File size: 3,675 Bytes
d6b3397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Script to view ARL Robot 1.
Launch Isaac Sim Simulator first.
"""
# Create argparser
import argparse
from isaaclab.app import AppLauncher
parser = argparse.ArgumentParser(description="View ARL Robot 1 with Lee Position Controller.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
import omni.usd
from pxr import Gf, UsdLux
import isaaclab.sim as sim_utils
from isaaclab.sim import SimulationContext
from isaaclab_contrib.assets import Multirotor
from isaaclab_contrib.controllers.lee_position_control import LeePosController
from isaaclab_contrib.controllers.lee_position_control_cfg import LeePosControllerCfg
from isaaclab_assets.robots.arl_robot_1 import ARL_ROBOT_1_CFG
def main():
"""Main function to spawn arl_robot_1."""
# Create simulation context
sim_cfg = sim_utils.SimulationCfg(dt=0.01)
sim = SimulationContext(sim_cfg)
# Create a dome light with light blue color
stage = omni.usd.get_context().get_stage()
dome_light = UsdLux.DomeLight.Define(stage, "/World/DomeLight")
dome_light.CreateColorAttr(Gf.Vec3f(0.53, 0.81, 0.92)) # Light blue
dome_light.CreateIntensityAttr(1000.0)
# Spawn ground plane
cfg = sim_utils.GroundPlaneCfg()
cfg.func("/World/defaultGroundPlane", cfg)
# Spawn robot
robot_cfg = ARL_ROBOT_1_CFG.replace(prim_path="/World/Robot")
robot_cfg.actuators["thrusters"].dt = sim_cfg.dt
robot = Multirotor(robot_cfg)
# Play the simulator
sim.reset()
# Create Lee position controller
controller_cfg = LeePosControllerCfg(
K_pos_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
K_vel_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
K_rot_range=((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)),
K_angvel_range=((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)),
max_inclination_angle_rad=1.0471975511965976,
max_yaw_rate=1.0471975511965976,
)
controller = LeePosController(controller_cfg, robot, num_envs=1, device=str(sim.device))
# Get allocation matrix and compute pseudoinverse
allocation_matrix = torch.tensor(robot_cfg.allocation_matrix, device=sim.device, dtype=torch.float32)
# allocation_matrix is (6, num_thrusters), we need pseudoinverse for wrench -> thrust
alloc_pinv = torch.linalg.pinv(allocation_matrix) # Shape: (num_thrusters, 6)
# Position command: hover in place (zero position, zero yaw)
pos_command = torch.zeros((1, 4), device=sim.device) # [x, y, z, yaw]
pos_command[0, 2] = 1.0 # Hover at 1 meter height
# Simulation loop
print("[INFO] Starting demo with Lee Position Controller. Press Ctrl+C to stop.")
while simulation_app.is_running():
# Compute wrench from velocity controller
wrench = controller.compute(pos_command) # Shape: (1, 6)
# Allocate wrench to thrusters: thrust = pinv(A) @ wrench
thrust_cmd = torch.matmul(wrench, alloc_pinv.T) # Shape: (1, num_thrusters)
thrust_cmd = thrust_cmd.clamp(min=0.0) # Ensure non-negative thrust
# Apply thrust
robot.set_thrust_target(thrust_cmd)
# Step simulation
robot.write_data_to_sim()
sim.step()
# Update robot
robot.update(sim_cfg.dt)
# Cleanup
simulation_app.close()
if __name__ == "__main__":
main()
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