Adapting Quadruped Examples to Different Robots

Omniverse Isaac Sim
1

I am attempting to achieve a similar functionality to the quadruped examples.

I have imported my robot model and provided mass values for all rigid bodies, similar to the a1.usd model. However, I am not able to achieve a stable gate and instead the controller publishes very high torque values, resulting in the behaviour you can see in the video.

Any insight into how the quadruped control examples can be adapted to other robotic platforms would be greatly appreciated!

Python code:
spot_standalone.py (7.3 KB)

Robot class:
spot.py (14.5 KB)

Robot .usd:
spot_feet.usd (12.0 MB)

6

Hi @hanlonm - Sincere apologies for the delay in response. Please let us know if you still have any issues or concerns with the latest Isaac Sim release.

8

I am attempting to achieve a similar functionality to the quadruped example (standalone_examples/api/omni.isaac.quadruped/a1_vision_ros2_standalone.py).

I have imported my robot model (Unitree B2) from Isaac Sim assets store and modified the parameters related to B2.


However, the robot dog cannot stand up and walk.
Here is the code:

9

Hi Hanlonm, did you fix this issue? Thanks.

10

here is the code and model: quadruped - Google Drive

11

Hi Shawnxu, have you done this work? Looking forward to communicating with you. mc45197@um.edu.mo