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Datasets:
Yanlj
/
ViTacLab-assets

Tasks:
Reinforcement Learning
Tags:
robotics
tactile-sensing
isaac-sim
isaac-lab
License:
Dataset card Files
xet
 Community
Yanlj commited on
Commit
11f3ef1
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1 Parent(s): a41ccb0

Upload curated simulation assets (part 3)

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source/ViTacLab/ViTacLab/assets/data/Objects/cosmos_assets/change_usd.py ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import omni.kit.commands
2
+ from pxr import UsdLux, Sdf, Gf, UsdPhysics, PhysicsSchemaTools
3
+
4
+ # create new stage
5
+ omni.usd.get_context().new_stage()
6
+
7
+ # setting up import configuration:
8
+ status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
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+ import_config.set_fix_base(False)
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+ import_config.set_make_default_prim(False)
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+
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+ # Get path to extension data:
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+ ext_manager = omni.kit.app.get_app().get_extension_manager()
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+ ext_id = ext_manager.get_enabled_extension_id("isaacsim.asset.importer.mjcf")
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+ extension_path = ext_manager.get_extension_path(ext_id)
16
+
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+ # import MJCF
18
+ omni.kit.commands.execute(
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+ "MJCFCreateAsset",
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+ mjcf_path=extension_path + "/data/mjcf/nv_ant.xml",
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+ import_config=import_config,
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+ prim_path="/ant"
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+ )
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+
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+ # get stage handle
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+ stage = omni.usd.get_context().get_stage()
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+
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+ # enable physics
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+ scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
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+
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+ # set gravity
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+ scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
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+ scene.CreateGravityMagnitudeAttr().Set(981.0)
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+
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+ # add lighting
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+ distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
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+ distantLight.CreateIntensityAttr(500)
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Git LFS Details

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