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配置文件说明

VitAI SDK使用YAML格式配置仿真场景。

YAML配置结构​

# configs/uipc_scene.yaml

# 全局配置
output_dir: "~/.vitai"
asset_dir: "assets/data"

# 调试可视化
debug_vis:
  show_fem_mesh: false           # UIPC FEM网格（橙色线框）
  show_attachments: false        # Gelpad约束连线
  show_sensor_windows: true      # 传感器窗口（总开关）
  show_gelpad_marker: false      # Gelpad标记点
  show_tactile_image: false      # 触觉RGB图像窗口
  show_marker_image: true        # 标记点运动窗口
  show_camera_depth_image: true  # 深度图窗口

# UIPC仿真
uipc_sim:
  ground_height: 0.0025
  gravity: [0.0, 0.0, -9.8]
  contact:
    d_hat: 0.001
    enable: true

# UIPC对象（刚体/可变形体）
objects:
  pot_msh_rigid:
    type: rigid
    prim_path: "/World/envs/env_.*/pot_msh_rigid"
    init_state:
      pos: [0.7, -0.25, 0.02]
      rot: [1, 0, 0, 0]
    spawn:
      msh_path: "objects/mshes/pot.msh"
      scale: [1, 1, 1]
    constitution_cfg:
      type: "AffineBody"      # 刚体本构
      m_kappa: 1000000.0

  ball_deformable:
    type: deformable
    prim_path: "/World/envs/env_.*/ball"
    # ...
    constitution_cfg:
      type: "StableNeoHookean"  # 超弹性材料
      youngs_modulus: 0.5
      poisson_rate: 0.45

# 触觉传感器
tactile_sensors:
  left:
    gelpad:
      prim_path: "/World/envs/env_.*/Robot/Gripper/gripper_gf225/gelpad_0"
      mesh_cfg:
        edge_length_r: 0.05   # 网格细化（1/20）
      constitution_cfg:
        youngs_modulus: 1
        poisson_rate: 0.49
      constraint_cfg:
        constraint_strength_ratio: 500000.0
        body_name: "finger_case_0"  # ⚠️ Isaac Sim刚体名称
        isaaclab_rigid_body_prim_path: "/World/envs/env_.*/Robot/Gripper/gripper_gf225"
        compute_attachment_data: true
    
    sensor:
      type: gf225
      prim_path: "/World/envs/env_.*/Robot/Gripper/gripper_gf225/finger_case_0"  # ⚠️ 与body_name对应
      device: "cuda"
      sensor_camera_cfg:
        resolution: [480, 480]
        data_types: ["depth", "rgb"]
        clipping_range: [0.005, 0.014]  # 深度裁剪范围（米）
      data_types: [camera_depth, marker_motion]
      debug_vis: true
  
  right:  # 右侧传感器类似，注意_0改为_1
    gelpad:
      prim_path: "/World/envs/env_.*/Robot/Gripper/gripper_gf225/gelpad_1"
      constraint_cfg:
        body_name: "finger_case_1"  # ⚠️ 注意后缀_1
      # ...
    sensor:
      prim_path: "/World/envs/env_.*/Robot/Gripper/gripper_gf225/finger_case_1"  # ⚠️ 与body_name对应
      # ...

关键配置参数​

⚠️ Prim路径映射关系​

GF225传感器必须与Isaac Sim World中的Prim正确映射：

配置项说明示例
gelpad.prim_pathUIPC Gelpad路径gelpad_0 / gelpad_1
constraint_cfg.body_nameIsaac Sim刚体名称finger_case_0 / finger_case_1
sensor.prim_path传感器挂载路径必须与body_name对应

左右传感器：body_name和sensor.prim_path后缀必须匹配（_0 vs _1）。

Gelpad参数​

参数说明推荐值
edge_length_r网格细化（越小越细）0.05
youngs_modulus杨氏模量（MPa）1.0
poisson_rate泊松比0.49
constraint_strength_ratio约束强度500000.0

Sensor参数​

参数说明推荐值
resolution相机分辨率[480, 480]
clipping_range深度范围（米）[0.005, 0.014]
data_types数据类型[camera_depth, marker_motion]

对象类型​

类型本构模型适用场景
rigidAffineBody刚性物体（杯子、盖子）
deformableStableNeoHookean软体（球、海绵）

配置示例​

添加新刚体对象​

objects:
  my_object:
    type: rigid
    prim_path: "/World/envs/env_.*/my_object"
    init_state:
      pos: [0.5, 0, 0.1]
      rot: [1, 0, 0, 0]
    spawn:
      msh_path: "objects/mshes/my_object.msh"
      scale: [1, 1, 1]
    constitution_cfg:
      type: "AffineBody"
      m_kappa: 1000000.0

添加可变形对象​

objects:
  soft_ball:
    type: deformable
    prim_path: "/World/envs/env_.*/soft_ball"
    init_state:
      pos: [0.5, 0, 0.2]
      rot: [1, 0, 0, 0]
    spawn:
      msh_path: "objects/mshes/ball.msh"
      scale: [1, 1, 1]
    constitution_cfg:
      type: "StableNeoHookean"
      youngs_modulus: 0.5
      poisson_rate: 0.45