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fix(sim): align socket peg collection settings

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This commit is contained in:
Logic
2026-05-02 21:38:16 +08:00
parent 5c5cb299e9
commit 4890f54b13
6 changed files with 12 additions and 11 deletions
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2
roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml
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@@ -76,7 +76,7 @@
<body name="ee_cam_left" pos="0.00 0.046 -0.075" euler="0.0 0.0 -0.0"> <body name="ee_cam_left" pos="0.00 0.046 -0.075" euler="0.0 0.0 -0.0">
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" /> <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" />
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="realsense_cam" /> <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="realsense_cam" />
<camera name="rs_cam_left" mode="fixed" pos="0.0 0.0 -0.25" euler="0.0 9.4 0.0 " fovy="15" resolution="1920 1200"/> <camera name="rs_cam_left" mode="fixed" pos="0.0 0.0 0.01" euler="0.0 9.4 0.0 " fovy="50" resolution="1920 1200"/>
</body> </body>
</body> </body>
<body name="l_finger_left" pos="0 0.01 0.0444"> <body name="l_finger_left" pos="0 0.01 0.0444">

4
roboimi/demos/diana_air_insert_policy.py
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@@ -13,8 +13,8 @@ class TestAirInsertPolicy(PolicyBase):
SOCKET_HOLD_Z = 0.85 SOCKET_HOLD_Z = 0.85
PEG_INSERT_START_OFFSET = np.array([0.105, 0.0, 0.0], dtype=np.float64) PEG_INSERT_START_OFFSET = np.array([0.105, 0.0, 0.0], dtype=np.float64)
INSERT_START_T = 650 INSERT_START_T = 650
INSERT_END_T = 700 INSERT_END_T = 730
LEFT_SOCKET_GRIPPER_CLOSED = -70 LEFT_SOCKET_GRIPPER_CLOSED = -100
RIGHT_PEG_GRIPPER_CLOSED = -100 RIGHT_PEG_GRIPPER_CLOSED = -100
SOCKET_APPROACH_Z = 1.05 SOCKET_APPROACH_Z = 1.05
EPISODE_END_T = 1000 EPISODE_END_T = 1000

2
roboimi/demos/diana_record_sim_episodes.py
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@@ -39,7 +39,7 @@ def main(task_name='sim_transfer'):
inject_noise = False inject_noise = False
episode_len = task_cfg['episode_len'] episode_len = task_cfg['episode_len']
camera_names = ['left_side', 'r_vis', 'top', 'front'] camera_names = task_cfg['camera_names']
image_size = (256, 256) image_size = (256, 256)
if task_name in {'sim_transfer', 'sim_air_insert_socket_peg'}: if task_name in {'sim_transfer', 'sim_air_insert_socket_peg'}:
print(task_name) print(task_name)

8
roboimi/utils/act_ex_utils.py
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@@ -41,12 +41,12 @@ def sample_transfer_pose():
def sample_air_insert_socket_peg_state(): def sample_air_insert_socket_peg_state():
socket_position = np.random.uniform( socket_position = np.random.uniform(
low=np.array([-0.14, 0.89, 0.472], dtype=np.float32), low=np.array([-0.20, 0.80, 0.472], dtype=np.float32),
high=np.array([-0.10, 0.94, 0.472], dtype=np.float32), high=np.array([-0.10, 1.00, 0.472], dtype=np.float32),
) )
peg_position = np.random.uniform( peg_position = np.random.uniform(
low=np.array([0.10, 0.85, 0.46], dtype=np.float32), low=np.array([0.10, 0.80, 0.46], dtype=np.float32),
high=np.array([0.16, 0.94, 0.46], dtype=np.float32), high=np.array([0.20, 1.00, 0.46], dtype=np.float32),
) )
socket_quat = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32) socket_quat = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32)
peg_quat = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32) peg_quat = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32)

4
roboimi/utils/constants.py
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@@ -26,8 +26,8 @@ SIM_TASK_CONFIGS = {
'sim_air_insert_socket_peg': { 'sim_air_insert_socket_peg': {
'dataset_dir': DATASET_DIR + '/sim_air_insert_socket_peg', 'dataset_dir': DATASET_DIR + '/sim_air_insert_socket_peg',
'num_episodes': 20, 'num_episodes': 20,
'episode_len': 1000, 'episode_len': 750,
'camera_names': ['top', 'r_vis', 'front'], 'camera_names': ['l_vis', 'r_vis', 'front'],
'xml_dir': HOME_PATH + '/assets' 'xml_dir': HOME_PATH + '/assets'
}, },

3
tests/test_air_insert_env.py
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@@ -19,7 +19,8 @@ class AirInsertTaskRegistrationTest(unittest.TestCase):
def test_sim_task_configs_registers_air_insert_socket_peg(self): def test_sim_task_configs_registers_air_insert_socket_peg(self):
self.assertIn(TASK_NAME, SIM_TASK_CONFIGS) self.assertIn(TASK_NAME, SIM_TASK_CONFIGS)
self.assertNotIn("sim_air_insert_ring_bar", SIM_TASK_CONFIGS) self.assertNotIn("sim_air_insert_ring_bar", SIM_TASK_CONFIGS)
self.assertGreaterEqual(SIM_TASK_CONFIGS[TASK_NAME]["episode_len"], 1000) self.assertEqual(SIM_TASK_CONFIGS[TASK_NAME]["episode_len"], 750)
self.assertEqual(SIM_TASK_CONFIGS[TASK_NAME]["camera_names"], ["l_vis", "r_vis", "front"])
self.assertTrue(SIM_TASK_CONFIGS[TASK_NAME]["dataset_dir"].endswith("/sim_air_insert_socket_peg")) self.assertTrue(SIM_TASK_CONFIGS[TASK_NAME]["dataset_dir"].endswith("/sim_air_insert_socket_peg"))
def test_sample_air_insert_socket_peg_state_returns_explicit_named_mapping(self): def test_sample_air_insert_socket_peg_state_returns_explicit_named_mapping(self):