离心机配置

source/mindbot/mindbot/assets/centrigue.py

@@ -0,0 +1,45 @@
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.sim.schemas.schemas_cfg import (
+    RigidBodyPropertiesCfg,
+    CollisionPropertiesCfg,
+)
+from mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+CENTIRGUE_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{MINDBOT_ASSETS_DIR}/devices/centrigue/centrigue.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=1.0
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            fix_root_link=False,
+            enabled_self_collisions=False,
+            solver_position_iteration_count=32,
+            solver_velocity_iteration_count=16,
+            stabilization_threshold=1e-6,
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=[1.95, -0.45, 0.9], 
+        rot=[-0.7071, 0.0, 0.0, 0.7071],
+        joint_pos={
+            "RevoluteJoint":-1.74,
+        },
+    ),
+    # actuators={}
+    actuators={
+        "lid_open": ImplicitActuatorCfg(
+            # ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
+            joint_names_expr=["RevoluteJoint"],
+            stiffness=10000.0,
+            damping=1000.0,
+            effort_limit_sim=10000.0,
+            velocity_limit_sim=100.0,
+        ),
+    },
+)