Isaac Sim 3. 导入模型和Dynamic Control

black0moonlight

已于 2023-04-10 12:09:00 修改

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分类专栏： ISAAC Sim 文章标签： numpy

于 2023-04-09 23:03:19 首次发布

本文链接：https://blog.csdn.net/black0moonlight/article/details/130039824

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1. 导入模型

1.1 从过去保存的stage导入

1.2 使用代码导入单个Franka机器人

1.3 使用代码导入多个Franka机器人

API链接：

Dynamic Control [omni.isaac.dynamic_control] — isaac_sim 2022.2.1-beta.29 documentation

使用示例：

Dynamic Control — Omniverse Robotics documentation

1. 导入模型

1.1 从过去保存的stage导入

这一节中，各操作使用Sim内置的Python Script运行调试。

从文件系统可以看到，已经有一个stage1.usd保存在EnvFrank里，直接拖到界面中。

在Dynamic Control — Omniverse Robotics documentation给出了基本的读取，控制关节操作。但是，其对应的操作是默认Franka机器人在World下。控制stage1中的Franka机器人，需要修改引用为：

articulation = dc.get_articulation("/World/stage1/Franka")

注意运行前需要启动环境仿真。

测试代码为：

from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
print(dc)
articulation = dc.get_articulation("/World/stage1/Franka")

dc.wake_up_articulation(articulation)
joint_angles = [np.random.rand(9) * 2 - 1]
dc.set_articulation_dof_position_targets(articulation, joint_angles)

该代码给Franka的9个自由度进行了随机的一次运动。

1.2 使用代码导入单个Franka机器人

首先清除界面，File->New 或者 New From Stage Template。（或者重启Sim，不然可能会加载不出ground plane）

参考示例 standalone_examples\api\omni.isaac.core\add_frankas.py

from omni.isaac.core import World
from omni.isaac.core.robots import Robot
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.utils.nucleus import get_assets_root_path

my_world = World(stage_units_in_meters=1.0)
my_world.scene.add_default_ground_plane()

assets_root_path = get_assets_root_path()
asset_path = assets_root_path + "/Isaac/Robots/Franka/franka_alt_fingers.usd"
add_reference_to_stage(usd_path=asset_path, prim_path="/World/Franka_1")

articulated_system_1 = my_world.scene.add(Robot(prim_path="/World/Franka_1", name="my_franka_1"))

运行结果：

1.3 使用代码导入多个Franka机器人

参考示例：standalone_examples\api\omni.isaac.cloner\clone_ants.py

注意，如果在Sim内运行示例代码时ants掉落，可能default ground plane没有加载，建议重启Sim。

将Ant替换为Franka后的代码：

import numpy as np
import omni
from omni.isaac.core import World
from omni.isaac.core.articulations import ArticulationView
from omni.isaac.core.utils.stage import add_reference_to_stage, get_stage_units
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.cloner import GridCloner

my_world = World(stage_units_in_meters=1.0)
my_world.scene.add_ground_plane()

assets_root_path = get_assets_root_path()
# create initial robot
asset_path = assets_root_path + "/Isaac/Robots/Franka/franka_alt_fingers.usd"
add_reference_to_stage(usd_path=asset_path, prim_path="/World/Franka/Franka_0")

# create GridCloner instance
cloner = GridCloner(spacing=2)

# generate paths for clones
target_paths = cloner.generate_paths("/World/Franka/Franka",8)

# clone
position_offsets = np.array([[0, 0, 0]] * 8)
cloner.clone(
    source_prim_path="/World/Franka/Franka_0",
    prim_paths=target_paths,
    position_offsets=position_offsets,
    replicate_physics=True,
    base_env_path="/World/Franka",
)

# create ArticulationView
ants = ArticulationView(prim_paths_expr="/World/Franka/.*/torso", name="Franka_view")
my_world.scene.add(ants)

my_world.reset()
for i in range(1000):
    print(ants.get_world_poses())
    my_world.step()

运行结果：

其中prim_paths_expr="/World/Franka/.*/torso"的错误暂时没管，不清楚影响。

2. 控制单个Franka机械臂

Dynamic Control — Omniverse Robotics documentation

2.1 位置控制

导入和控制指令在Sim中运行时，Script中的指令会被Franka的初始化覆盖，所以在这里使用另一种调试。

（1）将Python Script模式修改 Option->Clear after excute，代码在运行后会自动清除。

（2）输入并运行代码，导入Franka机器人。

from omni.isaac.core import World
from omni.isaac.core.robots import Robot
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.utils.nucleus import get_assets_root_path

my_world = World(stage_units_in_meters=1.0)
my_world.scene.add_default_ground_plane()

assets_root_path = get_assets_root_path()
asset_path = assets_root_path + "/Isaac/Robots/Franka/franka_alt_fingers.usd"
add_reference_to_stage(usd_path=asset_path, prim_path="/World/Franka_1")

articulated_system_1 = my_world.scene.add(Robot(prim_path="/World/Franka_1", name="my_franka_1"))

（3）启动仿真

（4）输入并运行控制代码

from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/World/Franka_1")

dc.wake_up_articulation(articulation)
joint_angles = [np.random.rand(9) * 2 - 1]
dc.set_articulation_dof_position_targets(articulation, joint_angles)

运行结果：

2.2 单自由度位置控制

接下来的控制调试都可以在（2）导入Franka机器人的基础上继续。

from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/World/Franka_1")
dc.wake_up_articulation(articulation)
dof_ptr = dc.find_articulation_dof(articulation, "panda_joint2")
dc.set_dof_position_target(dof_ptr, -1.5)

2.2 速度控制

from pxr import UsdPhysics
stage = omni.usd.get_context().get_stage()
for prim in stage.TraverseAll():
    prim_type = prim.GetTypeName()
    if prim_type in ["PhysicsRevoluteJoint" , "PhysicsPrismaticJoint"]:
        if prim_type == "PhysicsRevoluteJoint":
            drive = UsdPhysics.DriveAPI.Get(prim, "angular")
        else:
            drive = UsdPhysics.DriveAPI.Get(prim, "linear")
        drive.GetStiffnessAttr().Set(0)
from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
#Note: getting the articulation has to happen after changing the drive stiffness
articulation = dc.get_articulation("/World/Franka_1")
dc.wake_up_articulation(articulation)
joint_vels = [-np.random.rand(9)*10]
dc.set_articulation_dof_velocity_targets(articulation, joint_vels)

2.3 单自由度速度控制

from pxr import UsdPhysics
stage = omni.usd.get_context().get_stage()
panda_joint2_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/Franka/panda_link1/panda_joint2"), "angular")
panda_joint2_drive.GetStiffnessAttr().Set(0)
from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
#Note: getting the articulation has to happen after changing the drive stiffness
articulation = dc.get_articulation("/World/Franka_1")
dc.wake_up_articulation(articulation)
dof_ptr = dc.find_articulation_dof(articulation, "panda_joint2")
dc.set_dof_velocity_target(dof_ptr, 0.2)

2.4 力矩控制

from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/World/Franka_1")
dc.wake_up_articulation(articulation)
joint_efforts = [-np.random.rand(9) * 1000]
dc.set_articulation_dof_efforts(articulation, joint_efforts)

3. 信息获取

3.1 获取单个Franka状态

from omni.isaac.dynamic_control import _dynamic_control
dc = _dynamic_control.acquire_dynamic_control_interface()

art = dc.get_articulation("/World/Franka_1")

# Get information about the structure of the articulation
num_joints = dc.get_articulation_joint_count(art)
num_dofs = dc.get_articulation_dof_count(art)
num_bodies = dc.get_articulation_body_count(art)
print(num_joints)
print(num_dofs)
print(num_bodies)

# Print the state of each degree of freedom in the articulation
dof_states = dc.get_articulation_dof_states(art, _dynamic_control.STATE_ALL)
print(dof_states)

# print position for the degree of freedom
print(dof_state.pos)

# Get state for a specific degree of freedom
dof_ptr = dc.find_articulation_dof(art, "panda_joint2")
dof_state = dc.get_dof_state(dof_ptr, _dynamic_control.STATE_ALL)
print(dof_state)
print(dof_ptr)

其中，可以在Stage中查看到panda_joint2的具体位置。

3.2 获取物体状态

在这里，可以直接创建一个Cube对象，放置在World中。

我直接调用了自己的环境。

Core [omni.isaac.core] — isaac_sim 2022.2.1-beta.29 documentation

from omni.isaac.core import World
world = World()

world = World(stage_units_in_meters=1.0)
world.scene.add_default_ground_plane()

from omni.isaac.core.objects import DynamicCuboid
import numpy as np

Cube = world.scene.add(
	DynamicCuboid(
		prim_path = "/World/Cube",
		name = "my_cube",
		position = np.array([0,0,1]),
		scale = np.array([1,1,1]),
		color = np.array([1,1,1])))

world.reset()

position, oritentation = Cube.get_world_pose()
linear_velocity = Cube.get_linear_velocity()
angular_velocity = Cube.get_angular_velocity()

print("Position is:", position)
print("Orientation is:", oritentation)
print("Linear velocity is:", linear_velocity)
print("Angular velocity is:", angular_velocity)

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Isaac Sim 3. 导入模型和Dynamic Control

目录1. 导入模型1.1 从过去保存的stage导入1.2 使用代码导入单个Franka机器人1.3 使用代码导入多个Franka机器人编辑2. 控制单个Franka机械臂2.1 位置控制2.2 单自由度位置控制2.2 速度控制2.3单自由度速度控制2.4力矩控制3. 信息获取3.1 获取单个Franka状态3.2 获取物体状态API链接：Dynamic Control [omni.isaac.dynamic_control] — i
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