2026-03-16 05:00:20 -04:00
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from isaaclab.assets import ArticulationCfg, AssetBaseCfg
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from isaaclab.scene import InteractiveSceneCfg
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2026-03-18 06:05:30 -04:00
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from isaaclab.sensors import ContactSensorCfg
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2026-03-16 05:00:20 -04:00
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from isaaclab.utils import configclass
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab import sim as sim_utils
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import os
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_DEMO_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
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T1_USD_PATH = os.path.join(_DEMO_DIR, "asset", "t1", "t1_locomotion_physics.usd")
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@configclass
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class T1SceneCfg(InteractiveSceneCfg):
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"""修改后的 T1 机器人场景配置，适配随机姿态起身任务"""
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# 1. 地面配置 (如果之前没定义，必须加上)
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ground = AssetBaseCfg(
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prim_path="/World/ground",
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spawn=sim_utils.GroundPlaneCfg(),
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)
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# 2. 机器人配置
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robot = ArticulationCfg(
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prim_path="{ENV_REGEX_NS}/Robot",
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spawn=sim_utils.UsdFileCfg(
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usd_path=T1_USD_PATH,
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activate_contact_sensors=True,
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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max_depenetration_velocity=10.0, # ⬅️ 提高穿透修正速度，防止肢体卡在地下
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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enabled_self_collisions=True, # 开启自碰撞，起身时肢体可能互碰
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solver_position_iteration_count=8, # ⬅️ 增加迭代次数，提高物理稳定性
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solver_velocity_iteration_count=4,
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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# ⬅️ 核心修改：高度降低。因为是躺着生成，0.2m 比较合适
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2026-03-19 09:08:57 -04:00
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pos=(0.0, 0.0, 0.3),
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2026-03-16 05:00:20 -04:00
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# 默认旋转设为单位阵，具体的随机化由 Event 管理器处理
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rot=(1.0, 0.0, 0.0, 0.0),
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joint_pos={".*": 0.0},
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),
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actuators={
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"legs": ImplicitActuatorCfg(
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joint_names_expr=[".*"],
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effort_limit=400.0, # T1 通常有较强的力矩输出
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velocity_limit=20.0, # ⬅️ 调高速度限制，起身需要爆发动作
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stiffness=150.0, # ⬅️ 调高刚度：起身需要更“硬”的支撑
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damping=5.0, # ⬅️ 增加阻尼：防止机器人站起瞬间晃动太厉害
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),
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},
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)
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2026-03-19 09:08:57 -04:00
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2026-03-19 09:36:32 -04:00
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feet_contact_sensor = ContactSensorCfg(
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prim_path="{ENV_REGEX_NS}/Robot/.*_foot_link", # 使用正则匹配所有脚部 link
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update_period=0.0, # 随物理步长更新
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history_length=3
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)
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2026-03-19 09:08:57 -04:00
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contact_sensor = ContactSensorCfg(
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prim_path="{ENV_REGEX_NS}/Robot/.*",
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update_period=0.0,
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history_length=3,
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)
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2026-03-16 05:00:20 -04:00
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# 3. 光照配置
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light = AssetBaseCfg(
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prim_path="/World/light",
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spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
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)
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# ['Trunk', 'H1', 'H2', 'AL1', 'AL2', 'AL3', 'left_hand_link', 'AR1', 'AR2', 'AR3', 'right_hand_link', 'Waist', 'Hip_Pitch_Left', 'Hip_Roll_Left', 'Hip_Yaw_Left', 'Shank_Left', 'Ankle_Cross_Left', 'left_foot_link', 'Hip_Pitch_Right', 'Hip_Roll_Right', 'Hip_Yaw_Right', 'Shank_Right', 'Ankle_Cross_Right', 'right_foot_link']
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