How to add custom robot¶
This tutorial will show you how to add a robot
1. Add isaac sim robot¶
Assuming you already have an usd file of a robot, and it has drivable joints.
Create a file in grutopia_extension/robots, named demo_robot.py. Inherit the robot class from isaac.
from omni.isaac.core.robots.robot import Robot as IsaacRobot
from omni.isaac.core.utils.stage import add_reference_to_stage
class DemoRobot(IsaacRobot):
def __init__(self,
prim_path: str,
usd_path: str,
name: str,
position: np.ndarray = None,
orientation: np.ndarray = None,
scale: np.ndarray = None):
add_reference_to_stage(prim_path=prim_path, usd_path=os.path.abspath(usd_path))
super().__init__(prim_path=prim_path, name=name, position=position, orientation=orientation, scale=scale)
# Set robot-specific parameters/attributes here
2. Wrap with grutopia.core.robot.robot¶
from omni.isaac.core.scenes import Scene
from grutopia.core.config.robot import RobotUserConfig as Config
from grutopia.core.robot.robot import BaseRobot
from grutopia.core.robot.robot_model import RobotModel
from grutopia.core.util import log
# Register this robot to grutopia.core
@BaseRobot.register('DemoRobot')
class DemoRobotWrapper(BaseRobot):
def __init__(self, config: Config, robot_model: RobotModel, scene: Scene):
super().__init__(config, robot_model, scene)
self._sensor_config = robot_model.sensors
self._gains = robot_model.gains
self._start_position = np.array(config.position) if config.position is not None else None
self._start_orientation = np.array(config.orientation) if config.orientation is not None else None
log.debug(f'demo_robot {config.name}: position : ' + str(self._start_position))
log.debug(f'demo_robot {config.name}: orientation : ' + str(self._start_orientation))
usd_path = robot_model.usd_path
if usd_path.startswith('/Isaac'):
usd_path = get_assets_root_path() + usd_path
log.debug(f'demo_robot {config.name}: usd_path : ' + str(usd_path))
log.debug(f'demo_robot {config.name}: config.prim_path : ' + str(config.prim_path))
# Wrap the robot class here.
self.isaac_robot = DemoRobot(
prim_path=config.prim_path,
name=config.name,
position=self._start_position,
orientation=self._start_orientation,
usd_path=usd_path,
)
self._robot_scale = np.array([1.0, 1.0, 1.0])
if config.scale is not None:
self._robot_scale = np.array(config.scale)
self.isaac_robot.set_local_scale(self._robot_scale)
# Add the attr you want here.
...
def apply_action(self, action: dict):
"""
Args:
action (dict): inputs for controllers.
"""
for controller_name, controller_action in action.items():
if controller_name not in self.controllers:
log.warn(f'unknown controller {controller_name} in action')
continue
controller = self.controllers[controller_name]
control = controller.action_to_control(controller_action)
self.isaac_robot.apply_actuator_model(control, controller_name, self.joint_subset)
def get_obs(self):
"""
Set the observation you need here.
"""
# custom
position, orientation = self._robot_base.get_world_pose()
obs = {
'position': position,
'orientation': orientation,
}
# common
for c_obs_name, controller_obs in self.controllers.items():
obs[c_obs_name] = controller_obs.get_obs()
for sensor_name, sensor_obs in self.sensors.items():
obs[sensor_name] = sensor_obs.get_data()
return obs
And there are many other functions in
grutopia.core.robot.robot, FYI.
3. Register at robot_models¶
Add you robot model at grutopia_extension/robots/robot_models.yaml
- type: "DemoRobotWrapper"
usd_path: "..."
controllers:
- name: "..."
type: "..."