Source code for metasim.cfg.robots.h1_simple_hand_metacfg
from __future__ import annotations
from metasim.utils import configclass
from .base_robot_metacfg import BaseActuatorMetaCfg, BaseRobotMetaCfg
[docs]
@configclass
class H1SimpleHandMetaCfg(BaseRobotMetaCfg):
name: str = "h1_simple_hand"
num_joints: int = 52
mjcf_path: str = "roboverse_data/robots/h1_simple_hand/mjcf/h1_simple_hand.xml"
enabled_gravity: bool = True
freejoint: bool = True
enabled_self_collisions: bool = False
actuators: dict[str, BaseActuatorMetaCfg] = {
"left_hip_yaw": BaseActuatorMetaCfg(),
"left_hip_roll": BaseActuatorMetaCfg(),
"left_hip_pitch": BaseActuatorMetaCfg(),
"left_knee": BaseActuatorMetaCfg(),
"left_ankle": BaseActuatorMetaCfg(),
"right_hip_yaw": BaseActuatorMetaCfg(),
"right_hip_roll": BaseActuatorMetaCfg(),
"right_hip_pitch": BaseActuatorMetaCfg(),
"right_knee": BaseActuatorMetaCfg(),
"right_ankle": BaseActuatorMetaCfg(),
"torso": BaseActuatorMetaCfg(),
"left_shoulder_pitch": BaseActuatorMetaCfg(),
"left_shoulder_roll": BaseActuatorMetaCfg(),
"left_shoulder_yaw": BaseActuatorMetaCfg(),
"left_elbow": BaseActuatorMetaCfg(),
"left_hand": BaseActuatorMetaCfg(),
"right_shoulder_pitch": BaseActuatorMetaCfg(),
"right_shoulder_roll": BaseActuatorMetaCfg(),
"right_shoulder_yaw": BaseActuatorMetaCfg(),
"right_elbow": BaseActuatorMetaCfg(),
"right_hand": BaseActuatorMetaCfg(),
"L_index_proximal": BaseActuatorMetaCfg(),
"L_index_intermediate": BaseActuatorMetaCfg(),
"L_middle_proximal": BaseActuatorMetaCfg(),
"L_middle_intermediate": BaseActuatorMetaCfg(),
"L_ring_proximal": BaseActuatorMetaCfg(),
"L_ring_intermediate": BaseActuatorMetaCfg(),
"L_pinky_proximal": BaseActuatorMetaCfg(),
"L_pinky_intermediate": BaseActuatorMetaCfg(),
"L_thumb_proximal_yaw": BaseActuatorMetaCfg(),
"L_thumb_proximal_pitch": BaseActuatorMetaCfg(),
"L_thumb_intermediate": BaseActuatorMetaCfg(),
"L_thumb_distal": BaseActuatorMetaCfg(),
"R_index_proximal": BaseActuatorMetaCfg(),
"R_index_intermediate": BaseActuatorMetaCfg(),
"R_middle_proximal": BaseActuatorMetaCfg(),
"R_middle_intermediate": BaseActuatorMetaCfg(),
"R_ring_proximal": BaseActuatorMetaCfg(),
"R_ring_intermediate": BaseActuatorMetaCfg(),
"R_pinky_proximal": BaseActuatorMetaCfg(),
"R_pinky_intermediate": BaseActuatorMetaCfg(),
"R_thumb_proximal_yaw": BaseActuatorMetaCfg(),
"R_thumb_proximal_pitch": BaseActuatorMetaCfg(),
"R_thumb_intermediate": BaseActuatorMetaCfg(),
"R_thumb_distal": BaseActuatorMetaCfg(),
}
joint_limits: dict[str, tuple[float, float]] = {
"left_hip_yaw": (-0.43, 0.43),
"left_hip_roll": (-0.43, 0.43),
"left_hip_pitch": (-3.14, 2.53),
"left_knee": (-0.26, 2.05),
"left_ankle": (-0.87, 0.52),
"right_hip_yaw": (-0.43, 0.43),
"right_hip_roll": (-0.43, 0.43),
"right_hip_pitch": (-3.14, 2.53),
"right_knee": (-0.26, 2.05),
"right_ankle": (-0.87, 0.52),
"torso": (-2.35, 2.35),
"left_shoulder_pitch": (-2.87, 2.87),
"left_shoulder_roll": (-0.34, 3.11),
"left_shoulder_yaw": (-1.3, 4.45),
"left_elbow": (-1.25, 2.61),
"left_hand": (-6, 6),
"right_shoulder_pitch": (-2.87, 2.87),
"right_shoulder_roll": (-3.11, 0.34),
"right_shoulder_yaw": (-4.45, 1.3),
"right_elbow": (-1.25, 2.61),
"right_hand": (-6, 6),
"L_index_proximal": (-1, 1),
"L_index_intermediate": (-1, 1),
"L_middle_proximal": (-1, 1),
"L_middle_intermediate": (-1, 1),
"L_ring_proximal": (-1, 1),
"L_ring_intermediate": (-1, 1),
"L_pinky_proximal": (-1, 1),
"L_pinky_intermediate": (-1, 1),
"L_thumb_proximal_yaw": (-1, 1),
"L_thumb_proximal_pitch": (-1, 1),
"L_thumb_intermediate": (-1, 1),
"L_thumb_distal": (-1, 1),
"R_index_proximal": (-1, 1),
"R_index_intermediate": (-1, 1),
"R_middle_proximal": (-1, 1),
"R_middle_intermediate": (-1, 1),
"R_ring_proximal": (-1, 1),
"R_ring_intermediate": (-1, 1),
"R_pinky_proximal": (-1, 1),
"R_pinky_intermediate": (-1, 1),
"R_thumb_proximal_yaw": (-1, 1),
"R_thumb_proximal_pitch": (-1, 1),
"R_thumb_intermediate": (-1, 1),
"R_thumb_distal": (-1, 1),
}