Quadruped Robots [omni.isaac.quadruped]
Quadruped Controller
- class A1QPController(name: str, _simulate_dt: float, waypoint_pose=None)
[summary]
A1 QP controller as a layer.
An implementation of the QP controller[1]
References
- [1] Bledt, Gerardo, et al. “MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot.”
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018.
- advance(dt: float, measurement: omni.isaac.quadruped.utils.a1_classes.A1Measurement, path_follow=False, auto_start=True) numpy.array
[summary]
Perform torque command generation.
- Parameters
world. (dt {float} -- Timestep update in the) –
robot. (measurement {A1Measurement} -- Current measurement from) –
in (path_follow {bool} -- True if a waypoint is pathed) –
not (false if) –
automatically (auto_start {bool} -- True to start trotting after 1 second) –
pressed (False for start trotting after "Enter" is) –
- Returns
np.ndarray – The desired joint torques for the robot.
- ctrl_state_reset() None
[summary]
reset _ctrl_states and _ctrl_params to non-default values
- reset() numpy.ndarray
[summary]
Reset the ctrl states.
- set_target_command(base_command: Union[List[float], numpy.ndarray]) None
[summary]
Set target base velocity command from joystick
- Parameters
base_command{Union[List[float] –
robot (np.ndarray} -- velocity commands for the) –
- setup() None
[summary]
Reset the ctrl states.
- switch_mode()
[summary]
toggle between stationary/moving mode
- update(dt: float, measurement: omni.isaac.quadruped.utils.a1_classes.A1Measurement)
[summary]
Fill measurement into _ctrl_states :param dt {float} – Timestep update in the world.: :param measurement {A1Measurement} – Current measurement from robot.:
- class A1RobotControl
[summary]
The A1 robot controller This class uses A1CtrlStates to save data. The control joint torque is generated using a QP controller
- generate_ctrl(desired_states: omni.isaac.quadruped.utils.a1_desired_states.A1DesiredStates, input_states: omni.isaac.quadruped.utils.a1_ctrl_states.A1CtrlStates, input_params: omni.isaac.quadruped.utils.a1_ctrl_params.A1CtrlParams) None
[summary]
main function, generate foot ground reaction force using QP and calculate joint torques
- Parameters
states (input_states {A1CtrlStates} -- the control) –
states –
parameters (input_params {A1CtrlParams} -- the control) –
- update_plan(desired_states: omni.isaac.quadruped.utils.a1_desired_states.A1DesiredStates, input_states: omni.isaac.quadruped.utils.a1_ctrl_states.A1CtrlStates, input_params: omni.isaac.quadruped.utils.a1_ctrl_params.A1CtrlParams, dt: float) None
[summary]
update swing leg trajectory and several counters
- Parameters
states (input_states {A1CtrlStates} -- the control) –
states –
parameters (input_params {A1CtrlParams} -- the control) –
time-step. (dt {float} -- The simulation) –
Quadruped Robots
- class Anymal(prim_path: str, name: str = 'anymal', usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)
The ANYmal quadruped
- advance(dt, command)
[summary]
compute the desired torques and apply them to the articulation
Argument: dt {float} – Timestep update in the world. command {np.ndarray} – the robot command (v_x, v_y, w_z)
- apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) None
[summary]
- Parameters
control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.
- Raises
Exception – [description]
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
Used to apply visual material to the held prim and optionally its descendants.
- Parameters
visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.
- property articulation_handle: int
[summary]
- Returns
[description]
- Return type
int
- disable_gravity() None
Keep gravity from affecting the robot
- property dof_names: List[str]
List of prim names for each DOF.
- Returns
prim names
- Return type
list(string)
- property dof_properties: numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- enable_gravity() None
Gravity will affect the robot
- get_angular_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_applied_action() omni.isaac.core.utils.types.ArticulationAction
[summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
- get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the efforts applied to the joints
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
- Returns the current applied visual material in case it was applied using apply_visual_material OR
it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.
- Returns
the current applied visual material if its type is currently supported.
- Return type
- get_articulation_body_count() int
[summary]
- Returns
[description]
- Return type
int
- get_articulation_controller() omni.isaac.core.controllers.articulation_controller.ArticulationController
- Returns
PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.
- Return type
- get_default_state() omni.isaac.core.utils.types.XFormPrimState
- Returns
returns the default state of the prim (position and orientation) that is used after each reset.
- Return type
- get_dof_index(dof_name: str) int
[summary]
- Parameters
dof_name (str) – [description]
- Returns
[description]
- Return type
int
- get_enabled_self_collisions() bool
[summary]
- Returns
[description]
- Return type
bool
- get_joint_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joints_default_state() omni.isaac.core.utils.types.JointsState
Accessor for the default joints state.
- Returns
The defaults that the robot is reset to when post_reset() is called (often automatically called during world.reset()).
- Return type
- get_joints_state() omni.isaac.core.utils.types.JointsState
[summary]
- Returns
[description]
- Return type
- get_linear_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the local frame (the prim’s parent frame).
- Returns
- first index is position in the local frame of the prim. shape is (3, ).
second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_local_scale() numpy.ndarray
Gets prim’s scale with respect to the local frame (the parent’s frame).
- Returns
scale applied to the prim’s dimensions in the local frame. shape is (3, ).
- Return type
np.ndarray
- get_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Returns the dof efforts computed/measured by the physics solver
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the measured joint forces
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_sleep_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_solver_position_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_solver_velocity_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_stabilization_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the world’s frame.
- Returns
- first index is position in the world frame of the prim. shape is (3, ).
second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_world_scale() numpy.ndarray
Gets prim’s scale with respect to the world’s frame.
- Returns
scale applied to the prim’s dimensions in the world frame. shape is (3, ).
- Return type
np.ndarray
- property handles_initialized: bool
[summary]
- Returns
[description]
- Return type
bool
- initialize(physics_sim_view=None) None
[summary]
initialize the dc interface, set up drive mode
- is_valid() bool
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
- is_visual_material_applied() bool
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
_summary_
- Returns
_description_
- Return type
bool
- property num_dof: int
[summary]
- Returns
[description]
- Return type
int
- post_reset() None
[summary]
post reset articulation
- property prim: pxr.Usd.Prim
Returns: Usd.Prim: USD Prim object that this object holds.
- property prim_path: str
Returns: str: prim path in the stage.
- set_angular_velocity(velocity: numpy.ndarray) None
[summary]
- Parameters
velocity (np.ndarray) – [description]
- set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets the default state of the prim (position and orientation), that will be used after each reset.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_enabled_self_collisions(flag: bool) None
[summary]
- Parameters
flag (bool) – [description]
- set_joint_efforts(efforts: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
efforts (np.ndarray) – [description]
joint_indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_positions(positions: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
positions (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_velocities(velocities: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
velocities (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) None
[summary]
- Parameters
positions (Optional[np.ndarray], optional) – [description]. Defaults to None.
velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.
efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.
- set_linear_velocity(velocity: numpy.ndarray)
Sets the linear velocity of the prim in stage.
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the local frame (the prim’s parent frame).
- Parameters
translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_local_scale(scale: Optional[Sequence[float]]) None
Sets prim’s scale with respect to the local frame (the prim’s parent frame).
- Parameters
scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.
- set_sleep_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_solver_position_iteration_count(count: int) None
[summary]
- Parameters
count (int) – [description]
- set_solver_velocity_iteration_count(count: int)
[summary]
- Parameters
count (int) – [description]
- set_stabilization_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_visibility(visible: bool) None
Sets the visibility of the prim in stage.
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the world’s frame.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- class Unitree(prim_path: str, name: str = 'unitree_quadruped', physics_dt: Optional[float] = 0.0025, usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, model: Optional[str] = 'A1', way_points: Optional[numpy.ndarray] = None)
For unitree based quadrupeds (A1 or Go1)
- advance(dt, goal, path_follow=False, auto_start=True) numpy.ndarray
[summary]
compute desired torque and set articulation effort to robot joints
Argument: dt {float} – Timestep update in the world. goal {List[int]} – x velocity, y velocity, angular velocity, state switch path_follow {bool} – true for following coordinates, false for keyboard control auto_start {bool} – true for start trotting after 1 sec, false for start trotting after switch mode function is called
Returns: np.ndarray – The desired joint torques for the robot.
- apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) None
[summary]
- Parameters
control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.
- Raises
Exception – [description]
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
Used to apply visual material to the held prim and optionally its descendants.
- Parameters
visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.
- property articulation_handle: int
[summary]
- Returns
[description]
- Return type
int
- disable_gravity() None
Keep gravity from affecting the robot
- property dof_names: List[str]
List of prim names for each DOF.
- Returns
prim names
- Return type
list(string)
- property dof_properties: numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- enable_gravity() None
Gravity will affect the robot
- get_angular_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_applied_action() omni.isaac.core.utils.types.ArticulationAction
[summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
- get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the efforts applied to the joints
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
- Returns the current applied visual material in case it was applied using apply_visual_material OR
it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.
- Returns
the current applied visual material if its type is currently supported.
- Return type
- get_articulation_body_count() int
[summary]
- Returns
[description]
- Return type
int
- get_articulation_controller() omni.isaac.core.controllers.articulation_controller.ArticulationController
- Returns
PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.
- Return type
- get_default_state() omni.isaac.core.utils.types.XFormPrimState
- Returns
returns the default state of the prim (position and orientation) that is used after each reset.
- Return type
- get_dof_index(dof_name: str) int
[summary]
- Parameters
dof_name (str) – [description]
- Returns
[description]
- Return type
int
- get_enabled_self_collisions() bool
[summary]
- Returns
[description]
- Return type
bool
- get_joint_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joints_default_state() omni.isaac.core.utils.types.JointsState
Accessor for the default joints state.
- Returns
The defaults that the robot is reset to when post_reset() is called (often automatically called during world.reset()).
- Return type
- get_joints_state() omni.isaac.core.utils.types.JointsState
[summary]
- Returns
[description]
- Return type
- get_linear_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the local frame (the prim’s parent frame).
- Returns
- first index is position in the local frame of the prim. shape is (3, ).
second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_local_scale() numpy.ndarray
Gets prim’s scale with respect to the local frame (the parent’s frame).
- Returns
scale applied to the prim’s dimensions in the local frame. shape is (3, ).
- Return type
np.ndarray
- get_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Returns the dof efforts computed/measured by the physics solver
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the measured joint forces
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_sleep_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_solver_position_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_solver_velocity_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_stabilization_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the world’s frame.
- Returns
- first index is position in the world frame of the prim. shape is (3, ).
second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_world_scale() numpy.ndarray
Gets prim’s scale with respect to the world’s frame.
- Returns
scale applied to the prim’s dimensions in the world frame. shape is (3, ).
- Return type
np.ndarray
- property handles_initialized: bool
[summary]
- Returns
[description]
- Return type
bool
- initialize(physics_sim_view=None) None
[summary]
initialize dc interface, set up drive mode and initial robot state
- is_valid() bool
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
- is_visual_material_applied() bool
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
_summary_
- Returns
_description_
- Return type
bool
- property num_dof: int
[summary]
- Returns
[description]
- Return type
int
- post_reset() None
[summary]
post reset articulation and qp_controller
- property prim: pxr.Usd.Prim
Returns: Usd.Prim: USD Prim object that this object holds.
- property prim_path: str
Returns: str: prim path in the stage.
- set_angular_velocity(velocity: numpy.ndarray) None
[summary]
- Parameters
velocity (np.ndarray) – [description]
- set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets the default state of the prim (position and orientation), that will be used after each reset.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_enabled_self_collisions(flag: bool) None
[summary]
- Parameters
flag (bool) – [description]
- set_joint_efforts(efforts: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
efforts (np.ndarray) – [description]
joint_indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_positions(positions: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
positions (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_velocities(velocities: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
velocities (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) None
[summary]
- Parameters
positions (Optional[np.ndarray], optional) – [description]. Defaults to None.
velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.
efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.
- set_linear_velocity(velocity: numpy.ndarray)
Sets the linear velocity of the prim in stage.
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the local frame (the prim’s parent frame).
- Parameters
translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_local_scale(scale: Optional[Sequence[float]]) None
Sets prim’s scale with respect to the local frame (the prim’s parent frame).
- Parameters
scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.
- set_sleep_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_solver_position_iteration_count(count: int) None
[summary]
- Parameters
count (int) – [description]
- set_solver_velocity_iteration_count(count: int)
[summary]
- Parameters
count (int) – [description]
- set_stabilization_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_state(state: omni.isaac.quadruped.utils.a1_classes.A1State) None
[Summary]
Set the kinematic state of the robot.
- Parameters
set. (state {A1State} -- The state of the robot to) –
- Raises
RuntimeError – When the DC Toolbox interface has not been configured.
- set_visibility(visible: bool) None
Sets the visibility of the prim in stage.
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the world’s frame.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- update() None
[summary]
update robot sensor variables, state variables in A1Measurement
- update_contact_sensor_data() None
[summary]
Updates processed contact sensor data from the robot feets, store them in member variable foot_force
- update_imu_sensor_data() None
[summary]
Updates processed imu sensor data from the robot body, store them in member variable base_lin and ang_vel
- class UnitreeDirect(prim_path: str, name: str = 'unitree_quadruped_ROS', physics_dt: Optional[float] = 0.0025, usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, model: Optional[str] = 'A1')
For unitree based quadrupeds (A1 or Go1) This class only read command from an external torque and send the torque command to the articulation directly, perhaps a external ROS node generates the command
- advance()
[summary]
direct control the robot using desired_joint_torque
Argument: dt {float} – Timestep update in the world. goal {List[int]} – x velocity, y velocity, angular velocity, state switch
Returns: np.ndarray – The desired joint torques for the robot.
- apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) None
[summary]
- Parameters
control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.
- Raises
Exception – [description]
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
Used to apply visual material to the held prim and optionally its descendants.
- Parameters
visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.
- property articulation_handle: int
[summary]
- Returns
[description]
- Return type
int
- disable_gravity() None
Keep gravity from affecting the robot
- property dof_names: List[str]
List of prim names for each DOF.
- Returns
prim names
- Return type
list(string)
- property dof_properties: numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- enable_gravity() None
Gravity will affect the robot
- get_angular_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_applied_action() omni.isaac.core.utils.types.ArticulationAction
[summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
- get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the efforts applied to the joints
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
- Returns the current applied visual material in case it was applied using apply_visual_material OR
it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.
- Returns
the current applied visual material if its type is currently supported.
- Return type
- get_articulation_body_count() int
[summary]
- Returns
[description]
- Return type
int
- get_articulation_controller() omni.isaac.core.controllers.articulation_controller.ArticulationController
- Returns
PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.
- Return type
- get_default_state() omni.isaac.core.utils.types.XFormPrimState
- Returns
returns the default state of the prim (position and orientation) that is used after each reset.
- Return type
- get_dof_index(dof_name: str) int
[summary]
- Parameters
dof_name (str) – [description]
- Returns
[description]
- Return type
int
- get_enabled_self_collisions() bool
[summary]
- Returns
[description]
- Return type
bool
- get_joint_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joints_default_state() omni.isaac.core.utils.types.JointsState
Accessor for the default joints state.
- Returns
The defaults that the robot is reset to when post_reset() is called (often automatically called during world.reset()).
- Return type
- get_joints_state() omni.isaac.core.utils.types.JointsState
[summary]
- Returns
[description]
- Return type
- get_linear_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the local frame (the prim’s parent frame).
- Returns
- first index is position in the local frame of the prim. shape is (3, ).
second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_local_scale() numpy.ndarray
Gets prim’s scale with respect to the local frame (the parent’s frame).
- Returns
scale applied to the prim’s dimensions in the local frame. shape is (3, ).
- Return type
np.ndarray
- get_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Returns the dof efforts computed/measured by the physics solver
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the measured joint forces
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_sleep_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_solver_position_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_solver_velocity_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_stabilization_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the world’s frame.
- Returns
- first index is position in the world frame of the prim. shape is (3, ).
second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_world_scale() numpy.ndarray
Gets prim’s scale with respect to the world’s frame.
- Returns
scale applied to the prim’s dimensions in the world frame. shape is (3, ).
- Return type
np.ndarray
- property handles_initialized: bool
[summary]
- Returns
[description]
- Return type
bool
- initialize(physics_sim_view=None) None
[summary]
initialize dc interface, set up drive mode and initial robot state
- is_valid() bool
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
- is_visual_material_applied() bool
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
_summary_
- Returns
_description_
- Return type
bool
- property num_dof: int
[summary]
- Returns
[description]
- Return type
int
- post_reset() None
[summary]
post reset articulation and qp_controller
- property prim: pxr.Usd.Prim
Returns: Usd.Prim: USD Prim object that this object holds.
- property prim_path: str
Returns: str: prim path in the stage.
- set_angular_velocity(velocity: numpy.ndarray) None
[summary]
- Parameters
velocity (np.ndarray) – [description]
- set_command_torque(_desired_joint_torque) None
Allow external nodes directly set robot command torque
_desired_joint_torque should be a 12x1 vector of torques
- set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets the default state of the prim (position and orientation), that will be used after each reset.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_enabled_self_collisions(flag: bool) None
[summary]
- Parameters
flag (bool) – [description]
- set_joint_efforts(efforts: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
efforts (np.ndarray) – [description]
joint_indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_positions(positions: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
positions (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_velocities(velocities: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
velocities (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) None
[summary]
- Parameters
positions (Optional[np.ndarray], optional) – [description]. Defaults to None.
velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.
efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.
- set_linear_velocity(velocity: numpy.ndarray)
Sets the linear velocity of the prim in stage.
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the local frame (the prim’s parent frame).
- Parameters
translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_local_scale(scale: Optional[Sequence[float]]) None
Sets prim’s scale with respect to the local frame (the prim’s parent frame).
- Parameters
scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.
- set_sleep_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_solver_position_iteration_count(count: int) None
[summary]
- Parameters
count (int) – [description]
- set_solver_velocity_iteration_count(count: int)
[summary]
- Parameters
count (int) – [description]
- set_stabilization_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_state(state: omni.isaac.quadruped.utils.a1_classes.A1State) None
[Summary]
Set the kinematic state of the robot.
- Parameters
set. (state {A1State} -- The state of the robot to) –
- Raises
RuntimeError – When the DC Toolbox interface has not been configured.
- set_visibility(visible: bool) None
Sets the visibility of the prim in stage.
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the world’s frame.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- update()
[summary]
update robot sensor variables, state variables in A1Measurement
- update_contact_sensor_data() None
[summary]
Updates processed contact sensor data from the robot feets, store them in member variable foot_force
- update_imu_sensor_data()
[summary]
Updates processed imu sensor data from the robot body, store them in member variable base_lin and ang_vel
- class UnitreeVision(prim_path: str, name: str = 'unitree_quadruped', physics_dt: Optional[float] = 0.0025, usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, model: Optional[str] = 'A1', is_ros2: Optional[bool] = False, way_points: Optional[numpy.ndarray] = None)
[Summary]
For unitree based quadrupeds (A1 or Go1) with camera
- advance(dt, goal, path_follow=False) numpy.ndarray
[summary]
calls the unitree advance to compute torque
Argument: dt {float} – Timestep update in the world. goal {List[int]} – x velocity, y velocity, angular velocity, state switch path_follow {bool} – True for following a set of coordinates, False for keyboard control
Returns: np.ndarray – The desired joint torques for the robot.
- apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) None
[summary]
- Parameters
control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.
- Raises
Exception – [description]
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
Used to apply visual material to the held prim and optionally its descendants.
- Parameters
visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.
- property articulation_handle: int
[summary]
- Returns
[description]
- Return type
int
- disable_gravity() None
Keep gravity from affecting the robot
- dockViewports() None
[Summary]
For instantiating and docking view ports
- property dof_names: List[str]
List of prim names for each DOF.
- Returns
prim names
- Return type
list(string)
- property dof_properties: numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- enable_gravity() None
Gravity will affect the robot
- get_angular_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_applied_action() omni.isaac.core.utils.types.ArticulationAction
[summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
- get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the efforts applied to the joints
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
- Returns the current applied visual material in case it was applied using apply_visual_material OR
it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.
- Returns
the current applied visual material if its type is currently supported.
- Return type
- get_articulation_body_count() int
[summary]
- Returns
[description]
- Return type
int
- get_articulation_controller() omni.isaac.core.controllers.articulation_controller.ArticulationController
- Returns
PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.
- Return type
- get_default_state() omni.isaac.core.utils.types.XFormPrimState
- Returns
returns the default state of the prim (position and orientation) that is used after each reset.
- Return type
- get_dof_index(dof_name: str) int
[summary]
- Parameters
dof_name (str) – [description]
- Returns
[description]
- Return type
int
- get_enabled_self_collisions() bool
[summary]
- Returns
[description]
- Return type
bool
- get_joint_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
_summary_
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Returns
_description_
- Return type
np.ndarray
- get_joints_default_state() omni.isaac.core.utils.types.JointsState
Accessor for the default joints state.
- Returns
The defaults that the robot is reset to when post_reset() is called (often automatically called during world.reset()).
- Return type
- get_joints_state() omni.isaac.core.utils.types.JointsState
[summary]
- Returns
[description]
- Return type
- get_linear_velocity() numpy.ndarray
[summary]
- Returns
[description]
- Return type
np.ndarray
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the local frame (the prim’s parent frame).
- Returns
- first index is position in the local frame of the prim. shape is (3, ).
second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_local_scale() numpy.ndarray
Gets prim’s scale with respect to the local frame (the parent’s frame).
- Returns
scale applied to the prim’s dimensions in the local frame. shape is (3, ).
- Return type
np.ndarray
- get_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Returns the dof efforts computed/measured by the physics solver
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Gets the measured joint forces
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- get_sleep_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_solver_position_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_solver_velocity_iteration_count() int
[summary]
- Returns
[description]
- Return type
int
- get_stabilization_threshold() float
[summary]
- Returns
[description]
- Return type
float
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Gets prim’s pose with respect to the world’s frame.
- Returns
- first index is position in the world frame of the prim. shape is (3, ).
second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
- get_world_scale() numpy.ndarray
Gets prim’s scale with respect to the world’s frame.
- Returns
scale applied to the prim’s dimensions in the world frame. shape is (3, ).
- Return type
np.ndarray
- property handles_initialized: bool
[summary]
- Returns
[description]
- Return type
bool
- initialize(physics_sim_view=None) None
[summary]
initialize dc interface, set up drive mode and initial robot state
- is_valid() bool
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
- is_visual_material_applied() bool
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
_summary_
- Returns
_description_
- Return type
bool
- property num_dof: int
[summary]
- Returns
[description]
- Return type
int
- post_reset() None
[summary]
post reset articulation and qp_controller
- property prim: pxr.Usd.Prim
Returns: Usd.Prim: USD Prim object that this object holds.
- property prim_path: str
Returns: str: prim path in the stage.
- setCameraExeutionStep(step: numpy.uint64) None
[Summary]
Sets the execution step in the omni.isaac.core_nodes.IsaacSimulationGate node located in the camera sensor pipeline
- set_angular_velocity(velocity: numpy.ndarray) None
[summary]
- Parameters
velocity (np.ndarray) – [description]
- set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets the default state of the prim (position and orientation), that will be used after each reset.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_enabled_self_collisions(flag: bool) None
[summary]
- Parameters
flag (bool) – [description]
- set_joint_efforts(efforts: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
efforts (np.ndarray) – [description]
joint_indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_positions(positions: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
positions (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joint_velocities(velocities: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
[summary]
- Parameters
velocities (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
- set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) None
[summary]
- Parameters
positions (Optional[np.ndarray], optional) – [description]. Defaults to None.
velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.
efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.
- set_linear_velocity(velocity: numpy.ndarray)
Sets the linear velocity of the prim in stage.
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the local frame (the prim’s parent frame).
- Parameters
translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- set_local_scale(scale: Optional[Sequence[float]]) None
Sets prim’s scale with respect to the local frame (the prim’s parent frame).
- Parameters
scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.
- set_sleep_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_solver_position_iteration_count(count: int) None
[summary]
- Parameters
count (int) – [description]
- set_solver_velocity_iteration_count(count: int)
[summary]
- Parameters
count (int) – [description]
- set_stabilization_threshold(threshold: float) None
[summary]
- Parameters
threshold (float) – [description]
- set_state(state: omni.isaac.quadruped.utils.a1_classes.A1State) None
[Summary]
Set the kinematic state of the robot.
- Parameters
set. (state {A1State} -- The state of the robot to) –
- Raises
RuntimeError – When the DC Toolbox interface has not been configured.
- set_visibility(visible: bool) None
Sets the visibility of the prim in stage.
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Sets prim’s pose with respect to the world’s frame.
- Parameters
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
- update() None
[Summary]
Update robot variables from the environment
- update_contact_sensor_data() None
[summary]
Updates processed contact sensor data from the robot feets, store them in member variable foot_force
- update_imu_sensor_data() None
[summary]
Updates processed imu sensor data from the robot body, store them in member variable base_lin and ang_vel