Fixes teleop G1 with Inspire hand issues

[yami007007]

Description

Fix: teleop G1 with Inspire hand (PR #3242), modifications includes:

• Correct the USD asset path of G1_INSPIRE_FTP_CFG
• Increase arm damping for stability using the new pink_ik wrapper

Type of change

• Bug fix (non-breaking change which fixes an issue)

Screenshots

• Only modified the unitree.py file.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[Mayankm96]

What does FTP stand for?

[yami007007]

FTP is a product line of Inspire's dexterous hands, which we use in our task (the name "FTP" likely originates from "Force/Torque/Position").

[ooctipus]

Thanks for the PR, :))

It will be nice if you can let user know what is FTP
how is this config differs from the g1_29dof_inspire_hand
and where are the reference of stiffness, damping, effort_limit, velocity limit coming from?
is it test empirically? or is it got from unitree spec? or is it tuned for simulation, this will make everyone who uses this know what is the right expectation when using this articulation.

[yami007007]

Thanks for the PR, :))

It will be nice if you can let user know what is FTP how is this config differs from the g1_29dof_inspire_hand and where are the reference of stiffness, damping, effort_limit, velocity limit coming from? is it test empirically? or is it got from unitree spec? or is it tuned for simulation, this will make everyone who uses this know what is the right expectation when using this articulation.

FTP is a product line of Inspire's dexterous hands, which we use in our task (the name "FTP" likely originates from "Force/Torque/Position").
I copied the stiffness, damping, effort_limit, and velocity_limit settings from G1_29DOF_CFG and tuned them for my use case. For example:

1. The arm's movement was unstable, so I increased the damping for better stability.
2. The original PD settings for the hand made it too inflexible, so I reduced the parameters to improve flexibility when grasping objects.

[ooctipus]

nice!!
then I would say put this in the comment or docstring of this ArticulationCfg that will be very nice!!
you can attach the link to settings from G1_29DOF_CFG, and mention how you tuned to achieve what result

[yami007007]

nice!! then I would say put this in the comment or docstring of this ArticulationCfg that will be very nice!! you can attach the link to settings from G1_29DOF_CFG, and mention how you tuned to achieve what result

Thanks. Added the comments of how to tune these PD settings for better stability in grasping task.