Integrating IK with our model instead of placeholder model#41
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wilsonchenghy merged 2 commits intomainfrom Mar 24, 2026
Merged
Integrating IK with our model instead of placeholder model#41wilsonchenghy merged 2 commits intomainfrom
wilsonchenghy merged 2 commits intomainfrom
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...ion/Humanoid_Wato/HumanoidRL/HumanoidRLPackage/HumanoidRLSetup/modelCfg/humanoid_arm_only.py
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| # table = AssetBaseCfg( | ||
| # prim_path="{ENV_REGEX_NS}/Table", | ||
| # spawn=sim_utils.UsdFileCfg( | ||
| # usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/Stand/stand_instanceable.usd", | ||
| # scale=( | ||
| # 2.0, | ||
| # 2.0, | ||
| # 2.0)), | ||
| # ) |
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I think instead of commenting it out, feel free to just delete it
autonomy/simulation/Wato_additional_scripts/robot_arm_controllers/task_space_test.py
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wilsonchenghy
requested changes
Mar 24, 2026
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| HAND_CFG = ArticulationCfg( | ||
| spawn=sim_utils.UsdFileCfg( | ||
| usd_path=os.path.join(_MODEL_ASSETS, "hand.usd"), | ||
| rigid_props=sim_utils.RigidBodyPropertiesCfg( | ||
| disable_gravity=False, | ||
| max_depenetration_velocity=5.0, | ||
| ), | ||
| activate_contact_sensors=False, | ||
| ), | ||
| init_state = ArticulationCfg.InitialStateCfg( | ||
| joint_pos={ | ||
| "Revolute_1": 0.0, | ||
| "Revolute_2": 0.0, | ||
| "Revolute_3": 0.0, | ||
| "Revolute_4": 0.0, | ||
| "Revolute_5": 0.0, | ||
| "Revolute_6": 0.0, | ||
| "Revolute_7": 0.0, | ||
| "Revolute_8": 0.0, | ||
| "Revolute_9": 0.0, | ||
| "Revolute_10": 0.0, | ||
| "Revolute_11": 0.0, | ||
| "Revolute_12": 0.0, | ||
| "Revolute_13": 0.0, | ||
| "Revolute_14": 0.0, | ||
| "Revolute_15": 0.0, | ||
| } | ||
| ), | ||
| actuators={ | ||
| "arm": ImplicitActuatorCfg( | ||
| joint_names_expr=[".*"], | ||
| stiffness=0.5, | ||
| damping=0.5, | ||
| velocity_limit_sim=3.0, | ||
| ), | ||
| }, | ||
| ) |
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This HAND_CFG should be deleted
...ion/Humanoid_Wato/HumanoidRL/HumanoidRLPackage/HumanoidRLSetup/modelCfg/humanoid_arm_only.py
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wilsonchenghy
approved these changes
Mar 24, 2026
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Integrating IK with our model instead of placeholder model