A10

.gitignore

@@ -69,3 +69,9 @@ tests/
 
 # Docker history
 .isaac-lab-docker-history
+
+# installl logs vscode
+**/install
+**/.vscode
+**/log
+CLI.txt

A10_Robot/adapters/joint_mapper.py

@@ -0,0 +1,40 @@
+# adapters/joint_mapper.py
+
+import numpy as np
+
+class JointMapper12to14:
+    """
+    自动关节映射器：
+    输入：pi0.5（Franka 双臂 12 DOF）
+        Franka_L[0..5], Franka_R[0..5]
+    输出：你的机器人 14 DOF
+        X7 左臂 Joint1~Joint7
+        X7 右臂 Joint8~Joint14
+    """
+
+    def __init__(self):
+        # 默认映射 6→7，最后一个补 0 或固定角度
+        self.left_mapping =  [0, 1, 2, 3, 4, 5]   # → Joint1..Joint6
+        self.right_mapping = [6, 7, 8, 9,10,11]   # → Joint8..Joint13
+
+        # 第 7 DOF 用什么？
+        self.left_extra  = 0.0   # 给 Joint7
+        self.right_extra = 0.0   # 给 Joint14
+
+    def map(self, frankas_12dof):
+        """
+        输入 12D Franka（numpy 或 torch 都行）
+        返回 14D X7 关节角
+        """
+
+        frankas_12dof = np.asarray(frankas_12dof).reshape(-1)
+
+        # 左臂 X7 (Joint1~7)
+        left = [frankas_12dof[i] for i in self.left_mapping]
+        left.append(self.left_extra)
+
+        # 右臂 X7 (Joint8~14)
+        right = [frankas_12dof[i] for i in self.right_mapping]
+        right.append(self.right_extra)
+
+        return np.array(left + right)

A10_Robot/assets/.asset_hash

@@ -0,0 +1 @@
+655aab74ee236b7891d8f41242e86987

A10_Robot/assets/config.yaml

@@ -0,0 +1,23 @@
+asset_path: /home/ircl/Allen/IsaacLab/A10_Robot/assets/dualarm/urdf/dualarm.urdf
+usd_dir: /home/ircl/Allen/IsaacLab/A10_Robot/assets
+usd_file_name: dualarm
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-11-27 at 13:33:57.
+##