| import os |
| from omni.isaac.lab.managers.scene_entity_cfg import SceneEntityCfg |
| import omni.isaac.lab.sim as sim_utils |
| from omni.isaac.lab.assets.articulation.articulation_cfg import ArticulationCfg |
| from omni.isaac.lab.actuators import ImplicitActuatorCfg |
|
|
| current_file_path = os.path.abspath(__file__) |
| parent_dir_path = os.path.dirname(current_file_path) |
|
|
| stiffness = 2000 |
| damping = 75 |
|
|
| H1_INSPIRE_CFG = ArticulationCfg( |
| prim_path="{ENV_REGEX_NS}/Robot", |
| spawn=sim_utils.UsdFileCfg( |
| usd_path=f"{parent_dir_path}/h1_inspire_convex_decomp.usd", |
| activate_contact_sensors=True, |
| rigid_props=sim_utils.RigidBodyPropertiesCfg( |
| max_depenetration_velocity=100.0, |
| solver_position_iteration_count=64, |
| solver_velocity_iteration_count=4, |
| max_contact_impulse=10, |
| ), |
| articulation_props=sim_utils.ArticulationRootPropertiesCfg( |
| enabled_self_collisions=False, solver_position_iteration_count=32, solver_velocity_iteration_count=4 |
| ), |
| semantic_tags=[('focus', 'true'), ('category', 'robot')], |
| ), |
| init_state=ArticulationCfg.InitialStateCfg( |
| pos=(0.0, 0.0, 1.05), |
| joint_pos={ |
| ".*_hip_yaw_joint": 0.0, |
| ".*_hip_roll_joint": 0.0, |
| ".*_hip_pitch_joint": -0.0, |
| ".*_knee_joint": 0.0, |
| ".*_ankle_pitch_joint": 0.0, |
| ".*_ankle_roll_joint": 0.0, |
| |
| ".*_shoulder_pitch_joint": 0.5, |
| ".*_shoulder_roll_joint": 0.0, |
| ".*_shoulder_yaw_joint": 0.0, |
| ".*_elbow_pitch_joint": -1, |
| ".*_elbow_roll_joint": 0.0, |
| ".*_wrist_pitch_joint": 0.0, |
| ".*_wrist_yaw_joint": 0.0, |
| ".*_index_proximal_joint": 0.0, |
| ".*_ring_proximal_joint": 0.0, |
| ".*_index_intermediate_joint": 0.0, |
| ".*_middle_intermediate_joint": 0.0, |
| ".*_pinky_intermediate_joint": 0.0, |
| ".*_ring_intermediate_joint": 0.0, |
| ".*_thumb_intermediate_joint": 0.0, |
| ".*_thumb_proximal_yaw_joint": 0.0, |
| ".*_thumb_proximal_pitch_joint": 0.0, |
| ".*_thumb_distal_joint": 0.0, |
| }, |
| joint_vel={".*": 0.0}, |
| ), |
| soft_joint_pos_limit_factor=1.0, |
| actuators={ |
| "arms": ImplicitActuatorCfg( |
| joint_names_expr=[".*_shoulder_pitch_joint", ".*_shoulder_roll_joint", ".*_shoulder_yaw_joint", ".*_elbow_pitch_joint", ".*_elbow_roll_joint", ".*_wrist_pitch_joint", ".*_wrist_yaw_joint"], |
| effort_limit=100, |
| velocity_limit=1.0, |
| stiffness={ |
| ".*_shoulder_pitch_joint": stiffness, |
| ".*_shoulder_roll_joint": stiffness, |
| ".*_shoulder_yaw_joint": stiffness, |
| ".*_elbow_pitch_joint": stiffness, |
| ".*_elbow_roll_joint": stiffness, |
| ".*_wrist_pitch_joint": stiffness, |
| ".*_wrist_yaw_joint": stiffness, |
| }, |
| damping={ |
| ".*_shoulder_pitch_joint": damping, |
| ".*_shoulder_roll_joint": damping, |
| ".*_shoulder_yaw_joint": damping, |
| ".*_elbow_pitch_joint": damping, |
| ".*_elbow_roll_joint": damping, |
| ".*_wrist_pitch_joint": damping, |
| ".*_wrist_yaw_joint": damping, |
| }, |
| ), |
| "hands": ImplicitActuatorCfg( |
| joint_names_expr=[".*_index_proximal_joint", ".*_middle_proximal_joint", ".*_pinky_proximal_joint", |
| ".*_ring_proximal_joint", ".*_index_intermediate_joint", ".*_middle_intermediate_joint", |
| ".*_pinky_intermediate_joint", ".*_ring_intermediate_joint", ".*_thumb_intermediate_joint", |
| ".*_thumb_proximal_yaw_joint", ".*_thumb_proximal_pitch_joint" , ".*_thumb_distal_joint"], |
| effort_limit=10, |
| velocity_limit=1.0, |
| stiffness={ |
| ".*_index_proximal_joint": stiffness, |
| ".*_middle_proximal_joint": stiffness, |
| ".*_pinky_proximal_joint": stiffness, |
| ".*_ring_proximal_joint": stiffness, |
| ".*_index_intermediate_joint": stiffness, |
| ".*_middle_intermediate_joint": stiffness, |
| ".*_pinky_intermediate_joint": stiffness, |
| ".*_ring_intermediate_joint": stiffness, |
| ".*_thumb_intermediate_joint": stiffness, |
| ".*_thumb_proximal_yaw_joint": stiffness, |
| ".*_thumb_proximal_pitch_joint": stiffness, |
| ".*_thumb_distal_joint": stiffness, |
| }, |
| damping={ |
| ".*_index_proximal_joint": damping, |
| ".*_middle_proximal_joint": damping, |
| ".*_pinky_proximal_joint": damping, |
| ".*_ring_proximal_joint": damping, |
| ".*_index_intermediate_joint": damping, |
| ".*_middle_intermediate_joint": damping, |
| ".*_pinky_intermediate_joint": damping, |
| ".*_ring_intermediate_joint": damping, |
| ".*_thumb_intermediate_joint": damping, |
| ".*_thumb_proximal_yaw_joint": damping, |
| ".*_thumb_proximal_pitch_joint": damping, |
| ".*_thumb_distal_joint": damping, |
| } |
| ), |
| } |
| ) |
|
|
| H1_INSPIRE_LEFT_ARM_CFG: SceneEntityCfg = SceneEntityCfg( |
| "robot", |
| joint_names=[ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_pitch_joint", |
| "left_elbow_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| ], |
| body_names=["L_hand_base_link"], |
| preserve_order=True |
| ) |
| |
| H1_INSPIRE_RIGHT_ARM_CFG: SceneEntityCfg = SceneEntityCfg( |
| "robot", |
| joint_names=[ |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_pitch_joint", |
| "right_elbow_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint", |
| ], |
| body_names=["R_hand_base_link"], |
| preserve_order=True |
| ) |
|
|
| H1_INSPIRE_LEFT_HAND_CFG = SceneEntityCfg( |
| "robot", |
| joint_names=[ |
| "L_index_proximal_joint", |
| "L_index_intermediate_joint", |
| "L_middle_proximal_joint", |
| "L_middle_intermediate_joint", |
| "L_pinky_proximal_joint", |
| "L_pinky_intermediate_joint", |
| "L_ring_proximal_joint", |
| "L_ring_intermediate_joint", |
| "L_thumb_proximal_yaw_joint", |
| "L_thumb_proximal_pitch_joint", |
| "L_thumb_intermediate_joint", |
| "L_thumb_distal_joint" |
| ], |
| body_names=[ |
| "L_thumb_tip", |
| "L_index_tip", |
| "L_middle_tip", |
| "L_ring_tip", |
| "L_pinky_tip", |
| ], |
| preserve_order=True, |
| ) |
|
|
| H1_INSPIRE_RIGHT_HAND_CFG = SceneEntityCfg( |
| "robot", |
| joint_names=[ |
| "R_index_proximal_joint", |
| "R_index_intermediate_joint", |
| "R_middle_proximal_joint", |
| "R_middle_intermediate_joint", |
| "R_pinky_proximal_joint", |
| "R_pinky_intermediate_joint", |
| "R_ring_proximal_joint", |
| "R_ring_intermediate_joint", |
| "R_thumb_proximal_yaw_joint", |
| "R_thumb_proximal_pitch_joint", |
| "R_thumb_intermediate_joint", |
| "R_thumb_distal_joint" |
| ], |
| body_names=[ |
| "R_thumb_tip", |
| "R_index_tip", |
| "R_middle_tip", |
| "R_ring_tip", |
| "R_pinky_tip", |
| ], |
| preserve_order=True, |
| ) |
| """Configuration for the Unitree H1 Inspire Humanoid robot with hand.""" |
|
|
