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120 | # Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates how to simulate bipedal robots.
.. code-block:: bash
# Usage
./isaaclab.sh -p source/standalone/demos/bipeds.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
import torch
from omni.isaac.lab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates how to simulate bipedal 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 omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import Articulation
from omni.isaac.lab.sim import SimulationContext
##
# Pre-defined configs
##
from omni.isaac.lab_assets.cassie import CASSIE_CFG # isort:skip
from omni.isaac.lab_assets import H1_CFG # isort:skip
from omni.isaac.lab_assets import G1_CFG # isort:skip
def main():
"""Main function."""
# Load kit helper
sim = SimulationContext(sim_utils.SimulationCfg(device="cpu", dt=0.01))
# Set main camera
sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
# 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)
origins = torch.tensor([
[0.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 2.0, 0.0],
])
# Robots
cassie = Articulation(CASSIE_CFG.replace(prim_path="/World/Cassie"))
h1 = Articulation(H1_CFG.replace(prim_path="/World/H1"))
g1 = Articulation(G1_CFG.replace(prim_path="/World/G1"))
robots = [cassie, h1, g1]
# Play the simulator
sim.reset()
# 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 % 200 == 0:
# reset counters
sim_time = 0.0
count = 0
for index, robot in enumerate(robots):
# 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)
root_state = robot.data.default_root_state.clone()
root_state[:, :3] += origins[index]
robot.write_root_state_to_sim(root_state)
robot.reset()
# reset command
print(">>>>>>>> Reset!")
# apply action to the robot
for robot in robots:
robot.set_joint_position_target(robot.data.default_joint_pos.clone())
robot.write_data_to_sim()
# perform step
sim.step()
# update sim-time
sim_time += sim_dt
count += 1
# update buffers
for robot in robots:
robot.update(sim_dt)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
|
