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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 | # 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
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(
description="This script demonstrates adding a custom robot to an Isaac Lab environment."
)
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
import numpy as np
import torch
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets import AssetBaseCfg
from isaaclab.assets.articulation import ArticulationCfg
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
JETBOT_CONFIG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/NVIDIA/Jetbot/jetbot.usd"),
actuators={"wheel_acts": ImplicitActuatorCfg(joint_names_expr=[".*"], damping=None, stiffness=None)},
)
DOFBOT_CONFIG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Yahboom/Dofbot/dofbot.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=5.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
),
),
init_state=ArticulationCfg.InitialStateCfg(
joint_pos={
"joint1": 0.0,
"joint2": 0.0,
"joint3": 0.0,
"joint4": 0.0,
},
pos=(0.25, -0.25, 0.0),
),
actuators={
"front_joints": ImplicitActuatorCfg(
joint_names_expr=["joint[1-2]"],
effort_limit_sim=100.0,
velocity_limit_sim=100.0,
stiffness=10000.0,
damping=100.0,
),
"joint3_act": ImplicitActuatorCfg(
joint_names_expr=["joint3"],
effort_limit_sim=100.0,
velocity_limit_sim=100.0,
stiffness=10000.0,
damping=100.0,
),
"joint4_act": ImplicitActuatorCfg(
joint_names_expr=["joint4"],
effort_limit_sim=100.0,
velocity_limit_sim=100.0,
stiffness=10000.0,
damping=100.0,
),
},
)
class NewRobotsSceneCfg(InteractiveSceneCfg):
"""Designs the scene."""
# 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))
)
# robot
Jetbot = JETBOT_CONFIG.replace(prim_path="{ENV_REGEX_NS}/Jetbot")
Dofbot = DOFBOT_CONFIG.replace(prim_path="{ENV_REGEX_NS}/Dofbot")
def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
sim_dt = sim.get_physics_dt()
sim_time = 0.0
count = 0
while simulation_app.is_running():
# reset
if count % 500 == 0:
# reset counters
count = 0
# reset the scene entities to their initial positions offset by the environment origins
root_jetbot_state = scene["Jetbot"].data.default_root_state.clone()
root_jetbot_state[:, :3] += scene.env_origins
root_dofbot_state = scene["Dofbot"].data.default_root_state.clone()
root_dofbot_state[:, :3] += scene.env_origins
# copy the default root state to the sim for the jetbot's orientation and velocity
scene["Jetbot"].write_root_pose_to_sim(root_jetbot_state[:, :7])
scene["Jetbot"].write_root_velocity_to_sim(root_jetbot_state[:, 7:])
scene["Dofbot"].write_root_pose_to_sim(root_dofbot_state[:, :7])
scene["Dofbot"].write_root_velocity_to_sim(root_dofbot_state[:, 7:])
# copy the default joint states to the sim
joint_pos, joint_vel = (
scene["Jetbot"].data.default_joint_pos.clone(),
scene["Jetbot"].data.default_joint_vel.clone(),
)
scene["Jetbot"].write_joint_state_to_sim(joint_pos, joint_vel)
joint_pos, joint_vel = (
scene["Dofbot"].data.default_joint_pos.clone(),
scene["Dofbot"].data.default_joint_vel.clone(),
)
scene["Dofbot"].write_joint_state_to_sim(joint_pos, joint_vel)
# clear internal buffers
scene.reset()
print("[INFO]: Resetting Jetbot and Dofbot state...")
# drive around
if count % 100 < 75:
# Drive straight by setting equal wheel velocities
action = torch.Tensor([[10.0, 10.0]])
else:
# Turn by applying different velocities
action = torch.Tensor([[5.0, -5.0]])
scene["Jetbot"].set_joint_velocity_target(action)
# wave
wave_action = scene["Dofbot"].data.default_joint_pos
wave_action[:, 0:4] = 0.25 * np.sin(2 * np.pi * 0.5 * sim_time)
scene["Dofbot"].set_joint_position_target(wave_action)
scene.write_data_to_sim()
sim.step()
sim_time += sim_dt
count += 1
scene.update(sim_dt)
def main():
"""Main function."""
# Initialize the simulation context
sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
sim.set_camera_view([3.5, 0.0, 3.2], [0.0, 0.0, 0.5])
# Design scene
scene_cfg = NewRobotsSceneCfg(args_cli.num_envs, env_spacing=2.0)
scene = InteractiveScene(scene_cfg)
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run the simulator
run_simulator(sim, scene)
if __name__ == "__main__":
main()
simulation_app.close()
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