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赤ベコRL モデル
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赤ベコRL(SIM)
Preview
ソースコード
diff --git a/akabeko/model_lab.html b/akabeko/model_lab.html
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+Preview
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+起動コマンド
+ | ./isaaclab.bat -p source/standalone/demos/quadrupeds.py
+
|
ソースコード(quadrureds.py)
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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()
+
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Config関連
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diff --git a/asset/drum_red.html b/asset/drum_red.html
index f4e3ab5..d934f04 100644
--- a/asset/drum_red.html
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diff --git a/fusion360/urdf.html b/fusion360/urdf.html
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diff --git a/fusion360/usd.html b/fusion360/usd.html
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diff --git a/groundplate/plate.html b/groundplate/plate.html
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diff --git a/groundplate/plate_texture.html b/groundplate/plate_texture.html
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diff --git a/human/worker.html b/human/worker.html
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diff --git a/humanoid/h1.html b/humanoid/h1.html
index 1b9e332..ab850fd 100644
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+++ b/humanoid/h1.html
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diff --git a/humanoid/h1_move.html b/humanoid/h1_move.html
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diff --git a/index.html b/index.html
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diff --git a/lab/arms.html b/lab/arms.html
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diff --git a/lab/bipeds.html b/lab/bipeds.html
index 094cad1..8467a55 100644
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diff --git a/lab/cameras.html b/lab/cameras.html
index f1dc4f2..b8333d4 100644
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diff --git a/lab/deformables.html b/lab/deformables.html
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diff --git a/lab/hands.html b/lab/hands.html
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diff --git a/lab/quadcopter.html b/lab/quadcopter.html
index 85e6582..4f25fe9 100644
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diff --git a/lab/quadrureds.html b/lab/quadrureds.html
index 41ad6ea..ed7c80a 100644
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diff --git a/object/cube.html b/object/cube.html
index 7166f58..fbdc9c5 100644
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diff --git a/object/cube_red.html b/object/cube_red.html
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diff --git a/object/cube_rigid.html b/object/cube_rigid.html
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+ 赤ベコRL(Lab)
diff --git a/object/cube_trans.html b/object/cube_trans.html
index ead5acd..c2a65ef 100644
--- a/object/cube_trans.html
+++ b/object/cube_trans.html
@@ -1059,7 +1059,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
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+
+
+ 赤ベコRL(Lab)
diff --git a/quadruped/go2.html b/quadruped/go2.html
index 5daf3f4..2c680f9 100644
--- a/quadruped/go2.html
+++ b/quadruped/go2.html
@@ -1066,7 +1066,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
+
+
+
+
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+
+
+
+ 赤ベコRL(Lab)
diff --git a/quadruped/go2_move.html b/quadruped/go2_move.html
index 2b4795a..511f359 100644
--- a/quadruped/go2_move.html
+++ b/quadruped/go2_move.html
@@ -1066,7 +1066,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
+
+
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+
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+
+
+ 赤ベコRL(Lab)
diff --git a/scene/scene_factory.html b/scene/scene_factory.html
index cc7c8b5..55252e9 100644
--- a/scene/scene_factory.html
+++ b/scene/scene_factory.html
@@ -1059,7 +1059,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
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+
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+
+
+
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+
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+
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+ 赤ベコRL(Lab)
diff --git a/scene/scene_grid.html b/scene/scene_grid.html
index df37e2f..a84cd56 100644
--- a/scene/scene_grid.html
+++ b/scene/scene_grid.html
@@ -1059,7 +1059,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
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+
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+
+
+ 赤ベコRL(Lab)
diff --git a/scene/scene_grid_black.html b/scene/scene_grid_black.html
index 2fc12a5..de4f332 100644
--- a/scene/scene_grid_black.html
+++ b/scene/scene_grid_black.html
@@ -1059,7 +1059,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
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+
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+
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+
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+
+
+
+
+ 赤ベコRL(Lab)
diff --git a/scene/scene_room.html b/scene/scene_room.html
index dd09b7b..afa2a17 100644
--- a/scene/scene_room.html
+++ b/scene/scene_room.html
@@ -1059,7 +1059,21 @@
- 赤ベコRLモデル
+ 赤ベコRL(SIM)
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+ 赤ベコRL(Lab)
diff --git a/sitemap.xml b/sitemap.xml
index 2250734..045d7d2 100644
--- a/sitemap.xml
+++ b/sitemap.xml
@@ -160,4 +160,9 @@
2024-09-09
daily
+
+ None
+ 2024-09-09
+ daily
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\ No newline at end of file
diff --git a/sitemap.xml.gz b/sitemap.xml.gz
index 357ea45..f68b668 100644
Binary files a/sitemap.xml.gz and b/sitemap.xml.gz differ
diff --git a/template/create.html b/template/create.html
index 7f808c6..1a927a3 100644
--- a/template/create.html
+++ b/template/create.html
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+ 赤ベコRL(SIM)
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+ 赤ベコRL(Lab)
diff --git a/template/template.html b/template/template.html
index cc92bc8..bdbe54c 100644
--- a/template/template.html
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@@ -1066,7 +1066,21 @@
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+ 赤ベコRL(SIM)
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