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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 | # 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 use the ray-caster sensor.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/tutorials/04_sensors/run_ray_caster.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Ray Caster Test Script")
# 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 RigidObject, RigidObjectCfg
from isaaclab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
from isaaclab.utils.timer import Timer
def define_sensor() -> RayCaster:
"""Defines the ray-caster sensor to add to the scene."""
# Create a ray-caster sensor
ray_caster_cfg = RayCasterCfg(
prim_path="/World/Origin.*/ball",
mesh_prim_paths=["/World/ground"],
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=(2.0, 2.0)),
ray_alignment="yaw",
debug_vis=not args_cli.headless,
)
ray_caster = RayCaster(cfg=ray_caster_cfg)
return ray_caster
def design_scene() -> dict:
"""Design the scene."""
# Populate scene
# -- Rough terrain
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd")
cfg.func("/World/ground", cfg)
# -- Light
cfg = sim_utils.DistantLightCfg(intensity=2000)
cfg.func("/World/light", cfg)
# Create separate groups called "Origin1", "Origin2", "Origin3"
# Each group will have a robot in it
origins = [[0.25, 0.25, 0.0], [-0.25, 0.25, 0.0], [0.25, -0.25, 0.0], [-0.25, -0.25, 0.0]]
for i, origin in enumerate(origins):
sim_utils.create_prim(f"/World/Origin{i}", "Xform", translation=origin)
# -- Balls
cfg = RigidObjectCfg(
prim_path="/World/Origin.*/ball",
spawn=sim_utils.SphereCfg(
radius=0.25,
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
collision_props=sim_utils.CollisionPropertiesCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
),
)
balls = RigidObject(cfg)
# -- Sensors
ray_caster = define_sensor()
# return the scene information
scene_entities = {"balls": balls, "ray_caster": ray_caster}
return scene_entities
def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
"""Run the simulator."""
# Extract scene_entities for simplified notation
ray_caster: RayCaster = scene_entities["ray_caster"]
balls: RigidObject = scene_entities["balls"]
# define an initial position of the sensor
ball_default_state = balls.data.default_root_state.clone()
ball_default_state[:, :3] = torch.rand_like(ball_default_state[:, :3]) * 10
# Create a counter for resetting the scene
step_count = 0
# Simulate physics
while simulation_app.is_running():
# Reset the scene
if step_count % 250 == 0:
# reset the balls
balls.write_root_pose_to_sim(ball_default_state[:, :7])
balls.write_root_velocity_to_sim(ball_default_state[:, 7:])
# reset the sensor
ray_caster.reset()
# reset the counter
step_count = 0
# Step simulation
sim.step()
# Update the ray-caster
with Timer(
f"Ray-caster update with {4} x {ray_caster.num_rays} rays with max height of"
f" {torch.max(ray_caster.data.pos_w).item():.2f}"
):
ray_caster.update(dt=sim.get_physics_dt(), force_recompute=True)
# Update counter
step_count += 1
def main():
"""Main function."""
# Load simulation context
sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([0.0, 15.0, 15.0], [0.0, 0.0, -2.5])
# Design scene
scene_entities = design_scene()
# Play simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run simulator
run_simulator(sim=sim, scene_entities=scene_entities)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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