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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates how to use the scene interface to quickly setup a scene with multiple
articulated robots and sensors.
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates how to use the scene interface.")
parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
parser.add_argument("--num_envs", type=int, default=2, help="Number of environments to spawn.")
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(headless=args_cli.headless)
simulation_app = app_launcher.app
"""Rest everything follows."""
import isaaclab.sim as sim_utils
from isaaclab.assets import AssetBaseCfg
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.sensors.ray_caster import RayCasterCfg, patterns
from isaaclab.sim import SimulationContext
from isaaclab.terrains import TerrainImporterCfg
from isaaclab.utils import configclass
from isaaclab.utils.timer import Timer
##
# Pre-defined configs
##
from isaaclab_assets.robots.anymal import ANYMAL_C_CFG # isort: skip
@configclass
class MySceneCfg(InteractiveSceneCfg):
"""Example scene configuration."""
# terrain - flat terrain plane
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="plane",
)
# articulation - robot 1
robot_1 = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot_1")
# articulation - robot 2
robot_2 = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot_2")
robot_2.init_state.pos = (0.0, 1.0, 0.6)
# sensor - ray caster attached to the base of robot 1 that scans the ground
height_scanner = RayCasterCfg(
prim_path="{ENV_REGEX_NS}/Robot_1/base",
offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
ray_alignment="yaw",
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
debug_vis=True,
mesh_prim_paths=["/World/ground"],
)
# extras - light
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),
init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 500.0)),
)
def main():
"""Main function."""
# Load kit helper
sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
# Set main camera
sim.set_camera_view(eye=[5, 5, 5], target=[0.0, 0.0, 0.0])
# Spawn things into stage
with Timer("Setup scene"):
scene = InteractiveScene(MySceneCfg(num_envs=args_cli.num_envs, env_spacing=5.0, lazy_sensor_update=False))
# Check that parsing happened as expected
assert len(scene.env_prim_paths) == args_cli.num_envs, "Number of environments does not match."
assert scene.terrain is not None, "Terrain not found."
assert len(scene.articulations) == 2, "Number of robots does not match."
assert len(scene.sensors) == 1, "Number of sensors does not match."
assert len(scene.extras) == 1, "Number of extras does not match."
# Play the simulator
with Timer("Time taken to play the simulator"):
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# default joint targets
robot_1_actions = scene.articulations["robot_1"].data.default_joint_pos.clone()
robot_2_actions = scene.articulations["robot_2"].data.default_joint_pos.clone()
# Define simulation stepping
sim_dt = sim.get_physics_dt()
sim_time = 0.0
count = 0
# Simulate physics
while simulation_app.is_running():
# If simulation is stopped, then exit.
if sim.is_stopped():
break
# If simulation is paused, then skip.
if not sim.is_playing():
sim.step()
continue
# reset
if count % 50 == 0:
# reset counters
sim_time = 0.0
count = 0
# reset root state
root_state = scene.articulations["robot_1"].data.default_root_state.clone()
root_state[:, :3] += scene.env_origins
joint_pos = scene.articulations["robot_1"].data.default_joint_pos
joint_vel = scene.articulations["robot_1"].data.default_joint_vel
# -- set root state
# -- robot 1
scene.articulations["robot_1"].write_root_pose_to_sim(root_state[:, :7])
scene.articulations["robot_1"].write_root_velocity_to_sim(root_state[:, 7:])
scene.articulations["robot_1"].write_joint_state_to_sim(joint_pos, joint_vel)
# -- robot 2
root_state[:, 1] += 1.0
scene.articulations["robot_2"].write_root_pose_to_sim(root_state[:, :7])
scene.articulations["robot_2"].write_root_velocity_to_sim(root_state[:, 7:])
scene.articulations["robot_2"].write_joint_state_to_sim(joint_pos, joint_vel)
# reset buffers
scene.reset()
print(">>>>>>>> Reset!")
# perform this loop at policy control freq (50 Hz)
for _ in range(4):
# set joint targets
scene.articulations["robot_1"].set_joint_position_target(robot_1_actions)
scene.articulations["robot_2"].set_joint_position_target(robot_2_actions)
# write data to sim
scene.write_data_to_sim()
# perform step
sim.step()
# read data from sim
scene.update(sim_dt)
# update sim-time
sim_time += sim_dt * 4
count += 1
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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