diff --git a/dexhand021_left/cfgs/__init__.py b/dexhand021_left/cfgs/__init__.py deleted file mode 100644 index ea187650abb6b1e7dd30bd511138220b206c7a92..0000000000000000000000000000000000000000 --- a/dexhand021_left/cfgs/__init__.py +++ /dev/null @@ -1 +0,0 @@ -"""Robot configuration files.""" diff --git a/dexhand021_left/cfgs/dexhand021_left_base_cfg.py b/dexhand021_left/cfgs/dexhand021_left_base_cfg.py deleted file mode 100644 index 92332122ecdbab59ba5524aa4c5f2c06a97c6ef0..0000000000000000000000000000000000000000 --- a/dexhand021_left/cfgs/dexhand021_left_base_cfg.py +++ /dev/null @@ -1,175 +0,0 @@ -from __future__ import annotations - -from pathlib import Path -from typing import Literal - -from metasim.scenario.robot import BaseActuatorCfg, RobotCfg -from metasim.utils import configclass - - -@configclass -class Dexhand021LeftBaseCfg(RobotCfg): - """Base configuration for Dexhand021Left robot. - - This is a base configuration class that should be inherited by specific variants. - Auto-generated from URDF - customize actuator parameters and joint configurations as needed. - """ - - # Path resolution (resolved from config file location) - _cfg_dir = Path(__file__).parent - - name: str = "dexhand021_left" - fix_base_link: bool = False # Dexterous hands typically have free base - - # Model variant selection - model_variant: Literal["original", "collision_convex", "full_convex"] = "collision_convex" - """ - Select which model version to use for simulation: - - "original": Original mesh models (highest visual quality, slowest simulation) - - "collision_convex": Convex hull for collision, original for visual (balanced) - - "full_convex": Convex hull for all meshes (fastest simulation, lower visual quality) - """ - - def __post_init__(self): - super().__post_init__() - - # Compute paths based on model_variant - base_name = "dexhand021_left" - - if self.model_variant == "original": - self.urdf_path = str(self._cfg_dir / f"../urdf/{base_name}.urdf") - self.usd_path = str(self._cfg_dir / f"../usd/{base_name}.usd") - self.mjcf_path = str(self._cfg_dir / f"../mjcf/{base_name}.xml") - elif self.model_variant == "collision_convex": - self.urdf_path = str(self._cfg_dir / f"../urdf/{base_name}_collision.urdf") - self.usd_path = str(self._cfg_dir / f"../usd/{base_name}_collision.usd") - self.mjcf_path = str(self._cfg_dir / f"../mjcf/{base_name}_collision.xml") - elif self.model_variant == "full_convex": - self.urdf_path = str(self._cfg_dir / f"../urdf/{base_name}_full_convex.urdf") - self.usd_path = str(self._cfg_dir / f"../usd/{base_name}_full_convex.usd") - self.mjcf_path = str(self._cfg_dir / f"../mjcf/{base_name}_full_convex.xml") - else: - raise ValueError(f"Invalid model_variant: {self.model_variant}") - - # Physical properties - enabled_gravity: bool = True - - # ==================== Actuator Configuration ==================== - actuators: dict[str, BaseActuatorCfg] = { - "ARTx": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0), # Default stiffness - "ARTy": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0), # Default stiffness - "ARTz": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0), # Default stiffness - "ARRx": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0), # Default stiffness - "ARRy": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0), # Default stiffness - "ARRz": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0), # Default stiffness - "l_f_joint1_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint1_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint1_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint1_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint2_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint2_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint2_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint2_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint3_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint3_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint3_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint3_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint4_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint4_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint4_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint4_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint5_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint5_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint5_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - "l_f_joint5_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5), - } - - # ==================== Joint Limits ==================== - joint_limits: dict[str, tuple[float, float]] = { - "ARTx": (-10.0, 10.0), - "ARTy": (-10.0, 10.0), - "ARTz": (-10.0, 10.0), - "ARRx": (-3.14159, 3.14159), - "ARRy": (-3.14159, 3.14159), - "ARRz": (-3.14159, 3.14159), - "l_f_joint1_1": (0.0, 2.2), - "l_f_joint1_2": (0.0, 1.3), - "l_f_joint1_3": (0.0, 1.3), - "l_f_joint1_4": (0.0, 1.3), - "l_f_joint2_1": (0.0, 0.6), - "l_f_joint2_2": (0.0, 1.3), - "l_f_joint2_3": (0.0, 1.3), - "l_f_joint2_4": (0.0, 1.3), - "l_f_joint3_1": (-0.001, 0.001), - "l_f_joint3_2": (0.0, 1.3), - "l_f_joint3_3": (0.0, 1.3), - "l_f_joint3_4": (0.0, 1.3), - "l_f_joint4_1": (0.0, 0.6), - "l_f_joint4_2": (0.0, 1.3), - "l_f_joint4_3": (0.0, 1.3), - "l_f_joint4_4": (0.0, 1.3), - "l_f_joint5_1": (0.0, 0.6), - "l_f_joint5_2": (0.0, 1.3), - "l_f_joint5_3": (0.0, 1.3), - "l_f_joint5_4": (0.0, 1.3), - } - - # ==================== Control Types ==================== - control_type: dict[str, Literal["position", "effort"]] = { - "ARTx": "position", # Default control type - "ARTy": "position", # Default control type - "ARTz": "position", # Default control type - "ARRx": "position", # Default control type - "ARRy": "position", # Default control type - "ARRz": "position", # Default control type - "l_f_joint1_1": "position", # Default control type - "l_f_joint1_2": "position", # Default control type - "l_f_joint1_3": "position", # Default control type - "l_f_joint1_4": "position", # Default control type - "l_f_joint2_1": "position", # Default control type - "l_f_joint2_2": "position", # Default control type - "l_f_joint2_3": "position", # Default control type - "l_f_joint2_4": "position", # Default control type - "l_f_joint3_1": "position", # Default control type - "l_f_joint3_2": "position", # Default control type - "l_f_joint3_3": "position", # Default control type - "l_f_joint3_4": "position", # Default control type - "l_f_joint4_1": "position", # Default control type - "l_f_joint4_2": "position", # Default control type - "l_f_joint4_3": "position", # Default control type - "l_f_joint4_4": "position", # Default control type - "l_f_joint5_1": "position", # Default control type - "l_f_joint5_2": "position", # Default control type - "l_f_joint5_3": "position", # Default control type - "l_f_joint5_4": "position", # Default control type - } - - # ==================== Default Joint Positions ==================== - default_joint_positions: dict[str, float] = { - "ARTx": 0.0, # Default position - "ARTy": 0.0, # Default position - "ARTz": 0.0, # Default position - "ARRx": 0.0, # Default position - "ARRy": 0.0, # Default position - "ARRz": 0.0, # Default position - "l_f_joint1_1": 0.0, # Default position - "l_f_joint1_2": 0.0, # Default position - "l_f_joint1_3": 0.0, # Default position - "l_f_joint1_4": 0.0, # Default position - "l_f_joint2_1": 0.0, # Default position - "l_f_joint2_2": 0.0, # Default position - "l_f_joint2_3": 0.0, # Default position - "l_f_joint2_4": 0.0, # Default position - "l_f_joint3_1": 0.0, # Default position - "l_f_joint3_2": 0.0, # Default position - "l_f_joint3_3": 0.0, # Default position - "l_f_joint3_4": 0.0, # Default position - "l_f_joint4_1": 0.0, # Default position - "l_f_joint4_2": 0.0, # Default position - "l_f_joint4_3": 0.0, # Default position - "l_f_joint4_4": 0.0, # Default position - "l_f_joint5_1": 0.0, # Default position - "l_f_joint5_2": 0.0, # Default position - "l_f_joint5_3": 0.0, # Default position - "l_f_joint5_4": 0.0, # Default position - } diff --git a/dexhand021_left/cfgs/dexhand021_left_cfg.py b/dexhand021_left/cfgs/dexhand021_left_cfg.py deleted file mode 100644 index f25eaec9f79f54cbd2ffdd20c252552b06e30351..0000000000000000000000000000000000000000 --- a/dexhand021_left/cfgs/dexhand021_left_cfg.py +++ /dev/null @@ -1,15 +0,0 @@ -from __future__ import annotations - -from dexhand021_left_base_cfg import Dexhand021LeftBaseCfg -from metasim.utils import configclass - - -@configclass -class Dexhand021LeftCfg(Dexhand021LeftBaseCfg): - """Configuration for DexHand021 Left Hand - Simplified version. - - Inherits from Dexhand021LeftBaseCfg. - Auto-generated configuration file. - """ - - # Override or extend base configuration here if needed diff --git 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