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254 | # Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates different legged robots.
.. code-block:: bash
# Usage
./isaaclab.sh -p source/standalone/demos/quadrupeds.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from omni.isaac.lab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates different legged robots.")
# 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 omni.isaac.core.utils.prims as prim_utils
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import Articulation
##
# Pre-defined configs
##
from omni.isaac.lab_assets.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG # isort:skip
from omni.isaac.lab_assets.spot import SPOT_CFG # isort:skip
from omni.isaac.lab_assets.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG # isort:skip
from omni.isaac.lab.assets.articulation import ArticulationCfg
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.actuators import ActuatorNetMLPCfg, DCMotorCfg, ImplicitActuatorCfg
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."""
from omni.isaac.lab.actuators import ActuatorBaseCfg
# Define Dynamixel servo configuration
DYNAMIXEL_SERVO_CFG = ActuatorBaseCfg(
joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"],
effort_limit=12.0, # Adjust based on the Dynamixel servo used
velocity_limit=5.0, # Adjust as needed
stiffness=1000.0, # Adjust for control stability
damping=500.0, # Adjust for better performance
friction=0.1, # Account for any friction if necessary
)
# Apply this configuration to the Akabeko robot
FABO_AKABEKO_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="E:/isaac_sim/isaac-sim-4.0.0/MyExtentions/MyTest/data/fabo_jetdog/fabo_jetdog.usd",
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
retain_accelerations=False,
linear_damping=0.0,
angular_damping=0.0,
max_linear_velocity=1000.0,
max_angular_velocity=1000.0,
max_depenetration_velocity=1.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.4),
joint_pos={
".*L_hip_joint": 0.1,
".*R_hip_joint": -0.1,
"F[L,R]_thigh_joint": 0.1,
"R[L,R]_thigh_joint": 0.1,
".*_calf_joint": -0.1,
},
joint_vel={".*": 0.0},
),
soft_joint_pos_limit_factor=0.9,
actuators={
"base_legs": DYNAMIXEL_SERVO_CFG, # Replace with Dynamixel config
},
)
"""Configuration of Unitree Go2 using DC-Motor actuator model."""
# 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=7, spacing=1.25)
# Origin 1 with Anymal B
prim_utils.create_prim("/World/Origin1", "Xform", translation=origins[0])
# -- Robot
anymal_b = Articulation(ANYMAL_B_CFG.replace(prim_path="/World/Origin1/Robot"))
# Origin 2 with Anymal C
prim_utils.create_prim("/World/Origin2", "Xform", translation=origins[1])
# -- Robot
anymal_c = Articulation(ANYMAL_C_CFG.replace(prim_path="/World/Origin2/Robot"))
# Origin 3 with Anymal D
prim_utils.create_prim("/World/Origin3", "Xform", translation=origins[2])
# -- Robot
anymal_d = Articulation(ANYMAL_D_CFG.replace(prim_path="/World/Origin3/Robot"))
# Origin 4 with Unitree A1
prim_utils.create_prim("/World/Origin4", "Xform", translation=origins[3])
# -- Robot
unitree_a1 = Articulation(UNITREE_A1_CFG.replace(prim_path="/World/Origin4/Robot"))
# Origin 5 with Unitree Go1
prim_utils.create_prim("/World/Origin5", "Xform", translation=origins[4])
# -- Robot
unitree_go1 = Articulation(UNITREE_GO1_CFG.replace(prim_path="/World/Origin5/Robot"))
# Origin 6 with Unitree Go2
prim_utils.create_prim("/World/Origin6", "Xform", translation=origins[5])
# -- Robot
unitree_go2 = Articulation(UNITREE_GO2_CFG.replace(prim_path="/World/Origin6/Robot"))
# Origin 7 with Boston Dynamics Spot
#prim_utils.create_prim("/World/Origin7", "Xform", translation=origins[6])
# -- Robot
#spot = Articulation(SPOT_CFG.replace(prim_path="/World/Origin7/Robot"))
# Origin 7 with Boston Dynamics Spot
prim_utils.create_prim("/World/Origin7", "Xform", translation=origins[6])
# -- Robot
akabeko = Articulation(FABO_AKABEKO_CFG.replace(prim_path="/World/Origin7/Robot"))
# return the scene information
scene_entities = {
"anymal_b": anymal_b,
"anymal_c": anymal_c,
"anymal_d": anymal_d,
"unitree_a1": unitree_a1,
"unitree_go1": unitree_go1,
"unitree_go2": unitree_go2,
#"spot": spot,
"akabeko": akabeko,
}
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
# Simulate physics
print(f"{entities}")
while simulation_app.is_running():
# reset
if count % 200 == 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_state_to_sim(root_state)
# 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...")
# apply default actions to the quadrupedal robots
for robot in entities.values():
# generate random joint positions
joint_pos_target = robot.data.default_joint_pos + torch.randn_like(robot.data.joint_pos) * 0.1
# 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 = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
# Set main camera
sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
# 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 function
main()
# close sim app
simulation_app.close()
|
