74 lines
2.8 KiB
Python
74 lines
2.8 KiB
Python
from isaaclab.assets import ArticulationCfg, AssetBaseCfg
|
|
from isaaclab.scene import InteractiveSceneCfg
|
|
from isaaclab.sensors import ContactSensorCfg
|
|
from isaaclab.utils import configclass
|
|
from isaaclab.actuators import ImplicitActuatorCfg
|
|
from isaaclab import sim as sim_utils
|
|
|
|
import os
|
|
|
|
_DEMO_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
|
|
T1_USD_PATH = os.path.join(_DEMO_DIR, "asset", "t1", "T1_locomotion_physics_lab.usd")
|
|
|
|
@configclass
|
|
class T1SceneCfg(InteractiveSceneCfg):
|
|
"""最终修正版：彻底解决 Unknown asset config type 报错"""
|
|
|
|
# 1. 地面配置：直接在 spawn 内部定义材质
|
|
ground = AssetBaseCfg(
|
|
prim_path="/World/ground",
|
|
spawn=sim_utils.GroundPlaneCfg(
|
|
physics_material=sim_utils.RigidBodyMaterialCfg(
|
|
static_friction=1.0,
|
|
dynamic_friction=1.0,
|
|
restitution=0.3,
|
|
friction_combine_mode="average",
|
|
restitution_combine_mode="average",
|
|
)
|
|
),
|
|
)
|
|
|
|
# 2. 机器人配置
|
|
robot = ArticulationCfg(
|
|
prim_path="{ENV_REGEX_NS}/Robot",
|
|
spawn=sim_utils.UsdFileCfg(
|
|
usd_path=T1_USD_PATH,
|
|
activate_contact_sensors=True,
|
|
rigid_props=sim_utils.RigidBodyPropertiesCfg(
|
|
disable_gravity=False,
|
|
max_depenetration_velocity=10.0,
|
|
),
|
|
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
|
|
enabled_self_collisions=True,
|
|
solver_position_iteration_count=8,
|
|
solver_velocity_iteration_count=4,
|
|
),
|
|
),
|
|
init_state=ArticulationCfg.InitialStateCfg(
|
|
pos=(0.0, 0.0, 0.4), # 掉落高度
|
|
joint_pos={".*": 0.0},
|
|
),
|
|
actuators={
|
|
"t1_joints": ImplicitActuatorCfg(
|
|
joint_names_expr=[".*"],
|
|
effort_limit=800.0, # 翻倍，确保电机有力气
|
|
velocity_limit=20.0,
|
|
stiffness=500.0, # 【关键】从 150 提到 500-800 之间
|
|
damping=40.0, # 【关键】从 5 提到 30-50 之间，抑制乱抖
|
|
),
|
|
},
|
|
)
|
|
|
|
contact_sensor = ContactSensorCfg(
|
|
prim_path="{ENV_REGEX_NS}/Robot/.*",
|
|
update_period=0.0,
|
|
history_length=3,
|
|
)
|
|
|
|
# 3. 光照配置
|
|
light = AssetBaseCfg(
|
|
prim_path="/World/light",
|
|
spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
|
|
)
|
|
|
|
# ['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'] |