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Isaac Sim 4.0 support, Kinematics API doc, Windows support

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This commit is contained in:
Balakumar Sundaralingam
2024-07-20 14:51:43 -07:00
parent 2ae381f328
commit 3690d28c54
83 changed files with 2818 additions and 497 deletions
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24
examples/isaac_sim/helper.py
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@@ -31,7 +31,7 @@ try:
from omni.isaac.urdf import _urdf # isaacsim 2022.2
except ImportError:
# Third Party
from omni.importer.urdf import _urdf # isaac sim 2023.1
from omni.importer.urdf import _urdf # isaac sim 2023.1 or above
ISAAC_SIM_23 = True
# Standard Library
@@ -68,22 +68,23 @@ def add_robot_to_scene(
robot_name: str = "robot",
position: np.array = np.array([0, 0, 0]),
):
urdf_interface = _urdf.acquire_urdf_interface()
urdf_interface = _urdf.acquire_urdf_interface()
# Set the settings in the import config
import_config = _urdf.ImportConfig()
import_config.merge_fixed_joints = False
import_config.convex_decomp = False
import_config.import_inertia_tensor = True
import_config.fix_base = True
import_config.make_default_prim = False
import_config.make_default_prim = True
import_config.self_collision = False
import_config.create_physics_scene = True
import_config.import_inertia_tensor = False
import_config.default_drive_strength = 20000
import_config.default_position_drive_damping = 500
import_config.default_drive_strength = 1047.19751
import_config.default_position_drive_damping = 52.35988
import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
import_config.distance_scale = 1
import_config.density = 0.0
asset_path = get_assets_path()
if (
"external_asset_path" in robot_config["kinematics"]
@@ -115,18 +116,7 @@ def add_robot_to_scene(
linkp = stage.GetPrimAtPath(robot_path)
set_prim_transform(linkp, [position[0], position[1], position[2], 1, 0, 0, 0])
if False and ISAAC_SIM_23: # this doesn't work in isaac sim 2023.1.1
robot_p.set_solver_velocity_iteration_count(0)
robot_p.set_solver_position_iteration_count(44)
my_world._physics_context.set_solver_type("PGS")
if ISAAC_SIM_23: # fix to load robot correctly in isaac sim 2023.1.1
linkp = stage.GetPrimAtPath(robot_path + "/" + base_link_name)
mass = UsdPhysics.MassAPI(linkp)
mass.GetMassAttr().Set(0)
robot = my_world.scene.add(robot_p)
# robot_path = robot.prim_path
return robot, robot_path