File size: 3,755 Bytes
7399b6f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 | # Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Configuration for the I2RT YAM arm.
I2RT publishes YAM as a single fixed-base 6-DoF arm with a two-finger linear
gripper. The URDF (and its mesh assets) is bundled under
``custom_assets/robots/yam`` and imported directly via Isaac Lab's URDF
converter.
The following configuration parameters are available:
* :obj:`YAM_CFG`: The I2RT YAM 6-DoF arm with a parallel-jaw gripper.
Reference: https://github.com/i2rt-robotics/i2rt
"""
import os
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets.articulation import ArticulationCfg
CUSTOM_ASSETS_DIR = os.path.join(os.path.dirname(__file__), "..", "..", "..", "..", "..", "custom_assets")
##
# Configuration
##
ASSET_URL = "https://github.com/ARISE-Initiative/yamlab/raw/refs/heads/main/yamlab/robot/yam/arm/yam.usd"
GRIPPER_OPEN = -0.04695
"""The upstream prismatic gripper joints are -46.95 mm open and 0 mm closed."""
YAM_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=ASSET_URL,
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=True,
max_depenetration_velocity=5.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,
solver_position_iteration_count=32,
solver_velocity_iteration_count=0,
),
),
init_state=ArticulationCfg.InitialStateCfg(
# Previous home pose (deg): joint1=0, joint2=90, joint3=45, joint4=45, joint5=0, joint6=0
# joint_pos = {joint1:0.0, joint2:1.5708, joint3:1.5708/2, joint4:1.5708/2, joint5:0.0, joint6:0.0}
# New home pose requested by user (deg): [-1, 94, 85, -84, -5, 0] -> TCP world [0.076,-0.190,0.599]
joint_pos={
"joint1": -0.017453, # -1 deg
"joint2": 1.640610, # 94 deg
"joint3": 1.483530, # 85 deg
"joint4": -1.466077, # -84 deg
"joint5": -0.087266, # -5 deg
"joint6": 0.0, # 0 deg
"left_finger": GRIPPER_OPEN,
"right_finger": GRIPPER_OPEN,
},
),
soft_joint_pos_limit_factor=1.0,
actuators={
# "root": ImplicitActuatorCfg(
# joint_names_expr=["joint0"],
# effort_limit_sim=1.0,
# velocity_limit_sim=1.0,
# stiffness=100.0,
# damping=10.0,
# ),
"arm": ImplicitActuatorCfg(
joint_names_expr=[f"joint{i}" for i in range(1, 7)],
effort_limit_sim=20.0,
velocity_limit_sim=2.0,
stiffness=120.0,
damping=12.0,
),
"gripper": ImplicitActuatorCfg(
joint_names_expr=["left_finger", "right_finger"],
# Was stiffness=0, damping=1 -> stall clamp force ~= damping*vel_cmd ~= 0.05 N (way too weak
# to hold an object). Raise damping + effort so the velocity-driven jaw clamps firmly.
# Clamp force is task-dependent, so it is settable per run: heavy solid objects
# (the scaled-up fruit) slip out below ~70, while thin-walled vessels (cup, mug)
# get crushed through above ~50 and drop out of the jaws.
effort_limit_sim=float(os.environ.get("YAM_GRIP_EFFORT", 75.0)),
velocity_limit_sim=1.0,
stiffness=0.0,
damping=float(os.environ.get("YAM_GRIP_DAMPING", 85.0)),
),
},
)
"""Configuration of the I2RT YAM 6-DoF arm with a parallel-jaw gripper."""
|