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Robot-Feeding

Tags:
robotics
urdf
robot-model
isaac-gym
isaac-lab
wheeled-humanoid
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Upload robot_model_v2 URDF, meshes and USD

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  2. robot_model_v2/README.md +111 -0
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  19. robot_model_v2/meshes/base_link.STL +0 -0
  20. robot_model_v2/meshes/body.STL +3 -0
  21. robot_model_v2/meshes/chassis.STL +3 -0
  22. robot_model_v2/meshes/chassis_left_Link.STL +0 -0
  23. robot_model_v2/meshes/chassis_right_Link.STL +0 -0
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  25. robot_model_v2/meshes/head.STL +3 -0
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  27. robot_model_v2/meshes/waist_link1.stl +3 -0
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  30. robot_model_v2/meshes_isaaclab/meshes/AR5_P_L/AR5_5_07L_base.stl +3 -0
  31. robot_model_v2/meshes_isaaclab/meshes/AR5_P_L/AR5_5_07L_link1.stl +3 -0
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  36. robot_model_v2/meshes_isaaclab/meshes/AR5_P_L/AR5_5_07L_link6.stl +3 -0
  37. robot_model_v2/meshes_isaaclab/meshes/AR5_P_L/AR5_5_07L_link7.stl +3 -0
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  50. robot_model_v2/meshes_isaaclab/meshes/waist_link2.STL +3 -0
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robot_model_v2/README.md ADDED
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+ # robot_model_v2
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+
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+ 轮式人形机器人模型，包含底盘（含轮子几何）、腰部、胸部、颈部、头部及双臂（各 7 自由度）。
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+
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+ - **URDF**: `urdf/wheel_robot.urdf` — 26 links, 25 joints, 20 可动 DOF
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+ - **USD**: `usd/wheel_robot_lab.usd` — Isaac Lab 专用
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+ - **Meshes**: `meshes/` — STL 网格文件，`chassis.STL` 含轮子几何
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+
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+ ## 关节列表（20 DOF）
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+
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+ | 序号 | 关节名 | 类型 |
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+ |------|--------|------|
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+ | 1 | waist_link1 | revolute |
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+ | 2 | waist_link2 | revolute |
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+ | 3 | waist_link3 | revolute |
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+ | 4 | chest_joint | revolute |
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+ | 5–11 | AR5-5_07L_joint_1~7 | revolute（左臂） |
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+ | 12 | neck_joint | revolute |
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+ | 13 | head_joint | revolute |
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+ | 14–20 | AR5-5_07R_joint_1~7 | revolute（右臂） |
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+
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+ ## 环境
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+
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+ | 环境 | 用途 |
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+ |------|------|
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+ | `gym` | Isaac Gym 可视化 |
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+ | `sim4` | Isaac Lab 可视化 |
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+
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+ 所有命令在 `/home/dyz/feast` 目录下执行。
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+
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+ ---
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+
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+ ## Isaac Gym 可视化
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+
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+ ```bash
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+ conda activate gym
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+ ```
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+
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+ ### 交互式查看（带 viewer）
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+
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+ ```bash
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+ python robot_model_v2/isaacgym_visualize.py
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+ ```
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+
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+ ### 动画录制（依次展示每个关节）
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+
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+ ```bash
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+ python robot_model_v2/isaacgym_visualize.py \
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+ --headless --animate --motion-mode sequential \
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+ --duration 33 --fps 30 \
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+ --save-frames-dir /tmp/igym_frames
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+
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+ ffmpeg -y -framerate 30 \
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+ -i /tmp/igym_frames/frame_%04d.png \
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+ -c:v libx264 -pix_fmt yuv420p \
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+ robot_model_v2/isaacgym_animation.mp4
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+ ```
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+
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+ ### 同步动画（所有关节同时运动）
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+
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+ ```bash
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+ python robot_model_v2/isaacgym_visualize.py \
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+ --headless --animate --motion-mode synchronized \
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+ --duration 6 --fps 30 \
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+ --save-frames-dir /tmp/igym_frames
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+
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+ ffmpeg -y -framerate 30 \
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+ -i /tmp/igym_frames/frame_%04d.png \
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+ -c:v libx264 -pix_fmt yuv420p \
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+ robot_model_v2/isaacgym_animation.mp4
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+ ```
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+
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+ ---
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+
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+ ## Isaac Lab 可视化
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+
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+ ```bash
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+ conda activate sim4
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+ ```
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+
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+ ### 动画录制（依次展示每个关节）
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+
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+ ```bash
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+ python robot_model_v2/isaaclab_record_demo.py \
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+ robot_model_v2/usd/wheel_robot_lab.usd \
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+ --headless --enable_cameras \
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+ --motion-mode sequential \
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+ --duration 20 --fps 24 \
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+ --frames-dir /tmp/ilab_frames
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+
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+ ffmpeg -y -framerate 24 \
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+ -i /tmp/ilab_frames/frame_%04d.png \
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+ -c:v libx264 -pix_fmt yuv420p \
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+ robot_model_v2/isaaclab_animation.mp4
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+ ```
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+
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+ ### 同步动画
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+
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+ ```bash
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+ python robot_model_v2/isaaclab_record_demo.py \
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+ robot_model_v2/usd/wheel_robot_lab.usd \
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+ --headless --enable_cameras \
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+ --motion-mode synchronized \
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+ --duration 4 --fps 24 \
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+ --frames-dir /tmp/ilab_frames
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+
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+ ffmpeg -y -framerate 24 \
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+ -i /tmp/ilab_frames/frame_%04d.png \
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+ -c:v libx264 -pix_fmt yuv420p \
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+ robot_model_v2/isaaclab_animation.mp4
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+ ```
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