Upload v2d project (excluding data and .venv) (part 15)

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# 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

"""
This script demonstrates how to simulate bipedal robots.
.. code-block:: bash
    # Usage
    ./isaaclab.sh -p scripts/demos/bipeds.py
"""

"""Launch Isaac Sim Simulator first."""

import argparse

from isaaclab.app import AppLauncher

# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates how to simulate bipedal robots.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# demos should open Kit visualizer by default
parser.set_defaults(visualizer=["kit"])
# parse the arguments
args_cli = parser.parse_args()

# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

"""Rest everything follows."""

import torch

import isaaclab.sim as sim_utils
from isaaclab.assets import Articulation
from isaaclab.sim import SimulationContext

##
# Pre-defined configs
##
from isaaclab_assets.robots.cassie import CASSIE_CFG  # isort:skip
from isaaclab_assets import H1_CFG  # isort:skip
from isaaclab_assets import G1_CFG  # isort:skip


def design_scene(sim: sim_utils.SimulationContext) -> tuple[list, torch.Tensor]:
    """Designs the scene."""
    # Ground-plane
    cfg = sim_utils.GroundPlaneCfg()
    cfg.func("/World/defaultGroundPlane", cfg)
    # Lights
    cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
    cfg.func("/World/Light", cfg)

    # Define origins
    origins = torch.tensor(
        [
            [0.0, -1.0, 0.0],
            [0.0, 0.0, 0.0],
            [0.0, 1.0, 0.0],
        ]
    ).to(device=sim.device)

    # Robots
    cassie = Articulation(CASSIE_CFG.replace(prim_path="/World/Cassie"))
    h1 = Articulation(H1_CFG.replace(prim_path="/World/H1"))
    g1 = Articulation(G1_CFG.replace(prim_path="/World/G1"))
    robots = [cassie, h1, g1]

    return robots, origins


def run_simulator(sim: sim_utils.SimulationContext, robots: list[Articulation], origins: torch.Tensor):
    """Runs the simulation loop."""
    # Define simulation stepping
    sim_dt = sim.get_physics_dt()
    sim_time = 0.0
    count = 0
    # Simulate physics
    while simulation_app.is_running():
        # reset
        if count % 200 == 0:
            # reset counters
            sim_time = 0.0
            count = 0
            for index, robot in enumerate(robots):
                # reset dof state
                joint_pos, joint_vel = (
                    robot.data.default_joint_pos.torch,
                    robot.data.default_joint_vel.torch,
                )
                robot.write_joint_position_to_sim_index(position=joint_pos)
                robot.write_joint_velocity_to_sim_index(velocity=joint_vel)
                root_pose = robot.data.default_root_pose.torch.clone()
                root_pose[:, :3] += origins[index]
                robot.write_root_pose_to_sim_index(root_pose=root_pose)
                root_vel = robot.data.default_root_vel.torch.clone()
                robot.write_root_velocity_to_sim_index(root_velocity=root_vel)
                robot.reset()
            # reset command
            print(">>>>>>>> Reset!")
        # apply action to the robot
        for robot in robots:
            robot.set_joint_position_target_index(target=robot.data.default_joint_pos.torch.clone())
            robot.write_data_to_sim()
        # perform step
        sim.step()
        # update sim-time
        sim_time += sim_dt
        count += 1
        # update buffers
        for robot in robots:
            robot.update(sim_dt)


def main():
    """Main function."""
    # Load kit helper
    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
    sim = SimulationContext(sim_cfg)
    # Set main camera
    sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])

    # design scene
    robots, origins = design_scene(sim)

    # Play the simulator
    sim.reset()

    # Now we are ready!
    print("[INFO]: Setup complete...")

    # Run the simulator
    run_simulator(sim, robots, origins)


if __name__ == "__main__":
    # run the main function
    main()
    # close sim app
    simulation_app.close()

	# 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

	"""
	This script demonstrates how to simulate bipedal robots.

	.. code-block:: bash

	# Usage
	./isaaclab.sh -p scripts/demos/bipeds.py

	"""

	"""Launch Isaac Sim Simulator first."""

	import argparse

	from isaaclab.app import AppLauncher

	# add argparse arguments
	parser = argparse.ArgumentParser(description="This script demonstrates how to simulate bipedal robots.")
	# append AppLauncher cli args
	AppLauncher.add_app_launcher_args(parser)
	# demos should open Kit visualizer by default
	parser.set_defaults(visualizer=["kit"])
	# parse the arguments
	args_cli = parser.parse_args()

	# launch omniverse app
	app_launcher = AppLauncher(args_cli)
	simulation_app = app_launcher.app

	"""Rest everything follows."""

	import torch

	import isaaclab.sim as sim_utils
	from isaaclab.assets import Articulation
	from isaaclab.sim import SimulationContext

	##
	# Pre-defined configs
	##
	from isaaclab_assets.robots.cassie import CASSIE_CFG # isort:skip
	from isaaclab_assets import H1_CFG # isort:skip
	from isaaclab_assets import G1_CFG # isort:skip


	def design_scene(sim: sim_utils.SimulationContext) -> tuple[list, torch.Tensor]:
	"""Designs the scene."""
	# Ground-plane
	cfg = sim_utils.GroundPlaneCfg()
	cfg.func("/World/defaultGroundPlane", cfg)
	# Lights
	cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
	cfg.func("/World/Light", cfg)

	# Define origins
	origins = torch.tensor(
	[
	[0.0, -1.0, 0.0],
	[0.0, 0.0, 0.0],
	[0.0, 1.0, 0.0],
	]
	).to(device=sim.device)

	# Robots
	cassie = Articulation(CASSIE_CFG.replace(prim_path="/World/Cassie"))
	h1 = Articulation(H1_CFG.replace(prim_path="/World/H1"))
	g1 = Articulation(G1_CFG.replace(prim_path="/World/G1"))
	robots = [cassie, h1, g1]

	return robots, origins


	def run_simulator(sim: sim_utils.SimulationContext, robots: list[Articulation], origins: torch.Tensor):
	"""Runs the simulation loop."""
	# Define simulation stepping
	sim_dt = sim.get_physics_dt()
	sim_time = 0.0
	count = 0
	# Simulate physics
	while simulation_app.is_running():
	# reset
	if count % 200 == 0:
	# reset counters
	sim_time = 0.0
	count = 0
	for index, robot in enumerate(robots):
	# reset dof state
	joint_pos, joint_vel = (
	robot.data.default_joint_pos.torch,
	robot.data.default_joint_vel.torch,
	)
	robot.write_joint_position_to_sim_index(position=joint_pos)
	robot.write_joint_velocity_to_sim_index(velocity=joint_vel)
	root_pose = robot.data.default_root_pose.torch.clone()
	root_pose[:, :3] += origins[index]
	robot.write_root_pose_to_sim_index(root_pose=root_pose)
	root_vel = robot.data.default_root_vel.torch.clone()
	robot.write_root_velocity_to_sim_index(root_velocity=root_vel)
	robot.reset()
	# reset command
	print(">>>>>>>> Reset!")
	# apply action to the robot
	for robot in robots:
	robot.set_joint_position_target_index(target=robot.data.default_joint_pos.torch.clone())
	robot.write_data_to_sim()
	# perform step
	sim.step()
	# update sim-time
	sim_time += sim_dt
	count += 1
	# update buffers
	for robot in robots:
	robot.update(sim_dt)


	def main():
	"""Main function."""
	# Load kit helper
	sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
	sim = SimulationContext(sim_cfg)
	# Set main camera
	sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])

	# design scene
	robots, origins = design_scene(sim)

	# Play the simulator
	sim.reset()

	# Now we are ready!
	print("[INFO]: Setup complete...")

	# Run the simulator
	run_simulator(sim, robots, origins)


	if __name__ == "__main__":
	# run the main function
	main()
	# close sim app
	simulation_app.close()