Guidance on Simulating Quadrupeds in Isaac Sim 4.5

Omniverse Isaac Sim
1

Isaac Sim Version

[✔] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

[✔] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

Topic Description

Hello,

I am a new user of Isaac Sim 4.5. I have reviewed a few tutorials on simulating quadrupedal robots in Isaac Sim. However, in version 4.5, I couldn’t locate the quadrupeds extension (I believe it has been deprecated).

I need guidance and tutorials on simulating quadrupeds in Isaac Sim 4.5. I have searched for resources but haven’t found much.

I would appreciate any guidance or suggestions.

Thank you!

2

Please check the “Quadruped Robots” tab on the Robot Assets page.

3

Thank you for your reply. I have already checked this webpage and I am able to use different USD and URDF files in Isaac sim. Is there something more provided?
Thanks again

4

Please refer to this note from Release Notes — Isaac Sim Documentation about the extension deprecation.:

omni.isaac.quadruped

Deprecated

Extension deprecated since Isaac Sim 4.5.0. The built in optimization controller will be removed. The RL based controller will be replaced by “isaacsim.robot.policy”

5

Thank you for your reply. Ok I got that it is no longer available, but I don’t get what is the alternative approach?, for example, I want to torque control the joints? how to do so?