51 lines
2.0 KiB
Python
51 lines
2.0 KiB
Python
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from isaaclab.assets import ArticulationCfg, AssetBaseCfg
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from isaaclab.scene import InteractiveSceneCfg
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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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"""T1 机器人的场景配置，包含地面、机器人和光照"""
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# T1 机器人配置
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# 注意：你需要将 usd_path 替换为你真实的 T1 机器人 USD 文件路径
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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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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=True,
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solver_position_iteration_count=4,
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solver_velocity_iteration_count=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, 0.7), # 初始高度，确保机器人双脚着地而非穿模
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joint_pos={".*": 0.0}, # 所有关节初始角度为 0
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),
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actuators={
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"legs": ImplicitActuatorCfg(
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joint_names_expr=[".*"], # 匹配所有关节，也可以指定具体名称如 ["L_Hip.*", "R_Hip.*"]
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effort_limit=400.0,
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velocity_limit=10.0,
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stiffness=85.0, # P 增益
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damping=2.0, # D 增益
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),
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},
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)
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