82 lines
2.9 KiB
Python
82 lines
2.9 KiB
Python
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from isaaclab.assets import ArticulationCfg, AssetBaseCfg
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from isaaclab.scene import InteractiveSceneCfg
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from isaaclab.sensors import ContactSensorCfg
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from isaaclab.utils import configclass
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab import sim as sim_utils
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import os
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_DEMO_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
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T1_USD_PATH = os.path.join(_DEMO_DIR, "asset", "t1", "T1_locomotion_physics_lab.usd")
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@configclass
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class T1SceneCfg(InteractiveSceneCfg):
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"""最终修正版：彻底解决 Unknown asset config type 报错"""
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# 1. 地面配置：直接在 spawn 内部定义材质
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ground = AssetBaseCfg(
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prim_path="/World/ground",
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spawn=sim_utils.GroundPlaneCfg(
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physics_material=sim_utils.RigidBodyMaterialCfg(
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static_friction=1.0,
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dynamic_friction=1.0,
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restitution=0.3,
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friction_combine_mode="average",
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restitution_combine_mode="average",
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)
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),
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)
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# 2. 机器人配置
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robot = ArticulationCfg(
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prim_path="{ENV_REGEX_NS}/Robot",
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spawn=sim_utils.UsdFileCfg(
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usd_path=T1_USD_PATH,
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activate_contact_sensors=True,
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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max_depenetration_velocity=10.0,
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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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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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pos=(0.0, 0.0, 0.2), # 掉落高度
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joint_pos={".*": 0.0},
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),
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actuators={
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# 1. 核心承重关节：大腿、膝盖、腰部
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"heavy_joints": ImplicitActuatorCfg(
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joint_names_expr=["L.*_Hip_.*", "R.*_Hip_.*", "L.*_Knee_.*", "R.*_Knee_.*", "Waist.*"],
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effort_limit=800.0,
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velocity_limit=15.0,
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stiffness=600.0,
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damping=30.0,
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),
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# 2. 末端/轻型关节：手臂、脚踝、头部
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"light_joints": ImplicitActuatorCfg(
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joint_names_expr=["L.*_Shoulder_.*", "R.*_Shoulder_.*", "L.*_Elbow_.*", "R.*_Elbow_.*", ".*Ankle.*", ".*Head.*"],
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effort_limit=300.0,
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velocity_limit=25.0,
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stiffness=200.0,
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damping=10.0,
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),
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},
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)
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contact_sensor = ContactSensorCfg(
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prim_path="{ENV_REGEX_NS}/Robot/.*",
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update_period=0.0,
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history_length=3,
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)
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# 3. 光照配置
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light = AssetBaseCfg(
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prim_path="/World/light",
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spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
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)
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