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cb5bbac8248615b0147d8707aef6172f167f64cf
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Author SHA1 Message Date
hangX
cb5bbac824 contact sensor temp 2026-03-21 15:13:10 +08:00
hangX
d23898c3cb 双臂头部遥操作控制 2026-03-19 21:33:39 +08:00
hangX
1105d505e6 ignore deps/XRoboToolkit-Teleop-Sample-Python 2026-03-18 20:46:29 +08:00
hangX
70cb2e1712 双臂遥操多view 2026-03-18 20:26:44 +08:00
yt lee
aea3b84894 删除venv 这不应该出现 2026-03-14 20:46:15 +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
1f36a59fe8 场景 2026-03-13 17:41:44 +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
9ba904e7d2 pro6000_加入lab资产 2026-03-04 16:46:15 +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