15 Commits

Author	SHA1	Message	Date
hangX	70cb2e1712	双臂遥操多view	2026-03-18 20:26:44 +08:00
yt lee	763e555862	双臂烘箱调整	2026-03-14 20:45:41 +08:00
yt lee	1afdf9c7f7	Merge origin/pro6000_xh: differential drive, record/replay tools, scene assets ... Conflicts resolved: - assets.py: keep /home/tangger/LYT path (ours) - mindrobot_cfg.py: keep our initial poses + fix path separator \\ → / - mindrobot_left_arm_ik_env_cfg.py: keep our wheel_action using MINDBOT_WHEEL_JOINTS constant (cleaner than remote's hardcoded list) From origin/pro6000_xh: - scripts/tools/: record_demos.py, replay_demos.py, hdf5 tools (Isaac Lab copy) - assets/: dryingbox.py, lab.py, table.py scene asset definitions - tele_se3_with_wheel_agent.py: WheelKeyboard inlined, differential drive keys Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 13:44:02 +08:00
yt lee	7be48b3964	dual arm XR teleoperation: env cfg, shared client, joint locking ... - Add MindRobotDualArmIKAbsEnvCfg: standalone dual-arm env inheriting ManagerBasedRLEnvCfg directly (no single-arm dependency), 20D action space (left_arm7 | wheel4 | left_gripper1 | right_arm7 | right_gripper1) - Add local mdp/ with parameterized gripper_pos(joint_names) to support independent left/right gripper observations without modifying IsaacLab - Update teleop_xr_agent.py for dual-arm mode: shared XrClient to avoid SDK double-init crash, root-frame IK command caching so arm joints are locked when grip not pressed (EEF world pos still tracks chassis) - Tune mindrobot_cfg.py initial poses with singularity-avoiding offsets - Add CLAUDE.md project instructions and debug_action_assembly.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 13:31:26 +08:00
hangX	08c4cdacb8	记录动作以及回放record_demo,replay_demo	2026-03-11 16:33:29 +08:00
hangX	0c557938a7	wheel contorl keyboard	2026-03-09 21:34:52 +08:00
yt lee	2b290d805a	轮子	2026-03-06 17:31:00 +08:00
yt lee	36b4273582	VR	2026-03-06 15:05:45 +08:00
yt lee	7e0f4a3e75	1	2026-03-06 11:11:06 +08:00
yt lee	cc64e654ff	spacemouse ok	2026-03-05 22:41:56 +08:00
yt lee	2c9db33517	添加全局变量路径； ... 添加IL的demo	2026-03-04 18:39:56 +08:00
hangX	c7c88e5d8d	pro6000_xh配置	2026-03-04 16:45:34 +08:00
hangX	9325184f4d	离心机加试管初步配置	2026-02-02 16:39:33 +08:00
hangX	196378f2d3	本地4090代码提交	2026-01-28 19:51:03 +08:00
hangX	eddcdd428f	first commit	2026-01-13 10:44:14 +08:00