doc: icon.png

Author: mqjinwon

exts/StrideSim/StrideSim/anymal_articulation.py

@@ -1,6 +1,6 @@
 import io
-import os
 import numpy as np
+import os
 import sys
 import torch
 from typing import List, Optional
@@ -76,9 +76,7 @@ def __init__(
 
         # Policy
 
-        file_content = omni.client.read_file(
-            os.path.join(os.path.dirname(__file__), "network/policy.pt")
-        )[2]
+        file_content = omni.client.read_file(os.path.join(os.path.dirname(__file__), "network/policy.pt"))[2]
         file = io.BytesIO(memoryview(file_content).tobytes())
 
         self._policy = torch.jit.load(file)

exts/StrideSim/StrideSim/anymal_d.py

@@ -15,8 +15,8 @@
 
 from StrideSim.anymal_articulation import AnymalD_Atriculation
 from StrideSim.base_sample import BaseSample
+from StrideSim.parameters import DEFAULT_WORLD_SETTINGS  # , SIMULATION_ENVIRONMENTS
 
-from StrideSim.parameters import DEFAULT_WORLD_SETTINGS, SIMULATION_ENVIRONMENTS
 
 class AnymalD(BaseSample):
     def __init__(self) -> None:
@@ -54,27 +54,27 @@ def setup_scene(self) -> None:
         if self._world.stage.GetPrimAtPath("/World"):
             raise Exception("A primitive already exists at the specified path")
 
-        # Create the stage primitive and load the usd into it
-        prim = self._world.stage.DefinePrim("/World")
-        success = prim.GetReferences().AddReference(
-            SIMULATION_ENVIRONMENTS["Flat Plane"]
+        # # Create the stage primitive and load the usd into it
+        # prim = self._world.stage.DefinePrim("/World")
+        # success = prim.GetReferences().AddReference(
+        #     SIMULATION_ENVIRONMENTS["Flat Plane"]
+        # )
+
+        # if not success:
+        #     raise Exception(
+        #         "failed to load the usd asset at path "
+        #         + SIMULATION_ENVIRONMENTS["Flat Plane"]
+        #     )
+
+        self._world.scene.add_default_ground_plane(
+            z_position=0,
+            name="default_ground_plane",
+            prim_path="/World/defaultGroundPlane",
+            static_friction=1.0,
+            dynamic_friction=1.0,
+            restitution=0,
         )
 
-        if not success:
-            raise Exception(
-                "failed to load the usd asset at path "
-                + SIMULATION_ENVIRONMENTS["Flat Plane"]
-            )
-
-        # self._world.scene.add_default_ground_plane(
-        #     z_position=0,
-        #     name="default_ground_plane",
-        #     prim_path="/World/defaultGroundPlane",
-        #     static_friction=1.0,
-        #     dynamic_friction=1.0,
-        #     restitution=0,
-        # )
-        
         self.AnymalD = AnymalD_Atriculation(
             prim_path="/World/AnymalD",
             name="AnymalD",

exts/StrideSim/StrideSim/parameters.py

@@ -56,10 +56,7 @@ def find_isaaclab_dir(start_path="/"):
 # Add the Isaac Sim assets to the list
 for asset in NVIDIA_SIMULATION_ENVIRONMENTS:
     SIMULATION_ENVIRONMENTS[asset] = (
-        NVIDIA_ASSETS_PATH
-        + ISAAC_SIM_ENVIRONMENTS
-        + "/"
-        + NVIDIA_SIMULATION_ENVIRONMENTS[asset]
+        NVIDIA_ASSETS_PATH + ISAAC_SIM_ENVIRONMENTS + "/" + NVIDIA_SIMULATION_ENVIRONMENTS[asset]
     )
 
 # Define the default settings for the simulation environment