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增加四个面板的开关面板，读取面板按钮的脚本 #1

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增加四个面板的开关面板，读取面板按钮的脚本 #1

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33e2db6
增加四个面板的开关面板，读取面板按钮的脚本
Richie6667 Apr 20, 2026
aefa25b
面板资产修复以及修改了reference参照物逻辑
Richie6667 Apr 21, 2026
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58 changes: 23 additions & 35 deletions auto_atom/backend/mjc/mujoco_backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1019,34 +1019,29 @@ def _resolve_reference_base_pose(

For enum modes the entity's own ``default_pose`` is returned.

For an entity-name reference, the delta-carry algorithm is applied:
``delta = ref_sampled * ref_default⁻¹``, then ``delta * default_pose``
so the current entity moves with the referenced entity while
preserving their original spatial relationship.
For an entity-name reference, the sampled pose of the referenced
entity is used as the base directly — so ranges like ``x: [-0.005,
0.005]`` are interpreted as offsets from the referenced entity's
currently randomized pose, not from this entity's XML default.
"""
if isinstance(reference, RandomizationReference):
return default_pose
# --- Entity-name reference: delta-carry ---
ref_sampled = sampled_poses.get(reference)
# Resolve the reference entity's default pose.
if reference in self._default_object_poses:
ref_default = self._default_object_poses[reference]
elif reference in self._default_operator_eef_poses:
ref_default = self._default_operator_eef_poses[reference]
elif reference in self.object_handlers:
ref_default = self.object_handlers[reference].get_pose()
elif reference in self.operator_handlers:
ref_default = self.operator_handlers[reference].get_end_effector_pose()
else:
known_entity = (
reference in self._default_object_poses
or reference in self._default_operator_eef_poses
or reference in self.object_handlers
or reference in self.operator_handlers
)
if not known_entity:
raise ValueError(
f"Randomization reference '{reference}' is not a known mode "
"('relative', 'absolute_world', 'absolute_base') nor an "
"existing object/operator name."
)
ref_sampled = sampled_poses.get(reference)
if ref_sampled is None:
return default_pose # entity not randomized → no delta
delta = compose_pose(ref_sampled, inverse_pose(ref_default))
return compose_pose(delta, default_pose)
return default_pose # reference not randomized → fall back
return ref_sampled

def _apply_randomization(self, env_mask: np.ndarray) -> None:
deps = self._randomization_dependencies()
Expand Down Expand Up @@ -1445,29 +1440,22 @@ def _resolve_reference_base_pose_for_env(
) -> PoseState:
if isinstance(reference, RandomizationReference):
return default_pose
ref_sampled = sampled_poses.get(reference)
if reference in self._default_object_poses:
ref_default = self._default_object_poses[reference].select(env_index)
elif reference in self._default_operator_eef_poses:
ref_default = self._default_operator_eef_poses[reference].select(env_index)
elif reference in self.object_handlers:
ref_default = self.object_handlers[reference].get_pose().select(env_index)
elif reference in self.operator_handlers:
ref_default = (
self.operator_handlers[reference]
.get_end_effector_pose()
.select(env_index)
)
else:
known_entity = (
reference in self._default_object_poses
or reference in self._default_operator_eef_poses
or reference in self.object_handlers
or reference in self.operator_handlers
)
if not known_entity:
raise ValueError(
f"Randomization reference '{reference}' is not a known mode "
"('relative', 'absolute_world', 'absolute_base') nor an existing "
"object/operator name."
)
ref_sampled = sampled_poses.get(reference)
if ref_sampled is None:
return default_pose
delta = compose_pose(ref_sampled, inverse_pose(ref_default))
return compose_pose(delta, default_pose)
return ref_sampled

def _current_pose_for_randomization_key(self, name: str) -> PoseState:
rand_range = self.randomization[name]
Expand Down
146 changes: 146 additions & 0 deletions examples/panel_assembly/generated/demo_panel_with_objects.xml
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@@ -0,0 +1,146 @@
<?xml version='1.0' encoding='utf-8'?>
<mujoco model="demo_panel_base">
<asset>
<material name="red_switch_material" rgba="0.85 0.20 0.20 1" />
<material name="switch_base_material" rgba="0.18 0.18 0.20 1" />
<material name="amber_lamp_shell" rgba="0.16 0.16 0.18 1" />
<material name="amber_lamp_glow" rgba="0.98 0.72 0.18 0.95" />
</asset>
<default>
<default class="amber_lamp_geom">
<geom contype="1" conaffinity="1" />
</default>
</default>
<worldbody>
<body name="panel_mount" pos="0 0 0">
<geom name="panel_backplate" type="box" pos="0 0 0" size="0.420 0.030 0.160" rgba="0.86 0.87 0.89 1" contype="1" conaffinity="1" />
<site name="panel_origin" pos="0 0.030 0" size="0.006" rgba="1 0 0 1" />
<body name="panel_slot_r0_c0" pos="-0.3498 0.03 0.12" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r0_c0">
<geom name="red_switch_base__r0_c0" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r0_c0" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r0_c1" pos="-0.2332 0.03 0.12" quat="0.7071068 -0.7071068 0 0">
<body name="green_knob_r0_c1">
<geom name="green_knob_base__r0_c1" type="cylinder" pos="0 0 0.005" size="0.020 0.005" rgba="0.15 0.16 0.18 1" />
<geom name="green_knob_cap__r0_c1" type="cylinder" pos="0 0 0.016" size="0.015 0.011" rgba="0.24 0.72 0.32 1" />
<site name="green_knob_tip__r0_c1" pos="0 0.012 0.016" size="0.002" rgba="1 1 1 1" />
</body>
</body>
<body name="panel_slot_r0_c2" pos="-0.1166 0.03 0.12" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r0_c2">
<geom name="amber_lamp_base__r0_c2" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r0_c2" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
<body name="panel_slot_r0_c3" pos="0 0.03 0.125" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r0_c3">
<geom name="red_switch_base__r0_c3" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r0_c3" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r0_c4" pos="0.1166 0.03 0.12" quat="0.7071068 -0.7071068 0 0">
<body name="green_knob_r0_c4">
<geom name="green_knob_base__r0_c4" type="cylinder" pos="0 0 0.005" size="0.020 0.005" rgba="0.15 0.16 0.18 1" />
<geom name="green_knob_cap__r0_c4" type="cylinder" pos="0 0 0.016" size="0.015 0.011" rgba="0.24 0.72 0.32 1" />
<site name="green_knob_tip__r0_c4" pos="0 0.012 0.016" size="0.002" rgba="1 1 1 1" />
</body>
</body>
<body name="panel_slot_r0_c5" pos="0.2332 0.03 0.12" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r0_c5">
<geom name="amber_lamp_base__r0_c5" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r0_c5" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
<body name="panel_slot_r0_c6" pos="0.3498 0.03 0.12" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r0_c6">
<geom name="red_switch_base__r0_c6" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r0_c6" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r1_c0" pos="-0.3498 0.03 0" quat="0.7071068 -0.7071068 0 0">
<body name="green_knob_r1_c0">
<geom name="green_knob_base__r1_c0" type="cylinder" pos="0 0 0.005" size="0.020 0.005" rgba="0.15 0.16 0.18 1" />
<geom name="green_knob_cap__r1_c0" type="cylinder" pos="0 0 0.016" size="0.015 0.011" rgba="0.24 0.72 0.32 1" />
<site name="green_knob_tip__r1_c0" pos="0 0.012 0.016" size="0.002" rgba="1 1 1 1" />
</body>
</body>
<body name="panel_slot_r1_c1" pos="-0.2332 0.03 0" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r1_c1">
<geom name="amber_lamp_base__r1_c1" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r1_c1" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
<body name="panel_slot_r1_c2" pos="-0.1166 0.03 0" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r1_c2">
<geom name="red_switch_base__r1_c2" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r1_c2" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r1_c4" pos="0.1166 0.03 0" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r1_c4">
<geom name="red_switch_base__r1_c4" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r1_c4" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r1_c5" pos="0.2332 0.03 0" quat="0.7071068 -0.7071068 0 0">
<body name="green_knob_r1_c5">
<geom name="green_knob_base__r1_c5" type="cylinder" pos="0 0 0.005" size="0.020 0.005" rgba="0.15 0.16 0.18 1" />
<geom name="green_knob_cap__r1_c5" type="cylinder" pos="0 0 0.016" size="0.015 0.011" rgba="0.24 0.72 0.32 1" />
<site name="green_knob_tip__r1_c5" pos="0 0.012 0.016" size="0.002" rgba="1 1 1 1" />
</body>
</body>
<body name="panel_slot_r1_c6" pos="0.3498 0.03 0" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r1_c6">
<geom name="amber_lamp_base__r1_c6" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r1_c6" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
<body name="panel_slot_r2_c0" pos="-0.3498 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r2_c0">
<geom name="amber_lamp_base__r2_c0" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r2_c0" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
<body name="panel_slot_r2_c1" pos="-0.2332 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r2_c1">
<geom name="red_switch_base__r2_c1" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r2_c1" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r2_c2" pos="-0.1166 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="green_knob_r2_c2">
<geom name="green_knob_base__r2_c2" type="cylinder" pos="0 0 0.005" size="0.020 0.005" rgba="0.15 0.16 0.18 1" />
<geom name="green_knob_cap__r2_c2" type="cylinder" pos="0 0 0.016" size="0.015 0.011" rgba="0.24 0.72 0.32 1" />
<site name="green_knob_tip__r2_c2" pos="0 0.012 0.016" size="0.002" rgba="1 1 1 1" />
</body>
</body>
<body name="panel_slot_r2_c3" pos="0 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r2_c3">
<geom name="amber_lamp_base__r2_c3" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r2_c3" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
<body name="panel_slot_r2_c4" pos="0.1166 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="red_switch_r2_c4">
<geom name="red_switch_base__r2_c4" type="box" pos="0 0 0.012" size="0.025 0.008 0.012" material="switch_base_material" />
<geom name="red_switch_toggle__r2_c4" type="box" pos="0 0 0.032" size="0.008 0.006 0.020" material="red_switch_material" />
</body>
</body>
<body name="panel_slot_r2_c5" pos="0.2332 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="green_knob_r2_c5">
<geom name="green_knob_base__r2_c5" type="cylinder" pos="0 0 0.005" size="0.020 0.005" rgba="0.15 0.16 0.18 1" />
<geom name="green_knob_cap__r2_c5" type="cylinder" pos="0 0 0.016" size="0.015 0.011" rgba="0.24 0.72 0.32 1" />
<site name="green_knob_tip__r2_c5" pos="0 0.012 0.016" size="0.002" rgba="1 1 1 1" />
</body>
</body>
<body name="panel_slot_r2_c6" pos="0.3498 0.03 -0.12" quat="0.7071068 -0.7071068 0 0">
<body name="amber_lamp_r2_c6">
<geom name="amber_lamp_base__r2_c6" class="amber_lamp_geom" type="box" pos="0 0 0.006" size="0.020 0.010 0.006" material="amber_lamp_shell" />
<geom name="amber_lamp_cover__r2_c6" class="amber_lamp_geom" type="sphere" pos="0 0 0.022" size="0.014" material="amber_lamp_glow" />
</body>
</body>
</body>
</worldbody>
</mujoco>
110 changes: 110 additions & 0 deletions examples/panel_assembly/w1_b1/create_initial_objects.py
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"""One-time script: create the 20 initial switch XMLs in objects/.

Each switch is a simple 8.6cm x 8.6cm square, 7mm thick.
Colours are placeholder grey — edit objects/*.xml to set final colours.
"""

from __future__ import annotations

from pathlib import Path

OBJECTS_DIR = Path(__file__).parent / "objects"

# Geometry (metres)
BTN_HALF = 0.043 # 43mm half-width (86mm full)
BTN_FACE_HALF = 0.040 # 40mm half (80mm inner face)
BEZEL_HALF_Z = 0.001 # bezel base half-thickness
BTN_HALF_Z = 0.0035 # button half-thickness (7mm total)

# Metallic colours: (bezel_rgba, button_rgba, specular, shininess)
COLORS = {
"white": {
"bezel": "0.85 0.85 0.88 1",
"button": "0.95 0.95 0.97 1",
"specular": "0.85",
"shininess": "0.9",
},
"dark_gray": {
"bezel": "0.15 0.15 0.18 1",
"button": "0.25 0.25 0.28 1",
"specular": "0.75",
"shininess": "0.85",
},
"gold": {
"bezel": "0.65 0.53 0.15 1",
"button": "0.83 0.69 0.22 1",
"specular": "0.9",
"shininess": "0.95",
},
"pink": {
"bezel": "0.80 0.50 0.58 1",
"button": "0.95 0.65 0.72 1",
"specular": "0.8",
"shininess": "0.9",
},
"placeholder": {
"bezel": "0.30 0.30 0.33 1",
"button": "0.60 0.60 0.63 1",
"specular": "0.5",
"shininess": "0.5",
},
}

# 20 switches: (class_name, x_mm, y_mm, color)
# 白色: 1-2,4-5,10-11,13-14,18 深灰: 3,7-9,12,15-16 金色: 6,20 粉色: 19
SWITCHES = [
("Switch_Quantity2_07", 349.8, 120.0, "white"), # 1
("Switch_Quantity2_08", 233.2, 120.0, "white"), # 2
("Switch_Quantity2_09", 116.6, 120.0, "dark_gray"), # 3
("Switch_Quantity2_10", 0.0, 120.0, "white"), # 4
("Switch_Quantity4_02", -116.6, 120.0, "white"), # 5
("Switch_Quantity1_45", -233.2, 120.0, "gold"), # 6
("Switch_Quantity1_46", -349.8, 120.0, "dark_gray"), # 7
("Toogle_Quantity1_05", 349.8, 0.0, "dark_gray"), # 8
("Switch_Quantity4_03", 233.2, 0.0, "dark_gray"), # 9
("Switch_Quantity1_47", 116.6, 0.0, "white"), # 10
("Switch_Quantity2_11", -116.6, 0.0, "white"), # 11
("Switch_Quantity1_48", -233.2, 0.0, "dark_gray"), # 12
("Switch_Quantity1_49", -349.8, 0.0, "white"), # 13
("Switch_Quantity3_06", 349.8, -120.0, "white"), # 14
("Toogle_Quantity2_01", 233.2, -120.0, "dark_gray"), # 15
("Toogle_Quantity1_06", 116.6, -120.0, "dark_gray"), # 16
("Placeholder_31", 0.0, -120.0, "placeholder"), # 17
("Switch_Quantity2_12", -116.6, -120.0, "white"), # 18
("Switch_Quantity2_13", -233.2, -120.0, "pink"), # 19
("Switch_Quantity4_04", -349.8, -120.0, "gold"), # 20
]


def generate_switch_xml(class_name: str, color: str) -> str:
c = COLORS[color]
sp, sh = c["specular"], c["shininess"]
return f"""<mujoco model="{class_name}">
<asset>
<material name="{class_name}_bezel" rgba="{c["bezel"]}" specular="{sp}" shininess="{sh}"/>
<material name="{class_name}_button" rgba="{c["button"]}" specular="{sp}" shininess="{sh}"/>
</asset>
<worldbody>
<body name="{class_name}">
<geom name="{class_name}_bezel" type="box"
pos="0 0 {BEZEL_HALF_Z}" size="{BTN_HALF} {BTN_HALF} {BEZEL_HALF_Z}"
material="{class_name}_bezel"/>
<geom name="{class_name}_button" type="box"
pos="0 0 {BTN_HALF_Z}" size="{BTN_FACE_HALF} {BTN_FACE_HALF} {BTN_HALF_Z}"
material="{class_name}_button"/>
</body>
</worldbody>
</mujoco>"""


def main() -> None:
OBJECTS_DIR.mkdir(exist_ok=True)
for class_name, x, y, color in SWITCHES:
path = OBJECTS_DIR / f"{class_name}.xml"
path.write_text(generate_switch_xml(class_name, color), encoding="utf-8")
print(f" {path.name} ({color})")
print(f"\nCreated {len(SWITCHES)} switch XMLs in {OBJECTS_DIR}")


if __name__ == "__main__":
main()
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