unitree G1 强脑智能
This commit is contained in:
@@ -0,0 +1,103 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import logging
|
||||
|
||||
import numpy as np
|
||||
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_dex_retargeting_utils import (
|
||||
G1TriHandDexRetargeting,
|
||||
)
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
_LEFT_HAND_JOINT_NAMES = [
|
||||
"left_index_proximal_joint",
|
||||
"left_middle_proximal_joint",
|
||||
"left_ring_proximal_joint",
|
||||
"left_pinky_proximal_joint",
|
||||
"left_thumb_metacarpal_joint",
|
||||
"left_thumb_proximal_joint",
|
||||
]
|
||||
|
||||
_RIGHT_HAND_JOINT_NAMES = [
|
||||
"right_index_proximal_joint",
|
||||
"right_middle_proximal_joint",
|
||||
"right_ring_proximal_joint",
|
||||
"right_pinky_proximal_joint",
|
||||
"right_thumb_metacarpal_joint",
|
||||
"right_thumb_proximal_joint",
|
||||
]
|
||||
|
||||
|
||||
class G1BrainCoDexRetargeting:
|
||||
"""Wrap the stock G1 TriHand dex-retargeter and map its output to BrainCo joints."""
|
||||
|
||||
def __init__(self, hand_joint_names: list[str]):
|
||||
self._base = G1TriHandDexRetargeting(hand_joint_names)
|
||||
self.isaac_lab_hand_joint_names = hand_joint_names
|
||||
self.left_dof_names = _LEFT_HAND_JOINT_NAMES
|
||||
self.right_dof_names = _RIGHT_HAND_JOINT_NAMES
|
||||
self.dof_names = self.left_dof_names + self.right_dof_names
|
||||
|
||||
missing = [name for name in self.dof_names if name not in hand_joint_names]
|
||||
if missing:
|
||||
raise ValueError(f"BrainCo hand_joint_names missing joints: {missing}")
|
||||
|
||||
def _map_one_hand(self, base_q: np.ndarray) -> np.ndarray:
|
||||
"""Map old 7-DoF TriHand output to 6 BrainCo joints.
|
||||
|
||||
Old order:
|
||||
[thumb_0, thumb_1, thumb_2, index_0, index_1, middle_0, middle_1]
|
||||
|
||||
New order:
|
||||
[index_prox, middle_prox, ring_prox, pinky_prox, thumb_meta, thumb_prox]
|
||||
"""
|
||||
q = np.asarray(base_q, dtype=np.float32)
|
||||
if q.shape[0] != 7:
|
||||
raise ValueError(f"Expected 7 TriHand joints, got shape {q.shape}")
|
||||
|
||||
index_prox = q[3]
|
||||
middle_prox = q[5]
|
||||
|
||||
# BrainCo has extra ring/pinky proximal joints; tie them to middle for a simple grasp prior.
|
||||
ring_prox = middle_prox
|
||||
pinky_prox = middle_prox
|
||||
|
||||
thumb_meta = q[0]
|
||||
thumb_prox = q[1]
|
||||
|
||||
return np.array(
|
||||
[
|
||||
index_prox,
|
||||
middle_prox,
|
||||
ring_prox,
|
||||
pinky_prox,
|
||||
thumb_meta,
|
||||
thumb_prox,
|
||||
],
|
||||
dtype=np.float32,
|
||||
)
|
||||
|
||||
def compute_left(self, left_hand_poses: dict[str, np.ndarray]) -> np.ndarray:
|
||||
if left_hand_poses is None:
|
||||
return np.zeros(len(_LEFT_HAND_JOINT_NAMES), dtype=np.float32)
|
||||
return self._map_one_hand(self._base.compute_left(left_hand_poses))
|
||||
|
||||
def compute_right(self, right_hand_poses: dict[str, np.ndarray]) -> np.ndarray:
|
||||
if right_hand_poses is None:
|
||||
return np.zeros(len(_RIGHT_HAND_JOINT_NAMES), dtype=np.float32)
|
||||
return self._map_one_hand(self._base.compute_right(right_hand_poses))
|
||||
|
||||
def get_joint_names(self) -> list[str]:
|
||||
return self.dof_names
|
||||
|
||||
def get_left_joint_names(self) -> list[str]:
|
||||
return self.left_dof_names
|
||||
|
||||
def get_right_joint_names(self) -> list[str]:
|
||||
return self.right_dof_names
|
||||
@@ -0,0 +1,130 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
import isaaclab.utils.math as PoseUtils
|
||||
from isaaclab.devices.device_base import DeviceBase
|
||||
from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
|
||||
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
|
||||
|
||||
|
||||
class G1BrainCoUpperBodyMotionControllerRetargeter(RetargeterBase):
|
||||
"""Map motion-controller inputs to G1 BrainCo wrist and hand joints."""
|
||||
|
||||
def __init__(self, cfg: "G1BrainCoUpperBodyMotionControllerRetargeterCfg"):
|
||||
super().__init__(cfg)
|
||||
self._sim_device = cfg.sim_device
|
||||
self._hand_joint_names = cfg.hand_joint_names
|
||||
self._enable_visualization = cfg.enable_visualization
|
||||
|
||||
if cfg.hand_joint_names is None:
|
||||
raise ValueError("hand_joint_names must be provided")
|
||||
|
||||
if self._enable_visualization:
|
||||
marker_cfg = VisualizationMarkersCfg(
|
||||
prim_path="/Visuals/g1_brainco_controller_markers",
|
||||
markers={
|
||||
"joint": sim_utils.SphereCfg(
|
||||
radius=0.01,
|
||||
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
|
||||
),
|
||||
},
|
||||
)
|
||||
self._markers = VisualizationMarkers(marker_cfg)
|
||||
|
||||
def retarget(self, data: dict) -> torch.Tensor:
|
||||
left_controller_data = data.get(DeviceBase.TrackingTarget.CONTROLLER_LEFT, np.array([]))
|
||||
right_controller_data = data.get(DeviceBase.TrackingTarget.CONTROLLER_RIGHT, np.array([]))
|
||||
|
||||
default_wrist = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0], dtype=np.float32)
|
||||
|
||||
left_wrist = self._extract_wrist_pose(left_controller_data, default_wrist)
|
||||
right_wrist = self._extract_wrist_pose(right_controller_data, default_wrist)
|
||||
|
||||
left_hand_joints = self._map_to_hand_joints(left_controller_data, is_left=True)
|
||||
right_hand_joints = self._map_to_hand_joints(right_controller_data, is_left=False)
|
||||
|
||||
all_hand_joints = np.concatenate([left_hand_joints, right_hand_joints]).astype(np.float32)
|
||||
|
||||
left_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(left_wrist, is_left=True), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
right_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(right_wrist, is_left=False), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
hand_joints_tensor = torch.tensor(all_hand_joints, dtype=torch.float32, device=self._sim_device)
|
||||
|
||||
return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
|
||||
|
||||
def get_requirements(self) -> list[RetargeterBase.Requirement]:
|
||||
return [RetargeterBase.Requirement.MOTION_CONTROLLER]
|
||||
|
||||
def _extract_wrist_pose(self, controller_data: np.ndarray, default_pose: np.ndarray) -> np.ndarray:
|
||||
if len(controller_data) > DeviceBase.MotionControllerDataRowIndex.POSE.value:
|
||||
return controller_data[DeviceBase.MotionControllerDataRowIndex.POSE.value]
|
||||
return default_pose
|
||||
|
||||
def _map_to_hand_joints(self, controller_data: np.ndarray, is_left: bool) -> np.ndarray:
|
||||
joints = np.zeros(6, dtype=np.float32)
|
||||
|
||||
if len(controller_data) <= DeviceBase.MotionControllerDataRowIndex.INPUTS.value:
|
||||
return joints
|
||||
|
||||
inputs = controller_data[DeviceBase.MotionControllerDataRowIndex.INPUTS.value]
|
||||
if len(inputs) < len(DeviceBase.MotionControllerInputIndex):
|
||||
return joints
|
||||
|
||||
trigger = float(inputs[DeviceBase.MotionControllerInputIndex.TRIGGER.value])
|
||||
squeeze = float(inputs[DeviceBase.MotionControllerInputIndex.SQUEEZE.value])
|
||||
|
||||
index_prox = trigger * 1.0
|
||||
middle_prox = squeeze * 1.0
|
||||
ring_prox = squeeze * 1.0
|
||||
pinky_prox = squeeze * 1.0
|
||||
|
||||
thumb_meta = 0.5 * trigger - 0.5 * squeeze
|
||||
thumb_prox = -max(trigger, squeeze) * 0.4
|
||||
|
||||
if is_left:
|
||||
thumb_meta = -thumb_meta
|
||||
|
||||
joints[:] = [
|
||||
index_prox,
|
||||
middle_prox,
|
||||
ring_prox,
|
||||
pinky_prox,
|
||||
thumb_meta,
|
||||
thumb_prox,
|
||||
]
|
||||
return joints
|
||||
|
||||
def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
|
||||
wrist_pos = torch.tensor(wrist[:3], dtype=torch.float32)
|
||||
wrist_quat = torch.tensor(wrist[3:], dtype=torch.float32)
|
||||
|
||||
combined_quat = torch.tensor([0.5358, -0.4619, 0.5358, 0.4619], dtype=torch.float32)
|
||||
|
||||
openxr_pose = PoseUtils.make_pose(wrist_pos, PoseUtils.matrix_from_quat(wrist_quat))
|
||||
transform_pose = PoseUtils.make_pose(torch.zeros(3), PoseUtils.matrix_from_quat(combined_quat))
|
||||
|
||||
result_pose = PoseUtils.pose_in_A_to_pose_in_B(transform_pose, openxr_pose)
|
||||
pos, rot_mat = PoseUtils.unmake_pose(result_pose)
|
||||
quat = PoseUtils.quat_from_matrix(rot_mat)
|
||||
|
||||
return np.concatenate([pos.numpy(), quat.numpy()])
|
||||
|
||||
|
||||
@dataclass
|
||||
class G1BrainCoUpperBodyMotionControllerRetargeterCfg(RetargeterCfg):
|
||||
enable_visualization: bool = False
|
||||
hand_joint_names: list[str] | None = None
|
||||
retargeter_type: type[RetargeterBase] = G1BrainCoUpperBodyMotionControllerRetargeter
|
||||
@@ -0,0 +1,117 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
import isaaclab.utils.math as PoseUtils
|
||||
from isaaclab.devices.device_base import DeviceBase
|
||||
from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
|
||||
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
|
||||
|
||||
from .g1_brainco_dex_retargeting_utils import G1BrainCoDexRetargeting
|
||||
|
||||
|
||||
class G1BrainCoUpperBodyRetargeter(RetargeterBase):
|
||||
"""Retarget OpenXR hand tracking to G1 BrainCo upper-body commands."""
|
||||
|
||||
def __init__(self, cfg: "G1BrainCoUpperBodyRetargeterCfg"):
|
||||
super().__init__(cfg)
|
||||
self._sim_device = cfg.sim_device
|
||||
self._hand_joint_names = cfg.hand_joint_names
|
||||
|
||||
if cfg.hand_joint_names is None:
|
||||
raise ValueError("hand_joint_names must be provided in configuration")
|
||||
|
||||
self._hands_controller = G1BrainCoDexRetargeting(cfg.hand_joint_names)
|
||||
self._enable_visualization = cfg.enable_visualization
|
||||
self._num_open_xr_hand_joints = cfg.num_open_xr_hand_joints
|
||||
|
||||
if self._enable_visualization:
|
||||
marker_cfg = VisualizationMarkersCfg(
|
||||
prim_path="/Visuals/g1_brainco_hand_markers",
|
||||
markers={
|
||||
"joint": sim_utils.SphereCfg(
|
||||
radius=0.005,
|
||||
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
|
||||
),
|
||||
},
|
||||
)
|
||||
self._markers = VisualizationMarkers(marker_cfg)
|
||||
|
||||
def retarget(self, data: dict) -> torch.Tensor:
|
||||
left_hand_poses = data[DeviceBase.TrackingTarget.HAND_LEFT]
|
||||
right_hand_poses = data[DeviceBase.TrackingTarget.HAND_RIGHT]
|
||||
|
||||
left_wrist = left_hand_poses.get("wrist")
|
||||
right_wrist = right_hand_poses.get("wrist")
|
||||
|
||||
default_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0], dtype=np.float32)
|
||||
if left_wrist is None:
|
||||
left_wrist = default_pose
|
||||
if right_wrist is None:
|
||||
right_wrist = default_pose
|
||||
|
||||
if self._enable_visualization:
|
||||
joints_position = np.zeros((self._num_open_xr_hand_joints, 3), dtype=np.float32)
|
||||
joints_position[::2] = np.array([pose[:3] for pose in left_hand_poses.values()], dtype=np.float32)
|
||||
joints_position[1::2] = np.array([pose[:3] for pose in right_hand_poses.values()], dtype=np.float32)
|
||||
self._markers.visualize(translations=torch.tensor(joints_position, device=self._sim_device))
|
||||
|
||||
left_hand_pos = self._hands_controller.compute_left(left_hand_poses)
|
||||
left_indexes = [self._hand_joint_names.index(name) for name in self._hands_controller.get_left_joint_names()]
|
||||
left_retargeted = np.zeros(len(self._hand_joint_names), dtype=np.float32)
|
||||
left_retargeted[left_indexes] = left_hand_pos
|
||||
|
||||
right_hand_pos = self._hands_controller.compute_right(right_hand_poses)
|
||||
right_indexes = [self._hand_joint_names.index(name) for name in self._hands_controller.get_right_joint_names()]
|
||||
right_retargeted = np.zeros(len(self._hand_joint_names), dtype=np.float32)
|
||||
right_retargeted[right_indexes] = right_hand_pos
|
||||
|
||||
retargeted_hand_joints = left_retargeted + right_retargeted
|
||||
|
||||
left_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(left_wrist, is_left=True), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
right_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(right_wrist, is_left=False), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
hand_joints_tensor = torch.tensor(retargeted_hand_joints, dtype=torch.float32, device=self._sim_device)
|
||||
|
||||
return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
|
||||
|
||||
def get_requirements(self) -> list[RetargeterBase.Requirement]:
|
||||
return [RetargeterBase.Requirement.HAND_TRACKING]
|
||||
|
||||
def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
|
||||
wrist_pos = torch.tensor(wrist[:3], dtype=torch.float32)
|
||||
wrist_quat = torch.tensor(wrist[3:], dtype=torch.float32)
|
||||
|
||||
if is_left:
|
||||
combined_quat = torch.tensor([0.7071, 0.0, 0.7071, 0.0], dtype=torch.float32)
|
||||
else:
|
||||
combined_quat = torch.tensor([0.0, -0.7071, 0.0, 0.7071], dtype=torch.float32)
|
||||
|
||||
openxr_pose = PoseUtils.make_pose(wrist_pos, PoseUtils.matrix_from_quat(wrist_quat))
|
||||
transform_pose = PoseUtils.make_pose(torch.zeros(3), PoseUtils.matrix_from_quat(combined_quat))
|
||||
|
||||
result_pose = PoseUtils.pose_in_A_to_pose_in_B(transform_pose, openxr_pose)
|
||||
pos, rot_mat = PoseUtils.unmake_pose(result_pose)
|
||||
quat = PoseUtils.quat_from_matrix(rot_mat)
|
||||
|
||||
return np.concatenate([pos.numpy(), quat.numpy()])
|
||||
|
||||
|
||||
@dataclass
|
||||
class G1BrainCoUpperBodyRetargeterCfg(RetargeterCfg):
|
||||
enable_visualization: bool = False
|
||||
num_open_xr_hand_joints: int = 100
|
||||
hand_joint_names: list[str] | None = None
|
||||
retargeter_type: type[RetargeterBase] = G1BrainCoUpperBodyRetargeter
|
||||
@@ -0,0 +1,103 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import logging
|
||||
|
||||
import numpy as np
|
||||
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_dex_retargeting_utils import (
|
||||
G1TriHandDexRetargeting,
|
||||
)
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
_LEFT_HAND_JOINT_NAMES = [
|
||||
"left_index_proximal_joint",
|
||||
"left_middle_proximal_joint",
|
||||
"left_ring_proximal_joint",
|
||||
"left_pinky_proximal_joint",
|
||||
"left_thumb_metacarpal_joint",
|
||||
"left_thumb_proximal_joint",
|
||||
]
|
||||
|
||||
_RIGHT_HAND_JOINT_NAMES = [
|
||||
"right_index_proximal_joint",
|
||||
"right_middle_proximal_joint",
|
||||
"right_ring_proximal_joint",
|
||||
"right_pinky_proximal_joint",
|
||||
"right_thumb_metacarpal_joint",
|
||||
"right_thumb_proximal_joint",
|
||||
]
|
||||
|
||||
|
||||
class G1BrainCoDexRetargeting:
|
||||
"""Wrap the stock G1 TriHand dex-retargeter and map its output to BrainCo joints."""
|
||||
|
||||
def __init__(self, hand_joint_names: list[str]):
|
||||
self._base = G1TriHandDexRetargeting(hand_joint_names)
|
||||
self.isaac_lab_hand_joint_names = hand_joint_names
|
||||
self.left_dof_names = _LEFT_HAND_JOINT_NAMES
|
||||
self.right_dof_names = _RIGHT_HAND_JOINT_NAMES
|
||||
self.dof_names = self.left_dof_names + self.right_dof_names
|
||||
|
||||
missing = [name for name in self.dof_names if name not in hand_joint_names]
|
||||
if missing:
|
||||
raise ValueError(f"BrainCo hand_joint_names missing joints: {missing}")
|
||||
|
||||
def _map_one_hand(self, base_q: np.ndarray) -> np.ndarray:
|
||||
"""Map old 7-DoF TriHand output to 6 BrainCo joints.
|
||||
|
||||
Old order:
|
||||
[thumb_0, thumb_1, thumb_2, index_0, index_1, middle_0, middle_1]
|
||||
|
||||
New order:
|
||||
[index_prox, middle_prox, ring_prox, pinky_prox, thumb_meta, thumb_prox]
|
||||
"""
|
||||
q = np.asarray(base_q, dtype=np.float32)
|
||||
if q.shape[0] != 7:
|
||||
raise ValueError(f"Expected 7 TriHand joints, got shape {q.shape}")
|
||||
|
||||
index_prox = q[3]
|
||||
middle_prox = q[5]
|
||||
|
||||
# BrainCo has extra ring/pinky proximal joints; tie them to middle for a simple grasp prior.
|
||||
ring_prox = middle_prox
|
||||
pinky_prox = middle_prox
|
||||
|
||||
thumb_meta = q[0]
|
||||
thumb_prox = q[1]
|
||||
|
||||
return np.array(
|
||||
[
|
||||
index_prox,
|
||||
middle_prox,
|
||||
ring_prox,
|
||||
pinky_prox,
|
||||
thumb_meta,
|
||||
thumb_prox,
|
||||
],
|
||||
dtype=np.float32,
|
||||
)
|
||||
|
||||
def compute_left(self, left_hand_poses: dict[str, np.ndarray]) -> np.ndarray:
|
||||
if left_hand_poses is None:
|
||||
return np.zeros(len(_LEFT_HAND_JOINT_NAMES), dtype=np.float32)
|
||||
return self._map_one_hand(self._base.compute_left(left_hand_poses))
|
||||
|
||||
def compute_right(self, right_hand_poses: dict[str, np.ndarray]) -> np.ndarray:
|
||||
if right_hand_poses is None:
|
||||
return np.zeros(len(_RIGHT_HAND_JOINT_NAMES), dtype=np.float32)
|
||||
return self._map_one_hand(self._base.compute_right(right_hand_poses))
|
||||
|
||||
def get_joint_names(self) -> list[str]:
|
||||
return self.dof_names
|
||||
|
||||
def get_left_joint_names(self) -> list[str]:
|
||||
return self.left_dof_names
|
||||
|
||||
def get_right_joint_names(self) -> list[str]:
|
||||
return self.right_dof_names
|
||||
@@ -0,0 +1,130 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
import isaaclab.utils.math as PoseUtils
|
||||
from isaaclab.devices.device_base import DeviceBase
|
||||
from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
|
||||
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
|
||||
|
||||
|
||||
class G1BrainCoUpperBodyMotionControllerRetargeter(RetargeterBase):
|
||||
"""Map motion-controller inputs to G1 BrainCo wrist and hand joints."""
|
||||
|
||||
def __init__(self, cfg: "G1BrainCoUpperBodyMotionControllerRetargeterCfg"):
|
||||
super().__init__(cfg)
|
||||
self._sim_device = cfg.sim_device
|
||||
self._hand_joint_names = cfg.hand_joint_names
|
||||
self._enable_visualization = cfg.enable_visualization
|
||||
|
||||
if cfg.hand_joint_names is None:
|
||||
raise ValueError("hand_joint_names must be provided")
|
||||
|
||||
if self._enable_visualization:
|
||||
marker_cfg = VisualizationMarkersCfg(
|
||||
prim_path="/Visuals/g1_brainco_controller_markers",
|
||||
markers={
|
||||
"joint": sim_utils.SphereCfg(
|
||||
radius=0.01,
|
||||
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
|
||||
),
|
||||
},
|
||||
)
|
||||
self._markers = VisualizationMarkers(marker_cfg)
|
||||
|
||||
def retarget(self, data: dict) -> torch.Tensor:
|
||||
left_controller_data = data.get(DeviceBase.TrackingTarget.CONTROLLER_LEFT, np.array([]))
|
||||
right_controller_data = data.get(DeviceBase.TrackingTarget.CONTROLLER_RIGHT, np.array([]))
|
||||
|
||||
default_wrist = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0], dtype=np.float32)
|
||||
|
||||
left_wrist = self._extract_wrist_pose(left_controller_data, default_wrist)
|
||||
right_wrist = self._extract_wrist_pose(right_controller_data, default_wrist)
|
||||
|
||||
left_hand_joints = self._map_to_hand_joints(left_controller_data, is_left=True)
|
||||
right_hand_joints = self._map_to_hand_joints(right_controller_data, is_left=False)
|
||||
|
||||
all_hand_joints = np.concatenate([left_hand_joints, right_hand_joints]).astype(np.float32)
|
||||
|
||||
left_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(left_wrist, is_left=True), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
right_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(right_wrist, is_left=False), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
hand_joints_tensor = torch.tensor(all_hand_joints, dtype=torch.float32, device=self._sim_device)
|
||||
|
||||
return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
|
||||
|
||||
def get_requirements(self) -> list[RetargeterBase.Requirement]:
|
||||
return [RetargeterBase.Requirement.MOTION_CONTROLLER]
|
||||
|
||||
def _extract_wrist_pose(self, controller_data: np.ndarray, default_pose: np.ndarray) -> np.ndarray:
|
||||
if len(controller_data) > DeviceBase.MotionControllerDataRowIndex.POSE.value:
|
||||
return controller_data[DeviceBase.MotionControllerDataRowIndex.POSE.value]
|
||||
return default_pose
|
||||
|
||||
def _map_to_hand_joints(self, controller_data: np.ndarray, is_left: bool) -> np.ndarray:
|
||||
joints = np.zeros(6, dtype=np.float32)
|
||||
|
||||
if len(controller_data) <= DeviceBase.MotionControllerDataRowIndex.INPUTS.value:
|
||||
return joints
|
||||
|
||||
inputs = controller_data[DeviceBase.MotionControllerDataRowIndex.INPUTS.value]
|
||||
if len(inputs) < len(DeviceBase.MotionControllerInputIndex):
|
||||
return joints
|
||||
|
||||
trigger = float(inputs[DeviceBase.MotionControllerInputIndex.TRIGGER.value])
|
||||
squeeze = float(inputs[DeviceBase.MotionControllerInputIndex.SQUEEZE.value])
|
||||
|
||||
index_prox = trigger * 1.0
|
||||
middle_prox = squeeze * 1.0
|
||||
ring_prox = squeeze * 1.0
|
||||
pinky_prox = squeeze * 1.0
|
||||
|
||||
thumb_meta = 0.5 * trigger - 0.5 * squeeze
|
||||
thumb_prox = -max(trigger, squeeze) * 0.4
|
||||
|
||||
if is_left:
|
||||
thumb_meta = -thumb_meta
|
||||
|
||||
joints[:] = [
|
||||
index_prox,
|
||||
middle_prox,
|
||||
ring_prox,
|
||||
pinky_prox,
|
||||
thumb_meta,
|
||||
thumb_prox,
|
||||
]
|
||||
return joints
|
||||
|
||||
def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
|
||||
wrist_pos = torch.tensor(wrist[:3], dtype=torch.float32)
|
||||
wrist_quat = torch.tensor(wrist[3:], dtype=torch.float32)
|
||||
|
||||
combined_quat = torch.tensor([0.5358, -0.4619, 0.5358, 0.4619], dtype=torch.float32)
|
||||
|
||||
openxr_pose = PoseUtils.make_pose(wrist_pos, PoseUtils.matrix_from_quat(wrist_quat))
|
||||
transform_pose = PoseUtils.make_pose(torch.zeros(3), PoseUtils.matrix_from_quat(combined_quat))
|
||||
|
||||
result_pose = PoseUtils.pose_in_A_to_pose_in_B(transform_pose, openxr_pose)
|
||||
pos, rot_mat = PoseUtils.unmake_pose(result_pose)
|
||||
quat = PoseUtils.quat_from_matrix(rot_mat)
|
||||
|
||||
return np.concatenate([pos.numpy(), quat.numpy()])
|
||||
|
||||
|
||||
@dataclass
|
||||
class G1BrainCoUpperBodyMotionControllerRetargeterCfg(RetargeterCfg):
|
||||
enable_visualization: bool = False
|
||||
hand_joint_names: list[str] | None = None
|
||||
retargeter_type: type[RetargeterBase] = G1BrainCoUpperBodyMotionControllerRetargeter
|
||||
@@ -0,0 +1,117 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
import isaaclab.utils.math as PoseUtils
|
||||
from isaaclab.devices.device_base import DeviceBase
|
||||
from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
|
||||
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
|
||||
|
||||
from .g1_brainco_dex_retargeting_utils import G1BrainCoDexRetargeting
|
||||
|
||||
|
||||
class G1BrainCoUpperBodyRetargeter(RetargeterBase):
|
||||
"""Retarget OpenXR hand tracking to G1 BrainCo upper-body commands."""
|
||||
|
||||
def __init__(self, cfg: "G1BrainCoUpperBodyRetargeterCfg"):
|
||||
super().__init__(cfg)
|
||||
self._sim_device = cfg.sim_device
|
||||
self._hand_joint_names = cfg.hand_joint_names
|
||||
|
||||
if cfg.hand_joint_names is None:
|
||||
raise ValueError("hand_joint_names must be provided in configuration")
|
||||
|
||||
self._hands_controller = G1BrainCoDexRetargeting(cfg.hand_joint_names)
|
||||
self._enable_visualization = cfg.enable_visualization
|
||||
self._num_open_xr_hand_joints = cfg.num_open_xr_hand_joints
|
||||
|
||||
if self._enable_visualization:
|
||||
marker_cfg = VisualizationMarkersCfg(
|
||||
prim_path="/Visuals/g1_brainco_hand_markers",
|
||||
markers={
|
||||
"joint": sim_utils.SphereCfg(
|
||||
radius=0.005,
|
||||
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
|
||||
),
|
||||
},
|
||||
)
|
||||
self._markers = VisualizationMarkers(marker_cfg)
|
||||
|
||||
def retarget(self, data: dict) -> torch.Tensor:
|
||||
left_hand_poses = data[DeviceBase.TrackingTarget.HAND_LEFT]
|
||||
right_hand_poses = data[DeviceBase.TrackingTarget.HAND_RIGHT]
|
||||
|
||||
left_wrist = left_hand_poses.get("wrist")
|
||||
right_wrist = right_hand_poses.get("wrist")
|
||||
|
||||
default_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0], dtype=np.float32)
|
||||
if left_wrist is None:
|
||||
left_wrist = default_pose
|
||||
if right_wrist is None:
|
||||
right_wrist = default_pose
|
||||
|
||||
if self._enable_visualization:
|
||||
joints_position = np.zeros((self._num_open_xr_hand_joints, 3), dtype=np.float32)
|
||||
joints_position[::2] = np.array([pose[:3] for pose in left_hand_poses.values()], dtype=np.float32)
|
||||
joints_position[1::2] = np.array([pose[:3] for pose in right_hand_poses.values()], dtype=np.float32)
|
||||
self._markers.visualize(translations=torch.tensor(joints_position, device=self._sim_device))
|
||||
|
||||
left_hand_pos = self._hands_controller.compute_left(left_hand_poses)
|
||||
left_indexes = [self._hand_joint_names.index(name) for name in self._hands_controller.get_left_joint_names()]
|
||||
left_retargeted = np.zeros(len(self._hand_joint_names), dtype=np.float32)
|
||||
left_retargeted[left_indexes] = left_hand_pos
|
||||
|
||||
right_hand_pos = self._hands_controller.compute_right(right_hand_poses)
|
||||
right_indexes = [self._hand_joint_names.index(name) for name in self._hands_controller.get_right_joint_names()]
|
||||
right_retargeted = np.zeros(len(self._hand_joint_names), dtype=np.float32)
|
||||
right_retargeted[right_indexes] = right_hand_pos
|
||||
|
||||
retargeted_hand_joints = left_retargeted + right_retargeted
|
||||
|
||||
left_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(left_wrist, is_left=True), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
right_wrist_tensor = torch.tensor(
|
||||
self._retarget_abs(right_wrist, is_left=False), dtype=torch.float32, device=self._sim_device
|
||||
)
|
||||
hand_joints_tensor = torch.tensor(retargeted_hand_joints, dtype=torch.float32, device=self._sim_device)
|
||||
|
||||
return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
|
||||
|
||||
def get_requirements(self) -> list[RetargeterBase.Requirement]:
|
||||
return [RetargeterBase.Requirement.HAND_TRACKING]
|
||||
|
||||
def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
|
||||
wrist_pos = torch.tensor(wrist[:3], dtype=torch.float32)
|
||||
wrist_quat = torch.tensor(wrist[3:], dtype=torch.float32)
|
||||
|
||||
if is_left:
|
||||
combined_quat = torch.tensor([0.7071, 0.0, 0.7071, 0.0], dtype=torch.float32)
|
||||
else:
|
||||
combined_quat = torch.tensor([0.0, -0.7071, 0.0, 0.7071], dtype=torch.float32)
|
||||
|
||||
openxr_pose = PoseUtils.make_pose(wrist_pos, PoseUtils.matrix_from_quat(wrist_quat))
|
||||
transform_pose = PoseUtils.make_pose(torch.zeros(3), PoseUtils.matrix_from_quat(combined_quat))
|
||||
|
||||
result_pose = PoseUtils.pose_in_A_to_pose_in_B(transform_pose, openxr_pose)
|
||||
pos, rot_mat = PoseUtils.unmake_pose(result_pose)
|
||||
quat = PoseUtils.quat_from_matrix(rot_mat)
|
||||
|
||||
return np.concatenate([pos.numpy(), quat.numpy()])
|
||||
|
||||
|
||||
@dataclass
|
||||
class G1BrainCoUpperBodyRetargeterCfg(RetargeterCfg):
|
||||
enable_visualization: bool = False
|
||||
num_open_xr_hand_joints: int = 100
|
||||
hand_joint_names: list[str] | None = None
|
||||
retargeter_type: type[RetargeterBase] = G1BrainCoUpperBodyRetargeter
|
||||
153
source/mindbot/mindbot/robot/test.py
Normal file
153
source/mindbot/mindbot/robot/test.py
Normal file
@@ -0,0 +1,153 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
修复 USD 文件：
|
||||
1. 将 ArticulationRootAPI 从 root_joint 移动到根 Xform Prim
|
||||
用法: ./isaaclab.sh -p fix_usd.py
|
||||
"""
|
||||
|
||||
import argparse
|
||||
from isaaclab.app import AppLauncher
|
||||
|
||||
parser = argparse.ArgumentParser(description="修复 USD ArticulationRootAPI 位置")
|
||||
parser.add_argument(
|
||||
"--usd_path",
|
||||
type=str,
|
||||
default="/home/maic/xh/maic_usd_assets_moudle/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand/g1_brainco.usd",
|
||||
)
|
||||
AppLauncher.add_app_launcher_args(parser)
|
||||
args_cli = parser.parse_args()
|
||||
args_cli.headless = True
|
||||
app_launcher = AppLauncher(args_cli)
|
||||
simulation_app = app_launcher.app
|
||||
|
||||
# ============================================================
|
||||
import os
|
||||
import shutil
|
||||
from pxr import Usd, UsdPhysics, PhysxSchema
|
||||
|
||||
|
||||
def fix_articulation_root(usd_path: str):
|
||||
print("\n" + "="*60)
|
||||
print("【修复】ArticulationRootAPI 位置修正")
|
||||
print("="*60)
|
||||
|
||||
# 1. 备份
|
||||
backup_path = usd_path + ".bak"
|
||||
if not os.path.exists(backup_path):
|
||||
shutil.copy2(usd_path, backup_path)
|
||||
print(f" ✅ 已备份到: {backup_path}")
|
||||
else:
|
||||
print(f" ℹ️ 备份已存在: {backup_path}")
|
||||
|
||||
# 2. 打开 Stage
|
||||
stage = Usd.Stage.Open(usd_path)
|
||||
default_prim = stage.GetDefaultPrim()
|
||||
print(f"\n defaultPrim: {default_prim.GetPath()} [{default_prim.GetTypeName()}]")
|
||||
|
||||
# 3. 找到并清理 root_joint 上的 ArticulationRootAPI
|
||||
print(f"\n[Step 1] 查找错误位置的 ArticulationRootAPI ...")
|
||||
fixed_remove = False
|
||||
for prim in stage.Traverse():
|
||||
schemas = prim.GetAppliedSchemas()
|
||||
if "PhysicsArticulationRootAPI" in schemas:
|
||||
print(f" 发现 ArticulationRootAPI @ {prim.GetPath()} [{prim.GetTypeName()}]")
|
||||
# 如果不是根 Xform，则移除
|
||||
if prim.GetPath() != default_prim.GetPath():
|
||||
print(f" ⚠️ 这不是根 Xform，需要移除...")
|
||||
try:
|
||||
# 移除 ArticulationRootAPI
|
||||
prim.RemoveAPI(UsdPhysics.ArticulationRootAPI)
|
||||
print(f" ✅ 已从 {prim.GetPath()} 移除 ArticulationRootAPI")
|
||||
fixed_remove = True
|
||||
except Exception as e:
|
||||
# 某些版本用不同方式移除
|
||||
print(f" ⚠️ RemoveAPI 失败，尝试其他方式: {e}")
|
||||
try:
|
||||
prim.ClearAPI(UsdPhysics.ArticulationRootAPI)
|
||||
print(f" ✅ 已用 ClearAPI 从 {prim.GetPath()} 移除")
|
||||
fixed_remove = True
|
||||
except Exception as e2:
|
||||
print(f" ❌ 移除失败: {e2}")
|
||||
else:
|
||||
print(f" ✅ 位置正确，无需修改")
|
||||
return
|
||||
|
||||
# 4. 在根 Xform Prim 上添加 ArticulationRootAPI
|
||||
print(f"\n[Step 2] 在根 Prim 上添加 ArticulationRootAPI ...")
|
||||
if not default_prim.IsValid():
|
||||
print(f" ❌ defaultPrim 无效！")
|
||||
return
|
||||
|
||||
try:
|
||||
UsdPhysics.ArticulationRootAPI.Apply(default_prim)
|
||||
print(f" ✅ 已在 {default_prim.GetPath()} 上添加 ArticulationRootAPI")
|
||||
except Exception as e:
|
||||
print(f" ❌ 添加失败: {e}")
|
||||
return
|
||||
|
||||
# 5. 同时添加 PhysxArticulationAPI（Isaac Sim 需要）
|
||||
print(f"\n[Step 3] 添加 PhysxArticulationAPI ...")
|
||||
try:
|
||||
PhysxSchema.PhysxArticulationAPI.Apply(default_prim)
|
||||
print(f" ✅ 已在 {default_prim.GetPath()} 上添加 PhysxArticulationAPI")
|
||||
except Exception as e:
|
||||
print(f" ⚠️ PhysxArticulationAPI 添加失败（非必须）: {e}")
|
||||
|
||||
# 6. 保存
|
||||
stage.Save()
|
||||
print(f"\n ✅ 文件已保存: {usd_path}")
|
||||
|
||||
# 7. 验证
|
||||
print(f"\n[验证] 重新检查 ...")
|
||||
stage2 = Usd.Stage.Open(usd_path)
|
||||
for prim in stage2.Traverse():
|
||||
if "PhysicsArticulationRootAPI" in prim.GetAppliedSchemas():
|
||||
print(f" ✅ ArticulationRootAPI @ {prim.GetPath()} [{prim.GetTypeName()}]")
|
||||
|
||||
|
||||
def check_mimic_joints(usd_path: str):
|
||||
"""检查 MimicJoint 配置"""
|
||||
print("\n" + "="*60)
|
||||
print("【检查】PhysxMimicJointAPI 配置")
|
||||
print("="*60)
|
||||
|
||||
stage = Usd.Stage.Open(usd_path)
|
||||
mimic_joints = []
|
||||
|
||||
for prim in stage.Traverse():
|
||||
schemas = prim.GetAppliedSchemas()
|
||||
mimic_schemas = [s for s in schemas if "MimicJoint" in s]
|
||||
if mimic_schemas:
|
||||
mimic_joints.append((prim.GetPath(), prim.GetTypeName(), mimic_schemas))
|
||||
|
||||
if mimic_joints:
|
||||
print(f"\n 找到 {len(mimic_joints)} 个 MimicJoint:")
|
||||
for path, type_name, schemas in mimic_joints:
|
||||
print(f" - {path} [{type_name}] {schemas}")
|
||||
print(f"\n ℹ️ MimicJoint 需要 Articulation 正确建立才能工作")
|
||||
print(f" ℹ️ 修复 ArticulationRootAPI 位置后，MimicJoint 错误应自动消失")
|
||||
else:
|
||||
print(f" ℹ️ 未找到 MimicJoint")
|
||||
|
||||
|
||||
def main():
|
||||
usd_path = args_cli.usd_path
|
||||
print(f"\n{'='*60}")
|
||||
print(f" USD 修复工具")
|
||||
print(f" 目标: {usd_path}")
|
||||
print(f"{'='*60}")
|
||||
|
||||
# 检查 MimicJoint
|
||||
check_mimic_joints(usd_path)
|
||||
|
||||
# 修复 ArticulationRootAPI
|
||||
fix_articulation_root(usd_path)
|
||||
|
||||
print(f"\n{'='*60}")
|
||||
print(f" 修复完成！请重新运行任务验证")
|
||||
print(f"{'='*60}\n")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
simulation_app.close()
|
||||
@@ -20,10 +20,10 @@ from mindbot.utils.assets import MINDBOT_ASSETS_DIR
|
||||
|
||||
|
||||
G1_BRAINCO_ASSET_DIR = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand"
|
||||
"""Asset directory for the rewritten BrainCo-hand G1 robot."""
|
||||
"""Asset directory for the BrainCo-hand G1 robot."""
|
||||
|
||||
|
||||
G1_BRAINCO_USD_PATH = f"{G1_BRAINCO_ASSET_DIR}/g1_29dof_mode_15_brainco_hand.usd"
|
||||
G1_BRAINCO_USD_PATH = f"{G1_BRAINCO_ASSET_DIR}/g1_29dof_mode_15_brainco_hand/g1_brainco.usd"
|
||||
"""Default USD path for the BrainCo-hand G1 asset."""
|
||||
|
||||
|
||||
@@ -43,7 +43,7 @@ G1_BRAINCO_LEFT_HAND_JOINT_NAMES = [
|
||||
"left_thumb_metacarpal_joint",
|
||||
"left_thumb_proximal_joint",
|
||||
]
|
||||
"""Actuated left-hand joints in the rewritten BrainCo asset."""
|
||||
"""Actuated left-hand joints in the BrainCo asset."""
|
||||
|
||||
|
||||
G1_BRAINCO_RIGHT_HAND_JOINT_NAMES = [
|
||||
@@ -54,11 +54,11 @@ G1_BRAINCO_RIGHT_HAND_JOINT_NAMES = [
|
||||
"right_thumb_metacarpal_joint",
|
||||
"right_thumb_proximal_joint",
|
||||
]
|
||||
"""Actuated right-hand joints in the rewritten BrainCo asset."""
|
||||
"""Actuated right-hand joints in the BrainCo asset."""
|
||||
|
||||
|
||||
G1_BRAINCO_HAND_JOINT_NAMES = G1_BRAINCO_LEFT_HAND_JOINT_NAMES + G1_BRAINCO_RIGHT_HAND_JOINT_NAMES
|
||||
"""Ordered actuated hand joints used by teleoperation and Pink IK action terms."""
|
||||
"""Ordered actuated hand joints used by teleoperation and retargeting."""
|
||||
|
||||
|
||||
G1_BRAINCO_HAND_JOINT_PATTERNS = [
|
||||
@@ -69,13 +69,13 @@ G1_BRAINCO_HAND_JOINT_PATTERNS = [
|
||||
".*_thumb_metacarpal_joint",
|
||||
".*_thumb_proximal_joint",
|
||||
]
|
||||
"""Regex patterns that match actuated BrainCo finger joints in the rewritten USD."""
|
||||
"""Regex patterns that match actuated BrainCo finger joints in the USD."""
|
||||
|
||||
|
||||
G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
spawn=sim_utils.UsdFileCfg(
|
||||
usd_path=G1_BRAINCO_USD_PATH,
|
||||
activate_contact_sensors=True,
|
||||
activate_contact_sensors=False,
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(
|
||||
disable_gravity=False,
|
||||
retain_accelerations=False,
|
||||
@@ -103,7 +103,11 @@ G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
"left_shoulder_roll_joint": 0.16,
|
||||
"right_shoulder_roll_joint": -0.16,
|
||||
".*_elbow_joint": 0.50,
|
||||
# ".*": 0.0,
|
||||
# "left_index_tip_joint": 1.0,
|
||||
# "left_middle_tip_joint": 1.0,
|
||||
# "left_ring_tip_joint": 1.0,
|
||||
# "left_pinky_tip_joint": 1.0,
|
||||
|
||||
},
|
||||
joint_vel={".*": 0.0},
|
||||
),
|
||||
@@ -119,7 +123,7 @@ G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
effort_limit={
|
||||
".*_hip_yaw_joint": 88.0,
|
||||
".*_hip_roll_joint": 139.0,
|
||||
".*_hip_pitch_joint": 88.0,
|
||||
".*_hip_pitch_joint": 139.0,
|
||||
".*_knee_joint": 139.0,
|
||||
},
|
||||
velocity_limit={
|
||||
@@ -149,8 +153,8 @@ G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
"feet": DCMotorCfg(
|
||||
joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"],
|
||||
effort_limit={
|
||||
".*_ankle_pitch_joint": 50.0,
|
||||
".*_ankle_roll_joint": 50.0,
|
||||
".*_ankle_pitch_joint": 35.0,
|
||||
".*_ankle_roll_joint": 35.0,
|
||||
},
|
||||
velocity_limit={
|
||||
".*_ankle_pitch_joint": 37.0,
|
||||
@@ -171,8 +175,8 @@ G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
joint_names_expr=["waist_.*_joint"],
|
||||
effort_limit={
|
||||
"waist_yaw_joint": 88.0,
|
||||
"waist_roll_joint": 50.0,
|
||||
"waist_pitch_joint": 50.0,
|
||||
"waist_roll_joint": 35.0,
|
||||
"waist_pitch_joint": 35.0,
|
||||
},
|
||||
velocity_limit={
|
||||
"waist_yaw_joint": 32.0,
|
||||
@@ -180,14 +184,14 @@ G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
"waist_pitch_joint": 37.0,
|
||||
},
|
||||
stiffness={
|
||||
"waist_yaw_joint": 27.7928,
|
||||
"waist_roll_joint": 54.2666,
|
||||
"waist_pitch_joint": 53.3254,
|
||||
"waist_yaw_joint": 27.7489,
|
||||
"waist_roll_joint": 54.0995,
|
||||
"waist_pitch_joint": 53.0524,
|
||||
},
|
||||
damping={
|
||||
"waist_yaw_joint": 0.0111,
|
||||
"waist_roll_joint": 0.0217,
|
||||
"waist_pitch_joint": 0.0213,
|
||||
"waist_roll_joint": 0.0216,
|
||||
"waist_pitch_joint": 0.0212,
|
||||
},
|
||||
armature=0.001,
|
||||
),
|
||||
@@ -210,22 +214,22 @@ G1_BRAINCO_29DOF_CFG = ArticulationCfg(
|
||||
},
|
||||
velocity_limit=100.0,
|
||||
stiffness={
|
||||
".*_shoulder_pitch_joint": 168.7152,
|
||||
".*_shoulder_roll_joint": 151.6808,
|
||||
".*_shoulder_yaw_joint": 141.6967,
|
||||
".*_elbow_joint": 88.9802,
|
||||
".*_wrist_roll_joint": 66.6865,
|
||||
".*_wrist_pitch_joint": 26.5734,
|
||||
".*_wrist_yaw_joint": 16.3066,
|
||||
".*_shoulder_pitch_joint": 149.8304,
|
||||
".*_shoulder_roll_joint": 124.0138,
|
||||
".*_shoulder_yaw_joint": 114.5362,
|
||||
".*_elbow_joint": 65.6598,
|
||||
".*_wrist_roll_joint": 46.9630,
|
||||
".*_wrist_pitch_joint": 17.4997,
|
||||
".*_wrist_yaw_joint": 10.2527,
|
||||
},
|
||||
damping={
|
||||
".*_shoulder_pitch_joint": 0.0675,
|
||||
".*_shoulder_roll_joint": 0.0607,
|
||||
".*_shoulder_yaw_joint": 0.0567,
|
||||
".*_elbow_joint": 0.0356,
|
||||
".*_wrist_roll_joint": 0.0267,
|
||||
".*_wrist_pitch_joint": 0.0106,
|
||||
".*_wrist_yaw_joint": 0.0065,
|
||||
".*_shoulder_pitch_joint": 0.0599,
|
||||
".*_shoulder_roll_joint": 0.0496,
|
||||
".*_shoulder_yaw_joint": 0.0458,
|
||||
".*_elbow_joint": 0.0263,
|
||||
".*_wrist_roll_joint": 0.0188,
|
||||
".*_wrist_pitch_joint": 0.0070,
|
||||
".*_wrist_yaw_joint": 0.0041,
|
||||
},
|
||||
armature={
|
||||
".*_shoulder_.*": 0.001,
|
||||
@@ -261,19 +265,11 @@ G1_BRAINCO_CFG = G1_BRAINCO_29DOF_CFG
|
||||
|
||||
G1_BRAINCO_FTP_CFG = G1_BRAINCO_29DOF_CFG.copy()
|
||||
G1_BRAINCO_FTP_CFG.spawn.activate_contact_sensors = True
|
||||
G1_BRAINCO_FTP_CFG.spawn.rigid_props.disable_gravity = True
|
||||
G1_BRAINCO_FTP_CFG.spawn.articulation_props.fix_root_link = True
|
||||
G1_BRAINCO_FTP_CFG.init_state = ArticulationCfg.InitialStateCfg(
|
||||
pos=(0.0, 0.0, 1.0),
|
||||
joint_pos={
|
||||
".*_hip_pitch_joint": -0.10,
|
||||
".*_knee_joint": 0.30,
|
||||
".*_ankle_pitch_joint": -0.20,
|
||||
".*_shoulder_pitch_joint": 0.35,
|
||||
"left_shoulder_roll_joint": 0.16,
|
||||
"right_shoulder_roll_joint": -0.16,
|
||||
".*_elbow_joint": 0.50,
|
||||
".*": 0.0,
|
||||
},
|
||||
joint_pos={".*": 0.0},
|
||||
joint_vel={".*": 0.0},
|
||||
)
|
||||
G1_BRAINCO_FTP_CFG.actuators["arms"] = ImplicitActuatorCfg(
|
||||
|
||||
742
source/mindbot/mindbot/robot/unitree_brainco_joint.txt
Normal file
742
source/mindbot/mindbot/robot/unitree_brainco_joint.txt
Normal file
@@ -0,0 +1,742 @@
|
||||
============================================================
|
||||
开始扫描场景中的关节信息...
|
||||
============================================================
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_hip_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/pelvis
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_hip_pitch_link
|
||||
├─ 限位 : [-144.9984 deg, 165.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 24.844929
|
||||
├─ 阻尼 : 0.009938
|
||||
├─ 最大力 : 139.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_hip_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_hip_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_hip_roll_link
|
||||
├─ 限位 : [-30.0001 deg, 170.0023 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 62.141331
|
||||
├─ 阻尼 : 0.024857
|
||||
├─ 最大力 : 139.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_hip_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_hip_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_hip_yaw_link
|
||||
├─ 限位 : [-157.9988 deg, 157.9988 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 150.476929
|
||||
├─ 阻尼 : 0.060191
|
||||
├─ 最大力 : 88.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_knee_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_hip_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_knee_link
|
||||
├─ 限位 : [-5.0000 deg, 165.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 230.089951
|
||||
├─ 阻尼 : 0.092036
|
||||
├─ 最大力 : 139.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_ankle_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_knee_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_ankle_pitch_link
|
||||
├─ 限位 : [-50.0003 deg, 30.0001 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 64.936783
|
||||
├─ 阻尼 : 0.025975
|
||||
├─ 最大力 : 35.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_ankle_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_ankle_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_ankle_roll_link
|
||||
├─ 限位 : [-15.0000 deg, 15.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 2.301954
|
||||
├─ 阻尼 : 0.000921
|
||||
├─ 最大力 : 35.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/pelvis_contour_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/pelvis
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/pelvis_contour_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_hip_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/pelvis
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_hip_pitch_link
|
||||
├─ 限位 : [-144.9984 deg, 165.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 24.844933
|
||||
├─ 阻尼 : 0.009938
|
||||
├─ 最大力 : 139.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_hip_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_hip_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_hip_roll_link
|
||||
├─ 限位 : [-170.0023 deg, 30.0001 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 62.141346
|
||||
├─ 阻尼 : 0.024857
|
||||
├─ 最大力 : 139.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_hip_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_hip_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_hip_yaw_link
|
||||
├─ 限位 : [-157.9988 deg, 157.9988 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 150.476379
|
||||
├─ 阻尼 : 0.060191
|
||||
├─ 最大力 : 88.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_knee_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_hip_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_knee_link
|
||||
├─ 限位 : [-5.0000 deg, 165.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 230.081039
|
||||
├─ 阻尼 : 0.092032
|
||||
├─ 最大力 : 139.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_ankle_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_knee_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_ankle_pitch_link
|
||||
├─ 限位 : [-50.0003 deg, 30.0001 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 64.936783
|
||||
├─ 阻尼 : 0.025975
|
||||
├─ 最大力 : 35.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_ankle_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_ankle_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_ankle_roll_link
|
||||
├─ 限位 : [-15.0000 deg, 15.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 2.301954
|
||||
├─ 阻尼 : 0.000921
|
||||
├─ 最大力 : 35.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/waist_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/pelvis
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/waist_yaw_link
|
||||
├─ 限位 : [-150.0004 deg, 150.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 27.748882
|
||||
├─ 阻尼 : 0.011100
|
||||
├─ 最大力 : 88.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/waist_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/waist_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/waist_roll_link
|
||||
├─ 限位 : [-29.7938 deg, 29.7938 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 54.099495
|
||||
├─ 阻尼 : 0.021640
|
||||
├─ 最大力 : 35.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/waist_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/waist_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/torso_link
|
||||
├─ 限位 : [-29.7938 deg, 29.7938 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 53.052383
|
||||
├─ 阻尼 : 0.021221
|
||||
├─ 最大力 : 35.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/head_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/torso_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/head_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_shoulder_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/torso_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_shoulder_pitch_link
|
||||
├─ 限位 : [-176.9981 deg, 153.0026 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 149.831284
|
||||
├─ 阻尼 : 0.059933
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_shoulder_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_shoulder_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_shoulder_roll_link
|
||||
├─ 限位 : [-90.9972 deg, 129.0014 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 124.015877
|
||||
├─ 阻尼 : 0.049606
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_shoulder_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_shoulder_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_shoulder_yaw_link
|
||||
├─ 限位 : [-150.0004 deg, 150.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 114.533615
|
||||
├─ 阻尼 : 0.045813
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_elbow_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_shoulder_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_elbow_link
|
||||
├─ 限位 : [-60.0001 deg, 120.0003 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 65.659897
|
||||
├─ 阻尼 : 0.026264
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_wrist_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_elbow_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_roll_link
|
||||
├─ 限位 : [-113.0000 deg, 113.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 46.960934
|
||||
├─ 阻尼 : 0.018784
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_wrist_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_pitch_link
|
||||
├─ 限位 : [-92.5000 deg, 92.5000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 17.497646
|
||||
├─ 阻尼 : 0.006999
|
||||
├─ 最大力 : 5.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_wrist_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_yaw_link
|
||||
├─ 限位 : [-92.5000 deg, 92.5000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 10.250670
|
||||
├─ 阻尼 : 0.004100
|
||||
├─ 最大力 : 5.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_base2_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_base2_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_base_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_wrist_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_base_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_index_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_index_proximal_Link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.242971
|
||||
├─ 阻尼 : 0.000097
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_index_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_index_proximal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_index_distal_Link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_index_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_index_distal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_index_tip_Link
|
||||
├─ 限位 : [57.2958 deg, 57.2958 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001386
|
||||
├─ 阻尼 : 0.000001
|
||||
├─ 最大力 : 1.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_middle_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_middle_proximal_Link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.267033
|
||||
├─ 阻尼 : 0.000107
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_middle_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_middle_proximal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_middle_distal_Link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_middle_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_middle_distal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_middle_tip_Link
|
||||
├─ 限位 : [57.2958 deg, 57.2958 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001733
|
||||
├─ 阻尼 : 0.000001
|
||||
├─ 最大力 : 1.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_pinky_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_pinky_proximal_Link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.222033
|
||||
├─ 阻尼 : 0.000089
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_pinky_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_pinky_proximal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_pinky_distal_Link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_pinky_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_pinky_distal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_pinky_tip_Link
|
||||
├─ 限位 : [57.2958 deg, 57.2958 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001199
|
||||
├─ 阻尼 : 0.000000
|
||||
├─ 最大力 : 1.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_ring_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_ring_proximal_Link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.254636
|
||||
├─ 阻尼 : 0.000102
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_ring_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_ring_proximal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_ring_distal_Link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_ring_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_ring_distal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_ring_tip_Link
|
||||
├─ 限位 : [57.2958 deg, 57.2958 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001660
|
||||
├─ 阻尼 : 0.000001
|
||||
├─ 最大力 : 1.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_thumb_metacarpal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_metacarpal_Link
|
||||
├─ 限位 : [0.0000 deg, 86.9979 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.312518
|
||||
├─ 阻尼 : 0.000125
|
||||
├─ 最大力 : 0.500000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_thumb_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_metacarpal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_proximal_Link
|
||||
├─ 限位 : [0.0000 deg, 60.0001 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.131862
|
||||
├─ 阻尼 : 0.000053
|
||||
├─ 最大力 : 1.100000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_thumb_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_proximal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_distal_Link
|
||||
├─ 限位 : [-12.0000 deg, 72.0002 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/left_thumb_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_distal_Link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/left_thumb_tip_Link
|
||||
├─ 限位 : [0.0000 deg, 0.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.000776
|
||||
├─ 阻尼 : 0.000000
|
||||
├─ 最大力 : 340282346638528859811704183484516925440.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/logo_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/torso_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/logo_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_shoulder_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/torso_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_shoulder_pitch_link
|
||||
├─ 限位 : [-176.9981 deg, 153.0026 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 149.829498
|
||||
├─ 阻尼 : 0.059932
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_shoulder_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_shoulder_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_shoulder_roll_link
|
||||
├─ 限位 : [-129.0014 deg, 90.9972 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 124.011757
|
||||
├─ 阻尼 : 0.049605
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_shoulder_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_shoulder_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_shoulder_yaw_link
|
||||
├─ 限位 : [-150.0004 deg, 150.0004 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 114.538696
|
||||
├─ 阻尼 : 0.045815
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_elbow_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_shoulder_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_elbow_link
|
||||
├─ 限位 : [-60.0001 deg, 120.0003 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 65.659744
|
||||
├─ 阻尼 : 0.026264
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_wrist_roll_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_elbow_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_roll_link
|
||||
├─ 限位 : [-113.0000 deg, 113.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 46.965149
|
||||
├─ 阻尼 : 0.018786
|
||||
├─ 最大力 : 25.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_wrist_pitch_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_roll_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_pitch_link
|
||||
├─ 限位 : [-92.5000 deg, 92.5000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 17.501703
|
||||
├─ 阻尼 : 0.007001
|
||||
├─ 最大力 : 5.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_wrist_yaw_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_pitch_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_yaw_link
|
||||
├─ 限位 : [-92.5000 deg, 92.5000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 10.254728
|
||||
├─ 阻尼 : 0.004102
|
||||
├─ 最大力 : 5.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_base2_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_base2_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_base_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_wrist_yaw_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_base_link
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_index_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_index_proximal_link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.242957
|
||||
├─ 阻尼 : 0.000097
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_index_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_index_proximal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_index_distal_link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_index_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_index_distal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_index_tip
|
||||
├─ 限位 : [0.0000 deg, 0.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001386
|
||||
├─ 阻尼 : 0.000001
|
||||
├─ 最大力 : 340282346638528859811704183484516925440.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_middle_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_middle_proximal_link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.267012
|
||||
├─ 阻尼 : 0.000107
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_middle_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_middle_proximal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_middle_distal_link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_middle_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_middle_distal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_middle_tip
|
||||
├─ 限位 : [0.0000 deg, 0.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001733
|
||||
├─ 阻尼 : 0.000001
|
||||
├─ 最大力 : 340282346638528859811704183484516925440.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_pinky_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_pinky_proximal_link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.222046
|
||||
├─ 阻尼 : 0.000089
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_pinky_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_pinky_proximal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_pinky_distal_link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_pinky_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_pinky_distal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_pinky_tip
|
||||
├─ 限位 : [0.0000 deg, 0.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001199
|
||||
├─ 阻尼 : 0.000000
|
||||
├─ 最大力 : 340282346638528859811704183484516925440.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_ring_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_ring_proximal_link
|
||||
├─ 限位 : [0.0000 deg, 84.0013 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.254628
|
||||
├─ 阻尼 : 0.000102
|
||||
├─ 最大力 : 2.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_ring_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_ring_proximal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_ring_distal_link
|
||||
├─ 限位 : [-19.4043 deg, 116.4258 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_ring_tip_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_ring_distal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_ring_tip
|
||||
├─ 限位 : [0.0000 deg, 0.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.001660
|
||||
├─ 阻尼 : 0.000001
|
||||
├─ 最大力 : 340282346638528859811704183484516925440.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_thumb_metacarpal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_base_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_metacarpal_link
|
||||
├─ 限位 : [0.0000 deg, 86.9979 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.320300
|
||||
├─ 阻尼 : 0.000128
|
||||
├─ 最大力 : 0.500000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_thumb_proximal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_metacarpal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_proximal_link
|
||||
├─ 限位 : [0.0000 deg, 60.0001 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.131847
|
||||
├─ 阻尼 : 0.000053
|
||||
├─ 最大力 : 1.100000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_thumb_distal_joint
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_proximal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_distal_link
|
||||
├─ 限位 : [-12.0000 deg, 72.0002 deg]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/joints/right_thumb_tip
|
||||
├─ 类型 : PhysicsRevoluteJoint
|
||||
├─ 父节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_distal_link
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/right_thumb_tip
|
||||
├─ 限位 : [0.0000 deg, 0.0000 deg]
|
||||
├─ Drive : token = 'angular'
|
||||
├─ 刚度 : 0.000772
|
||||
├─ 阻尼 : 0.000000
|
||||
├─ 最大力 : 340282346638528859811704183484516925440.000000 N·m
|
||||
├─ 目标位置: 0.000000 deg
|
||||
└─ 目标速度: 0.000000
|
||||
------------------------------------------------------------
|
||||
关节路径: /g1_29dof_mode_15_brainco_hand/root_joint
|
||||
├─ 类型 : PhysicsFixedJoint
|
||||
├─ 父节点 : World (None)
|
||||
├─ 子节点 : /g1_29dof_mode_15_brainco_hand/pelvis
|
||||
├─ 限位 : [无限制/非旋转关节, 无限制/非旋转关节]
|
||||
└─ Drive : 未找到驱动器（被动 / 固定关节）
|
||||
------------------------------------------------------------
|
||||
扫描完毕！共找到 69 个关节。
|
||||
@@ -9,7 +9,14 @@
|
||||
import gymnasium as gym
|
||||
import os
|
||||
|
||||
from . import agents, fixed_base_upper_body_ik_g1_env_cfg, locomanipulation_g1_env_cfg
|
||||
from . import (
|
||||
agents,
|
||||
fixed_base_upper_body_ik_g1_env_cfg,
|
||||
fixed_base_upper_body_ik_g1_brainco_env_cfg,
|
||||
locomanipulation_g1_env_cfg,
|
||||
locomanipulation_g1_brainco_env_cfg,
|
||||
)
|
||||
|
||||
|
||||
gym.register(
|
||||
id="Isaac-PickPlace-Locomanipulation-G1-Abs-v0",
|
||||
@@ -21,6 +28,17 @@ gym.register(
|
||||
disable_env_checker=True,
|
||||
)
|
||||
|
||||
gym.register(
|
||||
id="Isaac-PickPlace-Locomanipulation-G1-BrainCo-Abs-v0",
|
||||
entry_point="isaaclab.envs:ManagerBasedRLEnv",
|
||||
kwargs={
|
||||
"env_cfg_entry_point": locomanipulation_g1_brainco_env_cfg.LocomanipulationG1EnvCfg,
|
||||
"robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
|
||||
},
|
||||
disable_env_checker=True,
|
||||
)
|
||||
|
||||
|
||||
gym.register(
|
||||
id="Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0",
|
||||
entry_point="isaaclab.envs:ManagerBasedRLEnv",
|
||||
|
||||
@@ -0,0 +1,103 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
"""BrainCo-specific configuration for the G1 pink controller.
|
||||
|
||||
This module mirrors the generic G1 pink IK configuration but swaps in the
|
||||
BrainCo-hand URDF frame names and the BrainCo hand joint list.
|
||||
"""
|
||||
|
||||
from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
|
||||
from isaaclab.controllers.pink_ik.null_space_posture_task import NullSpacePostureTask
|
||||
from isaaclab.controllers.pink_ik.pink_ik_cfg import PinkIKControllerCfg
|
||||
from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
|
||||
|
||||
|
||||
G1_BRAINCO_URDF_FRAME_PREFIX = "g1_29dof_mode_15_brainco_hand"
|
||||
"""Frame prefix generated from the BrainCo G1 URDF robot name."""
|
||||
|
||||
|
||||
G1_BRAINCO_UPPER_BODY_IK_CONTROLLER_CFG = PinkIKControllerCfg(
|
||||
articulation_name="robot",
|
||||
base_link_name="pelvis",
|
||||
num_hand_joints=12,
|
||||
show_ik_warnings=True,
|
||||
fail_on_joint_limit_violation=False,
|
||||
variable_input_tasks=[
|
||||
LocalFrameTask(
|
||||
f"{G1_BRAINCO_URDF_FRAME_PREFIX}_left_wrist_yaw_link",
|
||||
base_link_frame_name=f"{G1_BRAINCO_URDF_FRAME_PREFIX}_pelvis",
|
||||
position_cost=8.0,
|
||||
orientation_cost=2.0,
|
||||
lm_damping=10,
|
||||
gain=0.5,
|
||||
),
|
||||
LocalFrameTask(
|
||||
f"{G1_BRAINCO_URDF_FRAME_PREFIX}_right_wrist_yaw_link",
|
||||
base_link_frame_name=f"{G1_BRAINCO_URDF_FRAME_PREFIX}_pelvis",
|
||||
position_cost=8.0,
|
||||
orientation_cost=2.0,
|
||||
lm_damping=10,
|
||||
gain=0.5,
|
||||
),
|
||||
NullSpacePostureTask(
|
||||
cost=0.5,
|
||||
lm_damping=1,
|
||||
controlled_frames=[
|
||||
f"{G1_BRAINCO_URDF_FRAME_PREFIX}_left_wrist_yaw_link",
|
||||
f"{G1_BRAINCO_URDF_FRAME_PREFIX}_right_wrist_yaw_link",
|
||||
],
|
||||
controlled_joints=[
|
||||
"left_shoulder_pitch_joint",
|
||||
"left_shoulder_roll_joint",
|
||||
"left_shoulder_yaw_joint",
|
||||
"right_shoulder_pitch_joint",
|
||||
"right_shoulder_roll_joint",
|
||||
"right_shoulder_yaw_joint",
|
||||
"waist_yaw_joint",
|
||||
"waist_pitch_joint",
|
||||
"waist_roll_joint",
|
||||
],
|
||||
gain=0.3,
|
||||
),
|
||||
],
|
||||
fixed_input_tasks=[],
|
||||
)
|
||||
"""Pink IK controller configuration for the BrainCo-hand G1 upper body."""
|
||||
|
||||
|
||||
G1_BRAINCO_UPPER_BODY_IK_ACTION_CFG = PinkInverseKinematicsActionCfg(
|
||||
pink_controlled_joint_names=[
|
||||
".*_shoulder_pitch_joint",
|
||||
".*_shoulder_roll_joint",
|
||||
".*_shoulder_yaw_joint",
|
||||
".*_elbow_joint",
|
||||
".*_wrist_pitch_joint",
|
||||
".*_wrist_roll_joint",
|
||||
".*_wrist_yaw_joint",
|
||||
"waist_.*_joint",
|
||||
],
|
||||
hand_joint_names=[
|
||||
"left_index_proximal_joint",
|
||||
"left_middle_proximal_joint",
|
||||
"left_ring_proximal_joint",
|
||||
"left_pinky_proximal_joint",
|
||||
"left_thumb_metacarpal_joint",
|
||||
"left_thumb_proximal_joint",
|
||||
"right_index_proximal_joint",
|
||||
"right_middle_proximal_joint",
|
||||
"right_ring_proximal_joint",
|
||||
"right_pinky_proximal_joint",
|
||||
"right_thumb_metacarpal_joint",
|
||||
"right_thumb_proximal_joint",
|
||||
],
|
||||
target_eef_link_names={
|
||||
"left_wrist": "left_wrist_yaw_link",
|
||||
"right_wrist": "right_wrist_yaw_link",
|
||||
},
|
||||
asset_name="robot",
|
||||
controller=G1_BRAINCO_UPPER_BODY_IK_CONTROLLER_CFG,
|
||||
)
|
||||
"""Pink IK action configuration for the BrainCo-hand G1 upper body."""
|
||||
@@ -124,3 +124,142 @@ The configuration includes:
|
||||
- Hand joint names for additional control
|
||||
- Reference to the pink IK controller configuration
|
||||
"""
|
||||
|
||||
|
||||
##
|
||||
# Pink IK Controller Configuration for BrainCo G1
|
||||
##
|
||||
|
||||
G1_BRAINCO_URDF_FRAME_PREFIX = "g1_29dof_mode_15_brainco_hand"
|
||||
"""Frame prefix generated from the BrainCo G1 URDF robot name."""
|
||||
|
||||
|
||||
G1_BRAINCO_UPPER_BODY_IK_CONTROLLER_CFG = PinkIKControllerCfg(
|
||||
articulation_name="robot",
|
||||
base_link_name="pelvis",
|
||||
num_hand_joints=12,
|
||||
show_ik_warnings=True,
|
||||
fail_on_joint_limit_violation=False,
|
||||
variable_input_tasks=[
|
||||
LocalFrameTask(
|
||||
"left_wrist_yaw_link",
|
||||
base_link_frame_name="pelvis",
|
||||
position_cost=8.0,
|
||||
orientation_cost=2.0,
|
||||
lm_damping=10,
|
||||
gain=0.5,
|
||||
),
|
||||
LocalFrameTask(
|
||||
"right_wrist_yaw_link",
|
||||
base_link_frame_name="pelvis",
|
||||
position_cost=8.0,
|
||||
orientation_cost=2.0,
|
||||
lm_damping=10,
|
||||
gain=0.5,
|
||||
),
|
||||
NullSpacePostureTask(
|
||||
cost=0.5,
|
||||
lm_damping=1,
|
||||
controlled_frames=[
|
||||
"left_wrist_yaw_link",
|
||||
"right_wrist_yaw_link",
|
||||
],
|
||||
controlled_joints=[
|
||||
"left_shoulder_pitch_joint",
|
||||
"left_shoulder_roll_joint",
|
||||
"left_shoulder_yaw_joint",
|
||||
"right_shoulder_pitch_joint",
|
||||
"right_shoulder_roll_joint",
|
||||
"right_shoulder_yaw_joint",
|
||||
"waist_yaw_joint",
|
||||
"waist_pitch_joint",
|
||||
"waist_roll_joint",
|
||||
],
|
||||
gain=0.3,
|
||||
),
|
||||
],
|
||||
fixed_input_tasks=[],
|
||||
)
|
||||
|
||||
# G1_BRAINCO_UPPER_BODY_IK_CONTROLLER_CFG = PinkIKControllerCfg(
|
||||
# articulation_name="robot",
|
||||
# base_link_name="pelvis",
|
||||
# num_hand_joints=12,
|
||||
# show_ik_warnings=True,
|
||||
# fail_on_joint_limit_violation=False,
|
||||
# variable_input_tasks=[
|
||||
# LocalFrameTask(
|
||||
# f"{G1_BRAINCO_URDF_FRAME_PREFIX}_left_wrist_yaw_link",
|
||||
# base_link_frame_name=f"{G1_BRAINCO_URDF_FRAME_PREFIX}_pelvis",
|
||||
# position_cost=8.0, # [cost] / [m]
|
||||
# orientation_cost=2.0, # [cost] / [rad]
|
||||
# lm_damping=10, # dampening for solver for step jumps
|
||||
# gain=0.5,
|
||||
# ),
|
||||
# LocalFrameTask(
|
||||
# f"{G1_BRAINCO_URDF_FRAME_PREFIX}_right_wrist_yaw_link",
|
||||
# base_link_frame_name=f"{G1_BRAINCO_URDF_FRAME_PREFIX}_pelvis",
|
||||
# position_cost=8.0, # [cost] / [m]
|
||||
# orientation_cost=2.0, # [cost] / [rad]
|
||||
# lm_damping=10, # dampening for solver for step jumps
|
||||
# gain=0.5,
|
||||
# ),
|
||||
# NullSpacePostureTask(
|
||||
# cost=0.5,
|
||||
# lm_damping=1,
|
||||
# controlled_frames=[
|
||||
# f"{G1_BRAINCO_URDF_FRAME_PREFIX}_left_wrist_yaw_link",
|
||||
# f"{G1_BRAINCO_URDF_FRAME_PREFIX}_right_wrist_yaw_link",
|
||||
# ],
|
||||
# controlled_joints=[
|
||||
# "left_shoulder_pitch_joint",
|
||||
# "left_shoulder_roll_joint",
|
||||
# "left_shoulder_yaw_joint",
|
||||
# "right_shoulder_pitch_joint",
|
||||
# "right_shoulder_roll_joint",
|
||||
# "right_shoulder_yaw_joint",
|
||||
# "waist_yaw_joint",
|
||||
# "waist_pitch_joint",
|
||||
# "waist_roll_joint",
|
||||
# ],
|
||||
# gain=0.3,
|
||||
# ),
|
||||
# ],
|
||||
# fixed_input_tasks=[],
|
||||
# )
|
||||
"""Configuration for the BrainCo G1 pink IK controller."""
|
||||
|
||||
|
||||
G1_BRAINCO_UPPER_BODY_IK_ACTION_CFG = PinkInverseKinematicsActionCfg(
|
||||
pink_controlled_joint_names=[
|
||||
".*_shoulder_pitch_joint",
|
||||
".*_shoulder_roll_joint",
|
||||
".*_shoulder_yaw_joint",
|
||||
".*_elbow_joint",
|
||||
".*_wrist_pitch_joint",
|
||||
".*_wrist_roll_joint",
|
||||
".*_wrist_yaw_joint",
|
||||
"waist_.*_joint",
|
||||
],
|
||||
hand_joint_names=[
|
||||
"left_index_proximal_joint",
|
||||
"left_middle_proximal_joint",
|
||||
"left_ring_proximal_joint",
|
||||
"left_pinky_proximal_joint",
|
||||
"left_thumb_metacarpal_joint",
|
||||
"left_thumb_proximal_joint",
|
||||
"right_index_proximal_joint",
|
||||
"right_middle_proximal_joint",
|
||||
"right_ring_proximal_joint",
|
||||
"right_pinky_proximal_joint",
|
||||
"right_thumb_metacarpal_joint",
|
||||
"right_thumb_proximal_joint",
|
||||
],
|
||||
target_eef_link_names={
|
||||
"left_wrist": "left_wrist_yaw_link",
|
||||
"right_wrist": "right_wrist_yaw_link",
|
||||
},
|
||||
asset_name="robot",
|
||||
controller=G1_BRAINCO_UPPER_BODY_IK_CONTROLLER_CFG,
|
||||
)
|
||||
"""Configuration for the BrainCo G1 pink IK action."""
|
||||
|
||||
@@ -0,0 +1,217 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
|
||||
import isaaclab.envs.mdp as base_mdp
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
|
||||
from isaaclab.devices.device_base import DevicesCfg
|
||||
from isaaclab.devices.openxr import OpenXRDeviceCfg, XrCfg
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter import (
|
||||
G1TriHandUpperBodyRetargeterCfg,
|
||||
)
|
||||
from isaaclab.envs import ManagerBasedRLEnvCfg
|
||||
from isaaclab.managers import ObservationGroupCfg as ObsGroup
|
||||
from isaaclab.managers import ObservationTermCfg as ObsTerm
|
||||
from isaaclab.managers import SceneEntityCfg
|
||||
from isaaclab.managers import TerminationTermCfg as DoneTerm
|
||||
from isaaclab.scene import InteractiveSceneCfg
|
||||
from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
|
||||
from isaaclab.utils import configclass
|
||||
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
|
||||
|
||||
from mindbot.tasks.manager_based.il.locomanipulation.pick_place import mdp as locomanip_mdp
|
||||
from mindbot.tasks.manager_based.il.manipulation.pick_place import mdp as manip_mdp
|
||||
|
||||
from isaaclab_assets.robots.unitree import G1_29DOF_CFG
|
||||
from mindbot.robot.unitree_brainco import G1_BRAINCO_29DOF_CFG
|
||||
|
||||
from mindbot.tasks.manager_based.il.locomanipulation.pick_place.configs.pink_controller_cfg import ( # isort: skip
|
||||
G1_UPPER_BODY_IK_ACTION_CFG,
|
||||
)
|
||||
|
||||
# from mindbot.tasks.manager_based.il.
|
||||
|
||||
##
|
||||
# Scene definition
|
||||
##
|
||||
@configclass
|
||||
class FixedBaseUpperBodyIKG1SceneCfg(InteractiveSceneCfg):
|
||||
"""Scene configuration for fixed base upper body IK environment with G1 robot.
|
||||
|
||||
This configuration sets up the G1 humanoid robot with fixed pelvis and legs,
|
||||
allowing only arm manipulation while the base remains stationary. The robot is
|
||||
controlled using upper body IK.
|
||||
"""
|
||||
|
||||
# Table
|
||||
packing_table = AssetBaseCfg(
|
||||
prim_path="/World/envs/env_.*/PackingTable",
|
||||
init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.3], rot=[1.0, 0.0, 0.0, 0.0]),
|
||||
spawn=UsdFileCfg(
|
||||
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||
),
|
||||
)
|
||||
|
||||
object = RigidObjectCfg(
|
||||
prim_path="{ENV_REGEX_NS}/Object",
|
||||
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.35, 0.45, 0.6996], rot=[1, 0, 0, 0]),
|
||||
spawn=UsdFileCfg(
|
||||
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
|
||||
scale=(0.75, 0.75, 0.75),
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
|
||||
),
|
||||
)
|
||||
|
||||
# Unitree G1 Humanoid robot - fixed base configuration
|
||||
robot: ArticulationCfg = G1_BRAINCO_29DOF_CFG
|
||||
|
||||
# Ground plane
|
||||
ground = AssetBaseCfg(
|
||||
prim_path="/World/GroundPlane",
|
||||
spawn=GroundPlaneCfg(),
|
||||
)
|
||||
|
||||
# Lights
|
||||
light = AssetBaseCfg(
|
||||
prim_path="/World/light",
|
||||
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
|
||||
)
|
||||
|
||||
def __post_init__(self):
|
||||
"""Post initialization."""
|
||||
# Set the robot to fixed base
|
||||
self.robot.spawn.articulation_props.fix_root_link = True
|
||||
|
||||
|
||||
@configclass
|
||||
class ActionsCfg:
|
||||
"""Action specifications for the MDP."""
|
||||
|
||||
upper_body_ik = G1_UPPER_BODY_IK_ACTION_CFG
|
||||
|
||||
|
||||
@configclass
|
||||
class ObservationsCfg:
|
||||
"""Observation specifications for the MDP.
|
||||
This class is required by the environment configuration but not used in this implementation
|
||||
"""
|
||||
|
||||
@configclass
|
||||
class PolicyCfg(ObsGroup):
|
||||
"""Observations for policy group with state values."""
|
||||
|
||||
actions = ObsTerm(func=manip_mdp.last_action)
|
||||
robot_joint_pos = ObsTerm(
|
||||
func=base_mdp.joint_pos,
|
||||
params={"asset_cfg": SceneEntityCfg("robot")},
|
||||
)
|
||||
robot_root_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("robot")})
|
||||
robot_root_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("robot")})
|
||||
object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")})
|
||||
object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")})
|
||||
robot_links_state = ObsTerm(func=manip_mdp.get_all_robot_link_state)
|
||||
|
||||
left_eef_pos = ObsTerm(func=manip_mdp.get_eef_pos, params={"link_name": "left_wrist_yaw_link"})
|
||||
left_eef_quat = ObsTerm(func=manip_mdp.get_eef_quat, params={"link_name": "left_wrist_yaw_link"})
|
||||
right_eef_pos = ObsTerm(func=manip_mdp.get_eef_pos, params={"link_name": "right_wrist_yaw_link"})
|
||||
right_eef_quat = ObsTerm(func=manip_mdp.get_eef_quat, params={"link_name": "right_wrist_yaw_link"})
|
||||
|
||||
hand_joint_state = ObsTerm(func=manip_mdp.get_robot_joint_state, params={"joint_names": [".*_hand.*"]})
|
||||
head_joint_state = ObsTerm(func=manip_mdp.get_robot_joint_state, params={"joint_names": []})
|
||||
|
||||
object = ObsTerm(
|
||||
func=manip_mdp.object_obs,
|
||||
params={"left_eef_link_name": "left_wrist_yaw_link", "right_eef_link_name": "right_wrist_yaw_link"},
|
||||
)
|
||||
|
||||
def __post_init__(self):
|
||||
self.enable_corruption = False
|
||||
self.concatenate_terms = False
|
||||
|
||||
# observation groups
|
||||
policy: PolicyCfg = PolicyCfg()
|
||||
|
||||
|
||||
@configclass
|
||||
class TerminationsCfg:
|
||||
"""Termination terms for the MDP."""
|
||||
|
||||
time_out = DoneTerm(func=locomanip_mdp.time_out, time_out=True)
|
||||
|
||||
object_dropping = DoneTerm(
|
||||
func=base_mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
|
||||
)
|
||||
|
||||
success = DoneTerm(func=manip_mdp.task_done_pick_place, params={"task_link_name": "right_wrist_yaw_link"})
|
||||
|
||||
|
||||
##
|
||||
# MDP settings
|
||||
##
|
||||
|
||||
|
||||
@configclass
|
||||
class FixedBaseUpperBodyIKG1EnvCfg(ManagerBasedRLEnvCfg):
|
||||
"""Configuration for the G1 fixed base upper body IK environment.
|
||||
|
||||
This environment is designed for manipulation tasks where the G1 humanoid robot
|
||||
has a fixed pelvis and legs, allowing only arm and hand movements for manipulation. The robot is
|
||||
controlled using upper body IK.
|
||||
"""
|
||||
|
||||
# Scene settings
|
||||
scene: FixedBaseUpperBodyIKG1SceneCfg = FixedBaseUpperBodyIKG1SceneCfg(
|
||||
num_envs=1, env_spacing=2.5, replicate_physics=True
|
||||
)
|
||||
# MDP settings
|
||||
terminations: TerminationsCfg = TerminationsCfg()
|
||||
observations: ObservationsCfg = ObservationsCfg()
|
||||
actions: ActionsCfg = ActionsCfg()
|
||||
|
||||
# Unused managers
|
||||
commands = None
|
||||
rewards = None
|
||||
curriculum = None
|
||||
|
||||
# Position of the XR anchor in the world frame
|
||||
xr: XrCfg = XrCfg(
|
||||
anchor_pos=(0.0, 0.0, -0.45),
|
||||
anchor_rot=(1.0, 0.0, 0.0, 0.0),
|
||||
)
|
||||
|
||||
def __post_init__(self):
|
||||
"""Post initialization."""
|
||||
# general settings
|
||||
self.decimation = 4
|
||||
self.episode_length_s = 20.0
|
||||
# simulation settings
|
||||
self.sim.dt = 1 / 200 # 200Hz
|
||||
self.sim.render_interval = 2
|
||||
|
||||
# Set the URDF and mesh paths for the IK controller
|
||||
urdf_omniverse_path = f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_kinematics_asset/g1_29dof_with_hand_only_kinematics.urdf" # noqa: E501
|
||||
|
||||
# Retrieve local paths for the URDF and mesh files. Will be cached for call after the first time.
|
||||
self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
|
||||
|
||||
self.teleop_devices = DevicesCfg(
|
||||
devices={
|
||||
"handtracking": OpenXRDeviceCfg(
|
||||
retargeters=[
|
||||
G1TriHandUpperBodyRetargeterCfg(
|
||||
enable_visualization=True,
|
||||
# OpenXR hand tracking has 26 joints per hand
|
||||
num_open_xr_hand_joints=2 * 26,
|
||||
sim_device=self.sim.device,
|
||||
hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||
),
|
||||
],
|
||||
sim_device=self.sim.device,
|
||||
xr_cfg=self.xr,
|
||||
),
|
||||
}
|
||||
)
|
||||
@@ -0,0 +1,339 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
import isaaclab.envs.mdp as base_mdp
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
|
||||
from isaaclab.devices.device_base import DevicesCfg
|
||||
from isaaclab.devices.openxr import OpenXRDeviceCfg, XrCfg
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_lower_body_standing import G1LowerBodyStandingRetargeterCfg
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_motion_controller_locomotion import (
|
||||
G1LowerBodyStandingMotionControllerRetargeterCfg,
|
||||
)
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_motion_ctrl_retargeter import (
|
||||
G1TriHandUpperBodyMotionControllerRetargeterCfg,
|
||||
)
|
||||
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter import (
|
||||
G1TriHandUpperBodyRetargeterCfg,
|
||||
)
|
||||
from mindbot.devices.openxr.retargeters.unitree.g1_upper_body_brainco_retargeter import (
|
||||
G1BrainCoUpperBodyRetargeterCfg,
|
||||
)
|
||||
from mindbot.devices.openxr.retargeters.unitree.g1_upper_body_brainco_motion_ctrl_retargeter import (
|
||||
G1BrainCoUpperBodyMotionControllerRetargeterCfg,
|
||||
)
|
||||
|
||||
|
||||
from isaaclab.devices.openxr.xr_cfg import XrAnchorRotationMode
|
||||
from isaaclab.envs import ManagerBasedRLEnvCfg
|
||||
from isaaclab.managers import ObservationGroupCfg as ObsGroup
|
||||
from isaaclab.managers import ObservationTermCfg as ObsTerm
|
||||
from isaaclab.managers import SceneEntityCfg
|
||||
from isaaclab.managers import TerminationTermCfg as DoneTerm
|
||||
from isaaclab.scene import InteractiveSceneCfg
|
||||
from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
|
||||
from isaaclab.utils import configclass
|
||||
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
|
||||
|
||||
from mindbot.tasks.manager_based.il.locomanipulation.pick_place import mdp as locomanip_mdp
|
||||
from mindbot.tasks.manager_based.il.locomanipulation.pick_place.configs.action_cfg import AgileBasedLowerBodyActionCfg
|
||||
from mindbot.tasks.manager_based.il.locomanipulation.pick_place.configs.agile_locomotion_observation_cfg import (
|
||||
AgileTeacherPolicyObservationsCfg,
|
||||
)
|
||||
from mindbot.tasks.manager_based.il.manipulation.pick_place import mdp as manip_mdp
|
||||
|
||||
# from isaaclab_assets.robots.unitree import G1_29DOF_CFG
|
||||
from mindbot.robot.unitree_brainco import G1_BRAINCO_29DOF_CFG
|
||||
|
||||
from mindbot.tasks.manager_based.il.locomanipulation.pick_place.configs.pink_controller_cfg import ( # isort: skip
|
||||
G1_UPPER_BODY_IK_ACTION_CFG, G1_BRAINCO_UPPER_BODY_IK_ACTION_CFG
|
||||
)
|
||||
# from mindbot.tasks.manager_based.il.locomanipulation.pick_place.configs.pink_controller_brainco_cfg import (
|
||||
# G1_BRAINCO_UPPER_BODY_IK_CONTROLLER_CFG,
|
||||
# )
|
||||
|
||||
|
||||
from mindbot.utils.assets import MINDBOT_ASSETS_DIR
|
||||
|
||||
##
|
||||
# Scene definition
|
||||
##
|
||||
@configclass
|
||||
class LocomanipulationG1SceneCfg(InteractiveSceneCfg):
|
||||
"""Scene configuration for locomanipulation environment with G1 robot.
|
||||
|
||||
This configuration sets up the G1 humanoid robot for locomanipulation tasks,
|
||||
allowing both locomotion and manipulation capabilities. The robot can move its
|
||||
base and use its arms for manipulation tasks.
|
||||
"""
|
||||
|
||||
# Table
|
||||
packing_table = AssetBaseCfg(
|
||||
prim_path="/World/envs/env_.*/PackingTable",
|
||||
init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.3], rot=[1.0, 0.0, 0.0, 0.0]),
|
||||
spawn=UsdFileCfg(
|
||||
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
|
||||
),
|
||||
)
|
||||
|
||||
object = RigidObjectCfg(
|
||||
prim_path="{ENV_REGEX_NS}/Object",
|
||||
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.35, 0.45, 0.6996], rot=[1, 0, 0, 0]),
|
||||
spawn=UsdFileCfg(
|
||||
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
|
||||
scale=(0.75, 0.75, 0.75),
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
|
||||
),
|
||||
)
|
||||
|
||||
# Humanoid robot w/ arms higher
|
||||
robot: ArticulationCfg = G1_BRAINCO_29DOF_CFG
|
||||
|
||||
# Ground plane
|
||||
ground = AssetBaseCfg(
|
||||
prim_path="/World/GroundPlane",
|
||||
spawn=GroundPlaneCfg(),
|
||||
)
|
||||
|
||||
# Lights
|
||||
light = AssetBaseCfg(
|
||||
prim_path="/World/light",
|
||||
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
|
||||
)
|
||||
|
||||
|
||||
@configclass
|
||||
class ActionsCfg:
|
||||
"""Action specifications for the MDP."""
|
||||
|
||||
upper_body_ik = G1_BRAINCO_UPPER_BODY_IK_ACTION_CFG
|
||||
|
||||
lower_body_joint_pos = AgileBasedLowerBodyActionCfg(
|
||||
asset_name="robot",
|
||||
joint_names=[
|
||||
".*_hip_.*_joint",
|
||||
".*_knee_joint",
|
||||
".*_ankle_.*_joint",
|
||||
],
|
||||
policy_output_scale=0.25,
|
||||
obs_group_name="lower_body_policy", # need to be the same name as the on in ObservationCfg
|
||||
policy_path=f"{ISAACLAB_NUCLEUS_DIR}/Policies/Agile/agile_locomotion.pt",
|
||||
)
|
||||
|
||||
|
||||
@configclass
|
||||
class ObservationsCfg:
|
||||
"""Observation specifications for the MDP.
|
||||
This class is required by the environment configuration but not used in this implementation
|
||||
"""
|
||||
|
||||
@configclass
|
||||
class PolicyCfg(ObsGroup):
|
||||
"""Observations for policy group with state values."""
|
||||
|
||||
actions = ObsTerm(func=manip_mdp.last_action)
|
||||
robot_joint_pos = ObsTerm(
|
||||
func=base_mdp.joint_pos,
|
||||
params={"asset_cfg": SceneEntityCfg("robot")},
|
||||
)
|
||||
robot_root_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("robot")})
|
||||
robot_root_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("robot")})
|
||||
object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")})
|
||||
object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")})
|
||||
robot_links_state = ObsTerm(func=manip_mdp.get_all_robot_link_state)
|
||||
|
||||
left_eef_pos = ObsTerm(func=manip_mdp.get_eef_pos, params={"link_name": "left_wrist_yaw_link"})
|
||||
left_eef_quat = ObsTerm(func=manip_mdp.get_eef_quat, params={"link_name": "left_wrist_yaw_link"})
|
||||
right_eef_pos = ObsTerm(func=manip_mdp.get_eef_pos, params={"link_name": "right_wrist_yaw_link"})
|
||||
right_eef_quat = ObsTerm(func=manip_mdp.get_eef_quat, params={"link_name": "right_wrist_yaw_link"})
|
||||
|
||||
# hand_joint_state = ObsTerm(func=manip_mdp.get_robot_joint_state, params={"joint_names": [".*_hand.*"]})
|
||||
hand_joint_state = ObsTerm(
|
||||
func=manip_mdp.get_robot_joint_state,
|
||||
params={
|
||||
"joint_names": [
|
||||
".*_index_proximal_joint",
|
||||
".*_middle_proximal_joint",
|
||||
".*_ring_proximal_joint",
|
||||
".*_pinky_proximal_joint",
|
||||
".*_thumb_metacarpal_joint",
|
||||
".*_thumb_proximal_joint",
|
||||
]
|
||||
},
|
||||
)
|
||||
|
||||
|
||||
object = ObsTerm(
|
||||
func=manip_mdp.object_obs,
|
||||
params={"left_eef_link_name": "left_wrist_yaw_link", "right_eef_link_name": "right_wrist_yaw_link"},
|
||||
)
|
||||
|
||||
def __post_init__(self):
|
||||
self.enable_corruption = False
|
||||
self.concatenate_terms = False
|
||||
|
||||
# observation groups
|
||||
policy: PolicyCfg = PolicyCfg()
|
||||
lower_body_policy: AgileTeacherPolicyObservationsCfg = AgileTeacherPolicyObservationsCfg()
|
||||
|
||||
|
||||
@configclass
|
||||
class TerminationsCfg:
|
||||
"""Termination terms for the MDP."""
|
||||
|
||||
time_out = DoneTerm(func=locomanip_mdp.time_out, time_out=True)
|
||||
|
||||
object_dropping = DoneTerm(
|
||||
func=base_mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
|
||||
)
|
||||
|
||||
success = DoneTerm(func=manip_mdp.task_done_pick_place, params={"task_link_name": "right_wrist_yaw_link"})
|
||||
|
||||
|
||||
##
|
||||
# MDP settings
|
||||
##
|
||||
|
||||
|
||||
@configclass
|
||||
class LocomanipulationG1EnvCfg(ManagerBasedRLEnvCfg):
|
||||
"""Configuration for the G1 locomanipulation environment.
|
||||
|
||||
This environment is designed for locomanipulation tasks where the G1 humanoid robot
|
||||
can perform both locomotion and manipulation simultaneously. The robot can move its
|
||||
base and use its arms for manipulation tasks, enabling complex mobile manipulation
|
||||
behaviors.
|
||||
"""
|
||||
|
||||
# Scene settings
|
||||
scene: LocomanipulationG1SceneCfg = LocomanipulationG1SceneCfg(num_envs=1, env_spacing=2.5, replicate_physics=True)
|
||||
# MDP settings
|
||||
observations: ObservationsCfg = ObservationsCfg()
|
||||
actions: ActionsCfg = ActionsCfg()
|
||||
commands = None
|
||||
terminations: TerminationsCfg = TerminationsCfg()
|
||||
|
||||
# Unused managers
|
||||
rewards = None
|
||||
curriculum = None
|
||||
|
||||
# Position of the XR anchor in the world frame
|
||||
xr: XrCfg = XrCfg(
|
||||
anchor_pos=(0.0, 0.0, -0.35),
|
||||
anchor_rot=(1.0, 0.0, 0.0, 0.0),
|
||||
)
|
||||
|
||||
def __post_init__(self):
|
||||
"""Post initialization."""
|
||||
self.decimation = 4
|
||||
self.episode_length_s = 20.0
|
||||
self.sim.dt = 1 / 200
|
||||
self.sim.render_interval = 2
|
||||
|
||||
urdf_omniverse_path = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand.urdf"
|
||||
mesh_root_path = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand"
|
||||
|
||||
self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
|
||||
self.actions.upper_body_ik.controller.mesh_path = mesh_root_path
|
||||
|
||||
# urdf_omniverse_path = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand.urdf"
|
||||
|
||||
# self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
|
||||
|
||||
self.xr.anchor_prim_path = "/World/envs/env_0/Robot/pelvis"
|
||||
self.xr.fixed_anchor_height = True
|
||||
self.xr.anchor_rotation_mode = XrAnchorRotationMode.FOLLOW_PRIM_SMOOTHED
|
||||
|
||||
self.teleop_devices = DevicesCfg(
|
||||
devices={
|
||||
"handtracking": OpenXRDeviceCfg(
|
||||
retargeters=[
|
||||
G1BrainCoUpperBodyRetargeterCfg(
|
||||
enable_visualization=True,
|
||||
num_open_xr_hand_joints=2 * 26,
|
||||
sim_device=self.sim.device,
|
||||
hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||
),
|
||||
G1LowerBodyStandingRetargeterCfg(
|
||||
sim_device=self.sim.device,
|
||||
),
|
||||
],
|
||||
sim_device=self.sim.device,
|
||||
xr_cfg=self.xr,
|
||||
),
|
||||
"motion_controllers": OpenXRDeviceCfg(
|
||||
retargeters=[
|
||||
G1BrainCoUpperBodyMotionControllerRetargeterCfg(
|
||||
enable_visualization=True,
|
||||
sim_device=self.sim.device,
|
||||
hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||
),
|
||||
G1LowerBodyStandingMotionControllerRetargeterCfg(
|
||||
sim_device=self.sim.device,
|
||||
),
|
||||
],
|
||||
sim_device=self.sim.device,
|
||||
xr_cfg=self.xr,
|
||||
),
|
||||
}
|
||||
)
|
||||
|
||||
# def __post_init__(self):
|
||||
# """Post initialization."""
|
||||
# # general settings
|
||||
# self.decimation = 4
|
||||
# self.episode_length_s = 20.0
|
||||
# # simulation settings
|
||||
# self.sim.dt = 1 / 200 # 200Hz
|
||||
# self.sim.render_interval = 2
|
||||
|
||||
# # Set the URDF and mesh paths for the IK controller
|
||||
# # urdf_omniverse_path = f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_kinematics_asset/g1_29dof_with_hand_only_kinematics.urdf" # noqa: E501
|
||||
# urdf_omniverse_path = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand.urdf"
|
||||
|
||||
|
||||
# # Retrieve local paths for the URDF and mesh files. Will be cached for call after the first time.
|
||||
# self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
|
||||
|
||||
# self.xr.anchor_prim_path = "/World/envs/env_0/Robot/pelvis"
|
||||
# self.xr.fixed_anchor_height = True
|
||||
# # Ensure XR anchor rotation follows the robot pelvis (yaw only), with smoothing for comfort
|
||||
# self.xr.anchor_rotation_mode = XrAnchorRotationMode.FOLLOW_PRIM_SMOOTHED
|
||||
|
||||
# self.teleop_devices = DevicesCfg(
|
||||
# devices={
|
||||
# "handtracking": OpenXRDeviceCfg(
|
||||
# retargeters=[
|
||||
# G1TriHandUpperBodyRetargeterCfg(
|
||||
# enable_visualization=True,
|
||||
# # OpenXR hand tracking has 26 joints per hand
|
||||
# num_open_xr_hand_joints=2 * 26,
|
||||
# sim_device=self.sim.device,
|
||||
# hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||
# ),
|
||||
# G1LowerBodyStandingRetargeterCfg(
|
||||
# sim_device=self.sim.device,
|
||||
# ),
|
||||
# ],
|
||||
# sim_device=self.sim.device,
|
||||
# xr_cfg=self.xr,
|
||||
# ),
|
||||
# "motion_controllers": OpenXRDeviceCfg(
|
||||
# retargeters=[
|
||||
# G1TriHandUpperBodyMotionControllerRetargeterCfg(
|
||||
# enable_visualization=True,
|
||||
# sim_device=self.sim.device,
|
||||
# hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
|
||||
# ),
|
||||
# G1LowerBodyStandingMotionControllerRetargeterCfg(
|
||||
# sim_device=self.sim.device,
|
||||
# ),
|
||||
# ],
|
||||
# sim_device=self.sim.device,
|
||||
# xr_cfg=self.xr,
|
||||
# ),
|
||||
# }
|
||||
# )
|
||||
@@ -21,7 +21,7 @@ import os
|
||||
MINDBOT_ASSETS_DIR: str = os.environ.get(
|
||||
"MINDBOT_ASSETS_DIR",
|
||||
# "/home/tangger/LYT/maic_usd_assets_moudle",
|
||||
"/home/maic/xh/maic_usd_assets_moudle"
|
||||
# "/workspace/maic_usd_assets_moudle"
|
||||
# "/home/maic/xh/maic_usd_assets_moudle"
|
||||
"/workspace/maic_usd_assets_moudle"
|
||||
# "/home/maic/LYT/maic_usd_assets_moudle",
|
||||
)
|
||||
|
||||
Reference in New Issue
Block a user