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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 | # 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 a quadcopter.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/demos/quadcopter.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 a quadcopter.")
# 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 import CRAZYFLIE_CFG # isort:skip
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=[0.5, 0.5, 1.0], target=[0.0, 0.0, 0.5])
# Spawn things into stage
# Ground-plane
cfg = sim_utils.GroundPlaneCfg()
cfg.func("/World/defaultGroundPlane", cfg)
# Lights
cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
cfg.func("/World/Light", cfg)
# Robots
robot_cfg = CRAZYFLIE_CFG.replace(prim_path="/World/Crazyflie")
robot_cfg.spawn.func("/World/Crazyflie", robot_cfg.spawn, translation=robot_cfg.init_state.pos)
# create handles for the robots
robot = Articulation(robot_cfg)
# Play the simulator
sim.reset()
# Fetch relevant parameters to make the quadcopter hover in place
prop_body_ids = robot.find_bodies("m.*_prop")[0]
robot_mass = robot.root_physx_view.get_masses().sum()
gravity = torch.tensor(sim.cfg.gravity, device=sim.device).norm()
# Now we are ready!
print("[INFO]: Setup complete...")
# 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 % 2000 == 0:
# reset counters
sim_time = 0.0
count = 0
# 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)
robot.write_root_pose_to_sim(robot.data.default_root_state[:, :7])
robot.write_root_velocity_to_sim(robot.data.default_root_state[:, 7:])
robot.reset()
# reset command
print(">>>>>>>> Reset!")
# apply action to the robot (make the robot float in place)
forces = torch.zeros(robot.num_instances, 4, 3, device=sim.device)
torques = torch.zeros_like(forces)
forces[..., 2] = robot_mass * gravity / 4.0
robot.permanent_wrench_composer.set_forces_and_torques(
forces=forces,
torques=torques,
body_ids=prop_body_ids,
)
robot.write_data_to_sim()
# perform step
sim.step()
# update sim-time
sim_time += sim_dt
count += 1
# update buffers
robot.update(sim_dt)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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