Source code for metasim.cfg.robots.h1_2_without_hand_metacfg
from __future__ import annotations
from metasim.utils import configclass
from .base_robot_metacfg import BaseActuatorMetaCfg, BaseRobotMetaCfg
[docs]
@configclass
class H12WithoutHandMetaCfg(BaseRobotMetaCfg):
name: str = "h1_2_without_hand"
num_joints: int = 27
usd_path: str = "data_isaaclab/robots/unitree/H1-2_without_hand.usd"
enabled_gravity: bool = True # ! critical
freejoint: bool = True
enabled_self_collisions: bool = False
actuators: dict[str, BaseActuatorMetaCfg] = {
"torso_joint": BaseActuatorMetaCfg(),
"left_shoulder_pitch_joint": BaseActuatorMetaCfg(),
"right_shoulder_pitch_joint": BaseActuatorMetaCfg(),
"left_hip_yaw_joint": BaseActuatorMetaCfg(),
"right_hip_yaw_joint": BaseActuatorMetaCfg(),
"left_shoulder_roll_joint": BaseActuatorMetaCfg(),
"right_shoulder_roll_joint": BaseActuatorMetaCfg(),
"left_hip_pitch_joint": BaseActuatorMetaCfg(),
"right_hip_pitch_joint": BaseActuatorMetaCfg(),
"left_shoulder_yaw_joint": BaseActuatorMetaCfg(),
"right_shoulder_yaw_joint": BaseActuatorMetaCfg(),
"left_hip_roll_joint": BaseActuatorMetaCfg(),
"right_hip_roll_joint": BaseActuatorMetaCfg(),
"left_elbow_pitch_joint": BaseActuatorMetaCfg(),
"right_elbow_pitch_joint": BaseActuatorMetaCfg(),
"left_knee_joint": BaseActuatorMetaCfg(),
"right_knee_joint": BaseActuatorMetaCfg(),
"left_elbow_roll_joint": BaseActuatorMetaCfg(),
"right_elbow_roll_joint": BaseActuatorMetaCfg(),
"left_ankle_pitch_joint": BaseActuatorMetaCfg(),
"right_ankle_pitch_joint": BaseActuatorMetaCfg(),
"left_wrist_pitch_joint": BaseActuatorMetaCfg(),
"right_wrist_pitch_joint": BaseActuatorMetaCfg(),
"left_ankle_roll_joint": BaseActuatorMetaCfg(),
"right_ankle_roll_joint": BaseActuatorMetaCfg(),
"left_wrist_yaw_joint": BaseActuatorMetaCfg(),
"right_wrist_yaw_joint": BaseActuatorMetaCfg(),
}
joint_limits: dict[str, tuple[float, float]] = {
"torso_joint": (-2.3500, 2.3500),
"left_shoulder_pitch_joint": (-3.1400, 1.5700),
"right_shoulder_pitch_joint": (-3.1400, 1.5700),
"left_hip_yaw_joint": (-0.4300, 0.4300),
"right_hip_yaw_joint": (-0.4300, 0.4300),
"left_shoulder_roll_joint": (-0.3800, 3.4000),
"right_shoulder_roll_joint": (-3.4000, 0.3800),
"left_hip_pitch_joint": (-3.1400, 2.5000),
"right_hip_pitch_joint": (-3.1400, 2.5000),
"left_shoulder_yaw_joint": (-2.6600, 3.0100),
"right_shoulder_yaw_joint": (-3.0100, 2.6600),
"left_hip_roll_joint": (-0.4300, 3.1400),
"right_hip_roll_joint": (-3.1400, 0.4300),
"left_elbow_pitch_joint": (-0.9500, 3.1800),
"right_elbow_pitch_joint": (-0.9500, 3.1800),
"left_knee_joint": (-0.2600, 2.0500),
"right_knee_joint": (-0.2600, 2.0500),
"left_elbow_roll_joint": (-3.0100, 2.7500),
"right_elbow_roll_joint": (-2.7500, 3.0100),
"left_ankle_pitch_joint": (-0.8973, 0.5236),
"right_ankle_pitch_joint": (-0.8973, 0.5236),
"left_wrist_pitch_joint": (-0.4700, 0.4700),
"right_wrist_pitch_joint": (-0.4700, 0.4700),
"left_ankle_roll_joint": (-0.2618, 0.2618),
"right_ankle_roll_joint": (-0.2618, 0.2618),
"left_wrist_yaw_joint": (-1.2700, 1.2700),
"right_wrist_yaw_joint": (-1.2700, 1.2700),
}