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support MuJoCo sim2sim;

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refactor resource files structure;
update readme;
This commit is contained in:
wertyuilife
2026-03-25 17:39:51 +08:00
parent d946c689da
commit d6a9c5949a
35 changed files with 761823 additions and 5 deletions
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2
source/robot_lab/robot_lab/assets/__init__.py
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@@ -19,7 +19,7 @@ import toml
ISAACLAB_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../"))
"""Path to the extension source directory."""
ISAACLAB_ASSETS_DATA_DIR = os.path.join(ISAACLAB_ASSETS_EXT_DIR, "data")
ISAACLAB_ASSETS_DATA_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../../resources"))
"""Path to the extension data directory."""
ISAACLAB_ASSETS_METADATA = toml.load(os.path.join(ISAACLAB_ASSETS_EXT_DIR, "config", "extension.toml"))

2
source/robot_lab/robot_lab/assets/unitree.py
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@@ -20,7 +20,7 @@ UNITREE_GO2_CFG = ArticulationCfg(
fix_base=False,
merge_fixed_joints=True,
replace_cylinders_with_capsules=True,
asset_path=f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/unitree/go2_description/urdf/go2_description.urdf",
asset_path=f"{ISAACLAB_ASSETS_DATA_DIR}/go2/urdf/go2.urdf",
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,