212 lines
6.5 KiB
Python
212 lines
6.5 KiB
Python
from __future__ import annotations
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import isaaclab.sim as sim_utils
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab.assets import ArticulationCfg
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from isaaclab.managers import SceneEntityCfg
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from engineai_lab.assets import (
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GEN2_ASSET_DIR,
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GEN2_ORIGINAL_URDF_PATH,
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GEN2_SIMPLIFIED_COLLISION_URDF_PATH,
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)
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# 训练物理必须固定使用简化碰撞 URDF。禁止文件缺失时静默回退到高精度碰撞，
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# 否则同一份配置会因安装方式不同而产生不同的接触行为。
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GEN2_URDF_PATH = GEN2_SIMPLIFIED_COLLISION_URDF_PATH
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if not GEN2_URDF_PATH.is_file():
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raise FileNotFoundError(
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f"Gen2 training URDF is missing: {GEN2_URDF_PATH}. "
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"Reinstall the package with engineai_lab/assets/gen2 included."
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)
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GEN2_LEG_JOINT_NAMES = [
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"left_leg_J1",
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"left_leg_J2",
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"left_leg_J3",
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"left_leg_J4",
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"left_leg_J5",
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"left_leg_J6",
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"right_leg_J1",
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"right_leg_J2",
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"right_leg_J3",
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"right_leg_J4",
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"right_leg_J5",
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"right_leg_J6",
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]
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GEN2_WAIST_JOINT_NAMES = ["waist_J1", "waist_J2"]
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GEN2_ARM_JOINT_NAMES = [
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"left_arm_J1",
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"left_arm_J2",
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"left_arm_J3",
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"left_arm_J4",
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"left_arm_J5",
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"left_arm_J6",
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"left_arm_J7",
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"right_arm_J1",
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"right_arm_J2",
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"right_arm_J3",
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"right_arm_J4",
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"right_arm_J5",
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"right_arm_J6",
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"right_arm_J7",
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]
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GEN2_DFS_JOINT_NAMES = GEN2_LEG_JOINT_NAMES + GEN2_WAIST_JOINT_NAMES + GEN2_ARM_JOINT_NAMES
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GEN2_DFS_JOINT_ORDER_ASSET_CFG = SceneEntityCfg("robot", joint_names=GEN2_DFS_JOINT_NAMES, preserve_order=True)
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GEN2_FEET_BODY_NAMES = ["left_leg_link_6", "right_leg_link_6"]
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GEN2_CFG = ArticulationCfg(
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spawn=sim_utils.UrdfFileCfg(
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asset_path=str(GEN2_URDF_PATH),
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activate_contact_sensors=True,
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fix_base=False,
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replace_cylinders_with_capsules=True,
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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retain_accelerations=False,
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linear_damping=0.0,
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angular_damping=0.0,
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max_linear_velocity=1000.0,
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max_angular_velocity=1000.0,
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max_depenetration_velocity=1.0,
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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enabled_self_collisions=False,
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solver_position_iteration_count=8,
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solver_velocity_iteration_count=4,
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),
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joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg(
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gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=0, damping=0)
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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pos=(0.0, 0.0, 1.282),
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joint_pos={
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"left_leg_J1": 0.0,
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"left_leg_J2": 0.0,
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"left_leg_J3": 0.0,
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"left_leg_J4": 0.0,
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"left_leg_J5": 0.0,
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"left_leg_J6": 0.0,
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"right_leg_J1": 0.0,
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"right_leg_J2": 0.0,
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"right_leg_J3": 0.0,
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"right_leg_J4": 0.0,
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"right_leg_J5": 0.0,
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"right_leg_J6": 0.0,
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"waist_J1": 0.0,
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"waist_J2": 0.0,
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"left_arm_J1": 0.0,
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"left_arm_J2": 1.4835298641951802,
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"left_arm_J3": 1.5707963267948966,
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"left_arm_J4": 0.0,
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"left_arm_J5": 1.5707963267948966,
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"left_arm_J6": 0.0,
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"left_arm_J7": 0.0,
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"right_arm_J1": 0.0,
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"right_arm_J2": -1.4835298641951802,
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"right_arm_J3": -1.5707963267948966,
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"right_arm_J4": 0.0,
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"right_arm_J5": 1.5707963267948966,
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"right_arm_J6": 0.0,
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"right_arm_J7": 0.0,
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},
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joint_vel={".*": 0.0},
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),
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soft_joint_pos_limit_factor=0.9,
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actuators={
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"body": ImplicitActuatorCfg(
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joint_names_expr=[".*"],
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stiffness={
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".*_leg_J1": 180.0,
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".*_leg_J2": 160.0,
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".*_leg_J3": 90.0,
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".*_leg_J4": 220.0,
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".*_leg_J5": 55.0,
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".*_leg_J6": 55.0,
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"waist_J.*": 80.0,
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".*_arm_J1": 50.0,
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".*_arm_J2": 50.0,
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".*_arm_J3": 45.0,
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".*_arm_J4": 35.0,
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".*_arm_J5": 30.0,
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".*_arm_J6": 20.0,
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".*_arm_J7": 20.0,
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},
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damping={
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".*_leg_J1": 6.0,
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".*_leg_J2": 5.0,
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".*_leg_J3": 4.0,
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".*_leg_J4": 7.0,
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".*_leg_J5": 1.0,
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".*_leg_J6": 1.0,
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"waist_J.*": 4.0,
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".*_arm_J1": 0.8,
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".*_arm_J2": 0.8,
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".*_arm_J3": 0.8,
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".*_arm_J4": 0.6,
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".*_arm_J5": 0.5,
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".*_arm_J6": 0.4,
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".*_arm_J7": 0.4,
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},
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effort_limit={
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".*_leg_J1": 320.0,
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".*_leg_J2": 320.0,
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".*_leg_J3": 120.0,
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".*_leg_J4": 450.0,
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".*_leg_J5": 120.0,
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".*_leg_J6": 120.0,
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"waist_J.*": 182.0,
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".*_arm_J1": 182.0,
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".*_arm_J2": 182.0,
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".*_arm_J3": 134.0,
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".*_arm_J4": 66.0,
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".*_arm_J5": 25.0,
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".*_arm_J6": 25.0,
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".*_arm_J7": 25.0,
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},
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effort_limit_sim={
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".*_leg_J1": 320.0,
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".*_leg_J2": 320.0,
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".*_leg_J3": 120.0,
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".*_leg_J4": 450.0,
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".*_leg_J5": 120.0,
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".*_leg_J6": 120.0,
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"waist_J.*": 182.0,
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".*_arm_J1": 182.0,
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".*_arm_J2": 182.0,
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".*_arm_J3": 134.0,
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".*_arm_J4": 66.0,
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".*_arm_J5": 25.0,
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".*_arm_J6": 25.0,
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".*_arm_J7": 25.0,
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},
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velocity_limit={
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".*_leg_J1": 26.3,
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".*_leg_J2": 26.3,
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".*_leg_J3": 35.2,
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".*_leg_J4": 26.3,
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".*_leg_J5": 35.2,
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".*_leg_J6": 35.2,
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"waist_J.*": 35.2,
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".*_arm_J.*": 35.2,
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},
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velocity_limit_sim={
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".*_leg_J1": 26.3,
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".*_leg_J2": 26.3,
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".*_leg_J3": 35.2,
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".*_leg_J4": 26.3,
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".*_leg_J5": 35.2,
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".*_leg_J6": 35.2,
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"waist_J.*": 35.2,
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".*_arm_J.*": 35.2,
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},
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)
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},
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)
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