How to use controller

This tutorial will show you how to use an existed controller for a robot

What is Controller

Controllers usually control joints of robot. Also, They’re the entries of robot actions. To make robot move, rab, or even speak, chat online, we use controllers.

Which controllers are our robots supported

Check grutopia_extension/robots/robot_models.yaml,

This is all controller robot HumanoidRobot can use.

How to use a controller

Use them in isaac simulation_app’s step loops.

for example:

while env.simulation_app.is_running():
    actions = [{
        h1: {
            "move_to_point": np.array([.0, .0, .0]),
        },
    }]
    obs = env.step(actions=env_actions)
    ...
env.simulation_app.close()

for more usage, please read source code~