File size: 4,354 Bytes
1e71a55 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | # Created by skywoodsz on 2026/01/28.
import argparse
import itertools
from isaaclab.app import AppLauncher
# create argparser
parser = argparse.ArgumentParser(description="View ATEC Robots.")
parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to spawn.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import isaaclab.sim as sim_utils
from isaaclab.assets import AssetBaseCfg
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from dataclasses import replace
from atec_rl_lab.assets.robots import (
UNITREE_B2_CFG,
UNITREE_B2_PIPER_CFG,
UNITREE_B2W_CFG,
UNITREE_B2W_PIPER_CFG,
TRON1A_WHEEL_CFG,
TRON1A_PIPER_CFG,
TRON2A_LEGGED_CFG,
TRON2A_WHEEL_CFG,
PIPER_CFG,
UNITREE_G1_29DOF_DEX1_CFG
)
class ATECSceneCfg(InteractiveSceneCfg):
ground = AssetBaseCfg(
prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg()
)
# lights
dome_light = AssetBaseCfg(
prim_path="/World/Light",
spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),
)
b2 = replace(UNITREE_B2_CFG, prim_path="{ENV_REGEX_NS}/b2")
b2w = replace(UNITREE_B2W_CFG, prim_path="{ENV_REGEX_NS}/b2w")
b2w.init_state.pos = (b2w.init_state.pos[0], b2w.init_state.pos[1] + 1.0, b2w.init_state.pos[2] + 0.166)
b2w_piper = replace(UNITREE_B2W_PIPER_CFG, prim_path="{ENV_REGEX_NS}/b2w_piper")
b2w_piper.init_state.pos = (b2w_piper.init_state.pos[0], b2w_piper.init_state.pos[1] + 2.0, b2w_piper.init_state.pos[2] + 0.166)
b2_piper = replace(UNITREE_B2_PIPER_CFG, prim_path="{ENV_REGEX_NS}/b2_piper")
b2_piper.init_state.pos = (b2_piper.init_state.pos[0], b2_piper.init_state.pos[1] + 3.0, b2_piper.init_state.pos[2] + 0.166)
tron1a = replace(TRON1A_WHEEL_CFG, prim_path="{ENV_REGEX_NS}/tron1a")
tron1a.init_state.pos = (tron1a.init_state.pos[0], tron1a.init_state.pos[1] + 4.0, tron1a.init_state.pos[2] + 0.166)
tron1a_piper = replace(TRON1A_PIPER_CFG, prim_path="{ENV_REGEX_NS}/tron1a_piper")
tron1a_piper.init_state.pos = (tron1a_piper.init_state.pos[0], tron1a_piper.init_state.pos[1] + 5.0, tron1a_piper.init_state.pos[2] + 0.166)
tron2a_legged = replace(TRON2A_LEGGED_CFG, prim_path="{ENV_REGEX_NS}/tron2a_legged")
tron2a_legged.init_state.pos = (tron2a_legged.init_state.pos[0], tron2a_legged.init_state.pos[1] + 6.0, tron2a_legged.init_state.pos[2] + 0.166)
tron2a_wheel = replace(TRON2A_WHEEL_CFG, prim_path="{ENV_REGEX_NS}/tron2a_wheel")
tron2a_wheel.init_state.pos = (tron2a_wheel.init_state.pos[0], tron2a_wheel.init_state.pos[1] + 7.0, tron2a_wheel.init_state.pos[2] + 0.166)
piper = replace(PIPER_CFG, prim_path="{ENV_REGEX_NS}/piper")
piper.init_state.pos = (piper.init_state.pos[0], piper.init_state.pos[1] + 8.0, piper.init_state.pos[2])
g1 = replace(UNITREE_G1_29DOF_DEX1_CFG, prim_path="{ENV_REGEX_NS}/g1")
g1.init_state.pos = (g1.init_state.pos[0], g1.init_state.pos[1] + 9.0, g1.init_state.pos[2])
def main():
# Initialize the simulation context
sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])
scene_cfg = ATECSceneCfg(
num_envs=args_cli.num_envs,
env_spacing=4.0,
replicate_physics=True
)
scene = InteractiveScene(scene_cfg)
# Play the simulator
sim.reset()
scene.reset()
for name, articulation in scene.articulations.items():
print("-"*100)
print("Robot name:", name)
print("Bodies:", articulation.num_bodies, "->", articulation.body_names)
print("Joints:", articulation.num_joints, "->", articulation.joint_names)
articulation.set_joint_position_target(articulation.data.default_joint_pos)
for i in itertools.count():
if not simulation_app.is_running():
break
scene.write_data_to_sim()
sim.step()
scene.update(sim.get_physics_dt())
if __name__ == "__main__":
main()
# close sim app
simulation_app.close()
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