isaac-sim
ridgeback_franka move problem
run the 'check_ridgeback_franka.py' scripts。The action information related to mobile base is not all-zero, but the mobile base does not move. How to fix this issue?
https://github.com/user-attachments/assets/b655a71d-846f-4444-9649-60611c4aa2d2
Thanks for posting this. You'll have to elaborate on what exactly you are seeing and how you are running this. Which is the action information you are referring to? Is this from the GUI? Also, please let us know which version of Isaac Lab and Isaac Sim you are using. Thanks.
Thanks for posting this. You'll have to elaborate on what exactly you are seeing and how you are running this. Which is the action information you are referring to? Is this from the GUI? Also, please let us know which version of Isaac Lab and Isaac Sim you are using. Thanks.
@RandomOakForest Here is the information. Isaac Lab == 2.0.2 Isaac Sim == 4.5.0-rc.36+release.19112.f59b3005.gl run the script in IsaacLab: python source/isaaclab/test/assets/check_ridgeback_franka.py
##################################The following this the code######################################
import argparse
from isaaclab.app import AppLauncher
parser = argparse.ArgumentParser(
description="This script demonstrates how to simulate a mobile manipulator with dummy joints."
)
AppLauncher.add_app_launcher_args(parser)
args_cli = parser.parse_args()
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
import torch
import isaaclab.sim as sim_utils
from isaaclab.assets import Articulation
from isaaclab_assets.robots.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG # isort:skip
def design_scene():
cfg = sim_utils.GroundPlaneCfg()
cfg.func("/World/defaultGroundPlane", cfg)
cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
cfg.func("/World/Light", cfg)
# add robots and return them
return add_robots()
def add_robots() -> Articulation:
robot_cfg = RIDGEBACK_FRANKA_PANDA_CFG
robot_cfg.spawn.func("/World/Robot_1", robot_cfg.spawn, translation=(0.0, -1.0, 0.0))
robot_cfg.spawn.func("/World/Robot_2", robot_cfg.spawn, translation=(0.0, 1.0, 0.0))
robot = Articulation(cfg=robot_cfg.replace(prim_path="/World/Robot.*"))
return robot
def run_simulator(sim: sim_utils.SimulationContext, robot: Articulation):
actions = robot.data.default_joint_pos.clone()
sim_dt = sim.get_physics_dt()
sim_time = 0.0
ep_step_count = 0
while simulation_app.is_running():
if ep_step_count % 1000 == 0:
sim_time = 0.0
ep_step_count = 0
joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()
robot.write_joint_state_to_sim(joint_pos, joint_vel)
robot.reset()
actions = torch.rand_like(robot.data.default_joint_pos) + robot.data.default_joint_pos
# -- base
actions[:, 0:3] = 0.0
# -- gripper
actions[:, -2:] = 0.04
print("[INFO]: Resetting robots state...")
# change the gripper action
if ep_step_count % 200 == 0:
# flip command for the gripper
actions[:, -2:] = 0.0 if actions[0, -2] > 0.0 else 0.04
# change the base action
# -- forward and backward (x-axis)
if ep_step_count == 200:
actions[:, :3] = 0.0
actions[:, 0] = 1.0
if ep_step_count == 300:
actions[:, :3] = 0.0
actions[:, 0] = -1.0
# -- right and left (y-axis)
if ep_step_count == 400:
actions[:, :3] = 0.0
actions[:, 1] = 1.0
if ep_step_count == 500:
actions[:, :3] = 0.0
actions[:, 1] = -1.0
# -- turn right and left (z-axis)
if ep_step_count == 600:
actions[:, :3] = 0.0
actions[:, 2] = 1.0
if ep_step_count == 700:
actions[:, :3] = 0.0
actions[:, 2] = -1.0
if ep_step_count == 900:
actions[:, :3] = 0.0
actions[:, 2] = 1.0
# change the arm action
if ep_step_count % 100:
actions[:, 3:10] = torch.rand(robot.num_instances, 7, device=robot.device)
actions[:, 3:10] += robot.data.default_joint_pos[:, 3:10]
# apply action
robot.set_joint_velocity_target(actions[:, :3], joint_ids=[0, 1, 2])
robot.set_joint_position_target(actions[:, 3:], joint_ids=[3, 4, 5, 6, 7, 8, 9, 10, 11])
robot.write_data_to_sim()
# perform step
sim.step()
# update sim-time
sim_time += sim_dt
ep_step_count += 1
# update buffers
robot.update(sim_dt)
def main():
"""Main function."""
# Initialize the simulation context
sim = sim_utils.SimulationContext(sim_utils.SimulationCfg())
# Set main camera
sim.set_camera_view([1.5, 1.5, 1.5], [0.0, 0.0, 0.0])
# design scene
robot = design_scene()
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run the simulator
run_simulator(sim, robot)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
Following up on this, let us know if you still need further help. I'll move this issue to our Discussions.