How to use robot¶
This tutorial will show you how to use an existing robot.
All available robots¶
See grutopia_extension/robots/robot_models.yaml.
Usage¶
Add robot to config¶
Add a robot to config:
simulator:
physics_dt: 1/240
rendering_dt: 1/240
render:
render: true
tasks:
- type: "SingleInferenceTask"
name: "h1_locomotion"
env_num: 1
scene_asset_path: GRUtopia/assets/scenes/empty.usd
offset_size: 1.0
robots: # Add robots here
- name: h1
prim_path: "/World/h1"
type: "HumanoidRobot"
position: [.0, .0, 1.05]
scale: [1, 1, 1]
Done.
Run demo¶
try this demo:
from grutopia.core.config import SimulatorConfig
from grutopia.core.env import BaseEnv
file_path = f'{path/to/your/config}'
sim_config = SimulatorConfig(file_path)
env = BaseEnv(sim_config, headless=False)
import numpy as np
while env.simulation_app.is_running():
obs = env.step(actions=[{}])
env.simulation_app.close()
It runs, but the robot doesn’t move.
We need to add controller for this robot to make it move.