2urdfIsOK
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cmake_minimum_required(VERSION 2.8.3)
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project(2foot)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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controller_joint_names: ['', 'jlf0_link', 'jlf1_link', 'jlf2_link', 'jlf3_link', 'jrf0_link', 'jrf1_link', 'jrf2_link', 'jrf3_link', ]
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<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
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textfile="$(find 2foot)/urdf/2foot.urdf" />
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find 2foot)/urdf.rviz" />
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</launch>
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<launch>
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<include
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file="$(find gazebo_ros)/launch/empty_world.launch" />
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<node
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name="tf_footprint_base"
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pkg="tf"
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type="static_transform_publisher"
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args="0 0 0 0 0 0 base_link base_footprint 40" />
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<node
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name="spawn_model"
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pkg="gazebo_ros"
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type="spawn_model"
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args="-file $(find 2foot)/urdf/2foot.urdf -urdf -model 2foot"
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output="screen" />
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<node
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name="fake_joint_calibration"
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pkg="rostopic"
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type="rostopic"
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args="pub /calibrated std_msgs/Bool true" />
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</launch>
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<package format="2">
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<name>2foot</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for 2foot</p>
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<p>This package contains configuration data, 3D models and launch files
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for 2foot robot</p>
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</description>
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<author>TODO</author>
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<maintainer email="TODO@email.com" />
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roslaunch</depend>
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<depend>robot_state_publisher</depend>
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<depend>rviz</depend>
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<depend>joint_state_publisher_gui</depend>
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<depend>gazebo</depend>
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<export>
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<architecture_independent />
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</export>
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</package>
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
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head_link,0.00637927718522201,8.36838553548436E-05,0.0502679117290854,0,0,0,0.104147639434427,0.000119888626287878,4.26649795023379E-08,-3.14056079328627E-06,9.2091610344693E-05,1.01375294153974E-07,3.18810914232645E-05,0,0,0,0,0,0,package://2foot/meshes/head_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/head_link.STL,,主体-2;bateria 9v-1;Step Up-1;3D_PCB1_2026-08-10.step-1/Board~RkW7.step-1;Freenove ESP32-S3-WROOM-CAM-1;3D_PCB1_2026-08-10.step-1/H15~HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~VMZC.step-1/HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~Z7qR.step-1;3D_PCB1_2026-08-10.step-1/H1~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~UsHF.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H8~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~Shzr.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H2~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~Ckmi.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H4~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~7m2w.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H6~HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~FFBa.step-1/HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~Z7qR.step-1;3D_PCB1_2026-08-10.step-1/H3~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~2T1y.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H5~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~T7xH.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;舵机总体-5/Servo-1;舵机总体-4/Servo-1,head,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
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lf0_link,2.5034674019167E-06,-0.00399152370097755,-0.0136055723537577,0,0,0,0.0155246301341258,1.99164881392775E-06,-4.82887905395487E-10,-2.07253296776602E-10,2.02900387840545E-06,2.49004321417992E-07,1.54078395860252E-06,0,0,0,0,0,0,package://2foot/meshes/lf0_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/lf0_link.STL,,右腿胯骨-18;舵机总体-8/Servo-1,lf0,lf0_hige,jlf0_link,revolute,-0.0031441,0.025688,-0.006475,0,0,0,head_link,0,0,-1,0,0,0,0,,,,,,,,
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lf1_link,2.91696425805399E-06,0.004390376864982,-0.0296712953157869,0,0,0,0.013323922418148,2.72143018103993E-06,4.82887905395412E-10,2.07253296776833E-10,2.92090153101514E-06,-3.25175555348237E-08,9.23918900070304E-07,0,0,0,0,0,0,package://2foot/meshes/lf1_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/lf1_link.STL,,右大腿-3;舵机总体-10/Servo-1,lf1,lf1_hige,jlf1_link,revolute,9.7027E-05,0.011975,-0.012388,0,0,0,lf0_link,0,-1,0,0,0,0,0,,,,,,,,
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lf2_link,2.43737372657149E-06,0.00363613025354126,-0.0425732788173739,0,0,0,0.0159456077850123,5.35424510746978E-06,4.82887905395677E-10,2.07253296776739E-10,5.71315402728463E-06,-2.13454759600996E-08,1.09035404123551E-06,0,0,0,0,0,0,package://2foot/meshes/lf2_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/lf2_link.STL,,右小腿-2;舵机总体-12/Servo-1,lf2,lf2_hige,jlf2_link,revolute,9.7027E-05,-0.008475,-0.040938,0,0,0,lf1_link,0,1,0,0,0,0,0,,,,,,,,
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lf3_link,-4.82253126321552E-16,-0.000451394188820231,-0.0198245674059442,0,0,0,0.0192906631601767,3.18209633375994E-06,3.34527248954873E-21,1.76056444695768E-21,6.55022061625284E-06,2.53604908486043E-07,7.24649308736933E-06,0,0,0,0,0,0,package://2foot/meshes/lf3_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/lf3_link.STL,,玉足-4,lf3,lf3_hige,jlf3_link,revolute,9.7027E-05,-0.006475,-0.060937,0,0,0,lf2_link,0,-1,0,0,0,0,0,,,,,,,,
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rf0_link,-2.50346740203813E-06,0.00399152370097733,-0.0136055723537577,0,0,0,0.0155246301341258,1.99164881392775E-06,-4.82887905395413E-10,2.07253296776268E-10,2.02900387840545E-06,-2.49004321417992E-07,1.54078395860252E-06,0,0,0,0,0,0,package://2foot/meshes/rf0_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/rf0_link.STL,,右腿胯骨-16;舵机总体-9/Servo-1,rf0,rf0_hige,jrf0_link,revolute,-0.0033382,-0.025687,-0.006475,0,0,0,head_link,0,0,-1,0,0,0,0,,,,,,,,
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rf1_link,-2.91696425855359E-06,-0.00439037686498245,-0.0296712953157865,0,0,0,0.0133239224181479,2.72143018103992E-06,4.82887905395081E-10,-2.07253296776895E-10,2.92090153101514E-06,3.25175555348265E-08,9.23918900070297E-07,0,0,0,0,0,0,package://2foot/meshes/rf1_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/rf1_link.STL,,右大腿-2;舵机总体-11/Servo-1,rf1,rf1_hige,jrf1_link,revolute,-9.7027E-05,-0.011975,-0.012388,0,0,0,rf0_link,0,1,0,0,0,0,0,,,,,,,,
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rf2_link,-2.43737372681782E-06,-0.00363613025354104,-0.0425732788173739,0,0,0,0.0159456077850122,5.35424510746977E-06,4.82887905394926E-10,-2.0725329677683E-10,5.71315402728462E-06,2.13454759600991E-08,1.0903540412355E-06,0,0,0,0,0,0,package://2foot/meshes/rf2_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/rf2_link.STL,,右小腿-1;舵机总体-13/Servo-1,rf2,lf2_hige,jrf2_link,revolute,-9.7027E-05,0.008475,-0.040937,0,0,0,rf1_link,0,1,0,0,0,0,0,,,,,,,,
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rf3_link,8.18789480661053E-16,0.000451394188820897,-0.0198245674059443,0,0,0,0.0192906631601768,3.18209633375994E-06,8.58350838304875E-21,2.39867798130625E-21,6.55022061625285E-06,-2.53604908486041E-07,7.24649308736931E-06,0,0,0,0,0,0,package://2foot/meshes/rf3_link.STL,1,1,1,1,0,0,0,0,0,0,package://2foot/meshes/rf3_link.STL,,玉足-3,rf3,rf3_hige,jrf3_link,revolute,-9.7027E-05,0.006475,-0.060938,0,0,0,rf2_link,0,1,0,0,0,0,0,,,,,,,,
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="2foot">
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<link
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name="head_link">
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<inertial>
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<origin
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xyz="0.00637927718522201 8.36838553548436E-05 0.0502679117290854"
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rpy="0 0 0" />
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<mass
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value="0.104147639434427" />
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<inertia
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ixx="0.000119888626287878"
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ixy="4.26649795023379E-08"
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ixz="-3.14056079328627E-06"
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iyy="9.2091610344693E-05"
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iyz="1.01375294153974E-07"
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izz="3.18810914232645E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/head_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/head_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="lf0_link">
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<inertial>
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<origin
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xyz="2.5034674019167E-06 -0.00399152370097755 -0.0136055723537577"
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rpy="0 0 0" />
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<mass
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value="0.0155246301341258" />
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<inertia
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ixx="1.99164881392775E-06"
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ixy="-4.82887905395487E-10"
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ixz="-2.07253296776602E-10"
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iyy="2.02900387840545E-06"
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iyz="2.49004321417992E-07"
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izz="1.54078395860252E-06" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf0_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf0_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="jlf0_link"
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type="revolute">
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<origin
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xyz="-0.0031441 0.025688 -0.006475"
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rpy="0 0 0" />
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<parent
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link="head_link" />
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<child
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link="lf0_link" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="0"
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upper="0"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="lf1_link">
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<inertial>
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<origin
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xyz="2.91696425805399E-06 0.004390376864982 -0.0296712953157869"
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rpy="0 0 0" />
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<mass
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||||
value="0.013323922418148" />
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<inertia
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||||
ixx="2.72143018103993E-06"
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||||
ixy="4.82887905395412E-10"
|
||||
ixz="2.07253296776833E-10"
|
||||
iyy="2.92090153101514E-06"
|
||||
iyz="-3.25175555348237E-08"
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||||
izz="9.23918900070304E-07" />
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</inertial>
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||||
<visual>
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||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
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||||
<mesh
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||||
filename="package://2foot/meshes/lf1_link.STL" />
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</geometry>
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||||
<material
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||||
name="">
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<color
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||||
rgba="1 1 1 1" />
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</material>
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</visual>
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||||
<collision>
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||||
<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf1_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="jlf1_link"
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type="revolute">
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<origin
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xyz="9.7027E-05 0.011975 -0.012388"
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rpy="0 0 0" />
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<parent
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link="lf0_link" />
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<child
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||||
link="lf1_link" />
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<axis
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xyz="0 -1 0" />
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||||
<limit
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lower="0"
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upper="0"
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effort="0"
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||||
velocity="0" />
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</joint>
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<link
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name="lf2_link">
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<inertial>
|
||||
<origin
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||||
xyz="2.43737372657149E-06 0.00363613025354126 -0.0425732788173739"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0159456077850123" />
|
||||
<inertia
|
||||
ixx="5.35424510746978E-06"
|
||||
ixy="4.82887905395677E-10"
|
||||
ixz="2.07253296776739E-10"
|
||||
iyy="5.71315402728463E-06"
|
||||
iyz="-2.13454759600996E-08"
|
||||
izz="1.09035404123551E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/lf2_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/lf2_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jlf2_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="9.7027E-05 -0.008475 -0.040938"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lf1_link" />
|
||||
<child
|
||||
link="lf2_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lf3_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-4.82253126321552E-16 -0.000451394188820231 -0.0198245674059442"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0192906631601767" />
|
||||
<inertia
|
||||
ixx="3.18209633375994E-06"
|
||||
ixy="3.34527248954873E-21"
|
||||
ixz="1.76056444695768E-21"
|
||||
iyy="6.55022061625284E-06"
|
||||
iyz="2.53604908486043E-07"
|
||||
izz="7.24649308736933E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/lf3_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/lf3_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jlf3_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="9.7027E-05 -0.006475 -0.060937"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lf2_link" />
|
||||
<child
|
||||
link="lf3_link" />
|
||||
<axis
|
||||
xyz="0 -1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf0_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.50346740203813E-06 0.00399152370097733 -0.0136055723537577"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0155246301341258" />
|
||||
<inertia
|
||||
ixx="1.99164881392775E-06"
|
||||
ixy="-4.82887905395413E-10"
|
||||
ixz="2.07253296776268E-10"
|
||||
iyy="2.02900387840545E-06"
|
||||
iyz="-2.49004321417992E-07"
|
||||
izz="1.54078395860252E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf0_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf0_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf0_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0033382 -0.025687 -0.006475"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="head_link" />
|
||||
<child
|
||||
link="rf0_link" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf1_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.91696425855359E-06 -0.00439037686498245 -0.0296712953157865"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0133239224181479" />
|
||||
<inertia
|
||||
ixx="2.72143018103992E-06"
|
||||
ixy="4.82887905395081E-10"
|
||||
ixz="-2.07253296776895E-10"
|
||||
iyy="2.92090153101514E-06"
|
||||
iyz="3.25175555348265E-08"
|
||||
izz="9.23918900070297E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf1_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf1_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf1_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.7027E-05 -0.011975 -0.012388"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rf0_link" />
|
||||
<child
|
||||
link="rf1_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf2_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.43737372681782E-06 -0.00363613025354104 -0.0425732788173739"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0159456077850122" />
|
||||
<inertia
|
||||
ixx="5.35424510746977E-06"
|
||||
ixy="4.82887905394926E-10"
|
||||
ixz="-2.0725329677683E-10"
|
||||
iyy="5.71315402728462E-06"
|
||||
iyz="2.13454759600991E-08"
|
||||
izz="1.0903540412355E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf2_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf2_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf2_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.7027E-05 0.008475 -0.040937"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rf1_link" />
|
||||
<child
|
||||
link="rf2_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf3_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="8.18789480661053E-16 0.000451394188820897 -0.0198245674059443"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0192906631601768" />
|
||||
<inertia
|
||||
ixx="3.18209633375994E-06"
|
||||
ixy="8.58350838304875E-21"
|
||||
ixz="2.39867798130625E-21"
|
||||
iyy="6.55022061625285E-06"
|
||||
iyz="-2.53604908486041E-07"
|
||||
izz="7.24649308736931E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf3_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://2foot/meshes/rf3_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf3_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.7027E-05 0.006475 -0.060938"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rf2_link" />
|
||||
<child
|
||||
link="rf3_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,52 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Xform "tn__2foot_" (
|
||||
prepend references = @./payloads/base.usda@
|
||||
variants = {
|
||||
string Physics = "physx"
|
||||
}
|
||||
append variantSets = "Physics"
|
||||
)
|
||||
{
|
||||
variantSet "Physics" = {
|
||||
"mujoco" (
|
||||
prepend payload = @./payloads/Physics/mujoco.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
"none" {
|
||||
|
||||
}
|
||||
"physics" (
|
||||
prepend payload = @./payloads/Physics/physics.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
"physx" (
|
||||
prepend payload = @./payloads/Physics/physx.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,257 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./physics.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_"
|
||||
{
|
||||
over "Physics"
|
||||
{
|
||||
def MjcActuator "jlf0_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf0_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jlf1_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf1_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jlf2_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf2_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jlf3_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf3_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf0_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf0_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf1_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf1_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf2_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf2_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf3_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf3_link>
|
||||
}
|
||||
|
||||
over "root_joint"
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf0_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf1_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf2_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf3_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf0_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf1_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf2_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf3_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "Geometry"
|
||||
{
|
||||
over "head_link"
|
||||
{
|
||||
over "lf0_link"
|
||||
{
|
||||
over "lf1_link"
|
||||
{
|
||||
over "lf2_link"
|
||||
{
|
||||
over "lf3_link"
|
||||
{
|
||||
over "lf3_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf3_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lf2_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf2_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lf1_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf1_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lf0_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf0_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link"
|
||||
{
|
||||
over "rf1_link"
|
||||
{
|
||||
over "rf2_link"
|
||||
{
|
||||
over "rf3_link"
|
||||
{
|
||||
over "rf3_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf3_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf2_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf2_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf1_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf1_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf0_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "head_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "head_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Materials"
|
||||
{
|
||||
}
|
||||
|
||||
over "VisualMaterials"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,310 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_"
|
||||
{
|
||||
over "Geometry"
|
||||
{
|
||||
over "head_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
bool newton:selfCollisionEnabled = 0
|
||||
point3f physics:centerOfMass = (0.006379277, 0.00008368386, 0.050267912)
|
||||
float3 physics:diagonalInertia = (0.00003176899, 0.00009209173, 0.00012000061)
|
||||
float physics:mass = 0.10414764
|
||||
quatf physics:principalAxes = (0.7195886, -0.0010949927, 0.6943998, 0.00012781573)
|
||||
|
||||
over "lf0_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0000025034674, -0.0039915238, -0.013605572)
|
||||
float3 physics:diagonalInertia = (0.0000014361923, 0.000001991647, 0.0000021335975)
|
||||
float physics:mass = 0.01552463
|
||||
quatf physics:principalAxes = (0.5896363, 0.3902982, 0.39247534, 0.58818316)
|
||||
|
||||
over "lf1_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0000029169641, 0.004390377, -0.029671295)
|
||||
float3 physics:diagonalInertia = (9.233895e-7, 0.0000027214292, 0.000002921432)
|
||||
float physics:mass = 0.013323923
|
||||
quatf physics:principalAxes = (0.49527994, 0.5046167, 0.5034881, 0.49654758)
|
||||
|
||||
over "lf2_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0000024373737, 0.0036361304, -0.04257328)
|
||||
float3 physics:diagonalInertia = (0.0000010902555, 0.0000053542444, 0.0000057132534)
|
||||
float physics:mass = 0.015945608
|
||||
quatf physics:principalAxes = (0.4984956, 0.5014754, 0.50083035, 0.49919286)
|
||||
|
||||
over "lf3_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-4.822531e-16, -0.00045139418, -0.019824568)
|
||||
float3 physics:diagonalInertia = (0.0000031820964, 0.0000064676433, 0.0000073290707)
|
||||
float physics:mass = 0.019290663
|
||||
quatf physics:principalAxes = (0.9876391, 0.1567448, -2.5980806e-16, 4.4737337e-16)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0000025034674, 0.0039915238, -0.013605572)
|
||||
float3 physics:diagonalInertia = (0.0000014361923, 0.000001991647, 0.0000021335975)
|
||||
float physics:mass = 0.01552463
|
||||
quatf physics:principalAxes = (0.39247534, 0.58818316, 0.5896363, 0.3902982)
|
||||
|
||||
over "rf1_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0000029169641, -0.004390377, -0.029671295)
|
||||
float3 physics:diagonalInertia = (9.233895e-7, 0.0000027214292, 0.000002921432)
|
||||
float physics:mass = 0.013323923
|
||||
quatf physics:principalAxes = (0.5034881, 0.49654758, 0.49527994, 0.5046167)
|
||||
|
||||
over "rf2_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0000024373737, -0.0036361304, -0.04257328)
|
||||
float3 physics:diagonalInertia = (0.0000010902555, 0.0000053542444, 0.0000057132534)
|
||||
float physics:mass = 0.015945608
|
||||
quatf physics:principalAxes = (0.50083035, 0.49919286, 0.4984956, 0.5014754)
|
||||
|
||||
over "rf3_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (8.187895e-16, 0.00045139418, -0.019824568)
|
||||
float3 physics:diagonalInertia = (0.0000031820964, 0.0000064676433, 0.0000073290707)
|
||||
float physics:mass = 0.019290663
|
||||
quatf physics:principalAxes = (0.9876391, -0.1567448, -1.6753745e-16, 1.3454567e-15)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Physics"
|
||||
{
|
||||
def PhysicsRevoluteJoint "jlf0_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 1
|
||||
float drive:angular:physics:stiffness = 1
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Z"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link>
|
||||
point3f physics:localPos0 = (-0.0031441, 0.025688, -0.006475)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jlf1_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/lf0_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link>
|
||||
point3f physics:localPos0 = (0.000097027, 0.011975, -0.012388)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jlf2_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>
|
||||
point3f physics:localPos0 = (0.000097027, -0.008475, -0.040938)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jlf3_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link/lf3_link>
|
||||
point3f physics:localPos0 = (0.000097027, -0.006475, -0.060937)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf0_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Z"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link>
|
||||
point3f physics:localPos0 = (-0.0033382, -0.025687, -0.006475)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf1_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/rf0_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link>
|
||||
point3f physics:localPos0 = (-0.000097027, -0.011975, -0.012388)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf2_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>
|
||||
point3f physics:localPos0 = (-0.000097027, 0.008475, -0.040937)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf3_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link/rf3_link>
|
||||
point3f physics:localPos0 = (-0.000097027, 0.006475, -0.060938)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsFixedJoint "root_joint"
|
||||
{
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link>
|
||||
point3f physics:localPos0 = (0, 0, 0)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./physics.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_"
|
||||
{
|
||||
over "Physics"
|
||||
{
|
||||
over "jlf0_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf1_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf2_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf3_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf0_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf1_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf2_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf3_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,326 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./robot.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Xform "tn__2foot_" (
|
||||
prepend apiSchemas = ["GeomModelAPI"]
|
||||
assetInfo = {
|
||||
string name = "2foot"
|
||||
}
|
||||
displayName = "2foot"
|
||||
kind = "component"
|
||||
)
|
||||
{
|
||||
float3[] extentsHint = [(-0.03612928, -0.058187, -0.147238), (0.03091089, 0.058188, 0.122), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.03612928, -0.058187, -0.147238), (0.03091089, 0.058188, 0.122)]
|
||||
|
||||
def Scope "Materials"
|
||||
{
|
||||
}
|
||||
|
||||
def Scope "Geometry"
|
||||
{
|
||||
def Xform "head_link"
|
||||
{
|
||||
def Xform "head_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/head_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf0_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0031441, 0.025688, -0.006475)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf0_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf0_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf1_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.000097027, 0.011975, -0.012388)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf1_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf1_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf2_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.000097027, -0.008475, -0.040938)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf2_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf2_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf3_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.000097027, -0.006475, -0.060937)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf3_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf3_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf3_link_1" (
|
||||
displayName = "lf3_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf3_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf2_link_1" (
|
||||
displayName = "lf2_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf2_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf1_link_1" (
|
||||
displayName = "lf1_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf1_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf0_link_1" (
|
||||
displayName = "lf0_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf0_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0033382, -0.025687, -0.006475)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf0_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf0_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf1_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.000097027, -0.011975, -0.012388)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf1_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf1_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf2_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.000097027, 0.008475, -0.040937)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf2_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf2_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf3_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.000097027, 0.006475, -0.060938)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf3_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf3_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf3_link_1" (
|
||||
displayName = "rf3_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf3_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf2_link_1" (
|
||||
displayName = "rf2_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf2_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf1_link_1" (
|
||||
displayName = "rf1_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf1_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link_1" (
|
||||
displayName = "rf0_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf0_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "head_link_1" (
|
||||
displayName = "head_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/head_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Scope "Physics"
|
||||
{
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
|
|
@ -0,0 +1,348 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Scope "Instances"
|
||||
{
|
||||
def Xform "head_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/head_link>
|
||||
)
|
||||
{
|
||||
over "head_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/head_link/VisualMaterials/material_1>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_1" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "head_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/head_link>
|
||||
)
|
||||
{
|
||||
over "head_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf0_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf0_link>
|
||||
)
|
||||
{
|
||||
over "lf0_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf0_link/VisualMaterials/material_2>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_2" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf0_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf0_link>
|
||||
)
|
||||
{
|
||||
over "lf0_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf1_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf1_link>
|
||||
)
|
||||
{
|
||||
over "lf1_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf1_link/VisualMaterials/material_3>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_3" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf1_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf1_link>
|
||||
)
|
||||
{
|
||||
over "lf1_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf2_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf2_link>
|
||||
)
|
||||
{
|
||||
over "lf2_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf2_link/VisualMaterials/material_4>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_4" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf2_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf2_link>
|
||||
)
|
||||
{
|
||||
over "lf2_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf3_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf3_link>
|
||||
)
|
||||
{
|
||||
over "lf3_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf3_link/VisualMaterials/material_5>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_5" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf3_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf3_link>
|
||||
)
|
||||
{
|
||||
over "lf3_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf0_link>
|
||||
)
|
||||
{
|
||||
over "rf0_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf0_link/VisualMaterials/material_6>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_6" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf0_link>
|
||||
)
|
||||
{
|
||||
over "rf0_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf1_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf1_link>
|
||||
)
|
||||
{
|
||||
over "rf1_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf1_link/VisualMaterials/material_7>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_7" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf1_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf1_link>
|
||||
)
|
||||
{
|
||||
over "rf1_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf2_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf2_link>
|
||||
)
|
||||
{
|
||||
over "rf2_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf2_link/VisualMaterials/material_8>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_8" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf2_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf2_link>
|
||||
)
|
||||
{
|
||||
over "rf2_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf3_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf3_link>
|
||||
)
|
||||
{
|
||||
over "rf3_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf3_link/VisualMaterials/material_9>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_9" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf3_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf3_link>
|
||||
)
|
||||
{
|
||||
over "rf3_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,57 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Scope "Materials"
|
||||
{
|
||||
def Material "material_1"
|
||||
{
|
||||
color3f inputs:diffuseColor = (1, 1, 1)
|
||||
float inputs:metallic = 0
|
||||
float inputs:opacity = 1
|
||||
float inputs:roughness = 0.5
|
||||
token inputs:wrapMode = "repeat"
|
||||
token outputs:displacement (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:displacement.connect = </Materials/material_1/PreviewSurface.outputs:displacement>
|
||||
token outputs:surface (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
|
||||
token outputs:volume (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
|
||||
def Shader "PreviewSurface" (
|
||||
apiSchemas = ["NodeDefAPI"]
|
||||
)
|
||||
{
|
||||
token info:id = "UsdPreviewSurface"
|
||||
prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
|
||||
prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
|
||||
prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
|
||||
prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
|
||||
token outputs:displacement
|
||||
token outputs:surface
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,155 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_" (
|
||||
prepend apiSchemas = ["IsaacRobotAPI"]
|
||||
)
|
||||
{
|
||||
prepend rel isaac:physics:robotJoints = [
|
||||
</tn__2foot_/Physics/root_joint>,
|
||||
</tn__2foot_/Physics/jlf0_link>,
|
||||
</tn__2foot_/Physics/jrf0_link>,
|
||||
</tn__2foot_/Physics/jlf1_link>,
|
||||
</tn__2foot_/Physics/jlf2_link>,
|
||||
</tn__2foot_/Physics/jlf3_link>,
|
||||
</tn__2foot_/Physics/jrf1_link>,
|
||||
</tn__2foot_/Physics/jrf2_link>,
|
||||
</tn__2foot_/Physics/jrf3_link>,
|
||||
]
|
||||
prepend rel isaac:physics:robotLinks = [
|
||||
</tn__2foot_/Geometry/head_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link/lf1_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link/lf3_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link/rf1_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link/rf3_link>,
|
||||
]
|
||||
token isaac:robotType = "Default"
|
||||
|
||||
over "Geometry"
|
||||
{
|
||||
over "head_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf0_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf1_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf2_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf3_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "rf1_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "rf2_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "rf3_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Physics"
|
||||
{
|
||||
over "root_joint" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf0_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf1_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf2_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf3_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf0_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf1_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf2_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf3_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
# StackForce SimReady Isaac Lab Export
|
||||
|
||||
This project was generated from StackForce SimReady and is ready to train in Isaac Lab / Isaac Sim.
|
||||
|
||||
### Copy-Paste Training Commands
|
||||
|
||||
```bash
|
||||
conda activate <your_isaac_lab_env_name>
|
||||
cd <exported_project>
|
||||
python -m pip install -e source/stackforce_simready_2foot_lab
|
||||
python scripts/list_envs.py
|
||||
python scripts/zero_agent.py --task Template-2foot-Direct-v0 --headless --num_envs 8
|
||||
python scripts/rsl_rl/train.py --task Template-2foot-Direct-v0 --headless --num_envs 64 --max_iterations 100
|
||||
```
|
||||
|
||||
If you want the Isaac Sim window to open, remove `--headless`.
|
||||
|
||||
### Recommended Isaac Lab / Isaac Sim Environment
|
||||
|
||||
This export is recommended with the validated stack below:
|
||||
|
||||
```text
|
||||
Python 3.11
|
||||
Isaac Sim 5.1.0
|
||||
Isaac Lab v2.3.2 / pip 2.3.2.post1
|
||||
Torch 2.7.0+cu128
|
||||
Torchvision 0.22.0+cu128
|
||||
LeggedGym-Ex 0.3.0 bundled rsl_rl
|
||||
```
|
||||
|
||||
The export includes a one-click environment script:
|
||||
|
||||
```bash
|
||||
chmod +x scripts/setup_stackforce_isaac_lab_sim_env.sh
|
||||
./scripts/setup_stackforce_isaac_lab_sim_env.sh
|
||||
```
|
||||
|
||||
The default environment name is `env_isaaclab`. Override it with:
|
||||
|
||||
```bash
|
||||
ENV_NAME=my_isaaclab ./scripts/setup_stackforce_isaac_lab_sim_env.sh
|
||||
```
|
||||
|
||||
|
||||
### Training Outputs And Checkpoints
|
||||
|
||||
Training outputs are written under:
|
||||
|
||||
```text
|
||||
logs/rsl_rl/<experiment_name>/<timestamp>/
|
||||
```
|
||||
|
||||
Useful commands:
|
||||
|
||||
```bash
|
||||
find logs -name "*.pt"
|
||||
find logs -name "*.pt" | sort | tail -n 1
|
||||
find logs -name "policy.onnx"
|
||||
```
|
||||
|
||||
Training saves `model_final.pt` and also attempts to export `exported/policies/policy.onnx`.
|
||||
|
||||
### Resume Training
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/train.py --task Template-2foot-Direct-v0 --resume --load_run <run_dir_name> --checkpoint <model_x.pt>
|
||||
```
|
||||
|
||||
### Play A Trained Policy
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/play.py --task Template-2foot-Direct-v0 --num_envs 1 --disable_resets
|
||||
```
|
||||
|
||||
To load a specific checkpoint:
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/play.py --task Template-2foot-Direct-v0 --checkpoint logs/rsl_rl/<experiment_name>/<timestamp>/model_final.pt --num_envs 1 --disable_resets
|
||||
```
|
||||
|
||||
Regenerate ONNX from a checkpoint:
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/play.py --task Template-2foot-Direct-v0 --checkpoint logs/rsl_rl/<experiment_name>/<timestamp>/model_final.pt --num_envs 1 --disable_resets --export_onnx --num_steps 1
|
||||
```
|
||||
|
||||
### Add A Custom Reward
|
||||
|
||||
Edit:
|
||||
|
||||
```text
|
||||
source/stackforce_simready_2foot_lab/stackforce_simready_2foot_lab/tasks/direct/2foot/custom_rewards.py
|
||||
```
|
||||
|
||||
Implement your reward terms in `compute_custom_reward_terms(env)`.
|
||||
Then edit:
|
||||
|
||||
```text
|
||||
source/stackforce_simready_2foot_lab/stackforce_simready_2foot_lab/tasks/direct/2foot/2foot_env_cfg.py
|
||||
```
|
||||
|
||||
Change:
|
||||
|
||||
```python
|
||||
"custom_reward": 0.0
|
||||
```
|
||||
|
||||
to a non-zero scale such as:
|
||||
|
||||
```python
|
||||
"custom_reward": 1.0
|
||||
```
|
||||
|
||||
Notes:
|
||||
- The StackForce `trimesh` option is mapped to Isaac Lab rough terrain generation.
|
||||
- Assets stay embedded in the python package under `source/stackforce_simready_2foot_lab/stackforce_simready_2foot_lab/assets`.
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
# StackForce SimReady Isaac Lab 导出工程
|
||||
|
||||
这个工程由 StackForce SimReady 导出，可直接用于 Isaac Lab / Isaac Sim 训练。
|
||||
|
||||
### 直接可复制的训练命令
|
||||
|
||||
```bash
|
||||
conda activate <你自己的IsaacLab环境名称>
|
||||
cd <exported_project>
|
||||
python -m pip install -e source/stackforce_simready_2foot_lab
|
||||
python scripts/list_envs.py
|
||||
python scripts/zero_agent.py --task Template-2foot-Direct-v0 --headless --num_envs 8
|
||||
python scripts/rsl_rl/train.py --task Template-2foot-Direct-v0 --headless --num_envs 64 --max_iterations 100
|
||||
```
|
||||
|
||||
如果你想打开 Isaac Sim 窗口，把训练命令里的 `--headless` 去掉即可。
|
||||
|
||||
### 推荐 Isaac Lab / Isaac Sim 环境
|
||||
|
||||
本导出工程推荐使用下面这套已验证配置：
|
||||
|
||||
```text
|
||||
Python 3.11
|
||||
Isaac Sim 5.1.0
|
||||
Isaac Lab v2.3.2 / pip 2.3.2.post1
|
||||
Torch 2.7.0+cu128
|
||||
Torchvision 0.22.0+cu128
|
||||
LeggedGym-Ex 0.3.0 提供的 rsl_rl
|
||||
```
|
||||
|
||||
导出包内已包含一键环境脚本：
|
||||
|
||||
```bash
|
||||
chmod +x scripts/setup_stackforce_isaac_lab_sim_env.sh
|
||||
./scripts/setup_stackforce_isaac_lab_sim_env.sh
|
||||
```
|
||||
|
||||
脚本默认创建 `env_isaaclab`。如果你想改环境名：
|
||||
|
||||
```bash
|
||||
ENV_NAME=my_isaaclab ./scripts/setup_stackforce_isaac_lab_sim_env.sh
|
||||
```
|
||||
|
||||
|
||||
### 训练输出和 checkpoint
|
||||
|
||||
训练输出在：
|
||||
|
||||
```text
|
||||
logs/rsl_rl/<experiment_name>/<timestamp>/
|
||||
```
|
||||
|
||||
可用下面的命令直接查找：
|
||||
|
||||
```bash
|
||||
find logs -name "*.pt"
|
||||
find logs -name "*.pt" | sort | tail -n 1
|
||||
find logs -name "policy.onnx"
|
||||
```
|
||||
|
||||
Training saves `model_final.pt` and also attempts to export `exported/policies/policy.onnx`.
|
||||
|
||||
### 继续训练
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/train.py --task Template-2foot-Direct-v0 --resume --load_run <run_dir_name> --checkpoint <model_x.pt>
|
||||
```
|
||||
|
||||
### 播放训练后的策略
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/play.py --task Template-2foot-Direct-v0 --num_envs 1 --disable_resets
|
||||
```
|
||||
|
||||
如需加载指定 checkpoint：
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/play.py --task Template-2foot-Direct-v0 --checkpoint logs/rsl_rl/<experiment_name>/<timestamp>/model_final.pt --num_envs 1 --disable_resets
|
||||
```
|
||||
|
||||
Regenerate ONNX from a checkpoint:
|
||||
|
||||
```bash
|
||||
python scripts/rsl_rl/play.py --task Template-2foot-Direct-v0 --checkpoint logs/rsl_rl/<experiment_name>/<timestamp>/model_final.pt --num_envs 1 --disable_resets --export_onnx --num_steps 1
|
||||
```
|
||||
|
||||
### 增加自定义 Reward
|
||||
|
||||
编辑：
|
||||
|
||||
```text
|
||||
source/stackforce_simready_2foot_lab/stackforce_simready_2foot_lab/tasks/direct/2foot/custom_rewards.py
|
||||
```
|
||||
|
||||
在 `compute_custom_reward_terms(env)` 中返回你自己的 reward term。
|
||||
然后再编辑：
|
||||
|
||||
```text
|
||||
source/stackforce_simready_2foot_lab/stackforce_simready_2foot_lab/tasks/direct/2foot/2foot_env_cfg.py
|
||||
```
|
||||
|
||||
把：
|
||||
|
||||
```python
|
||||
"custom_reward": 0.0
|
||||
```
|
||||
|
||||
改成非零，比如：
|
||||
|
||||
```python
|
||||
"custom_reward": 1.0
|
||||
```
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
import argparse
|
||||
|
||||
parser = argparse.ArgumentParser(description="List StackForce Isaac Lab environments.")
|
||||
parser.add_argument("--keyword", type=str, default=None, help="Keyword to filter environments.")
|
||||
args_cli = parser.parse_args()
|
||||
|
||||
import gymnasium as gym
|
||||
from prettytable import PrettyTable
|
||||
|
||||
import stackforce_simready_2foot_lab.tasks # noqa: F401
|
||||
|
||||
|
||||
def main():
|
||||
table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
|
||||
table.title = "Available StackForce Isaac Lab Environments"
|
||||
table.align["Task Name"] = "l"
|
||||
table.align["Entry Point"] = "l"
|
||||
table.align["Config"] = "l"
|
||||
|
||||
index = 0
|
||||
for task_spec in gym.registry.values():
|
||||
if "Template-" in task_spec.id and (args_cli.keyword is None or args_cli.keyword in task_spec.id):
|
||||
table.add_row([index + 1, task_spec.id, task_spec.entry_point, task_spec.kwargs["env_cfg_entry_point"]])
|
||||
index += 1
|
||||
print(table)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
import argparse
|
||||
|
||||
from isaaclab.app import AppLauncher
|
||||
|
||||
parser = argparse.ArgumentParser(description="Random agent for StackForce Isaac Lab environments.")
|
||||
parser.add_argument("--disable_fabric", action="store_true", default=False)
|
||||
parser.add_argument("--num_envs", type=int, default=None)
|
||||
parser.add_argument("--task", type=str, default=None)
|
||||
AppLauncher.add_app_launcher_args(parser)
|
||||
args_cli = parser.parse_args()
|
||||
|
||||
app_launcher = AppLauncher(args_cli)
|
||||
simulation_app = app_launcher.app
|
||||
|
||||
import gymnasium as gym
|
||||
import torch
|
||||
|
||||
from isaaclab_tasks.utils import parse_env_cfg
|
||||
|
||||
import stackforce_simready_2foot_lab.tasks # noqa: F401
|
||||
|
||||
|
||||
def main():
|
||||
env_cfg = parse_env_cfg(
|
||||
args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
|
||||
)
|
||||
env = gym.make(args_cli.task, cfg=env_cfg)
|
||||
env.reset()
|
||||
while simulation_app.is_running():
|
||||
with torch.inference_mode():
|
||||
actions = 2 * torch.rand(env.action_space.shape, device=env.unwrapped.device) - 1
|
||||
env.step(actions)
|
||||
env.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
simulation_app.close()
|
||||
Binary file not shown.
|
|
@ -0,0 +1,40 @@
|
|||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import random
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg
|
||||
|
||||
|
||||
def add_rsl_rl_args(parser: argparse.ArgumentParser):
|
||||
arg_group = parser.add_argument_group("rsl_rl", description="Arguments for RSL-RL agent.")
|
||||
arg_group.add_argument("--experiment_name", type=str, default=None, help="Experiment folder name.")
|
||||
arg_group.add_argument("--run_name", type=str, default=None, help="Run name suffix.")
|
||||
arg_group.add_argument("--resume", action="store_true", default=False, help="Resume from checkpoint.")
|
||||
arg_group.add_argument("--load_run", type=str, default=None, help="Run folder to resume from.")
|
||||
arg_group.add_argument("--checkpoint", type=str, default=None, help="Checkpoint file to resume from.")
|
||||
arg_group.add_argument("--logger", type=str, default=None, choices={"wandb", "tensorboard", "neptune"})
|
||||
arg_group.add_argument("--log_project_name", type=str, default=None, help="Logger project name.")
|
||||
|
||||
|
||||
def update_rsl_rl_cfg(agent_cfg: "RslRlBaseRunnerCfg", args_cli: argparse.Namespace):
|
||||
if hasattr(args_cli, "seed") and args_cli.seed is not None:
|
||||
if args_cli.seed == -1:
|
||||
args_cli.seed = random.randint(0, 10000)
|
||||
agent_cfg.seed = args_cli.seed
|
||||
if args_cli.resume is not None:
|
||||
agent_cfg.resume = args_cli.resume
|
||||
if args_cli.load_run is not None:
|
||||
agent_cfg.load_run = args_cli.load_run
|
||||
if args_cli.checkpoint is not None:
|
||||
agent_cfg.load_checkpoint = args_cli.checkpoint
|
||||
if args_cli.run_name is not None:
|
||||
agent_cfg.run_name = args_cli.run_name
|
||||
if args_cli.logger is not None:
|
||||
agent_cfg.logger = args_cli.logger
|
||||
if agent_cfg.logger in {"wandb", "neptune"} and args_cli.log_project_name:
|
||||
agent_cfg.wandb_project = args_cli.log_project_name
|
||||
agent_cfg.neptune_project = args_cli.log_project_name
|
||||
return agent_cfg
|
||||
|
|
@ -0,0 +1,388 @@
|
|||
"""Script to play a trained RSL-RL policy."""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
|
||||
from isaaclab.app import AppLauncher
|
||||
|
||||
parser = argparse.ArgumentParser(description="Play a trained RSL-RL policy.")
|
||||
parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")
|
||||
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
|
||||
parser.add_argument("--agent", type=str, default="rsl_rl_cfg_entry_point", help="Agent configuration entry point.")
|
||||
parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment.")
|
||||
parser.add_argument("--load_run", type=str, default=".*", help="Run folder name or regex to load from.")
|
||||
parser.add_argument(
|
||||
"--checkpoint",
|
||||
type=str,
|
||||
default="model_.*.pt",
|
||||
help="Checkpoint filename regex under logs, or a direct path to a .pt file.",
|
||||
)
|
||||
parser.add_argument("--num_steps", type=int, default=500, help="Number of inference steps to simulate.")
|
||||
parser.add_argument(
|
||||
"--disable_resets",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Disable environment reset during visual play so short or unstable policies do not instantly jump back to the start pose.",
|
||||
)
|
||||
parser.add_argument("--export_io_descriptors", action="store_true", default=False, help="Export IO descriptors.")
|
||||
parser.add_argument("--export_onnx", action="store_true", default=False, help="Export policy.onnx from the loaded checkpoint.")
|
||||
AppLauncher.add_app_launcher_args(parser)
|
||||
args_cli, hydra_args = parser.parse_known_args()
|
||||
|
||||
sys.argv = [sys.argv[0]] + hydra_args
|
||||
|
||||
app_launcher = AppLauncher(args_cli)
|
||||
simulation_app = app_launcher.app
|
||||
|
||||
import gymnasium as gym
|
||||
import inspect
|
||||
import os
|
||||
import torch
|
||||
from rsl_rl.runners import OnPolicyRunner
|
||||
try:
|
||||
from rsl_rl.algorithms import PPO
|
||||
except ImportError:
|
||||
PPO = None
|
||||
try:
|
||||
from tensordict import TensorDict
|
||||
except ImportError:
|
||||
TensorDict = None
|
||||
|
||||
from isaaclab.envs import DirectMARLEnv, DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg, multi_agent_to_single_agent
|
||||
from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg
|
||||
|
||||
from isaaclab_tasks.utils import get_checkpoint_path
|
||||
from isaaclab_tasks.utils.hydra import hydra_task_config
|
||||
|
||||
import stackforce_simready_2foot_lab.tasks # noqa: F401
|
||||
|
||||
import os
|
||||
import torch
|
||||
|
||||
|
||||
class _StackForceOnnxPolicy(torch.nn.Module):
|
||||
def __init__(self, policy):
|
||||
super().__init__()
|
||||
self.policy = policy
|
||||
|
||||
def forward(self, obs):
|
||||
actions = self.policy(obs)
|
||||
if isinstance(actions, (tuple, list)):
|
||||
return actions[0]
|
||||
if isinstance(actions, dict):
|
||||
if "actions" in actions:
|
||||
return actions["actions"]
|
||||
if "action" in actions:
|
||||
return actions["action"]
|
||||
return next(iter(actions.values()))
|
||||
return actions
|
||||
|
||||
|
||||
def _stackforce_policy_obs_tensor(obs):
|
||||
if isinstance(obs, dict):
|
||||
obs = obs["policy"] if "policy" in obs else next(iter(obs.values()))
|
||||
elif not isinstance(obs, torch.Tensor) and hasattr(obs, "get"):
|
||||
try:
|
||||
candidate = obs.get("policy")
|
||||
except Exception:
|
||||
candidate = None
|
||||
if candidate is not None:
|
||||
obs = candidate
|
||||
if not isinstance(obs, torch.Tensor):
|
||||
raise TypeError(f"ONNX export requires a tensor policy observation, got {type(obs)!r}")
|
||||
if hasattr(obs, "detach"):
|
||||
obs = obs.detach()
|
||||
if obs.dim() == 1:
|
||||
obs = obs.unsqueeze(0)
|
||||
elif obs.shape[0] > 1:
|
||||
obs = obs[:1]
|
||||
return obs.contiguous()
|
||||
|
||||
|
||||
def stackforce_export_policy_as_onnx(policy, obs, output_dir, file_name="policy.onnx", opset=17):
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
output_path = os.path.join(output_dir, file_name)
|
||||
sample_obs = _stackforce_policy_obs_tensor(obs)
|
||||
module = _StackForceOnnxPolicy(policy).to(sample_obs.device).eval()
|
||||
with torch.no_grad():
|
||||
torch.onnx.export(
|
||||
module,
|
||||
sample_obs,
|
||||
output_path,
|
||||
input_names=["obs"],
|
||||
output_names=["actions"],
|
||||
dynamic_axes={"obs": {0: "batch"}, "actions": {0: "batch"}},
|
||||
opset_version=opset,
|
||||
)
|
||||
print(f"Exported ONNX policy to: {output_path}")
|
||||
return output_path
|
||||
|
||||
|
||||
|
||||
def _runner_uses_obs_groups():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
if PPO is not None and hasattr(PPO, "construct_algorithm"):
|
||||
source += "\n" + inspect.getsource(PPO.construct_algorithm)
|
||||
except OSError:
|
||||
return False
|
||||
return "resolve_obs_groups" in source or '"obs_groups"' in source or "'obs_groups'" in source
|
||||
|
||||
|
||||
def _runner_uses_split_actor_critic():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
if PPO is not None and hasattr(PPO, "construct_algorithm"):
|
||||
source += "\n" + inspect.getsource(PPO.construct_algorithm)
|
||||
except OSError:
|
||||
return False
|
||||
return 'cfg["actor"]' in source or "cfg['actor']" in source or 'cfg["critic"]' in source or "cfg['critic']" in source
|
||||
|
||||
|
||||
def _runner_expects_privileged_step():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner.learn)
|
||||
except OSError:
|
||||
return True
|
||||
return "privileged_obs" in source or "critic_obs" in source
|
||||
|
||||
|
||||
def _format_rsl_rl_obs(obs_dict, use_obs_groups):
|
||||
if not use_obs_groups:
|
||||
return obs_dict["policy"]
|
||||
if TensorDict is not None and not isinstance(obs_dict, TensorDict):
|
||||
first_obs = next(iter(obs_dict.values()))
|
||||
return TensorDict(dict(obs_dict), batch_size=[first_obs.shape[0]], device=first_obs.device)
|
||||
return obs_dict
|
||||
|
||||
|
||||
class LegacyRslRlVecEnvWrapper:
|
||||
def __init__(self, env, clip_actions=None):
|
||||
self.env = env
|
||||
self.clip_actions = clip_actions
|
||||
self.use_obs_groups = _runner_uses_obs_groups()
|
||||
self.return_privileged_obs = _runner_expects_privileged_step()
|
||||
self.num_envs = env.unwrapped.num_envs
|
||||
self.device = env.unwrapped.device
|
||||
self.max_episode_length = env.unwrapped.max_episode_length
|
||||
self.cfg = env.unwrapped.cfg
|
||||
self.num_actions = gym.spaces.flatdim(env.unwrapped.single_action_space)
|
||||
obs_dict, extras = self.env.reset()
|
||||
self.obs_buf = _format_rsl_rl_obs(obs_dict, self.use_obs_groups)
|
||||
self.privileged_obs_buf = obs_dict.get("critic")
|
||||
self.num_obs = obs_dict["policy"].shape[-1]
|
||||
self.num_privileged_obs = self.privileged_obs_buf.shape[-1] if self.privileged_obs_buf is not None else None
|
||||
self.rew_buf = torch.zeros(self.num_envs, device=self.device)
|
||||
self.reset_buf = torch.zeros(self.num_envs, dtype=torch.long, device=self.device)
|
||||
self.episode_length_buf = env.unwrapped.episode_length_buf
|
||||
self.extras = extras
|
||||
|
||||
def get_observations(self):
|
||||
return self.obs_buf
|
||||
|
||||
def get_privileged_observations(self):
|
||||
return self.privileged_obs_buf
|
||||
|
||||
def reset(self, env_ids=None):
|
||||
del env_ids
|
||||
obs_dict, extras = self.env.reset()
|
||||
self.obs_buf = _format_rsl_rl_obs(obs_dict, self.use_obs_groups)
|
||||
self.privileged_obs_buf = obs_dict.get("critic")
|
||||
self.extras = extras
|
||||
if not self.return_privileged_obs:
|
||||
return self.obs_buf
|
||||
return self.obs_buf, self.privileged_obs_buf
|
||||
|
||||
def step(self, actions):
|
||||
if self.clip_actions is not None:
|
||||
actions = torch.clamp(actions, -self.clip_actions, self.clip_actions)
|
||||
obs_dict, rewards, terminated, truncated, extras = self.env.step(actions)
|
||||
dones = (terminated | truncated).to(dtype=torch.long)
|
||||
if not self.env.unwrapped.cfg.is_finite_horizon:
|
||||
extras["time_outs"] = truncated
|
||||
episode_log = dict(extras.get("episode", {}))
|
||||
if torch.any(dones.bool()) and "log" in extras:
|
||||
episode_log.update(extras["log"])
|
||||
episode_log["Step_Reward/mean"] = torch.mean(rewards.detach())
|
||||
episode_log["Step_Reward/abs_mean"] = torch.mean(torch.abs(rewards.detach()))
|
||||
extras["episode"] = episode_log
|
||||
self.obs_buf = _format_rsl_rl_obs(obs_dict, self.use_obs_groups)
|
||||
self.privileged_obs_buf = obs_dict.get("critic")
|
||||
self.rew_buf = rewards
|
||||
self.reset_buf = dones
|
||||
self.extras = extras
|
||||
if not self.return_privileged_obs:
|
||||
return self.obs_buf, rewards, dones, extras
|
||||
return self.obs_buf, self.privileged_obs_buf, rewards, dones, extras
|
||||
|
||||
def close(self):
|
||||
return self.env.close()
|
||||
|
||||
|
||||
def _runner_expects_nested_runner():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
except OSError:
|
||||
return True
|
||||
return 'train_cfg["runner"]' in source or "train_cfg['runner']" in source
|
||||
|
||||
|
||||
def _runner_uses_nested_class_name():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
except OSError:
|
||||
return False
|
||||
return (
|
||||
'algorithm"]["class_name' in source
|
||||
or "algorithm']['class_name" in source
|
||||
or 'policy_cfg.pop("class_name")' in source
|
||||
or "policy_cfg.pop('class_name')" in source
|
||||
or 'self.policy_cfg.pop("class_name")' in source
|
||||
or "self.policy_cfg.pop('class_name')" in source
|
||||
or "resolve_callable" in source
|
||||
)
|
||||
|
||||
|
||||
def _runner_uses_split_actor_critic():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
if PPO is not None and hasattr(PPO, "construct_algorithm"):
|
||||
source += "\n" + inspect.getsource(PPO.construct_algorithm)
|
||||
except OSError:
|
||||
return False
|
||||
return 'cfg["actor"]' in source or "cfg['actor']" in source or 'cfg["critic"]' in source or "cfg['critic']" in source
|
||||
|
||||
|
||||
def to_compatible_rsl_rl_cfg(agent_cfg):
|
||||
data = agent_cfg.to_dict() if hasattr(agent_cfg, "to_dict") else dict(agent_cfg)
|
||||
allowed_policy_keys = {
|
||||
"actor_hidden_dims",
|
||||
"critic_hidden_dims",
|
||||
"activation",
|
||||
"init_noise_std",
|
||||
"clip_actions",
|
||||
"actor_obs_normalization",
|
||||
"critic_obs_normalization",
|
||||
}
|
||||
allowed_algorithm_keys = {
|
||||
"num_learning_epochs",
|
||||
"num_mini_batches",
|
||||
"clip_param",
|
||||
"gamma",
|
||||
"lam",
|
||||
"value_loss_coef",
|
||||
"entropy_coef",
|
||||
"learning_rate",
|
||||
"max_grad_norm",
|
||||
"use_clipped_value_loss",
|
||||
"schedule",
|
||||
"desired_kl",
|
||||
"use_spo",
|
||||
}
|
||||
if "runner" in data and "policy" in data and "algorithm" in data:
|
||||
runner_cfg = dict(data["runner"])
|
||||
policy_cfg = {key: value for key, value in dict(data["policy"]).items() if key in allowed_policy_keys or key == "class_name"}
|
||||
algorithm_cfg = {key: value for key, value in dict(data["algorithm"]).items() if key in allowed_algorithm_keys or key == "class_name"}
|
||||
else:
|
||||
policy_cfg = {key: value for key, value in dict(data["policy"]).items() if key in allowed_policy_keys}
|
||||
algorithm_cfg = {key: value for key, value in dict(data["algorithm"]).items() if key in allowed_algorithm_keys}
|
||||
runner_cfg = {key: value for key, value in data.items() if key not in {"policy", "algorithm", "class_name"}}
|
||||
|
||||
runner_cfg.setdefault("num_steps_per_env", getattr(agent_cfg, "num_steps_per_env", 24))
|
||||
runner_cfg.setdefault("max_iterations", getattr(agent_cfg, "max_iterations", 1500))
|
||||
runner_cfg.setdefault("save_interval", getattr(agent_cfg, "save_interval", 50))
|
||||
runner_cfg.setdefault("obs_groups", {"policy": ["policy"], "critic": ["policy"]})
|
||||
runner_cfg.setdefault("experiment_name", getattr(agent_cfg, "experiment_name", "stackforce"))
|
||||
runner_cfg.setdefault("run_name", getattr(agent_cfg, "run_name", ""))
|
||||
runner_cfg.setdefault("resume", getattr(agent_cfg, "resume", False))
|
||||
runner_cfg.setdefault("load_run", getattr(agent_cfg, "load_run", ".*"))
|
||||
runner_cfg.setdefault("checkpoint", getattr(agent_cfg, "load_checkpoint", "model_.*.pt"))
|
||||
|
||||
if _runner_uses_nested_class_name():
|
||||
policy_cfg.setdefault("class_name", "ActorCritic")
|
||||
algorithm_cfg.setdefault("class_name", "PPO")
|
||||
else:
|
||||
runner_cfg.setdefault("policy_class_name", "ActorCritic")
|
||||
runner_cfg.setdefault("algorithm_class_name", "PPO")
|
||||
|
||||
if _runner_expects_nested_runner():
|
||||
return {"runner": runner_cfg, "policy": policy_cfg, "algorithm": algorithm_cfg}
|
||||
if _runner_uses_split_actor_critic():
|
||||
algorithm_cfg.setdefault("class_name", "PPO")
|
||||
algorithm_cfg.pop("use_spo", None)
|
||||
actor_cfg = {
|
||||
"class_name": "MLPModel",
|
||||
"hidden_dims": policy_cfg.get("actor_hidden_dims", [256, 256, 128]),
|
||||
"activation": policy_cfg.get("activation", "elu"),
|
||||
"obs_normalization": policy_cfg.get("actor_obs_normalization", False),
|
||||
"distribution_cfg": {
|
||||
"class_name": "GaussianDistribution",
|
||||
"init_std": policy_cfg.get("init_noise_std", 1.0),
|
||||
},
|
||||
}
|
||||
critic_cfg = {
|
||||
"class_name": "MLPModel",
|
||||
"hidden_dims": policy_cfg.get("critic_hidden_dims", [256, 256, 128]),
|
||||
"activation": policy_cfg.get("activation", "elu"),
|
||||
"obs_normalization": policy_cfg.get("critic_obs_normalization", False),
|
||||
}
|
||||
runner_cfg.pop("policy_class_name", None)
|
||||
runner_cfg.pop("algorithm_class_name", None)
|
||||
runner_cfg["obs_groups"] = {"actor": ["policy"], "critic": ["policy"], "policy": ["policy"]}
|
||||
runner_cfg.setdefault("multi_gpu", None)
|
||||
return {**runner_cfg, "actor": actor_cfg, "critic": critic_cfg, "algorithm": algorithm_cfg}
|
||||
return {**runner_cfg, "policy": policy_cfg, "algorithm": algorithm_cfg}
|
||||
|
||||
|
||||
@hydra_task_config(args_cli.task, args_cli.agent)
|
||||
def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlBaseRunnerCfg):
|
||||
env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
|
||||
env_cfg.seed = args_cli.seed if args_cli.seed is not None else agent_cfg.seed
|
||||
env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
|
||||
if isinstance(env_cfg, ManagerBasedRLEnvCfg):
|
||||
env_cfg.export_io_descriptors = args_cli.export_io_descriptors
|
||||
elif args_cli.disable_resets and hasattr(env_cfg, "visual_disable_resets"):
|
||||
env_cfg.visual_disable_resets = True
|
||||
|
||||
log_root_path = os.path.abspath(os.path.join("logs", "rsl_rl", agent_cfg.experiment_name))
|
||||
checkpoint_arg = args_cli.checkpoint
|
||||
if os.path.isfile(checkpoint_arg):
|
||||
resume_path = os.path.abspath(checkpoint_arg)
|
||||
else:
|
||||
resume_path = get_checkpoint_path(log_root_path, args_cli.load_run, checkpoint_arg)
|
||||
print(f"[INFO]: Loading model checkpoint from: {resume_path}")
|
||||
|
||||
env = gym.make(args_cli.task, cfg=env_cfg)
|
||||
if isinstance(env.unwrapped, DirectMARLEnv):
|
||||
env = multi_agent_to_single_agent(env)
|
||||
|
||||
legacy_agent_cfg = to_compatible_rsl_rl_cfg(agent_cfg)
|
||||
wrapped_env = LegacyRslRlVecEnvWrapper(env, clip_actions=getattr(agent_cfg, "clip_actions", None))
|
||||
runner = OnPolicyRunner(wrapped_env, legacy_agent_cfg, log_dir=None, device=env.unwrapped.device)
|
||||
runner.load(resume_path, load_optimizer=False)
|
||||
policy = runner.get_inference_policy(device=env.unwrapped.device)
|
||||
|
||||
obs = wrapped_env.get_observations()
|
||||
if args_cli.export_onnx:
|
||||
stackforce_export_policy_as_onnx(
|
||||
policy,
|
||||
obs,
|
||||
os.path.join(os.path.dirname(resume_path), "exported", "policies"),
|
||||
)
|
||||
steps = 0
|
||||
with torch.inference_mode():
|
||||
while simulation_app.is_running():
|
||||
actions = policy(obs)
|
||||
step_result = wrapped_env.step(actions)
|
||||
obs = step_result[0]
|
||||
steps += 1
|
||||
if args_cli.num_steps > 0 and steps >= args_cli.num_steps:
|
||||
break
|
||||
|
||||
wrapped_env.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
simulation_app.close()
|
||||
|
|
@ -0,0 +1,466 @@
|
|||
"""Script to train RL agent with RSL-RL."""
|
||||
|
||||
"""Launch Isaac Sim Simulator first."""
|
||||
|
||||
import argparse
|
||||
import sys
|
||||
|
||||
from isaaclab.app import AppLauncher
|
||||
|
||||
import cli_args # isort: skip
|
||||
|
||||
parser = argparse.ArgumentParser(description="Train an RL agent with RSL-RL.")
|
||||
parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
|
||||
parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
|
||||
parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
|
||||
parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
|
||||
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
|
||||
parser.add_argument("--agent", type=str, default="rsl_rl_cfg_entry_point", help="Agent configuration entry point.")
|
||||
parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment.")
|
||||
parser.add_argument("--max_iterations", type=int, default=None, help="RL policy training iterations.")
|
||||
parser.add_argument("--distributed", action="store_true", default=False, help="Run distributed training.")
|
||||
parser.add_argument("--export_io_descriptors", action="store_true", default=False, help="Export IO descriptors.")
|
||||
parser.add_argument("--ray-proc-id", "-rid", type=int, default=None)
|
||||
cli_args.add_rsl_rl_args(parser)
|
||||
AppLauncher.add_app_launcher_args(parser)
|
||||
args_cli, hydra_args = parser.parse_known_args()
|
||||
|
||||
if args_cli.video:
|
||||
args_cli.enable_cameras = True
|
||||
|
||||
sys.argv = [sys.argv[0]] + hydra_args
|
||||
|
||||
app_launcher = AppLauncher(args_cli)
|
||||
simulation_app = app_launcher.app
|
||||
|
||||
import importlib.metadata as metadata
|
||||
import inspect
|
||||
import logging
|
||||
import os
|
||||
import platform
|
||||
import time
|
||||
from datetime import datetime
|
||||
|
||||
import gymnasium as gym
|
||||
import torch
|
||||
from packaging import version
|
||||
from rsl_rl.env import VecEnv
|
||||
from rsl_rl.runners import OnPolicyRunner
|
||||
try:
|
||||
from rsl_rl.algorithms import PPO
|
||||
except ImportError:
|
||||
PPO = None
|
||||
try:
|
||||
from tensordict import TensorDict
|
||||
except ImportError:
|
||||
TensorDict = None
|
||||
|
||||
from isaaclab.envs import DirectMARLEnv, DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg, multi_agent_to_single_agent
|
||||
from isaaclab.utils.dict import print_dict
|
||||
from isaaclab.utils.io import dump_yaml
|
||||
from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg
|
||||
|
||||
import isaaclab_tasks # noqa: F401
|
||||
from isaaclab_tasks.utils import get_checkpoint_path
|
||||
from isaaclab_tasks.utils.hydra import hydra_task_config
|
||||
|
||||
import stackforce_simready_2foot_lab.tasks # noqa: F401
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
import os
|
||||
import torch
|
||||
|
||||
|
||||
class _StackForceOnnxPolicy(torch.nn.Module):
|
||||
def __init__(self, policy):
|
||||
super().__init__()
|
||||
self.policy = policy
|
||||
|
||||
def forward(self, obs):
|
||||
actions = self.policy(obs)
|
||||
if isinstance(actions, (tuple, list)):
|
||||
return actions[0]
|
||||
if isinstance(actions, dict):
|
||||
if "actions" in actions:
|
||||
return actions["actions"]
|
||||
if "action" in actions:
|
||||
return actions["action"]
|
||||
return next(iter(actions.values()))
|
||||
return actions
|
||||
|
||||
|
||||
def _stackforce_policy_obs_tensor(obs):
|
||||
if isinstance(obs, dict):
|
||||
obs = obs["policy"] if "policy" in obs else next(iter(obs.values()))
|
||||
elif not isinstance(obs, torch.Tensor) and hasattr(obs, "get"):
|
||||
try:
|
||||
candidate = obs.get("policy")
|
||||
except Exception:
|
||||
candidate = None
|
||||
if candidate is not None:
|
||||
obs = candidate
|
||||
if not isinstance(obs, torch.Tensor):
|
||||
raise TypeError(f"ONNX export requires a tensor policy observation, got {type(obs)!r}")
|
||||
if hasattr(obs, "detach"):
|
||||
obs = obs.detach()
|
||||
if obs.dim() == 1:
|
||||
obs = obs.unsqueeze(0)
|
||||
elif obs.shape[0] > 1:
|
||||
obs = obs[:1]
|
||||
return obs.contiguous()
|
||||
|
||||
|
||||
def stackforce_export_policy_as_onnx(policy, obs, output_dir, file_name="policy.onnx", opset=17):
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
output_path = os.path.join(output_dir, file_name)
|
||||
sample_obs = _stackforce_policy_obs_tensor(obs)
|
||||
module = _StackForceOnnxPolicy(policy).to(sample_obs.device).eval()
|
||||
with torch.no_grad():
|
||||
torch.onnx.export(
|
||||
module,
|
||||
sample_obs,
|
||||
output_path,
|
||||
input_names=["obs"],
|
||||
output_names=["actions"],
|
||||
dynamic_axes={"obs": {0: "batch"}, "actions": {0: "batch"}},
|
||||
opset_version=opset,
|
||||
)
|
||||
print(f"Exported ONNX policy to: {output_path}")
|
||||
return output_path
|
||||
|
||||
|
||||
try:
|
||||
from rsl_rl.runners import DistillationRunner
|
||||
except ImportError:
|
||||
DistillationRunner = None
|
||||
|
||||
RSL_RL_VERSION = "3.0.1"
|
||||
try:
|
||||
installed_version = metadata.version("rsl-rl-lib")
|
||||
except metadata.PackageNotFoundError:
|
||||
installed_version = None
|
||||
|
||||
if installed_version is not None and version.parse(installed_version) < version.parse(RSL_RL_VERSION):
|
||||
if platform.system() == "Windows":
|
||||
cmd = [r".\isaaclab.bat", "-p", "-m", "pip", "install", f"rsl-rl-lib=={RSL_RL_VERSION}"]
|
||||
else:
|
||||
cmd = ["./isaaclab.sh", "-p", "-m", "pip", "install", f"rsl-rl-lib=={RSL_RL_VERSION}"]
|
||||
print(
|
||||
f"Please install the correct version of RSL-RL. Existing version is: '{installed_version}' and required version is: '{RSL_RL_VERSION}'.\n"
|
||||
f"To install the correct version, run:\n\n\t{' '.join(cmd)}\n"
|
||||
)
|
||||
raise SystemExit(1)
|
||||
|
||||
|
||||
torch.backends.cuda.matmul.allow_tf32 = True
|
||||
torch.backends.cudnn.allow_tf32 = True
|
||||
torch.backends.cudnn.deterministic = False
|
||||
torch.backends.cudnn.benchmark = False
|
||||
|
||||
|
||||
def _runner_uses_obs_groups():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
if PPO is not None and hasattr(PPO, "construct_algorithm"):
|
||||
source += "\n" + inspect.getsource(PPO.construct_algorithm)
|
||||
except OSError:
|
||||
return False
|
||||
return "resolve_obs_groups" in source or '"obs_groups"' in source or "'obs_groups'" in source
|
||||
|
||||
|
||||
def _runner_uses_split_actor_critic():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
if PPO is not None and hasattr(PPO, "construct_algorithm"):
|
||||
source += "\n" + inspect.getsource(PPO.construct_algorithm)
|
||||
except OSError:
|
||||
return False
|
||||
return 'cfg["actor"]' in source or "cfg['actor']" in source or 'cfg["critic"]' in source or "cfg['critic']" in source
|
||||
|
||||
|
||||
def _runner_expects_privileged_step():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner.learn)
|
||||
except OSError:
|
||||
return True
|
||||
return "privileged_obs" in source or "critic_obs" in source
|
||||
|
||||
|
||||
def _format_rsl_rl_obs(obs_dict, use_obs_groups):
|
||||
if not use_obs_groups:
|
||||
return obs_dict["policy"]
|
||||
if TensorDict is not None and not isinstance(obs_dict, TensorDict):
|
||||
first_obs = next(iter(obs_dict.values()))
|
||||
return TensorDict(dict(obs_dict), batch_size=[first_obs.shape[0]], device=first_obs.device)
|
||||
return obs_dict
|
||||
|
||||
|
||||
class LegacyRslRlVecEnvWrapper(VecEnv):
|
||||
def __init__(self, env, clip_actions=None):
|
||||
self.env = env
|
||||
self.clip_actions = clip_actions
|
||||
self.use_obs_groups = _runner_uses_obs_groups()
|
||||
self.return_privileged_obs = _runner_expects_privileged_step()
|
||||
self.num_envs = env.unwrapped.num_envs
|
||||
self.device = env.unwrapped.device
|
||||
self.max_episode_length = env.unwrapped.max_episode_length
|
||||
self.cfg = env.unwrapped.cfg
|
||||
self.num_actions = gym.spaces.flatdim(env.unwrapped.single_action_space)
|
||||
obs_dict, extras = self.env.reset()
|
||||
self.obs_buf = _format_rsl_rl_obs(obs_dict, self.use_obs_groups)
|
||||
self.privileged_obs_buf = obs_dict.get("critic")
|
||||
self.num_obs = obs_dict["policy"].shape[-1]
|
||||
self.num_privileged_obs = self.privileged_obs_buf.shape[-1] if self.privileged_obs_buf is not None else None
|
||||
self.rew_buf = torch.zeros(self.num_envs, device=self.device)
|
||||
self.reset_buf = torch.zeros(self.num_envs, dtype=torch.long, device=self.device)
|
||||
self.episode_length_buf = env.unwrapped.episode_length_buf
|
||||
self.extras = extras
|
||||
|
||||
def get_observations(self):
|
||||
return self.obs_buf
|
||||
|
||||
def get_privileged_observations(self):
|
||||
return self.privileged_obs_buf
|
||||
|
||||
def reset(self, env_ids=None):
|
||||
del env_ids
|
||||
obs_dict, extras = self.env.reset()
|
||||
self.obs_buf = _format_rsl_rl_obs(obs_dict, self.use_obs_groups)
|
||||
self.privileged_obs_buf = obs_dict.get("critic")
|
||||
self.extras = extras
|
||||
if not self.return_privileged_obs:
|
||||
return self.obs_buf
|
||||
return self.obs_buf, self.privileged_obs_buf
|
||||
|
||||
def step(self, actions):
|
||||
if self.clip_actions is not None:
|
||||
actions = torch.clamp(actions, -self.clip_actions, self.clip_actions)
|
||||
obs_dict, rewards, terminated, truncated, extras = self.env.step(actions)
|
||||
dones = (terminated | truncated).to(dtype=torch.long)
|
||||
if not self.env.unwrapped.cfg.is_finite_horizon:
|
||||
extras["time_outs"] = truncated
|
||||
episode_log = dict(extras.get("episode", {}))
|
||||
if torch.any(dones.bool()) and "log" in extras:
|
||||
episode_log.update(extras["log"])
|
||||
episode_log["Step_Reward/mean"] = torch.mean(rewards.detach())
|
||||
episode_log["Step_Reward/abs_mean"] = torch.mean(torch.abs(rewards.detach()))
|
||||
extras["episode"] = episode_log
|
||||
self.obs_buf = _format_rsl_rl_obs(obs_dict, self.use_obs_groups)
|
||||
self.privileged_obs_buf = obs_dict.get("critic")
|
||||
self.rew_buf = rewards
|
||||
self.reset_buf = dones
|
||||
self.extras = extras
|
||||
if not self.return_privileged_obs:
|
||||
return self.obs_buf, rewards, dones, extras
|
||||
return self.obs_buf, self.privileged_obs_buf, rewards, dones, extras
|
||||
|
||||
def close(self):
|
||||
return self.env.close()
|
||||
|
||||
|
||||
def _runner_expects_nested_runner():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
except OSError:
|
||||
return True
|
||||
return 'train_cfg["runner"]' in source or "train_cfg['runner']" in source
|
||||
|
||||
|
||||
def _runner_uses_nested_class_name():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
except OSError:
|
||||
return False
|
||||
return (
|
||||
'algorithm"]["class_name' in source
|
||||
or "algorithm']['class_name" in source
|
||||
or 'policy_cfg.pop("class_name")' in source
|
||||
or "policy_cfg.pop('class_name')" in source
|
||||
or 'self.policy_cfg.pop("class_name")' in source
|
||||
or "self.policy_cfg.pop('class_name')" in source
|
||||
or "resolve_callable" in source
|
||||
)
|
||||
|
||||
|
||||
def _runner_uses_split_actor_critic():
|
||||
try:
|
||||
source = inspect.getsource(OnPolicyRunner)
|
||||
if PPO is not None and hasattr(PPO, "construct_algorithm"):
|
||||
source += "\n" + inspect.getsource(PPO.construct_algorithm)
|
||||
except OSError:
|
||||
return False
|
||||
return 'cfg["actor"]' in source or "cfg['actor']" in source or 'cfg["critic"]' in source or "cfg['critic']" in source
|
||||
|
||||
|
||||
def to_compatible_rsl_rl_cfg(agent_cfg):
|
||||
data = agent_cfg.to_dict() if hasattr(agent_cfg, "to_dict") else dict(agent_cfg)
|
||||
allowed_policy_keys = {
|
||||
"actor_hidden_dims",
|
||||
"critic_hidden_dims",
|
||||
"activation",
|
||||
"init_noise_std",
|
||||
"clip_actions",
|
||||
"actor_obs_normalization",
|
||||
"critic_obs_normalization",
|
||||
}
|
||||
allowed_algorithm_keys = {
|
||||
"num_learning_epochs",
|
||||
"num_mini_batches",
|
||||
"clip_param",
|
||||
"gamma",
|
||||
"lam",
|
||||
"value_loss_coef",
|
||||
"entropy_coef",
|
||||
"learning_rate",
|
||||
"max_grad_norm",
|
||||
"use_clipped_value_loss",
|
||||
"schedule",
|
||||
"desired_kl",
|
||||
"use_spo",
|
||||
}
|
||||
if "runner" in data and "policy" in data and "algorithm" in data:
|
||||
runner_cfg = dict(data["runner"])
|
||||
policy_cfg = {key: value for key, value in dict(data["policy"]).items() if key in allowed_policy_keys or key == "class_name"}
|
||||
algorithm_cfg = {key: value for key, value in dict(data["algorithm"]).items() if key in allowed_algorithm_keys or key == "class_name"}
|
||||
else:
|
||||
policy_cfg = {key: value for key, value in dict(data["policy"]).items() if key in allowed_policy_keys}
|
||||
algorithm_cfg = {key: value for key, value in dict(data["algorithm"]).items() if key in allowed_algorithm_keys}
|
||||
runner_cfg = {key: value for key, value in data.items() if key not in {"policy", "algorithm", "class_name"}}
|
||||
|
||||
runner_cfg.setdefault("num_steps_per_env", getattr(agent_cfg, "num_steps_per_env", 24))
|
||||
runner_cfg.setdefault("max_iterations", getattr(agent_cfg, "max_iterations", 1500))
|
||||
runner_cfg.setdefault("save_interval", getattr(agent_cfg, "save_interval", 50))
|
||||
runner_cfg.setdefault("obs_groups", {"policy": ["policy"], "critic": ["policy"]})
|
||||
runner_cfg.setdefault("experiment_name", getattr(agent_cfg, "experiment_name", "stackforce"))
|
||||
runner_cfg.setdefault("run_name", getattr(agent_cfg, "run_name", ""))
|
||||
runner_cfg.setdefault("resume", getattr(agent_cfg, "resume", False))
|
||||
runner_cfg.setdefault("load_run", getattr(agent_cfg, "load_run", ".*"))
|
||||
runner_cfg.setdefault("checkpoint", getattr(agent_cfg, "load_checkpoint", "model_.*.pt"))
|
||||
|
||||
if _runner_uses_nested_class_name():
|
||||
policy_cfg.setdefault("class_name", "ActorCritic")
|
||||
algorithm_cfg.setdefault("class_name", "PPO")
|
||||
else:
|
||||
runner_cfg.setdefault("policy_class_name", "ActorCritic")
|
||||
runner_cfg.setdefault("algorithm_class_name", "PPO")
|
||||
|
||||
if _runner_expects_nested_runner():
|
||||
return {"runner": runner_cfg, "policy": policy_cfg, "algorithm": algorithm_cfg}
|
||||
if _runner_uses_split_actor_critic():
|
||||
algorithm_cfg.setdefault("class_name", "PPO")
|
||||
algorithm_cfg.pop("use_spo", None)
|
||||
actor_cfg = {
|
||||
"class_name": "MLPModel",
|
||||
"hidden_dims": policy_cfg.get("actor_hidden_dims", [256, 256, 128]),
|
||||
"activation": policy_cfg.get("activation", "elu"),
|
||||
"obs_normalization": policy_cfg.get("actor_obs_normalization", False),
|
||||
"distribution_cfg": {
|
||||
"class_name": "GaussianDistribution",
|
||||
"init_std": policy_cfg.get("init_noise_std", 1.0),
|
||||
},
|
||||
}
|
||||
critic_cfg = {
|
||||
"class_name": "MLPModel",
|
||||
"hidden_dims": policy_cfg.get("critic_hidden_dims", [256, 256, 128]),
|
||||
"activation": policy_cfg.get("activation", "elu"),
|
||||
"obs_normalization": policy_cfg.get("critic_obs_normalization", False),
|
||||
}
|
||||
runner_cfg.pop("policy_class_name", None)
|
||||
runner_cfg.pop("algorithm_class_name", None)
|
||||
runner_cfg["obs_groups"] = {"actor": ["policy"], "critic": ["policy"], "policy": ["policy"]}
|
||||
runner_cfg.setdefault("multi_gpu", None)
|
||||
return {**runner_cfg, "actor": actor_cfg, "critic": critic_cfg, "algorithm": algorithm_cfg}
|
||||
return {**runner_cfg, "policy": policy_cfg, "algorithm": algorithm_cfg}
|
||||
|
||||
|
||||
@hydra_task_config(args_cli.task, args_cli.agent)
|
||||
def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlBaseRunnerCfg):
|
||||
agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli)
|
||||
env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
|
||||
agent_cfg.max_iterations = args_cli.max_iterations if args_cli.max_iterations is not None else agent_cfg.max_iterations
|
||||
|
||||
env_cfg.seed = agent_cfg.seed
|
||||
env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
|
||||
if args_cli.distributed and args_cli.device is not None and "cpu" in args_cli.device:
|
||||
raise ValueError("Distributed training is not supported on CPU.")
|
||||
|
||||
if args_cli.distributed:
|
||||
env_cfg.sim.device = f"cuda:{app_launcher.local_rank}"
|
||||
agent_cfg.device = f"cuda:{app_launcher.local_rank}"
|
||||
seed = agent_cfg.seed + app_launcher.local_rank
|
||||
env_cfg.seed = seed
|
||||
agent_cfg.seed = seed
|
||||
|
||||
log_root_path = os.path.abspath(os.path.join("logs", "rsl_rl", agent_cfg.experiment_name))
|
||||
print(f"[INFO] Logging experiment in directory: {log_root_path}")
|
||||
log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
|
||||
print(f"Exact experiment name requested from command line: {log_dir}")
|
||||
if agent_cfg.run_name:
|
||||
log_dir += f"_{agent_cfg.run_name}"
|
||||
log_dir = os.path.join(log_root_path, log_dir)
|
||||
|
||||
if isinstance(env_cfg, ManagerBasedRLEnvCfg):
|
||||
env_cfg.export_io_descriptors = args_cli.export_io_descriptors
|
||||
else:
|
||||
logger.warning("IO descriptors are only supported for manager based RL environments.")
|
||||
|
||||
env_cfg.log_dir = log_dir
|
||||
env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
|
||||
|
||||
if isinstance(env.unwrapped, DirectMARLEnv):
|
||||
env = multi_agent_to_single_agent(env)
|
||||
|
||||
if agent_cfg.resume or agent_cfg.algorithm.class_name == "Distillation":
|
||||
resume_path = get_checkpoint_path(log_root_path, agent_cfg.load_run, agent_cfg.load_checkpoint)
|
||||
|
||||
if args_cli.video:
|
||||
video_kwargs = {
|
||||
"video_folder": os.path.join(log_dir, "videos", "train"),
|
||||
"step_trigger": lambda step: step % args_cli.video_interval == 0,
|
||||
"video_length": args_cli.video_length,
|
||||
"disable_logger": True,
|
||||
}
|
||||
print("[INFO] Recording videos during training.")
|
||||
print_dict(video_kwargs, nesting=4)
|
||||
env = gym.wrappers.RecordVideo(env, **video_kwargs)
|
||||
|
||||
start_time = time.time()
|
||||
env = LegacyRslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)
|
||||
|
||||
legacy_agent_cfg = to_compatible_rsl_rl_cfg(agent_cfg)
|
||||
|
||||
if agent_cfg.class_name == "OnPolicyRunner":
|
||||
runner = OnPolicyRunner(env, legacy_agent_cfg, log_dir=log_dir, device=agent_cfg.device)
|
||||
elif agent_cfg.class_name == "DistillationRunner" and DistillationRunner is not None:
|
||||
runner = DistillationRunner(env, legacy_agent_cfg, log_dir=log_dir, device=agent_cfg.device)
|
||||
else:
|
||||
raise ValueError(f"Unsupported runner class: {agent_cfg.class_name}")
|
||||
|
||||
if hasattr(runner, "add_git_repo_to_log"):
|
||||
runner.add_git_repo_to_log(__file__)
|
||||
if agent_cfg.resume or agent_cfg.algorithm.class_name == "Distillation":
|
||||
print(f"[INFO]: Loading model checkpoint from: {resume_path}")
|
||||
runner.load(resume_path)
|
||||
|
||||
dump_yaml(os.path.join(log_dir, "params", "env.yaml"), env_cfg)
|
||||
dump_yaml(os.path.join(log_dir, "params", "agent.yaml"), agent_cfg)
|
||||
runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
|
||||
final_path = os.path.join(log_dir, "model_final.pt")
|
||||
runner.save(final_path)
|
||||
print(f"Saved final checkpoint to: {final_path}")
|
||||
try:
|
||||
stackforce_export_policy_as_onnx(
|
||||
runner.get_inference_policy(device=env.device),
|
||||
env.get_observations(),
|
||||
os.path.join(log_dir, "exported", "policies"),
|
||||
)
|
||||
except Exception as exc:
|
||||
print(f"ONNX export skipped: {exc}")
|
||||
print(f"Training time: {round(time.time() - start_time, 2)} seconds")
|
||||
env.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
simulation_app.close()
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
# StackForce SimReady Isaac Lab / Isaac Sim environment bootstrap.
|
||||
# Tested target: Isaac Sim 5.1.0, Isaac Lab v2.3.2, Python 3.11, Torch 2.7.0 cu128.
|
||||
# Override defaults with: ENV_NAME=env_isaaclab INSTALL_ROOT=$HOME ./setup_stackforce_isaac_lab_sim_env.sh
|
||||
|
||||
ENV_NAME="${ENV_NAME:-env_isaaclab}"
|
||||
INSTALL_ROOT="${INSTALL_ROOT:-$HOME}"
|
||||
ISAACLAB_DIR="${ISAACLAB_DIR:-$INSTALL_ROOT/IsaacLab}"
|
||||
LEGGED_GYM_EX_DIR="${LEGGED_GYM_EX_DIR:-$HOME/leggedgymex/LeggedGym-Ex}"
|
||||
ISAACLAB_TAG="${ISAACLAB_TAG:-v2.3.2}"
|
||||
|
||||
if ! command -v conda >/dev/null 2>&1; then
|
||||
echo "conda was not found. Install Miniconda/Anaconda first, then rerun this script." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if ! command -v git >/dev/null 2>&1; then
|
||||
echo "git was not found. Install git first, then rerun this script." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
CONDA_BASE="$(conda info --base)"
|
||||
source "$CONDA_BASE/etc/profile.d/conda.sh"
|
||||
|
||||
if ! conda env list | awk '{print $1}' | grep -qx "$ENV_NAME"; then
|
||||
conda create -n "$ENV_NAME" python=3.11 -y
|
||||
fi
|
||||
conda activate "$ENV_NAME"
|
||||
|
||||
python -m pip install --upgrade pip setuptools wheel
|
||||
python -m pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
|
||||
python -m pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
|
||||
|
||||
if [ ! -d "$ISAACLAB_DIR/.git" ]; then
|
||||
mkdir -p "$(dirname "$ISAACLAB_DIR")"
|
||||
git clone https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
|
||||
fi
|
||||
|
||||
cd "$ISAACLAB_DIR"
|
||||
git fetch --tags
|
||||
git checkout "$ISAACLAB_TAG"
|
||||
./isaaclab.sh --install
|
||||
./isaaclab.sh --install rsl_rl || true
|
||||
|
||||
# SimReady has been validated with the rsl_rl package bundled by LeggedGym-Ex.
|
||||
if [ ! -d "$LEGGED_GYM_EX_DIR/.git" ]; then
|
||||
mkdir -p "$(dirname "$LEGGED_GYM_EX_DIR")"
|
||||
git clone https://github.com/lupinjia/LeggedGym-Ex.git "$LEGGED_GYM_EX_DIR"
|
||||
fi
|
||||
|
||||
python -m pip uninstall -y rsl-rl rsl-rl-lib >/dev/null 2>&1 || true
|
||||
python -m pip install -e "$LEGGED_GYM_EX_DIR" --no-deps
|
||||
|
||||
python - <<'PY'
|
||||
import importlib.metadata as md
|
||||
import sys
|
||||
import torch
|
||||
import rsl_rl
|
||||
|
||||
print("StackForce Isaac Lab / Isaac Sim environment is ready.")
|
||||
print("python:", sys.version.split()[0])
|
||||
print("torch:", torch.__version__)
|
||||
for name in ("isaacsim", "isaaclab", "isaaclab_rl", "isaaclab_tasks"):
|
||||
try:
|
||||
print(f"{name}:", md.version(name))
|
||||
except Exception as exc:
|
||||
print(f"{name}: not found ({exc})")
|
||||
print("rsl_rl path:", rsl_rl.__file__)
|
||||
PY
|
||||
|
||||
echo ""
|
||||
echo "Next step for a SimReady export:"
|
||||
echo " conda activate $ENV_NAME"
|
||||
echo " cd <exported_project>"
|
||||
echo " python -m pip install -e source/<package_name>"
|
||||
echo " python scripts/list_envs.py"
|
||||
echo " python scripts/rsl_rl/train.py --task <TaskName> --headless --num_envs 64 --max_iterations 100"
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
import argparse
|
||||
|
||||
from isaaclab.app import AppLauncher
|
||||
|
||||
parser = argparse.ArgumentParser(description="Zero agent for StackForce Isaac Lab environments.")
|
||||
parser.add_argument("--disable_fabric", action="store_true", default=False)
|
||||
parser.add_argument("--num_envs", type=int, default=None)
|
||||
parser.add_argument("--task", type=str, default=None)
|
||||
AppLauncher.add_app_launcher_args(parser)
|
||||
args_cli = parser.parse_args()
|
||||
|
||||
app_launcher = AppLauncher(args_cli)
|
||||
simulation_app = app_launcher.app
|
||||
|
||||
import gymnasium as gym
|
||||
import torch
|
||||
|
||||
from isaaclab_tasks.utils import parse_env_cfg
|
||||
|
||||
import stackforce_simready_2foot_lab.tasks # noqa: F401
|
||||
|
||||
|
||||
def main():
|
||||
env_cfg = parse_env_cfg(
|
||||
args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
|
||||
)
|
||||
env = gym.make(args_cli.task, cfg=env_cfg)
|
||||
env.reset()
|
||||
while simulation_app.is_running():
|
||||
with torch.inference_mode():
|
||||
actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device)
|
||||
env.step(actions)
|
||||
env.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
simulation_app.close()
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
[build-system]
|
||||
requires = ["setuptools>=61", "wheel"]
|
||||
build-backend = "setuptools.build_meta"
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
from setuptools import find_packages, setup
|
||||
|
||||
|
||||
setup(
|
||||
name="stackforce_simready_2foot_lab",
|
||||
version="0.1.0",
|
||||
description="StackForce SimReady Isaac Lab export for Template-2foot-Direct-v0",
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=["psutil"],
|
||||
python_requires=">=3.10",
|
||||
)
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
Metadata-Version: 2.4
|
||||
Name: stackforce_simready_2foot_lab
|
||||
Version: 0.1.0
|
||||
Summary: StackForce SimReady Isaac Lab export for Template-2foot-Direct-v0
|
||||
Requires-Python: >=3.10
|
||||
Requires-Dist: psutil
|
||||
Dynamic: requires-dist
|
||||
Dynamic: requires-python
|
||||
Dynamic: summary
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
pyproject.toml
|
||||
setup.py
|
||||
stackforce_simready_2foot_lab/__init__.py
|
||||
stackforce_simready_2foot_lab.egg-info/PKG-INFO
|
||||
stackforce_simready_2foot_lab.egg-info/SOURCES.txt
|
||||
stackforce_simready_2foot_lab.egg-info/dependency_links.txt
|
||||
stackforce_simready_2foot_lab.egg-info/requires.txt
|
||||
stackforce_simready_2foot_lab.egg-info/top_level.txt
|
||||
stackforce_simready_2foot_lab/tasks/__init__.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/__init__.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/2foot/2foot_env.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/2foot/2foot_env_cfg.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/2foot/__init__.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/2foot/custom_rewards.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/2foot/agents/__init__.py
|
||||
stackforce_simready_2foot_lab/tasks/direct/2foot/agents/rsl_rl_ppo_cfg.py
|
||||
|
|
@ -0,0 +1 @@
|
|||
|
||||
|
|
@ -0,0 +1 @@
|
|||
psutil
|
||||
|
|
@ -0,0 +1 @@
|
|||
stackforce_simready_2foot_lab
|
||||
|
|
@ -0,0 +1 @@
|
|||
from . import tasks
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,52 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Xform "tn__2foot_" (
|
||||
prepend references = @./payloads/base.usda@
|
||||
variants = {
|
||||
string Physics = "physx"
|
||||
}
|
||||
append variantSets = "Physics"
|
||||
)
|
||||
{
|
||||
variantSet "Physics" = {
|
||||
"mujoco" (
|
||||
prepend payload = @./payloads/Physics/mujoco.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
"none" {
|
||||
|
||||
}
|
||||
"physics" (
|
||||
prepend payload = @./payloads/Physics/physics.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
"physx" (
|
||||
prepend payload = @./payloads/Physics/physx.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,257 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./physics.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_"
|
||||
{
|
||||
over "Physics"
|
||||
{
|
||||
def MjcActuator "jlf0_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf0_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jlf1_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf1_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jlf2_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf2_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jlf3_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jlf3_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf0_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf0_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf1_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf1_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf2_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf2_link>
|
||||
}
|
||||
|
||||
def MjcActuator "jrf3_link_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = inf
|
||||
uniform double mjc:forceRange:min = -inf
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </tn__2foot_/Physics/jrf3_link>
|
||||
}
|
||||
|
||||
over "root_joint"
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf0_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf1_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf2_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf3_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf0_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf1_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf2_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf3_link" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "Geometry"
|
||||
{
|
||||
over "head_link"
|
||||
{
|
||||
over "lf0_link"
|
||||
{
|
||||
over "lf1_link"
|
||||
{
|
||||
over "lf2_link"
|
||||
{
|
||||
over "lf3_link"
|
||||
{
|
||||
over "lf3_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf3_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lf2_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf2_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lf1_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf1_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lf0_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "lf0_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link"
|
||||
{
|
||||
over "rf1_link"
|
||||
{
|
||||
over "rf2_link"
|
||||
{
|
||||
over "rf3_link"
|
||||
{
|
||||
over "rf3_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf3_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf2_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf2_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf1_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf1_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "rf0_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "head_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "head_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Materials"
|
||||
{
|
||||
}
|
||||
|
||||
over "VisualMaterials"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,310 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_"
|
||||
{
|
||||
over "Geometry"
|
||||
{
|
||||
over "head_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
bool newton:selfCollisionEnabled = 0
|
||||
point3f physics:centerOfMass = (0.006379277, 0.00008368386, 0.050267912)
|
||||
float3 physics:diagonalInertia = (0.00003176899, 0.00009209173, 0.00012000061)
|
||||
float physics:mass = 0.10414764
|
||||
quatf physics:principalAxes = (0.7195886, -0.0010949927, 0.6943998, 0.00012781573)
|
||||
|
||||
over "lf0_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0000025034674, -0.0039915238, -0.013605572)
|
||||
float3 physics:diagonalInertia = (0.0000014361923, 0.000001991647, 0.0000021335975)
|
||||
float physics:mass = 0.01552463
|
||||
quatf physics:principalAxes = (0.5896363, 0.3902982, 0.39247534, 0.58818316)
|
||||
|
||||
over "lf1_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0000029169641, 0.004390377, -0.029671295)
|
||||
float3 physics:diagonalInertia = (9.233895e-7, 0.0000027214292, 0.000002921432)
|
||||
float physics:mass = 0.013323923
|
||||
quatf physics:principalAxes = (0.49527994, 0.5046167, 0.5034881, 0.49654758)
|
||||
|
||||
over "lf2_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0000024373737, 0.0036361304, -0.04257328)
|
||||
float3 physics:diagonalInertia = (0.0000010902555, 0.0000053542444, 0.0000057132534)
|
||||
float physics:mass = 0.015945608
|
||||
quatf physics:principalAxes = (0.4984956, 0.5014754, 0.50083035, 0.49919286)
|
||||
|
||||
over "lf3_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-4.822531e-16, -0.00045139418, -0.019824568)
|
||||
float3 physics:diagonalInertia = (0.0000031820964, 0.0000064676433, 0.0000073290707)
|
||||
float physics:mass = 0.019290663
|
||||
quatf physics:principalAxes = (0.9876391, 0.1567448, -2.5980806e-16, 4.4737337e-16)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0000025034674, 0.0039915238, -0.013605572)
|
||||
float3 physics:diagonalInertia = (0.0000014361923, 0.000001991647, 0.0000021335975)
|
||||
float physics:mass = 0.01552463
|
||||
quatf physics:principalAxes = (0.39247534, 0.58818316, 0.5896363, 0.3902982)
|
||||
|
||||
over "rf1_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0000029169641, -0.004390377, -0.029671295)
|
||||
float3 physics:diagonalInertia = (9.233895e-7, 0.0000027214292, 0.000002921432)
|
||||
float physics:mass = 0.013323923
|
||||
quatf physics:principalAxes = (0.5034881, 0.49654758, 0.49527994, 0.5046167)
|
||||
|
||||
over "rf2_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0000024373737, -0.0036361304, -0.04257328)
|
||||
float3 physics:diagonalInertia = (0.0000010902555, 0.0000053542444, 0.0000057132534)
|
||||
float physics:mass = 0.015945608
|
||||
quatf physics:principalAxes = (0.50083035, 0.49919286, 0.4984956, 0.5014754)
|
||||
|
||||
over "rf3_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (8.187895e-16, 0.00045139418, -0.019824568)
|
||||
float3 physics:diagonalInertia = (0.0000031820964, 0.0000064676433, 0.0000073290707)
|
||||
float physics:mass = 0.019290663
|
||||
quatf physics:principalAxes = (0.9876391, -0.1567448, -1.6753745e-16, 1.3454567e-15)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Physics"
|
||||
{
|
||||
def PhysicsRevoluteJoint "jlf0_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 1
|
||||
float drive:angular:physics:stiffness = 1
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Z"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link>
|
||||
point3f physics:localPos0 = (-0.0031441, 0.025688, -0.006475)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jlf1_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/lf0_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link>
|
||||
point3f physics:localPos0 = (0.000097027, 0.011975, -0.012388)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jlf2_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>
|
||||
point3f physics:localPos0 = (0.000097027, -0.008475, -0.040938)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jlf3_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link/lf3_link>
|
||||
point3f physics:localPos0 = (0.000097027, -0.006475, -0.060937)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf0_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Z"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link>
|
||||
point3f physics:localPos0 = (-0.0033382, -0.025687, -0.006475)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0, -1, 0, 0)
|
||||
quatf physics:localRot1 = (0, -1, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf1_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/rf0_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link>
|
||||
point3f physics:localPos0 = (-0.000097027, -0.011975, -0.012388)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf2_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>
|
||||
point3f physics:localPos0 = (-0.000097027, 0.008475, -0.040937)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "jrf3_link" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:damping = 0
|
||||
float drive:angular:physics:stiffness = 0
|
||||
uniform token drive:angular:physics:type = "force"
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link/rf3_link>
|
||||
point3f physics:localPos0 = (-0.000097027, 0.006475, -0.060938)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 0
|
||||
custom float urdf:limit:effort = 0
|
||||
custom float urdf:limit:velocity = 0
|
||||
}
|
||||
|
||||
def PhysicsFixedJoint "root_joint"
|
||||
{
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </tn__2foot_>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </tn__2foot_/Geometry/head_link>
|
||||
point3f physics:localPos0 = (0, 0, 0)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./physics.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_"
|
||||
{
|
||||
over "Physics"
|
||||
{
|
||||
over "jlf0_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf1_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf2_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf3_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf0_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf1_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf2_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf3_link" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,326 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./robot.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Xform "tn__2foot_" (
|
||||
prepend apiSchemas = ["GeomModelAPI"]
|
||||
assetInfo = {
|
||||
string name = "2foot"
|
||||
}
|
||||
displayName = "2foot"
|
||||
kind = "component"
|
||||
)
|
||||
{
|
||||
float3[] extentsHint = [(-0.03612928, -0.058187, -0.147238), (0.03091089, 0.058188, 0.122), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.03612928, -0.058187, -0.147238), (0.03091089, 0.058188, 0.122)]
|
||||
|
||||
def Scope "Materials"
|
||||
{
|
||||
}
|
||||
|
||||
def Scope "Geometry"
|
||||
{
|
||||
def Xform "head_link"
|
||||
{
|
||||
def Xform "head_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/head_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf0_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0031441, 0.025688, -0.006475)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf0_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf0_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf1_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.000097027, 0.011975, -0.012388)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf1_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf1_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf2_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.000097027, -0.008475, -0.040938)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf2_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf2_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf3_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.000097027, -0.006475, -0.060937)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "lf3_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf3_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lf3_link_1" (
|
||||
displayName = "lf3_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf3_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf2_link_1" (
|
||||
displayName = "lf2_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf2_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf1_link_1" (
|
||||
displayName = "lf1_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf1_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf0_link_1" (
|
||||
displayName = "lf0_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/lf0_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0033382, -0.025687, -0.006475)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf0_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf0_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf1_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.000097027, -0.011975, -0.012388)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf1_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf1_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf2_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.000097027, 0.008475, -0.040937)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf2_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf2_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf3_link"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.000097027, 0.006475, -0.060938)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "rf3_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf3_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "rf3_link_1" (
|
||||
displayName = "rf3_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf3_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf2_link_1" (
|
||||
displayName = "rf2_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf2_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf1_link_1" (
|
||||
displayName = "rf1_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf1_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link_1" (
|
||||
displayName = "rf0_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/rf0_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "head_link_1" (
|
||||
displayName = "head_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/head_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Scope "Physics"
|
||||
{
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
|
|
@ -0,0 +1,348 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Scope "Instances"
|
||||
{
|
||||
def Xform "head_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/head_link>
|
||||
)
|
||||
{
|
||||
over "head_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/head_link/VisualMaterials/material_1>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_1" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "head_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/head_link>
|
||||
)
|
||||
{
|
||||
over "head_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf0_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf0_link>
|
||||
)
|
||||
{
|
||||
over "lf0_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf0_link/VisualMaterials/material_2>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_2" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf0_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf0_link>
|
||||
)
|
||||
{
|
||||
over "lf0_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf1_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf1_link>
|
||||
)
|
||||
{
|
||||
over "lf1_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf1_link/VisualMaterials/material_3>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_3" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf1_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf1_link>
|
||||
)
|
||||
{
|
||||
over "lf1_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf2_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf2_link>
|
||||
)
|
||||
{
|
||||
over "lf2_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf2_link/VisualMaterials/material_4>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_4" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf2_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf2_link>
|
||||
)
|
||||
{
|
||||
over "lf2_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf3_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf3_link>
|
||||
)
|
||||
{
|
||||
over "lf3_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/lf3_link/VisualMaterials/material_5>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_5" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lf3_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/lf3_link>
|
||||
)
|
||||
{
|
||||
over "lf3_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf0_link>
|
||||
)
|
||||
{
|
||||
over "rf0_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf0_link/VisualMaterials/material_6>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_6" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf0_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf0_link>
|
||||
)
|
||||
{
|
||||
over "rf0_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf1_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf1_link>
|
||||
)
|
||||
{
|
||||
over "rf1_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf1_link/VisualMaterials/material_7>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_7" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf1_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf1_link>
|
||||
)
|
||||
{
|
||||
over "rf1_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf2_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf2_link>
|
||||
)
|
||||
{
|
||||
over "rf2_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf2_link/VisualMaterials/material_8>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_8" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf2_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf2_link>
|
||||
)
|
||||
{
|
||||
over "rf2_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf3_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf3_link>
|
||||
)
|
||||
{
|
||||
over "rf3_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/rf3_link/VisualMaterials/material_9>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "material_9" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/material_1>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "rf3_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/rf3_link>
|
||||
)
|
||||
{
|
||||
over "rf3_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,57 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZhenaiWin\\Documents\\Bot3dData\\2foot\\urdf\\2foot\\payloads\\base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Scope "Materials"
|
||||
{
|
||||
def Material "material_1"
|
||||
{
|
||||
color3f inputs:diffuseColor = (1, 1, 1)
|
||||
float inputs:metallic = 0
|
||||
float inputs:opacity = 1
|
||||
float inputs:roughness = 0.5
|
||||
token inputs:wrapMode = "repeat"
|
||||
token outputs:displacement (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:displacement.connect = </Materials/material_1/PreviewSurface.outputs:displacement>
|
||||
token outputs:surface (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
|
||||
token outputs:volume (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
|
||||
def Shader "PreviewSurface" (
|
||||
apiSchemas = ["NodeDefAPI"]
|
||||
)
|
||||
{
|
||||
token info:id = "UsdPreviewSurface"
|
||||
prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
|
||||
prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
|
||||
prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
|
||||
prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
|
||||
token outputs:displacement
|
||||
token outputs:surface
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,155 @@
|
|||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "tn__2foot_"
|
||||
doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "tn__2foot_" (
|
||||
prepend apiSchemas = ["IsaacRobotAPI"]
|
||||
)
|
||||
{
|
||||
prepend rel isaac:physics:robotJoints = [
|
||||
</tn__2foot_/Physics/root_joint>,
|
||||
</tn__2foot_/Physics/jlf0_link>,
|
||||
</tn__2foot_/Physics/jrf0_link>,
|
||||
</tn__2foot_/Physics/jlf1_link>,
|
||||
</tn__2foot_/Physics/jlf2_link>,
|
||||
</tn__2foot_/Physics/jlf3_link>,
|
||||
</tn__2foot_/Physics/jrf1_link>,
|
||||
</tn__2foot_/Physics/jrf2_link>,
|
||||
</tn__2foot_/Physics/jrf3_link>,
|
||||
]
|
||||
prepend rel isaac:physics:robotLinks = [
|
||||
</tn__2foot_/Geometry/head_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link/lf1_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>,
|
||||
</tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link/lf3_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link/rf1_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>,
|
||||
</tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link/rf3_link>,
|
||||
]
|
||||
token isaac:robotType = "Default"
|
||||
|
||||
over "Geometry"
|
||||
{
|
||||
over "head_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf0_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf1_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf2_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lf3_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "rf0_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "rf1_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "rf2_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "rf3_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Physics"
|
||||
{
|
||||
over "root_joint" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf0_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf1_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf2_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jlf3_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf0_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf1_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf2_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "jrf3_link" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,511 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="2foot">
|
||||
<link
|
||||
name="head_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00637927718522201 8.36838553548436E-05 0.0502679117290854"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.104147639434427" />
|
||||
<inertia
|
||||
ixx="0.000119888626287878"
|
||||
ixy="4.26649795023379E-08"
|
||||
ixz="-3.14056079328627E-06"
|
||||
iyy="9.2091610344693E-05"
|
||||
iyz="1.01375294153974E-07"
|
||||
izz="3.18810914232645E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/head_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/head_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="lf0_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="2.5034674019167E-06 -0.00399152370097755 -0.0136055723537577"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0155246301341258" />
|
||||
<inertia
|
||||
ixx="1.99164881392775E-06"
|
||||
ixy="-4.82887905395487E-10"
|
||||
ixz="-2.07253296776602E-10"
|
||||
iyy="2.02900387840545E-06"
|
||||
iyz="2.49004321417992E-07"
|
||||
izz="1.54078395860252E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf0_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf0_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jlf0_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0031441 0.025688 -0.006475"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="head_link" />
|
||||
<child
|
||||
link="lf0_link" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lf1_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="2.91696425805399E-06 0.004390376864982 -0.0296712953157869"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.013323922418148" />
|
||||
<inertia
|
||||
ixx="2.72143018103993E-06"
|
||||
ixy="4.82887905395412E-10"
|
||||
ixz="2.07253296776833E-10"
|
||||
iyy="2.92090153101514E-06"
|
||||
iyz="-3.25175555348237E-08"
|
||||
izz="9.23918900070304E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf1_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf1_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jlf1_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="9.7027E-05 0.011975 -0.012388"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lf0_link" />
|
||||
<child
|
||||
link="lf1_link" />
|
||||
<axis
|
||||
xyz="0 -1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lf2_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="2.43737372657149E-06 0.00363613025354126 -0.0425732788173739"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0159456077850123" />
|
||||
<inertia
|
||||
ixx="5.35424510746978E-06"
|
||||
ixy="4.82887905395677E-10"
|
||||
ixz="2.07253296776739E-10"
|
||||
iyy="5.71315402728463E-06"
|
||||
iyz="-2.13454759600996E-08"
|
||||
izz="1.09035404123551E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf2_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf2_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jlf2_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="9.7027E-05 -0.008475 -0.040938"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lf1_link" />
|
||||
<child
|
||||
link="lf2_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lf3_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-4.82253126321552E-16 -0.000451394188820231 -0.0198245674059442"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0192906631601767" />
|
||||
<inertia
|
||||
ixx="3.18209633375994E-06"
|
||||
ixy="3.34527248954873E-21"
|
||||
ixz="1.76056444695768E-21"
|
||||
iyy="6.55022061625284E-06"
|
||||
iyz="2.53604908486043E-07"
|
||||
izz="7.24649308736933E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf3_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/lf3_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jlf3_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="9.7027E-05 -0.006475 -0.060937"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lf2_link" />
|
||||
<child
|
||||
link="lf3_link" />
|
||||
<axis
|
||||
xyz="0 -1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf0_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.50346740203813E-06 0.00399152370097733 -0.0136055723537577"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0155246301341258" />
|
||||
<inertia
|
||||
ixx="1.99164881392775E-06"
|
||||
ixy="-4.82887905395413E-10"
|
||||
ixz="2.07253296776268E-10"
|
||||
iyy="2.02900387840545E-06"
|
||||
iyz="-2.49004321417992E-07"
|
||||
izz="1.54078395860252E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf0_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf0_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf0_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0033382 -0.025687 -0.006475"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="head_link" />
|
||||
<child
|
||||
link="rf0_link" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf1_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.91696425855359E-06 -0.00439037686498245 -0.0296712953157865"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0133239224181479" />
|
||||
<inertia
|
||||
ixx="2.72143018103992E-06"
|
||||
ixy="4.82887905395081E-10"
|
||||
ixz="-2.07253296776895E-10"
|
||||
iyy="2.92090153101514E-06"
|
||||
iyz="3.25175555348265E-08"
|
||||
izz="9.23918900070297E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf1_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf1_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf1_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.7027E-05 -0.011975 -0.012388"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rf0_link" />
|
||||
<child
|
||||
link="rf1_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf2_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.43737372681782E-06 -0.00363613025354104 -0.0425732788173739"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0159456077850122" />
|
||||
<inertia
|
||||
ixx="5.35424510746977E-06"
|
||||
ixy="4.82887905394926E-10"
|
||||
ixz="-2.0725329677683E-10"
|
||||
iyy="5.71315402728462E-06"
|
||||
iyz="2.13454759600991E-08"
|
||||
izz="1.0903540412355E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf2_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf2_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf2_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.7027E-05 0.008475 -0.040937"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rf1_link" />
|
||||
<child
|
||||
link="rf2_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rf3_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="8.18789480661053E-16 0.000451394188820897 -0.0198245674059443"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0192906631601768" />
|
||||
<inertia
|
||||
ixx="3.18209633375994E-06"
|
||||
ixy="8.58350838304875E-21"
|
||||
ixz="2.39867798130625E-21"
|
||||
iyy="6.55022061625285E-06"
|
||||
iyz="-2.53604908486041E-07"
|
||||
izz="7.24649308736931E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf3_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="../meshes/rf3_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="jrf3_link"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.7027E-05 0.006475 -0.060938"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rf2_link" />
|
||||
<child
|
||||
link="rf3_link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1 @@
|
|||
from . import direct
|
||||
Binary file not shown.
|
|
@ -0,0 +1,192 @@
|
|||
from __future__ import annotations
|
||||
|
||||
import gymnasium as gym
|
||||
import torch
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.assets import Articulation
|
||||
from isaaclab.envs import DirectRLEnv
|
||||
from isaaclab.sensors import ContactSensor
|
||||
|
||||
from .custom_rewards import compute_custom_reward_terms
|
||||
from .2foot_env_cfg import 2footEnvCfg
|
||||
|
||||
|
||||
class 2footEnv(DirectRLEnv):
|
||||
cfg: 2footEnvCfg
|
||||
|
||||
def __init__(self, cfg: 2footEnvCfg, render_mode: str | None = None, **kwargs):
|
||||
super().__init__(cfg, render_mode, **kwargs)
|
||||
|
||||
self._actions = torch.zeros(self.num_envs, gym.spaces.flatdim(self.single_action_space), device=self.device)
|
||||
self._previous_actions = torch.zeros_like(self._actions)
|
||||
self._commands = torch.zeros(self.num_envs, 3, device=self.device)
|
||||
|
||||
self._episode_sums = {
|
||||
key: torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
||||
for key in self.cfg.reward_scales.keys()
|
||||
}
|
||||
|
||||
self._actuated_joint_ids, _ = self._robot.find_joints(self.cfg.actuated_joint_names, preserve_order=True)
|
||||
self._foot_ids, _ = self._contact_sensor.find_bodies(self.cfg.foot_link_names, preserve_order=True)
|
||||
self._termination_body_ids, _ = self._contact_sensor.find_bodies([self.cfg.base_link_name], preserve_order=True)
|
||||
self._undesired_contact_body_ids, _ = self._contact_sensor.find_bodies([], preserve_order=True)
|
||||
self._termination_grace_steps = max(0, int(self.cfg.termination_grace_time_s / self.step_dt))
|
||||
self._fallen_termination_steps = max(1, int(self.cfg.fallen_termination_time_s / self.step_dt))
|
||||
self._fallen_fail_buf = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
||||
self._pre_step_root_height = torch.full(
|
||||
(self.num_envs,), self.cfg.base_height_target, dtype=torch.float, device=self.device
|
||||
)
|
||||
|
||||
def _setup_scene(self):
|
||||
self._robot = Articulation(self.cfg.robot)
|
||||
self.scene.articulations["robot"] = self._robot
|
||||
self._contact_sensor = ContactSensor(self.cfg.contact_sensor)
|
||||
self.scene.sensors["contact_sensor"] = self._contact_sensor
|
||||
self.cfg.terrain.num_envs = self.scene.cfg.num_envs
|
||||
self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
|
||||
self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
|
||||
self.scene.clone_environments(copy_from_source=False)
|
||||
if self.device == "cpu":
|
||||
self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
|
||||
light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
|
||||
light_cfg.func("/World/Light", light_cfg)
|
||||
|
||||
def _pre_physics_step(self, actions: torch.Tensor):
|
||||
self._actions = torch.clamp(actions.clone(), -self.cfg.action_clip, self.cfg.action_clip)
|
||||
self._pre_step_root_height = self._robot.data.root_pos_w[:, 2] - self._terrain.env_origins[:, 2]
|
||||
default_pos = self._robot.data.default_joint_pos[:, self._actuated_joint_ids]
|
||||
self._processed_actions = self.cfg.action_scale * self._actions + default_pos
|
||||
|
||||
def _apply_action(self):
|
||||
self._robot.set_joint_position_target(self._processed_actions, joint_ids=self._actuated_joint_ids)
|
||||
|
||||
def _get_observations(self) -> dict:
|
||||
obs = torch.cat(
|
||||
[
|
||||
self._robot.data.root_lin_vel_b,
|
||||
self._robot.data.root_ang_vel_b,
|
||||
self._robot.data.projected_gravity_b,
|
||||
self._commands,
|
||||
self._robot.data.joint_pos[:, self._actuated_joint_ids]
|
||||
- self._robot.data.default_joint_pos[:, self._actuated_joint_ids],
|
||||
self._robot.data.joint_vel[:, self._actuated_joint_ids],
|
||||
self._actions,
|
||||
],
|
||||
dim=-1,
|
||||
)
|
||||
self._previous_actions = self._actions.clone()
|
||||
return {"policy": obs}
|
||||
|
||||
def _get_rewards(self) -> torch.Tensor:
|
||||
reward_scales = self.cfg.reward_scales
|
||||
joint_pos_error = self._robot.data.joint_pos[:, self._actuated_joint_ids] - self._robot.data.default_joint_pos[:, self._actuated_joint_ids]
|
||||
lin_vel_error = torch.sum(torch.square(self._commands[:, :2] - self._robot.data.root_lin_vel_b[:, :2]), dim=1)
|
||||
ang_vel_error = torch.square(self._commands[:, 2] - self._robot.data.root_ang_vel_b[:, 2])
|
||||
z_vel_error = torch.square(self._robot.data.root_lin_vel_b[:, 2])
|
||||
ang_vel_xy_error = torch.sum(torch.square(self._robot.data.root_ang_vel_b[:, :2]), dim=1)
|
||||
orientation_error = torch.sum(torch.square(self._robot.data.projected_gravity_b[:, :2]), dim=1)
|
||||
joint_torques = torch.sum(torch.square(self._robot.data.applied_torque[:, self._actuated_joint_ids]), dim=1)
|
||||
joint_vel = torch.sum(torch.square(self._robot.data.joint_vel[:, self._actuated_joint_ids]), dim=1)
|
||||
joint_accel = torch.sum(torch.square(self._robot.data.joint_acc[:, self._actuated_joint_ids]), dim=1)
|
||||
action_rate = torch.sum(torch.square(self._actions - self._previous_actions), dim=1)
|
||||
root_height = self._robot.data.root_pos_w[:, 2] - self._terrain.env_origins[:, 2]
|
||||
base_height_error = torch.square(root_height - self.cfg.base_height_target)
|
||||
|
||||
first_contact = self._contact_sensor.compute_first_contact(self.step_dt)[:, self._foot_ids]
|
||||
last_air_time = self._contact_sensor.data.last_air_time[:, self._foot_ids]
|
||||
feet_air_time = torch.sum((last_air_time - 0.5) * first_contact, dim=1) * (
|
||||
torch.norm(self._commands[:, :2], dim=1) > 0.1
|
||||
)
|
||||
|
||||
if self._undesired_contact_body_ids:
|
||||
net_contact_forces = self._contact_sensor.data.net_forces_w_history
|
||||
is_contact = (
|
||||
torch.max(torch.norm(net_contact_forces[:, :, self._undesired_contact_body_ids], dim=-1), dim=1)[0] > 1.0
|
||||
)
|
||||
collision = torch.sum(is_contact, dim=1)
|
||||
else:
|
||||
collision = torch.zeros(self.num_envs, device=self.device)
|
||||
|
||||
stand_still = torch.sum(torch.abs(joint_pos_error), dim=1) * (torch.norm(self._commands, dim=1) < 0.1)
|
||||
termination = self.reset_terminated.float()
|
||||
|
||||
rewards = {
|
||||
"termination": termination * reward_scales.get("termination", 0.0),
|
||||
"tracking_lin_vel": torch.exp(-lin_vel_error / 0.25) * reward_scales.get("tracking_lin_vel", 0.0),
|
||||
"tracking_ang_vel": torch.exp(-ang_vel_error / 0.25) * reward_scales.get("tracking_ang_vel", 0.0),
|
||||
"lin_vel_z": z_vel_error * reward_scales.get("lin_vel_z", 0.0),
|
||||
"ang_vel_xy": ang_vel_xy_error * reward_scales.get("ang_vel_xy", 0.0),
|
||||
"orientation": orientation_error * reward_scales.get("orientation", 0.0),
|
||||
"torques": joint_torques * reward_scales.get("torques", 0.0),
|
||||
"dof_vel": joint_vel * reward_scales.get("dof_vel", 0.0),
|
||||
"dof_acc": joint_accel * reward_scales.get("dof_acc", 0.0),
|
||||
"base_height": base_height_error * reward_scales.get("base_height", 0.0),
|
||||
"feet_air_time": feet_air_time * reward_scales.get("feet_air_time", 0.0),
|
||||
"collision": collision * reward_scales.get("collision", 0.0),
|
||||
"feet_stumble": torch.zeros_like(collision),
|
||||
"action_rate": action_rate * reward_scales.get("action_rate", 0.0),
|
||||
"stand_still": stand_still * reward_scales.get("stand_still", 0.0),
|
||||
}
|
||||
custom_rewards = compute_custom_reward_terms(self)
|
||||
for key, value in custom_rewards.items():
|
||||
rewards[key] = rewards.get(key, torch.zeros_like(value)) + value * reward_scales.get(key, 0.0)
|
||||
reward = torch.sum(torch.stack(list(rewards.values())), dim=0) * self.step_dt
|
||||
for key, value in rewards.items():
|
||||
self._episode_sums[key] += value * self.step_dt
|
||||
return reward
|
||||
|
||||
def _get_dones(self) -> tuple[torch.Tensor, torch.Tensor]:
|
||||
time_out = self.episode_length_buf >= self.max_episode_length - 1
|
||||
if getattr(self.cfg, "visual_disable_resets", False):
|
||||
no_reset = torch.zeros_like(time_out)
|
||||
return no_reset, no_reset
|
||||
after_grace = self.episode_length_buf > self._termination_grace_steps
|
||||
if self._termination_body_ids:
|
||||
net_contact_forces = self._contact_sensor.data.net_forces_w_history
|
||||
termination_contacts = torch.max(torch.norm(net_contact_forces[:, :, self._termination_body_ids], dim=-1), dim=1)[0]
|
||||
contact_died = torch.any(termination_contacts > self.cfg.termination_contact_force_threshold, dim=1)
|
||||
else:
|
||||
contact_died = torch.zeros_like(time_out)
|
||||
root_height = torch.minimum(
|
||||
self._robot.data.root_pos_w[:, 2] - self._terrain.env_origins[:, 2],
|
||||
self._pre_step_root_height,
|
||||
)
|
||||
height_died = root_height < self.cfg.min_base_height
|
||||
fallen = self._robot.data.projected_gravity_b[:, 2] > self.cfg.fallen_projected_gravity_z
|
||||
fallen &= after_grace
|
||||
self._fallen_fail_buf *= fallen.float()
|
||||
self._fallen_fail_buf += fallen.float()
|
||||
fallen_died = self._fallen_fail_buf > self._fallen_termination_steps
|
||||
died = ((contact_died | height_died) & after_grace) | fallen_died
|
||||
return died, time_out
|
||||
|
||||
def _reset_idx(self, env_ids: torch.Tensor | None):
|
||||
if env_ids is None or len(env_ids) == self.num_envs:
|
||||
env_ids = self._robot._ALL_INDICES
|
||||
self._robot.reset(env_ids)
|
||||
super()._reset_idx(env_ids)
|
||||
if len(env_ids) == self.num_envs and getattr(self.cfg, "randomize_initial_episode_length", False):
|
||||
self.episode_length_buf[:] = torch.randint_like(self.episode_length_buf, high=int(self.max_episode_length))
|
||||
|
||||
self._actions[env_ids] = 0.0
|
||||
self._previous_actions[env_ids] = 0.0
|
||||
self._fallen_fail_buf[env_ids] = 0.0
|
||||
self._pre_step_root_height[env_ids] = self.cfg.base_height_target
|
||||
self._commands[env_ids, 0].uniform_(*self.cfg.command_ranges["lin_vel_x"])
|
||||
self._commands[env_ids, 1].uniform_(*self.cfg.command_ranges["lin_vel_y"])
|
||||
self._commands[env_ids, 2].uniform_(*self.cfg.command_ranges["ang_vel_yaw"])
|
||||
|
||||
joint_pos = self._robot.data.default_joint_pos[env_ids]
|
||||
joint_vel = self._robot.data.default_joint_vel[env_ids]
|
||||
default_root_state = self._robot.data.default_root_state[env_ids]
|
||||
default_root_state[:, :3] += self._terrain.env_origins[env_ids]
|
||||
self._robot.write_root_pose_to_sim(default_root_state[:, :7], env_ids)
|
||||
self._robot.write_root_velocity_to_sim(default_root_state[:, 7:], env_ids)
|
||||
self._robot.write_joint_state_to_sim(joint_pos, joint_vel, None, env_ids)
|
||||
|
||||
extras = {}
|
||||
for key in self._episode_sums.keys():
|
||||
extras["Episode_Reward/" + key] = torch.mean(self._episode_sums[key][env_ids]) / self.max_episode_length_s
|
||||
self._episode_sums[key][env_ids] = 0.0
|
||||
self.extras["log"] = extras
|
||||
|
|
@ -0,0 +1,199 @@
|
|||
from pathlib import Path
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.actuators import ImplicitActuatorCfg
|
||||
from isaaclab.assets import ArticulationCfg
|
||||
from isaaclab.envs import DirectRLEnvCfg
|
||||
from isaaclab.scene import InteractiveSceneCfg
|
||||
from isaaclab.sensors import ContactSensorCfg
|
||||
from isaaclab.sim import SimulationCfg
|
||||
from isaaclab.terrains import TerrainImporterCfg
|
||||
from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
|
||||
from isaaclab.utils import configclass
|
||||
|
||||
|
||||
ASSET_DIR = Path(__file__).resolve().parents[3] / "assets" / "robots" / "2foot"
|
||||
URDF_PATH = ASSET_DIR / "urdf" / "2foot.urdf"
|
||||
|
||||
|
||||
@configclass
|
||||
class 2footEnvCfg(DirectRLEnvCfg):
|
||||
episode_length_s = 20.0
|
||||
decimation = 4
|
||||
action_scale = 0.5
|
||||
action_space = 8
|
||||
observation_space = 36
|
||||
state_space = 0
|
||||
|
||||
sim: SimulationCfg = SimulationCfg(
|
||||
dt=1 / 200,
|
||||
render_interval=decimation,
|
||||
physics_material=sim_utils.RigidBodyMaterialCfg(
|
||||
friction_combine_mode="multiply",
|
||||
restitution_combine_mode="multiply",
|
||||
static_friction=1.0,
|
||||
dynamic_friction=1.0,
|
||||
restitution=0.0,
|
||||
),
|
||||
)
|
||||
|
||||
terrain = TerrainImporterCfg(
|
||||
prim_path="/World/ground",
|
||||
terrain_type="plane",
|
||||
collision_group=-1,
|
||||
physics_material=sim_utils.RigidBodyMaterialCfg(
|
||||
friction_combine_mode="multiply",
|
||||
restitution_combine_mode="multiply",
|
||||
static_friction=1.0,
|
||||
dynamic_friction=1.0,
|
||||
restitution=0.0,
|
||||
),
|
||||
debug_vis=False,
|
||||
)
|
||||
|
||||
scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=1024, env_spacing=4.0, replicate_physics=True)
|
||||
|
||||
robot: ArticulationCfg = ArticulationCfg(
|
||||
prim_path="/World/envs/env_.*/Robot",
|
||||
spawn=sim_utils.UrdfFileCfg(
|
||||
asset_path=str(URDF_PATH),
|
||||
fix_base=False,
|
||||
merge_fixed_joints=True,
|
||||
self_collision=False,
|
||||
replace_cylinders_with_capsules=True,
|
||||
activate_contact_sensors=True,
|
||||
rigid_props=sim_utils.RigidBodyPropertiesCfg(
|
||||
disable_gravity=False,
|
||||
retain_accelerations=False,
|
||||
linear_damping=0.0,
|
||||
angular_damping=0.0,
|
||||
max_linear_velocity=1000.0,
|
||||
max_angular_velocity=1000.0,
|
||||
max_depenetration_velocity=5.0,
|
||||
),
|
||||
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
|
||||
enabled_self_collisions=False,
|
||||
solver_position_iteration_count=8,
|
||||
solver_velocity_iteration_count=1,
|
||||
),
|
||||
joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg(
|
||||
gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=0.0, damping=0.0)
|
||||
),
|
||||
),
|
||||
init_state=ArticulationCfg.InitialStateCfg(
|
||||
pos=(0.0, 0.0, 1),
|
||||
joint_pos={
|
||||
"jlf0_link": 0.0,
|
||||
"jlf1_link": 0.0,
|
||||
"jlf2_link": 0.0,
|
||||
"jlf3_link": 0.0,
|
||||
"jrf0_link": 0.0,
|
||||
"jrf1_link": 0.0,
|
||||
"jrf2_link": 0.0,
|
||||
"jrf3_link": 0.0,
|
||||
},
|
||||
),
|
||||
actuators={
|
||||
"joints": ImplicitActuatorCfg(
|
||||
joint_names_expr=["jlf0_link", "jlf1_link", "jlf2_link", "jlf3_link", "jrf0_link", "jrf1_link", "jrf2_link", "jrf3_link"],
|
||||
stiffness={
|
||||
"jlf0_link": 20.0,
|
||||
"jlf1_link": 20.0,
|
||||
"jlf2_link": 20.0,
|
||||
"jlf3_link": 20.0,
|
||||
"jrf0_link": 20.0,
|
||||
"jrf1_link": 20.0,
|
||||
"jrf2_link": 20.0,
|
||||
"jrf3_link": 20.0,
|
||||
},
|
||||
damping={
|
||||
"jlf0_link": 0.5,
|
||||
"jlf1_link": 0.5,
|
||||
"jlf2_link": 0.5,
|
||||
"jlf3_link": 0.5,
|
||||
"jrf0_link": 0.5,
|
||||
"jrf1_link": 0.5,
|
||||
"jrf2_link": 0.5,
|
||||
"jrf3_link": 0.5,
|
||||
},
|
||||
effort_limit_sim={
|
||||
"jlf0_link": 0.0,
|
||||
"jlf1_link": 0.0,
|
||||
"jlf2_link": 0.0,
|
||||
"jlf3_link": 0.0,
|
||||
"jrf0_link": 0.0,
|
||||
"jrf1_link": 0.0,
|
||||
"jrf2_link": 0.0,
|
||||
"jrf3_link": 0.0,
|
||||
},
|
||||
velocity_limit_sim={
|
||||
"jlf0_link": 0.0,
|
||||
"jlf1_link": 0.0,
|
||||
"jlf2_link": 0.0,
|
||||
"jlf3_link": 0.0,
|
||||
"jrf0_link": 0.0,
|
||||
"jrf1_link": 0.0,
|
||||
"jrf2_link": 0.0,
|
||||
"jrf3_link": 0.0,
|
||||
},
|
||||
),
|
||||
},
|
||||
soft_joint_pos_limit_factor=0.95,
|
||||
)
|
||||
|
||||
contact_sensor: ContactSensorCfg = ContactSensorCfg(
|
||||
prim_path="/World/envs/env_.*/Robot/.*",
|
||||
history_length=3,
|
||||
update_period=0.02,
|
||||
track_air_time=True,
|
||||
)
|
||||
|
||||
command_ranges = {
|
||||
"lin_vel_x": (-0.5, 0.5),
|
||||
"lin_vel_y": (-0.25, 0.25),
|
||||
"ang_vel_yaw": (-0.5, 0.5),
|
||||
}
|
||||
|
||||
reward_scales = {
|
||||
"termination": 0.0,
|
||||
"tracking_lin_vel": 1.0,
|
||||
"tracking_ang_vel": 0.5,
|
||||
"lin_vel_z": -2.0,
|
||||
"ang_vel_xy": -0.05,
|
||||
"orientation": -1.0,
|
||||
"torques": -0.00001,
|
||||
"dof_vel": 0.0,
|
||||
"dof_acc": -2.5e-7,
|
||||
"base_height": -1.0,
|
||||
"feet_air_time": 1.0,
|
||||
"collision": -1.0,
|
||||
"feet_stumble": 0.0,
|
||||
"action_rate": -0.01,
|
||||
"stand_still": 0.0,
|
||||
"custom_reward": 0.0,
|
||||
}
|
||||
default_joint_angles = {
|
||||
"jlf0_link": 0.0,
|
||||
"jlf1_link": 0.0,
|
||||
"jlf2_link": 0.0,
|
||||
"jlf3_link": 0.0,
|
||||
"jrf0_link": 0.0,
|
||||
"jrf1_link": 0.0,
|
||||
"jrf2_link": 0.0,
|
||||
"jrf3_link": 0.0,
|
||||
}
|
||||
actuated_joint_names = ["jlf0_link", "jlf1_link", "jlf2_link", "jlf3_link", "jrf0_link", "jrf1_link", "jrf2_link", "jrf3_link"]
|
||||
foot_link_names = ["lf3_link", "rf3_link"]
|
||||
base_link_name = "head_link"
|
||||
auto_ground_spawn_height = 1
|
||||
auto_ground_clearance = 0.02
|
||||
auto_ground_complete = False
|
||||
base_height_target = 0.98
|
||||
action_clip = 1.0
|
||||
visual_disable_resets = False
|
||||
termination_grace_time_s = 2.0
|
||||
termination_contact_force_threshold = 20.0
|
||||
fallen_projected_gravity_z = -0.35
|
||||
fallen_termination_time_s = 0.5
|
||||
min_base_height = 0.441
|
||||
randomize_initial_episode_length = False
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
import gymnasium as gym
|
||||
|
||||
from . import agents
|
||||
|
||||
|
||||
gym.register(
|
||||
id="Template-2foot-Direct-v0",
|
||||
entry_point=f"{__name__}.2foot_env:2footEnv",
|
||||
disable_env_checker=True,
|
||||
kwargs={
|
||||
"env_cfg_entry_point": f"{__name__}.2foot_env_cfg:2footEnvCfg",
|
||||
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:2footPPORunnerCfg",
|
||||
},
|
||||
)
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
from isaaclab.utils import configclass
|
||||
from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
|
||||
|
||||
|
||||
@configclass
|
||||
class 2footPPORunnerCfg(RslRlOnPolicyRunnerCfg):
|
||||
num_steps_per_env = 24
|
||||
max_iterations = 1500
|
||||
save_interval = 50
|
||||
experiment_name = "2foot"
|
||||
policy = RslRlPpoActorCriticCfg(
|
||||
init_noise_std=1.0,
|
||||
actor_obs_normalization=False,
|
||||
critic_obs_normalization=False,
|
||||
actor_hidden_dims=[256, 256, 128],
|
||||
critic_hidden_dims=[256, 256, 128],
|
||||
activation="elu",
|
||||
)
|
||||
algorithm = RslRlPpoAlgorithmCfg(
|
||||
value_loss_coef=1.0,
|
||||
use_clipped_value_loss=True,
|
||||
clip_param=0.2,
|
||||
entropy_coef=0.005,
|
||||
num_learning_epochs=5,
|
||||
num_mini_batches=4,
|
||||
learning_rate=1.0e-3,
|
||||
schedule="adaptive",
|
||||
gamma=0.99,
|
||||
lam=0.95,
|
||||
desired_kl=0.01,
|
||||
max_grad_norm=1.0,
|
||||
)
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
from __future__ import annotations
|
||||
|
||||
import torch
|
||||
|
||||
|
||||
def compute_custom_reward_terms(env) -> dict[str, torch.Tensor]:
|
||||
"""Return additional unscaled reward terms.
|
||||
|
||||
Edit this file after export to add task-specific reward terms.
|
||||
Each tensor must have shape [num_envs].
|
||||
|
||||
To activate a term, also set a non-zero scale for the same key
|
||||
inside reward_scales in the generated *_env_cfg.py file.
|
||||
"""
|
||||
|
||||
# Example:
|
||||
# root_height = env._robot.data.root_pos_w[:, 2] - env._terrain.env_origins[:, 2]
|
||||
# return {"custom_reward": torch.clamp(root_height - 0.25, min=0.0)}
|
||||
|
||||
return {"custom_reward": torch.zeros(env.num_envs, dtype=torch.float, device=env.device)}
|
||||
|
|
@ -0,0 +1 @@
|
|||
from . import 2foot
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
@echo off
|
||||
chcp 65001 >nul
|
||||
setlocal enabledelayedexpansion
|
||||
|
||||
echo ============================================================
|
||||
echo 脚本: git-force-push.bat
|
||||
echo 功能: 将本地分支强制推送到远程，让远程与本地完全一致
|
||||
echo ============================================================
|
||||
|
||||
REM ---------- 检查是否在 Git 仓库 ----------
|
||||
git rev-parse --is-inside-work-tree >nul 2>&1
|
||||
if errorlevel 1 (
|
||||
echo [错误] 当前目录不是 Git 仓库
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
REM ---------- 获取当前分支 ----------
|
||||
for /f %%i in ('git branch --show-current') do set CURRENT_BRANCH=%%i
|
||||
if "%CURRENT_BRANCH%"=="" (
|
||||
echo [错误] 当前处于 HEAD 分离状态，请先切换到具体分支。
|
||||
exit /b 1
|
||||
)
|
||||
echo [信息] 当前分支：%CURRENT_BRANCH%
|
||||
|
||||
REM ---------- 拉取远程最新信息 ----------
|
||||
echo [信息] 正在获取远程最新引用...
|
||||
git fetch origin
|
||||
|
||||
REM ---------- 检查本地是否有未提交更改 ----------
|
||||
git diff --quiet >nul 2>&1
|
||||
if errorlevel 1 (
|
||||
echo [警告] 检测到本地有未提交的更改（已暂存或未暂存）。
|
||||
echo [警告] 这些更改不会被推送，但会保留在工作区。
|
||||
set /p CONTINUE="是否继续强制推送？(y/N): "
|
||||
if /i not "!CONTINUE!"=="y" (
|
||||
echo [信息] 操作已取消。
|
||||
exit /b 0
|
||||
)
|
||||
)
|
||||
|
||||
REM ---------- 检查本地是否落后于远程 ----------
|
||||
for /f %%i in ('git rev-list --count @..@{u} 2^>nul') do set AHEAD=%%i
|
||||
if not defined AHEAD set AHEAD=0
|
||||
if %AHEAD% gtr 0 (
|
||||
echo [警告] 远程有 %AHEAD% 个新提交，本地落后于远程。
|
||||
echo [警告] 强制推送会覆盖这些提交，请确认这不是他人刚提交的代码！
|
||||
)
|
||||
|
||||
REM ---------- 选择推送模式 ----------
|
||||
echo 请选择推送模式：
|
||||
echo 1) --force-with-lease (推荐，安全覆盖)
|
||||
echo 2) --force (强制覆盖，极度危险)
|
||||
set /p MODE="请输入数字 (1 或 2，默认 1): "
|
||||
if "%MODE%"=="" set MODE=1
|
||||
if "%MODE%"=="2" (
|
||||
set FORCE_FLAG=--force
|
||||
echo [警告] 您选择了 --force，这将无条件覆盖远程分支！
|
||||
) else (
|
||||
set FORCE_FLAG=--force-with-lease
|
||||
echo [信息] 您选择了 --force-with-lease，安全模式。
|
||||
)
|
||||
|
||||
REM ---------- 最终确认 ----------
|
||||
set /p CONFIRM="确认将本地分支 %CURRENT_BRANCH% 强制推送到远程？请输入 'yes' 继续: "
|
||||
if /i not "%CONFIRM%"=="yes" (
|
||||
echo [信息] 操作已取消。
|
||||
exit /b 0
|
||||
)
|
||||
|
||||
REM ---------- 执行推送 ----------
|
||||
echo [信息] 正在执行: git push %FORCE_FLAG% origin %CURRENT_BRANCH%
|
||||
git push %FORCE_FLAG% origin %CURRENT_BRANCH%
|
||||
if errorlevel 1 (
|
||||
echo [错误] 推送失败，请检查网络或权限。
|
||||
exit /b %errorlevel%
|
||||
)
|
||||
|
||||
echo [成功] 推送完成！远程 origin/%CURRENT_BRANCH% 已与本地保持一致。
|
||||
endlocal
|
||||
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Load Diff
BIN
带电的/右大腿.SLDPRT
BIN
带电的/右大腿.SLDPRT
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BIN
带电的/右小腿.SLDPRT
BIN
带电的/右小腿.SLDPRT
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BIN
带电的/右腿胯骨.SLDPRT
BIN
带电的/右腿胯骨.SLDPRT
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BIN
带电的/玉足.SLDPRT
BIN
带电的/玉足.SLDPRT
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BIN
带电的/舵机总体.SLDASM
BIN
带电的/舵机总体.SLDASM
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BIN
总装体.SLDASM
BIN
总装体.SLDASM
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Loading…
Reference in New Issue