*"],
stiffness=0.0,
damping=1000.0,
effort_limit_sim=10000.0,
stiffness=0.0,
damping=1000.0,
effort_limit_sim=10000.0,
velocity_limit_sim=100.0,
),
}
},
)
##
@@ -185,7 +188,9 @@ class MindbotSceneCfg(InteractiveSceneCfg):
Room: AssetBaseCfg = ROOM_CFG.replace(prim_path="{ENV_REGEX_NS}/Room")
Mindbot: ArticulationCfg = MINDBOT_CFG.replace(prim_path="{ENV_REGEX_NS}/Mindbot")
table: RigidObjectCfg = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")
ultrasound: ArticulationCfg = ULTRASOUND_CFG.replace(prim_path="{ENV_REGEX_NS}/ultrasound")
ultrasound: ArticulationCfg = ULTRASOUND_CFG.replace(
prim_path="{ENV_REGEX_NS}/ultrasound"
)
lid: RigidObjectCfg = LID_CFG.replace(prim_path="{ENV_REGEX_NS}/Lid")
# lights
dome_light = AssetBaseCfg(
@@ -193,50 +198,55 @@ class MindbotSceneCfg(InteractiveSceneCfg):
spawn=sim_utils.DomeLightCfg(color=(0.9, 0.9, 0.9), intensity=500.0),
)
# head_camera=CameraCfg(
# prim_path="{ENV_REGEX_NS}/Mindbot/robot_head/cam_head",
# prim_path="{ENV_REGEX_NS}/Mindbot/robot_head/cam_head",
# update_period=1/120,
# height=480,
# width=640,
# data_type=["rgb"],
# spawn=None,
# )
left_hand_camera=CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_fb_left/Link_6/robot___left_8_02/cam_left_hand",
update_period=1/120,
left_hand_camera = CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_fb_left/Link_6/robot___left_8_02/cam_left_hand",
update_period=1 / 120,
height=480,
width=640,
data_types=["rgb"],
spawn=None,
)
right_hand_camera=CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_b_right/Link6/robot___right_8_2/cam_right_hand",
update_period=1/120,
right_hand_camera = CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/rm_65_b_right/Link6/robot___right_8_2/cam_right_hand",
update_period=1 / 120,
height=480,
width=640,
data_types=["rgb"],
spawn=None,
)
head_camera=CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/robot_head/cam_head",
update_period=1/120,
head_camera = CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/robot_head/cam_head",
update_period=1 / 120,
height=480,
width=640,
data_types=["rgb"],
spawn=None,
)
chest_camera=CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/robot_trunk/cam_chest",
update_period=1/120,
chest_camera = CameraCfg(
prim_path="{ENV_REGEX_NS}/Mindbot/robot_trunk/cam_chest",
update_period=1 / 120,
height=480,
width=640,
data_types=["rgb"],
spawn=None,
)
# # ##
# MDP settings
##
def left_gripper_pos_w(env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")) -> torch.Tensor:
def left_gripper_pos_w(
env, asset_cfg: SceneEntityCfg = SceneEntityCfg("Mindbot")
) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
body_ids, _ = asset.find_bodies(["left_hand_body"], preserve_order=True)
pos_w = asset.data.body_pos_w[:, body_ids[0]] - env.scene.env_origins
@@ -251,22 +261,22 @@ class ActionsCfg:
left_arm_ee = DifferentialInverseKinematicsActionCfg(
asset_name="Mindbot",
joint_names=["l_joint[1-6]"], # 左臂的6个关节
body_name="left_hand_body", # 末端执行器body名称
body_name="left_hand_body", # 末端执行器body名称
controller=DifferentialIKControllerCfg(
command_type="pose", # 控制位置+姿态
use_relative_mode=True, # 相对模式：动作是增量
ik_method="dls", # Damped Least Squares方法
command_type="pose", # 控制位置+姿态
use_relative_mode=True, # 相对模式：动作是增量
ik_method="dls", # Damped Least Squares方法
),
scale=(0.01, 0.01, 0.01, 0.025, 0.025, 0.025),
)
# right_arm_fixed = mdp.JointPositionActionCfg(
# asset_name="Mindbot",
# joint_names=["r_joint[1-6]"], # 对应 l_joint1 到 l_joint6
# # 1. 缩放设为 0：这让 RL 策略无法控制它，它不会动
# scale=0.0,
# scale=0.0,
# # 2. 偏移设为你的目标角度（弧度）：这告诉电机“永远停在这里”
# # 对应 (135, -70, -90, 90, 90, -70)
# offset={
@@ -282,22 +292,22 @@ class ActionsCfg:
grippers_position = mdp.BinaryJointPositionActionCfg(
asset_name="Mindbot",
joint_names=["left_hand_joint_left", "left_hand_joint_right"],
# 修正：使用字典格式
# open_command_expr={"关节名正则": 值}
open_command_expr={"left_hand_joint_left": 0.0, "left_hand_joint_right": 0.0},
# close_command_expr={"关节名正则": 值}
close_command_expr={"left_hand_joint_left": -0.03, "left_hand_joint_right": 0.03},
close_command_expr={
"left_hand_joint_left": -0.03,
"left_hand_joint_right": 0.03,
},
)
trunk_position = mdp.JointPositionActionCfg(
asset_name="Mindbot",
joint_names=["PrismaticJoint"],
scale=0.00,
offset=0.3,
clip=None
clip=None,
)
@@ -309,15 +319,29 @@ class ObservationsCfg:
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
mindbot_joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_pos = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
mindbot_root_quat = ObsTerm(func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")})
left_gripper_pos = ObsTerm(func=left_gripper_pos_w,
params={"asset_cfg": SceneEntityCfg("Mindbot", body_names=["left_hand_body"])})
lid_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")})
ultrasound_pos_abs = ObsTerm(func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("ultrasound")})
mindbot_joint_pos_rel = ObsTerm(
func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_pos = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
mindbot_root_quat = ObsTerm(
func=mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("Mindbot")}
)
left_gripper_pos = ObsTerm(
func=left_gripper_pos_w,
params={
"asset_cfg": SceneEntityCfg("Mindbot", body_names=["left_hand_body"])
},
)
lid_pos_abs = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("lid")}
)
ultrasound_pos_abs = ObsTerm(
func=mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("ultrasound")}
)
def __post_init__(self) -> None:
self.enable_corruption = False
self.concatenate_terms = True
@@ -365,27 +389,34 @@ class EventCfg:
"velocity_range": (0.0, 0.0),
},
)
reset_table=EventTerm(func=mdp.reset_root_state_uniform,mode="reset",
params={"asset_cfg": SceneEntityCfg("table"), "pose_range": {"x": (0.0, 0.0)}, "velocity_range": {"x": (0.0, 0.0)}})
reset_table = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("table"),
"pose_range": {"x": (0.0, 0.0)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_ultrasound = EventTerm(
func=mdp.reset_root_state_uniform,
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("ultrasound"),
"pose_range": {"x": (-0.07, 0.07), "y": (-0.07, 0.07), "yaw": (-0.1, 0.1)},
"velocity_range": {"x": (0.0, 0.0)}
}
)
"asset_cfg": SceneEntityCfg("ultrasound"),
"pose_range": {"x": (-0.07, 0.07), "y": (-0.07, 0.07), "yaw": (-0.1, 0.1)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
reset_lid = EventTerm(
func=mdp.reset_root_state_uniform,
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("lid"),
"pose_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "yaw": (-1.5, 1.5)},
"velocity_range": {"x": (0.0, 0.0)}
}
)
"asset_cfg": SceneEntityCfg("lid"),
"pose_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "yaw": (-1.5, 1.5)},
"velocity_range": {"x": (0.0, 0.0)},
},
)
@configclass
@@ -398,12 +429,12 @@ class RewardsCfg:
"lid_cfg": SceneEntityCfg("lid"),
"robot_cfg": SceneEntityCfg("Mindbot"),
"gripper_body_name": "left_hand_body",
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"gripper_forward_axis": (0.0, 0.0, 1.0),
"gripper_width_axis": (0.0, 1.0, 0.0),
"lid_handle_axis": (0.0, 1.0, 0.0),
"max_angle_deg": 85.0, # 允许60度内的偏差
},
weight=5.0 #original 5.0
weight=5.0, # original 5.0
)
# stage 2
@@ -416,9 +447,9 @@ class RewardsCfg:
"left_gripper_name": "left_hand__l",
"right_gripper_name": "left_hand_r",
"height_offset": 0.07, # Z方向：lid 上方 0.1m
"std": 0.3, # 位置对齐的容忍度
"std": 0.3, # 位置对齐的容忍度
},
weight=3.0 #original 3.0
weight=3.0, # original 3.0
)
approach_lid_penalty = RewTerm(
func=mdp.gripper_lid_distance_penalty,
@@ -431,7 +462,7 @@ class RewardsCfg:
},
# weight 为负数表示惩罚。
# 假设距离 0.5m，惩罚就是 -0.5 * 2.0 = -1.0 分。
weight=-1.0
weight=-1.0,
)
# 【新增】精细对齐 (引导进入 2cm 圈)
gripper_lid_fine_alignment = RewTerm(
@@ -441,13 +472,13 @@ class RewardsCfg:
"robot_cfg": SceneEntityCfg("Mindbot"),
"left_gripper_name": "left_hand__l",
"right_gripper_name": "left_hand_r",
"height_offset": 0.07, # 【注意】这个高度必须非常准，和 interaction 判定高度一致
"std": 0.05, # 非常陡峭的梯度，只在 5-10cm 内有效
"height_offset": 0.07, # 【注意】这个高度必须非常准，和 interaction 判定高度一致
"std": 0.05, # 非常陡峭的梯度，只在 5-10cm 内有效
},
weight=10.0 # 高权重
weight=10.0, # 高权重
)
gripper_close_interaction = RewTerm(
gripper_close_interaction = RewTerm(
func=mdp.gripper_close_when_near,
params={
"lid_cfg": SceneEntityCfg("lid"),
@@ -459,34 +490,32 @@ class RewardsCfg:
"height_offset": 0.04,
"grasp_radius": 0.03,
},
weight=10.0
weight=10.0,
)
lid_lifted_reward = RewTerm(
func=mdp.lid_is_lifted, # 使用 rewards.py 中已有的函数
func=mdp.lid_is_lifted, # 使用 rewards.py 中已有的函数
params={
"lid_cfg": SceneEntityCfg("lid"),
"minimal_height": 1.0, # 根据你的场景调整，比初始高度高 5cm 左右
"minimal_height": 1.0, # 根据你的场景调整，比初始高度高 5cm 左右
},
weight=10.0 # 给一个足够大的权重
weight=10.0, # 给一个足够大的权重
)
lid_lifting_reward = RewTerm(
func=mdp.lid_lift_progress_reward,
params={
"lid_cfg": SceneEntityCfg("lid"),
"initial_height": 0.8, # 请务必核实这个值！在 print 里看一下 lid 的 z 坐标
"initial_height": 0.8, # 请务必核实这个值！在 print 里看一下 lid 的 z 坐标
"target_height_lift": 0.2,
"height_offset": 0.07, # 与其他奖励保持一致
"std": 0.1
"height_offset": 0.07, # 与其他奖励保持一致
"std": 0.1,
},
# 权重设大一点，告诉它这是最终目标
weight=10.0
weight=10.0,
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
@@ -497,7 +526,7 @@ class TerminationsCfg:
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("Mindbot"), "maximum_height": 2.0},
)
lid_fly_away = DoneTerm(
func=mdp.base_height_failure,
params={"asset_cfg": SceneEntityCfg("lid"), "maximum_height": 2.0},
@@ -506,25 +535,25 @@ class TerminationsCfg:
# 新增：盖子掉落判定
# 如果盖子掉回桌面（高度接近初始高度），且已经运行了一段时间（避开刚开始重置的瞬间）
lid_dropped = DoneTerm(
func=mdp.base_height_failure, # 复用高度判定函数
func=mdp.base_height_failure, # 复用高度判定函数
params={
"asset_cfg": SceneEntityCfg("lid"),
"minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
"asset_cfg": SceneEntityCfg("lid"),
"minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
},
)
##
# Environment configuration
##
@configclass
class CurriculumCfg:
pass
# action_rate = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "action_rate", "weight": -1e-1, "num_steps": 10000})
# joint_vel = CurrTerm(func=mdp.modify_reward_weight,
# params={"term_name": "joint_vel", "weight": -1e-1, "num_steps": 10000})
@@ -533,10 +562,10 @@ class CurriculumCfg:
# params={
# # 路径：rewards管理器 -> 你的奖励项名 -> params字典 -> std键
# "address": "rewards.gripper_lid_position_alignment.params.std",
# # 修改逻辑：使用我们刚才写的函数
# "modify_fn": mdp.annealing_std,
# # 传给函数的参数
# "modify_params": {
# "start_step": 00, # 约 600 轮
@@ -547,6 +576,7 @@ class CurriculumCfg:
# }
# )
@configclass
class MindbotEnvCfg(ManagerBasedRLEnvCfg):
# Scene settings
@@ -564,20 +594,20 @@ class MindbotEnvCfg(ManagerBasedRLEnvCfg):
def __post_init__(self) -> None:
"""Post initialization."""
# general settings
self.decimation = 4 #original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.decimation = 4 # original 2 # 从 2 增加到 4，控制频率从 25Hz 降到 12.5Hz
self.episode_length_s = 10
# viewer settings
self.viewer.eye = (0, 2.5, 2.6)#(3.5, 0.0, 3.2)
self.viewer.eye = (0, 2.5, 2.6) # (3.5, 0.0, 3.2)
# simulation settings
self.sim.dt = 1 / 120 #original 1 / 60
self.sim.dt = 1 / 120 # original 1 / 60
self.sim.render_interval = self.decimation
# # 1. 基础堆内存
self.sim.physx.gpu_heap_capacity = 256 * 1024 * 1024 # 256MB
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_collision_stack_size = 1024 * 1024 * 1024
self.sim.physx.gpu_temp_buffer_capacity = 128 * 1024 * 1024
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
self.sim.physx.gpu_max_rigid_contact_count = 16 * 1024 * 1024 # 200万个接触点
self.sim.physx.gpu_max_rigid_patch_count = 1024 * 1024 # 32万个 patch
# # 5. 聚合对容量 (针对复杂的 Articulation)
self.sim.physx.gpu_found_lost_pairs_capacity = 16 * 1024 * 1024
self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 16 * 1024 * 1024