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406662d | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Script to benchmark loading multiple copies of a robot.
.. code-block python
./isaaclab.sh -p scripts/benchmarks/benchmark_load_robot.py --num_envs 2048 --robot g1 --headless
"""
"""Launch Isaac Sim Simulator first."""
import argparse
import time
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Benchmark loading different robots.")
parser.add_argument("--num_envs", type=int, default=32, help="Number of robots to simulate.")
parser.add_argument(
"--robot",
type=str,
choices=["anymal_d", "h1", "g1"],
default="h1",
help="Choose which robot to load: anymal_d, h1, or g1.",
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli, _ = parser.parse_known_args()
# Start the timer for app start
app_start_time_begin = time.perf_counter_ns()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
# End the timer for app start
app_start_time_end = time.perf_counter_ns()
print(f"[INFO]: App start time: {(app_start_time_end - app_start_time_begin) / 1e6:.2f} ms")
"""Rest everything follows."""
# Start the timer for imports
imports_time_begin = time.perf_counter_ns()
import torch
import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.sim import SimulationContext
from isaaclab.utils import configclass
##
# Pre-defined configs
##
from isaaclab_assets import ANYMAL_D_CFG, G1_MINIMAL_CFG, H1_MINIMAL_CFG # isort:skip
# Stop the timer for imports
imports_time_end = time.perf_counter_ns()
print(f"[INFO]: Imports time: {(imports_time_end - imports_time_begin) / 1e6:.2f} ms")
@configclass
class RobotSceneCfg(InteractiveSceneCfg):
"""Configuration for a simple scene with a robot."""
# ground plane
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))
)
# articulation
if args_cli.robot == "h1":
robot: ArticulationCfg = H1_MINIMAL_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
elif args_cli.robot == "g1":
robot: ArticulationCfg = G1_MINIMAL_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
elif args_cli.robot == "anymal_d":
robot: ArticulationCfg = ANYMAL_D_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
else:
raise ValueError(f"Unsupported robot type: {args_cli.robot}.")
def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
"""Runs the simulation loop."""
# Extract scene entities
# note: we only do this here for readability.
robot = scene["robot"]
# Define simulation stepping
sim_dt = sim.get_physics_dt()
# Start the timer for creating the scene
step_time_begin = time.perf_counter_ns()
num_steps = 2000
# Simulation loop
for count in range(num_steps):
# Reset
if count % 500 == 0:
# reset the scene entities
# root state
# we offset the root state by the origin since the states are written in simulation world frame
# if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world
root_state = robot.data.default_root_state.clone()
root_state[:, :3] += scene.env_origins
robot.write_root_pose_to_sim(root_state[:, :7])
robot.write_root_velocity_to_sim(root_state[:, 7:])
# set joint positions with some noise
joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()
joint_pos += torch.rand_like(joint_pos) * 0.1
robot.write_joint_state_to_sim(joint_pos, joint_vel)
# clear internal buffers
scene.reset()
# Apply random action
# -- generate random joint efforts
efforts = torch.randn_like(robot.data.joint_pos) * 5.0
# -- apply action to the robot
robot.set_joint_effort_target(efforts)
# -- write data to sim
scene.write_data_to_sim()
# Perform step
sim.step()
# Update buffers
scene.update(sim_dt)
# Stop the timer for reset
step_time_end = time.perf_counter_ns()
print(f"[INFO]: Per step time: {(step_time_end - step_time_begin) / num_steps / 1e6:.2f} ms")
def main():
"""Main function."""
# Load kit helper
sim_cfg = sim_utils.SimulationCfg(device="cuda:0")
sim = SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])
# Start the timer for creating the scene
setup_time_begin = time.perf_counter_ns()
# Design scene
scene_cfg = RobotSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
scene = InteractiveScene(scene_cfg)
# Stop the timer for creating the scene
setup_time_end = time.perf_counter_ns()
print(f"[INFO]: Scene creation time: {(setup_time_end - setup_time_begin) / 1e6:.2f} ms")
# Start the timer for reset
reset_time_begin = time.perf_counter_ns()
# Play the simulator
sim.reset()
# Stop the timer for reset
reset_time_end = time.perf_counter_ns()
print(f"[INFO]: Sim start time: {(reset_time_end - reset_time_begin) / 1e6:.2f} ms")
# Run the simulator
run_simulator(sim, scene)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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