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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates different dexterous hands.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/demos/hands.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates different dexterous hands.")
# 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 numpy as np
import torch
import isaaclab.sim as sim_utils
from isaaclab.assets import Articulation
##
# Pre-defined configs
##
from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG # isort:skip
from isaaclab_assets.robots.shadow_hand import SHADOW_HAND_CFG # isort:skip
def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
"""Defines the origins of the the scene."""
# create tensor based on number of environments
env_origins = torch.zeros(num_origins, 3)
# create a grid of origins
num_cols = np.floor(np.sqrt(num_origins))
num_rows = np.ceil(num_origins / num_cols)
xx, yy = torch.meshgrid(torch.arange(num_rows), torch.arange(num_cols), indexing="xy")
env_origins[:, 0] = spacing * xx.flatten()[:num_origins] - spacing * (num_rows - 1) / 2
env_origins[:, 1] = spacing * yy.flatten()[:num_origins] - spacing * (num_cols - 1) / 2
env_origins[:, 2] = 0.0
# return the origins
return env_origins.tolist()
def design_scene() -> tuple[dict, list[list[float]]]:
"""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)
# Create separate groups called "Origin1", "Origin2", "Origin3"
# Each group will have a mount and a robot on top of it
origins = define_origins(num_origins=2, spacing=0.5)
# Origin 1 with Allegro Hand
sim_utils.create_prim("/World/Origin1", "Xform", translation=origins[0])
# -- Robot
allegro = Articulation(ALLEGRO_HAND_CFG.replace(prim_path="/World/Origin1/Robot"))
# Origin 2 with Shadow Hand
sim_utils.create_prim("/World/Origin2", "Xform", translation=origins[1])
# -- Robot
shadow_hand = Articulation(SHADOW_HAND_CFG.replace(prim_path="/World/Origin2/Robot"))
# return the scene information
scene_entities = {
"allegro": allegro,
"shadow_hand": shadow_hand,
}
return scene_entities, origins
def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articulation], origins: torch.Tensor):
"""Runs the simulation loop."""
# Define simulation stepping
sim_dt = sim.get_physics_dt()
sim_time = 0.0
count = 0
# Start with hand open
grasp_mode = 0
# Simulate physics
while simulation_app.is_running():
# reset
if count % 1000 == 0:
# reset counters
sim_time = 0.0
count = 0
# reset robots
for index, robot in enumerate(entities.values()):
# root state
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:])
# joint state
joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()
robot.write_joint_state_to_sim(joint_pos, joint_vel)
# reset the internal state
robot.reset()
print("[INFO]: Resetting robots state...")
# toggle grasp mode
if count % 100 == 0:
grasp_mode = 1 - grasp_mode
# apply default actions to the hands robots
for robot in entities.values():
# generate joint positions
joint_pos_target = robot.data.soft_joint_pos_limits[..., grasp_mode]
# apply action to the robot
robot.set_joint_position_target(joint_pos_target)
# write data to sim
robot.write_data_to_sim()
# perform step
sim.step()
# update sim-time
sim_time += sim_dt
count += 1
# update buffers
for robot in entities.values():
robot.update(sim_dt)
def main():
"""Main function."""
# 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(eye=[0.0, -0.5, 1.5], target=[0.0, -0.2, 0.5])
# design scene
scene_entities, scene_origins = design_scene()
scene_origins = torch.tensor(scene_origins, device=sim.device)
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run the simulator
run_simulator(sim, scene_entities, scene_origins)
if __name__ == "__main__":
# run the main execution
main()
# close sim app
simulation_app.close()
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