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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 | # 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
"""
This script demonstrates how to simulate bipedal robots.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/demos/bipeds.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates how to simulate bipedal robots.")
# 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 torch
import isaaclab.sim as sim_utils
from isaaclab.assets import Articulation
from isaaclab.sim import SimulationContext
##
# Pre-defined configs
##
from isaaclab_assets.robots.cassie import CASSIE_CFG # isort:skip
from isaaclab_assets import H1_CFG # isort:skip
from isaaclab_assets import G1_CFG # isort:skip
def design_scene(sim: sim_utils.SimulationContext) -> tuple[list, torch.Tensor]:
"""Designs the scene."""
# Ground-plane
cfg = sim_utils.GroundPlaneCfg()
cfg.func("/World/defaultGroundPlane", cfg)
# Lights
cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
cfg.func("/World/Light", cfg)
# Define origins
origins = torch.tensor(
[
[0.0, -1.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
]
).to(device=sim.device)
# Robots
cassie = Articulation(CASSIE_CFG.replace(prim_path="/World/Cassie"))
h1 = Articulation(H1_CFG.replace(prim_path="/World/H1"))
g1 = Articulation(G1_CFG.replace(prim_path="/World/G1"))
robots = [cassie, h1, g1]
return robots, origins
def run_simulator(sim: sim_utils.SimulationContext, robots: list[Articulation], origins: torch.Tensor):
"""Runs the simulation loop."""
# Define simulation stepping
sim_dt = sim.get_physics_dt()
sim_time = 0.0
count = 0
# Simulate physics
while simulation_app.is_running():
# reset
if count % 200 == 0:
# reset counters
sim_time = 0.0
count = 0
for index, robot in enumerate(robots):
# reset dof state
joint_pos, joint_vel = robot.data.default_joint_pos, robot.data.default_joint_vel
robot.write_joint_state_to_sim(joint_pos, joint_vel)
root_state = robot.data.default_root_state.clone()
root_state[:, :3] += origins[index]
robot.write_root_pose_to_sim(root_state[:, :7])
robot.write_root_velocity_to_sim(root_state[:, 7:])
robot.reset()
# reset command
print(">>>>>>>> Reset!")
# apply action to the robot
for robot in robots:
robot.set_joint_position_target(robot.data.default_joint_pos.clone())
robot.write_data_to_sim()
# perform step
sim.step()
# update sim-time
sim_time += sim_dt
count += 1
# update buffers
for robot in robots:
robot.update(sim_dt)
def main():
"""Main function."""
# Load kit helper
sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
sim = SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])
# design scene
robots, origins = design_scene(sim)
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run the simulator
run_simulator(sim, robots, origins)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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