110 lines
4.7 KiB
Python
110 lines
4.7 KiB
Python
# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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"""Configuration for a simple Cartpole robot."""
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import isaaclab.sim as sim_utils
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab.assets import ArticulationCfg
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from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
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##
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# Configuration
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##
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MINDBOT_CFG = ArticulationCfg(
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spawn=sim_utils.UsdFileCfg(
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# 1. UPDATE THE USD PATH to your local file
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usd_path="/home/ubuntu/50T/maic_usd_assets/robots/mindrobot-1105-lab/mindrobot.usd",
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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max_depenetration_velocity=1.0,
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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enabled_self_collisions=True,
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solver_position_iteration_count=8,
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solver_velocity_iteration_count=4,
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stabilization_threshold=1e-6, # 忽略小穿透
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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# 2. DEFINE THE INITIAL POSITIONS FOR ALL 12 JOINTS
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# All are set to 0.0 here, but you should adjust them for a suitable "home" position.
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joint_pos={
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# Left arm joints
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"l_joint1": 0.0,
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# "l_joint2": -1.5708,
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"l_joint2": 0.0,
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"l_joint3": 0.0,
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"l_joint4": 0.0,
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"l_joint5": 0.0,
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"l_joint6": 0.0,
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# Right arm joints
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"r_joint1": 0.0,
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"r_joint2": -1.5708,
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"r_joint3": 0.0,
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"r_joint4": 0.0,
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"r_joint5": 0.0,
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"r_joint6": 0.0,
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# left wheel
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"left_b_revolute_Joint": 0.0,
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"left_f_revolute_Joint": 0.0,
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# right wheel
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"right_b_revolute_Joint": 0.0,
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"right_f_revolute_Joint": 0.0,
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# left gripper
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# 注意：如果希望初始状态为完全打开，应该设置为 left=0.0, right=0.0
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# 当前设置为 right=0.01 表示略微闭合状态
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"left_hand_joint_left": 0.0, # 范围：(-0.03, 0.0)，0.0=打开，-0.03=闭合
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"left_hand_joint_right": 0.01, # 范围：(0.0, 0.03)，0.0=打开，0.03=闭合
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# right gripper
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"right_hand_joint_left": 0.0,
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"right_hand_joint_right": 0.01,
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# trunk
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"PrismaticJoint": 0.3,
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# head
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"head_revoluteJoint": 0.5236
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},
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# The initial (x, y, z) position of the robot's base in the world
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pos=(0, 0, 0.05),
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),
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actuators={
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# 3. DEFINE ACTUATOR GROUPS FOR THE ARMS
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# Group for the 6 left arm joints using a regular expression
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"left_arm": ImplicitActuatorCfg(
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joint_names_expr=["l_joint[1-6]"], # This matches l_joint1, l_joint2, ..., l_joint6
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effort_limit_sim=100.0, # Note: Tune this based on your robot's specs
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velocity_limit_sim=2.0, # Note: Tune this based on your robot's specs
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stiffness=100000.0, # Note: Tune this for desired control performance
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damping=10000.0, # Note: Tune this for desired control performance
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),
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# Group for the 6 right arm joints using a regular expression
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"right_arm": ImplicitActuatorCfg(
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joint_names_expr=["r_joint[1-6]"], # This matches r_joint1, r_joint2, ..., r_joint6
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effort_limit_sim=100.0, # Note: Tune this based on your robot's specs
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velocity_limit_sim=100.0, # Note: Tune this based on your robot's specs
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stiffness=100000.0, # Note: Tune this for desired control performance
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damping=10000.0, # Note: Tune this for desired control performance
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),
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"head": ImplicitActuatorCfg(joint_names_expr=["head_revoluteJoint"], stiffness=10000.0, damping=1000.0),
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"trunk": ImplicitActuatorCfg(
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joint_names_expr=["PrismaticJoint"],
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stiffness=2000.0, # 从 10000 增：强持位
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damping=200.0, # 从 1000 增：抗振荡
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effort_limit_sim=1000.0,
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velocity_limit_sim=0.5,
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),
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"wheels": ImplicitActuatorCfg(
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joint_names_expr=[".*_revolute_Joint"],
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stiffness=0.0,
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damping=100.0,
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effort_limit_sim=200.0, # <<<<<< 新增：力矩上限，足够驱动轮子
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velocity_limit_sim=50.0, # <<<<<< 新增：速度上限，防止过快
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),
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"grippers": ImplicitActuatorCfg(joint_names_expr=[".*_hand_joint.*"], stiffness=1000.0, damping=100.0),
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},
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)
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