Quadruped Robots [omni.isaac.quadruped]
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_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Deprecated function. Please use get_applied_joint_efforts instead.
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- 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_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_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Deprecated function. Please use get_applied_joint_efforts instead.
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- 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_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_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Deprecated function. Please use get_applied_joint_efforts instead.
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- 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_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_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Deprecated function. Please use get_applied_joint_efforts instead.
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
- Raises
Exception – _description_
- Returns
_description_
- Return type
np.ndarray
- 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_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
Quadruped Utilities
- class A1Command(desired_joint_torque: numpy.ndarray = <factory>)
The command on the robot actuators.
- as_dict() dict
Converts the dataclass to dictionary recursively.
- Returns
Instance information as a dictionary
- Return type
dict
- desired_joint_torque: numpy.ndarray
(12,)
- Type
Desired joint positions of the robot
- update(data: Union[omni.isaac.quadruped.utils.types.NamedTuple, List[omni.isaac.quadruped.utils.types.NamedTuple], Dict[str, Any]])
Update values from another named tuple.
Note
Unlike dict.update(dict), this method does not add element(s) to the instance if the key is not present.
- Parameters
{Union[NamedTuple (data) –
List[NamedTuple] –
Dict[str –
from. (Any]} -- The input data to update values) –
:raises TypeError – When input data is not of type
NamedTupleorList[NamedTuple].:
- class A1CtrlParams(_robot_mass: float = 16.0, _swap_foot_indices: numpy.array = array([1, 0, 3, 2]), _foot_force_low: float = 5.0, _default_foot_pos: numpy.ndarray = array([[0.17, 0.15, - 0.3], [0.17, - 0.15, - 0.3], [- 0.17, 0.15, - 0.3], [- 0.17, - 0.15, - 0.3]]), _kp_lin_x: float = 0.0, _kd_lin_x: float = 0.15, _kf_lin_x: float = 0.2, _kp_lin_y: float = 0.0, _kd_lin_y: float = 0.1, _kf_lin_y: float = 0.2, _kp_foot: numpy.ndarray = array([[500.0, 500.0, 2000.0], [500.0, 500.0, 2000.0], [500.0, 500.0, 2000.0], [500.0, 500.0, 2000.0]]), _kd_foot: numpy.ndarray = array([0.0, 0.0, 0.0]), _km_foot: numpy.ndarray = array([[0.1, 0.0, 0.0], [0.0, 0.1, 0.0], [0.0, 0.0, 0.02]]), _kp_linear: numpy.ndarray = array([20.0, 20.0, 2000.0]), _kd_linear: numpy.ndarray = array([50.0, 50.0, 0.0]), _kp_angular: numpy.ndarray = array([600.0, 600.0, 10.0]), _kd_angular: numpy.ndarray = array([3.0, 3.0, 10.0]), _torque_gravity: numpy.ndarray = array([0.8, 0.0, 0.0, - 0.8, 0.0, 0.0, 0.8, 0.0, 0.0, - 0.8, 0.0, 0.0]))
A collection of parameters used by the QP agent
- class A1CtrlStates(_counter_per_gait: float = 240.0, _counter_per_swing: float = 120.0, _counter: float = 0.0, _exp_time: float = 0.0, _gait_counter: numpy.array = <factory>, _gait_counter_speed: numpy.array = <factory>, _root_pos: numpy.array = <factory>, _root_quat: numpy.array = <factory>, _root_lin_vel: numpy.array = <factory>, _root_ang_vel: numpy.array = <factory>, _joint_pos: numpy.array = <factory>, _joint_vel: numpy.array = <factory>, _foot_forces: numpy.array = <factory>, _foot_pos_target_world: numpy.ndarray = <factory>, _foot_pos_target_abs: numpy.ndarray = <factory>, _foot_pos_target_rel: numpy.ndarray = <factory>, _foot_pos_start_rel: numpy.ndarray = <factory>, _euler: numpy.array = <factory>, _rot_mat: numpy.ndarray = <factory>, _rot_mat_z: numpy.ndarray = <factory>, _foot_pos_abs: numpy.ndarray = <factory>, _foot_pos_rel: numpy.ndarray = <factory>, _j_foot: numpy.ndarray = <factory>, _gait_type: int = 1, _gait_type_last: int = 1, _contacts: numpy.array = <factory>, _early_contacts: numpy.array = <factory>, _init_transition: int = 0, _prev_transition: int = 0)
A collection of variables used by the QP agent
- class A1DesiredStates(_root_pos_d: numpy.array = <factory>, _root_lin_vel_d: numpy.array = <factory>, _euler_d: numpy.array = <factory>, _root_ang_vel_d: numpy.array = <factory>)
A collection of desired goal states used by the QP agent
- class A1Measurement(state: omni.isaac.quadruped.utils.a1_classes.A1State = <class 'omni.isaac.quadruped.utils.a1_classes.A1State'>, foot_forces: numpy.ndarray = <factory>, base_lin_acc: numpy.ndarray = <factory>, base_ang_vel: numpy.ndarray = <factory>)
The state of the robot along with the mounted sensor data.
- as_dict() dict
Converts the dataclass to dictionary recursively.
- Returns
Instance information as a dictionary
- Return type
dict
- base_ang_vel: numpy.ndarray
Gyroscope reading from IMU attached to robot’s base.
- base_lin_acc: numpy.ndarray
Accelerometer reading from IMU attached to robot’s base.
- foot_forces: numpy.ndarray
FL, FR, RL, RR.
- Type
Feet contact force of the robot in the order
- state
- update(data: Union[omni.isaac.quadruped.utils.types.NamedTuple, List[omni.isaac.quadruped.utils.types.NamedTuple], Dict[str, Any]])
Update values from another named tuple.
Note
Unlike dict.update(dict), this method does not add element(s) to the instance if the key is not present.
- Parameters
{Union[NamedTuple (data) –
List[NamedTuple] –
Dict[str –
from. (Any]} -- The input data to update values) –
:raises TypeError – When input data is not of type
NamedTupleorList[NamedTuple].:
- class A1State(base_frame: omni.isaac.quadruped.utils.types.FrameState = <factory>, joint_pos: numpy.ndarray = <factory>, joint_vel: numpy.ndarray = <factory>)
The kinematic state of the articulated robot.
- as_dict() dict
Converts the dataclass to dictionary recursively.
- Returns
Instance information as a dictionary
- Return type
dict
- base_frame: omni.isaac.quadruped.utils.types.FrameState
State of base frame
- joint_pos: numpy.ndarray
(12,)
- Type
Joint positions with shape
- joint_vel: numpy.ndarray
(12,)
- Type
Joint positions with shape
- update(data: Union[omni.isaac.quadruped.utils.types.NamedTuple, List[omni.isaac.quadruped.utils.types.NamedTuple], Dict[str, Any]])
Update values from another named tuple.
Note
Unlike dict.update(dict), this method does not add element(s) to the instance if the key is not present.
- Parameters
{Union[NamedTuple (data) –
List[NamedTuple] –
Dict[str –
from. (Any]} -- The input data to update values) –
:raises TypeError – When input data is not of type
NamedTupleorList[NamedTuple].:
- class A1SysModel
Constants and functions related to the forward kinematics of the robot
- C_FL = 1
FL leg id in A1’s hardware convention
- Type
constant
- C_FR = 0
FR leg id in A1’s hardware convention
- Type
constant
- C_RL = 3
RL leg id in A1’s hardware convention
- Type
constant
- C_RR = 2
RR leg id in A1’s hardware convention
- Type
constant
- LEG_OFFSET_X = 0.1805
x distance from the robot COM to the leg base
- Type
constant
- LEG_OFFSET_Y = 0.047
y distance from the robot COM to the leg base
- Type
constant
- THIGH_LENGTH = 0.22
length of the leg
- Type
constant
- THIGH_OFFSET = 0.0838
the length of the thigh motor
- Type
constant
- foot_vel(idx: int, q: numpy.array, dq: numpy.array) numpy.array
get the foot velocity
- Parameters
{int} (idx) – the index of the leg, must use the A1 hardware convention
{np.array} (dq) – the joint angles of a leg
{np.array} – the joint angular velocities of a leg
- forward_kinematics(idx: int, q: numpy.array) numpy.array
get the forward_kinematics of the leg
- Parameters
{int} (idx) – the index of the leg, must use the A1 hardware convention
{np.array} (q) – the joint angles of a leg
- jacobian(idx: int, q: numpy.array) numpy.ndarray
get the jacobian of the leg
- Parameters
{int} (idx) – the index of the leg, must use the A1 hardware convention
{np.array} (q) – the joint angles of a leg
- class FrameState(name: str, pos: numpy.ndarray = <factory>, quat: numpy.ndarray = <factory>, lin_vel: numpy.ndarray = <factory>, ang_vel: numpy.ndarray = <factory>)
The state of a kinematic frame.
- name
The name of the frame.
- Type
str
- pos
The Cartesian position of the frame.
- Type
numpy.ndarray
- quat
The quaternion orientation (x, y, z, w) of the frame.
- Type
numpy.ndarray
- lin_vel
The linear velocity of the frame.
- Type
numpy.ndarray
- ang_vel
The angular velocity of the frame.
- Type
numpy.ndarray
- ang_vel: numpy.ndarray
Angular velocity of frame.
- as_dict() dict
Converts the dataclass to dictionary recursively.
- Returns
Instance information as a dictionary
- Return type
dict
- lin_vel: numpy.ndarray
Linear velocity of frame.
- name: str
Frame name.
- pos: numpy.ndarray
Catersian position of frame.
- property pose: numpy.ndarray
A numpy array with position and orientation.
- Type
Returns
- quat: numpy.ndarray
(x, y, z, w)
- Type
Quaternion orientation of frame
- update(data: Union[omni.isaac.quadruped.utils.types.NamedTuple, List[omni.isaac.quadruped.utils.types.NamedTuple], Dict[str, Any]])
Update values from another named tuple.
Note
Unlike dict.update(dict), this method does not add element(s) to the instance if the key is not present.
- Parameters
{Union[NamedTuple (data) –
List[NamedTuple] –
Dict[str –
from. (Any]} -- The input data to update values) –
:raises TypeError – When input data is not of type
NamedTupleorList[NamedTuple].:
- class Go1SysModel
Constants and functions related to the forward kinematics of the robot
- C_FL = 1
FL leg id in A1’s hardware convention
- Type
constant
- C_FR = 0
FR leg id in A1’s hardware convention
- Type
constant
- C_RL = 3
RL leg id in A1’s hardware convention
- Type
constant
- C_RR = 2
RR leg id in A1’s hardware convention
- Type
constant
- LEG_OFFSET_X = 0.1881
x distance from the robot COM to the leg base
- Type
constant
- LEG_OFFSET_Y = 0.04675
y distance from the robot COM to the leg base
- Type
constant
- THIGH_LENGTH = 0.213
length of the leg
- Type
constant
- THIGH_OFFSET = 0.08
the length of the thigh motor
- Type
constant
- foot_vel(idx: int, q: numpy.array, dq: numpy.array) numpy.array
get the foot velocity
- Parameters
{int} (idx) – the index of the leg, must use the A1 hardware convention
{np.array} (dq) – the joint angles of a leg
{np.array} – the joint angular velocities of a leg
- forward_kinematics(idx: int, q: numpy.array) numpy.array
get the forward_kinematics of the leg
- Parameters
{int} (idx) – the index of the leg, must use the A1 hardware convention
{np.array} (q) – the joint angles of a leg
- jacobian(idx: int, q: numpy.array) numpy.ndarray
get the jacobian of the leg
- Parameters
{int} (idx) – the index of the leg, must use the A1 hardware convention
{np.array} (q) – the joint angles of a leg
- class LstmSeaNetwork
Implements an SEA network with LSTM hidden layers.
- compute_torques(joint_pos, joint_vel, actions) Tuple[numpy.ndarray, numpy.ndarray]
- reset()
- setup(path_or_buffer, default_joint_pos: Union[list, numpy.ndarray])
- class NamedTuple
[Summary]
The backend data structure for data-passing between various modules.
In order to support use cases where the data would have mixed types (such as bool/integer/array), we provide a light data-class to capture this formalism while allowing the data to be shared between different modules easily. The objective is to support complex agent designs and support multi-agent environments.
The usage of this class is quite similar to that of a dictionary, since underneath, we rely on the key names to “pass” data from one container into another. However, we do not use the dictionary since a data-class helps in providing type hints which is in practice quite useful.
- Reference:
https://stackoverflow.com/questions/51671699/data-classes-vs-typing-namedtuple-primary-use-cases
- as_dict() dict
Converts the dataclass to dictionary recursively.
- Returns
Instance information as a dictionary
- Return type
dict
- update(data: Union[omni.isaac.quadruped.utils.types.NamedTuple, List[omni.isaac.quadruped.utils.types.NamedTuple], Dict[str, Any]])
Update values from another named tuple.
Note
Unlike dict.update(dict), this method does not add element(s) to the instance if the key is not present.
- Parameters
{Union[NamedTuple (data) –
List[NamedTuple] –
Dict[str –
from. (Any]} -- The input data to update values) –
:raises TypeError – When input data is not of type
NamedTupleorList[NamedTuple].: