From 00617b6981f79c307af7708d331b5d064e2a6533 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Tue, 7 Jul 2026 12:33:25 +0200 Subject: [PATCH 01/32] Add actuator parameter comparison demo --- scripts/demos/actuator_parameters.py | 609 +++++++++++++++++++++++++++ 1 file changed, 609 insertions(+) create mode 100644 scripts/demos/actuator_parameters.py diff --git a/scripts/demos/actuator_parameters.py b/scripts/demos/actuator_parameters.py new file mode 100644 index 000000000000..69ae6b2f0091 --- /dev/null +++ b/scripts/demos/actuator_parameters.py @@ -0,0 +1,609 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""This script compares actuator parameters on a procedurally-authored pendulum. + +The scene is a row of five identical single-joint pendulums. Each pendulum is +driven by an actuator model that differs only in the parameter under study +(stiffness, damping, armature, joint friction, effort limit, velocity limit, +command delay, or implicit-vs-explicit control). Sweeping the parameter across +the five instances and driving them with the same command profile makes the +effect of that parameter directly visible side by side. + +The pendulum is authored procedurally with USD APIs (no external asset files), +so the demo is self-contained and doubles as documentation for the actuator +runtime API. Joint commands are always issued through the actuator collection +(``articulation.actuators.set_joint_*_target_index``). + +.. code-block:: bash + + # List the available parameter comparisons. + ./isaaclab.sh -p scripts/demos/actuator_parameters.py --list_parameters + + # Interactive comparison of the stiffness sweep with the Newton visualizer. + ./isaaclab.sh -p scripts/demos/actuator_parameters.py --parameter stiffness + + # Compare the effort-limit sweep. + ./isaaclab.sh -p scripts/demos/actuator_parameters.py --parameter effort-limit + +""" + +"""Parse CLI first so we can decide whether to launch Isaac Sim Kit.""" + +import argparse + +from isaaclab.app import add_launcher_args, launch_simulation + +parser = argparse.ArgumentParser( + description="Compare actuator parameters on a procedurally-authored pendulum.", + conflict_handler="resolve", +) +parser.add_argument( + "--parameter", + default="stiffness", + help="Actuator parameter to compare. Use --list_parameters to see the available keys.", +) +parser.add_argument( + "--list_parameters", + action="store_true", + help="List the available parameter comparisons and exit.", +) +parser.add_argument( + "--physics", + default="newton_mjwarp", + choices=["physx", "newton_mjwarp"], + help="Physics backend.", +) +# Hidden flag used by CI: run a fixed number of steps then exit cleanly. +parser.add_argument("--smoke", action="store_true", help=argparse.SUPPRESS) +add_launcher_args(parser) +parser.set_defaults(visualizer=["newton"]) +args_cli = parser.parse_args() + +import math +from collections.abc import Callable +from dataclasses import dataclass + +import torch + +from pxr import Gf, Sdf, UsdGeom, UsdPhysics + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ( + ActuatorBaseCfg, + DCMotorCfg, + DelayedPDActuatorCfg, + IdealPDActuatorCfg, + ImplicitActuatorCfg, +) +from isaaclab.assets import Articulation, ArticulationCfg +from isaaclab.physics import PhysicsCfg + +## +# Simulation constants (pinned for determinism and reproducible media). +## + +SEED = 0 +"""Random seed applied before scene construction.""" + +DT = 1.0 / 120.0 +"""Physics step size [s].""" + +DECIMATION = 2 +"""Number of physics steps between successive control commands.""" + +CAPSULE_LENGTH = 0.6 +"""Length of the pendulum capsule link [m].""" + +CAPSULE_RADIUS = 0.05 +"""Radius of the pendulum capsule link [m].""" + +CAPSULE_MASS = 1.0 +"""Mass of the pendulum capsule link [kg].""" + +PIVOT_HEIGHT = 2.0 +"""Height of the revolute pivot above the ground plane [m].""" + +INSTANCE_SPACING = 1.5 +"""Spacing between neighbouring pendulum instances along the x-axis [m].""" + +SMOKE_STEPS = 20 +"""Number of physics steps executed in ``--smoke`` mode before a clean exit.""" + +DRIVE_STIFFNESS = 100.0 +"""Placeholder USD drive stiffness so the joint imports in position-actuation mode [N*m/rad].""" + +DRIVE_DAMPING = 5.0 +"""Placeholder USD drive damping so the joint imports in position-actuation mode [N*m*s/rad].""" + + +## +# Comparison matrix definitions. +## + + +@dataclass +class PlotSpec: + """Plotting metadata consumed by the recording tooling. + + Args: + quantity: Logged quantity to plot. One of ``joint_pos``, ``joint_vel``, + or ``applied_torque_vs_computed``. + title: Human-readable plot title. + ylabel: Label for the plot's y-axis. + """ + + quantity: str + title: str + ylabel: str + + +@dataclass +class RowSpec: + """A single actuator-parameter comparison. + + Args: + name: Human-readable description of the comparison. + values: Per-instance parameter values (five entries). ``None`` entries + are padded placeholders for comparisons that use fewer than five live + instances; non-numeric entries act as labels. + make_actuator_cfg: Factory turning one entry of :attr:`values` into an + actuator configuration. + command: Command profile mapping simulation time [s] to per-step position + [rad], velocity [rad/s], and effort [N*m] targets. ``None`` components + are not commanded. + initial_joint_pos: Initial joint position applied on reset [rad]. + initial_joint_vel: Initial joint velocity applied on reset [rad/s]. + duration: Duration of the finite comparison run [s]. + plot: Plotting metadata. + """ + + name: str + values: list[float | str | None] + make_actuator_cfg: Callable[[float | str], ActuatorBaseCfg] + command: Callable[[float], tuple[float | None, float | None, float | None]] + initial_joint_pos: float + initial_joint_vel: float + duration: float + plot: PlotSpec + + +# Common command profiles. ``t`` is the elapsed simulation time in seconds. + + +def _step_to_horizontal(t: float) -> tuple[float | None, float | None, float | None]: + """Position step from 0 to pi/2 [rad] at t = 0.5 s.""" + return (0.0 if t < 0.5 else math.pi / 2.0, None, None) + + +def _hold_horizontal(t: float) -> tuple[float | None, float | None, float | None]: + """Constant position target at pi/2 [rad] (horizontal hold against gravity).""" + return (math.pi / 2.0, None, None) + + +def _square_wave(t: float) -> tuple[float | None, float | None, float | None]: + """Position square wave between 0 and pi/2 [rad] with a 2 s period.""" + return (0.0 if (t % 2.0) < 1.0 else math.pi / 2.0, None, None) + + +def _free(t: float) -> tuple[float | None, float | None, float | None]: + """No command; the joint swings freely.""" + return (None, None, None) + + +def _implicit_pendulum_cfg(**kwargs) -> ImplicitActuatorCfg: + """Build an implicit actuator config for the pendulum joint.""" + return ImplicitActuatorCfg(joint_names_expr=[".*"], **kwargs) + + +ROWS: dict[str, RowSpec] = { + "stiffness": RowSpec( + name="Implicit PD stiffness sweep (damping fixed at 5)", + values=[10.0, 40.0, 100.0, 400.0, 1000.0], + make_actuator_cfg=lambda v: _implicit_pendulum_cfg(stiffness=v, damping=5.0), + command=_step_to_horizontal, + initial_joint_pos=0.0, + initial_joint_vel=0.0, + duration=4.0, + plot=PlotSpec("joint_pos", "Stiffness sweep", "Joint position [rad]"), + ), + "damping": RowSpec( + name="Implicit PD damping sweep (stiffness fixed at 100)", + values=[0.5, 2.0, 10.0, 40.0, 100.0], + make_actuator_cfg=lambda v: _implicit_pendulum_cfg(stiffness=100.0, damping=v), + command=_step_to_horizontal, + initial_joint_pos=0.0, + initial_joint_vel=0.0, + duration=4.0, + plot=PlotSpec("joint_pos", "Damping sweep", "Joint position [rad]"), + ), + "armature": RowSpec( + name="Joint armature sweep (stiffness 100, damping 5)", + values=[0.0, 0.01, 0.05, 0.2, 1.0], + make_actuator_cfg=lambda v: _implicit_pendulum_cfg(stiffness=100.0, damping=5.0, armature=v), + command=_step_to_horizontal, + initial_joint_pos=0.0, + initial_joint_vel=0.0, + duration=4.0, + plot=PlotSpec("joint_pos", "Armature sweep", "Joint position [rad]"), + ), + "friction": RowSpec( + name="Joint friction sweep on a free-spinning joint", + values=[0.0, 0.05, 0.2, 0.5, 1.0], + make_actuator_cfg=lambda v: _implicit_pendulum_cfg(stiffness=0.0, damping=0.0, friction=v), + command=_free, + initial_joint_pos=0.0, + initial_joint_vel=4.0 * math.pi, + duration=6.0, + plot=PlotSpec("joint_vel", "Joint friction sweep", "Joint velocity [rad/s]"), + ), + "effort-limit": RowSpec( + name="Ideal PD effort-limit sweep (horizontal hold against gravity)", + values=[0.5, 1.5, 3.0, 6.0, 12.0], + make_actuator_cfg=lambda v: IdealPDActuatorCfg( + joint_names_expr=[".*"], stiffness=400.0, damping=20.0, effort_limit=v + ), + command=_hold_horizontal, + initial_joint_pos=math.pi / 2.0, + initial_joint_vel=0.0, + duration=4.0, + plot=PlotSpec("applied_torque_vs_computed", "Effort-limit sweep", "Joint torque [N*m]"), + ), + "velocity-limit": RowSpec( + name="DC motor velocity-limit sweep (torque-speed envelope)", + values=[2.0, 4.0, 8.0, 16.0, 32.0], + make_actuator_cfg=lambda v: DCMotorCfg( + joint_names_expr=[".*"], + stiffness=100.0, + damping=5.0, + saturation_effort=12.0, + effort_limit=6.0, + velocity_limit=v, + ), + command=_step_to_horizontal, + initial_joint_pos=0.0, + initial_joint_vel=0.0, + duration=4.0, + plot=PlotSpec("joint_vel", "Velocity-limit sweep", "Joint velocity [rad/s]"), + ), + "delay": RowSpec( + name="Command delay comparison (ideal PD vs 8-step delayed PD)", + values=["no delay", "8 steps", None, None, None], + make_actuator_cfg=lambda v: ( + IdealPDActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=5.0) + if v == "no delay" + else DelayedPDActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=5.0, min_delay=8, max_delay=8) + ), + command=_square_wave, + initial_joint_pos=0.0, + initial_joint_vel=0.0, + duration=6.0, + plot=PlotSpec("joint_pos", "Command delay comparison", "Joint position [rad]"), + ), + "implicit-vs-explicit": RowSpec( + name="Implicit vs explicit PD (identical stiffness 100, damping 5)", + values=["implicit", "explicit", None, None, None], + make_actuator_cfg=lambda v: ( + ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=5.0) + if v == "implicit" + else IdealPDActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=5.0) + ), + command=_step_to_horizontal, + initial_joint_pos=0.0, + initial_joint_vel=0.0, + duration=4.0, + plot=PlotSpec("joint_pos", "Implicit vs explicit PD", "Joint position [rad]"), + ), +} + + +## +# Procedural pendulum authoring. +## + + +def _author_pendulum(stage, prim_path: str, x_offset: float) -> None: + """Author a single-joint pendulum directly on the USD stage. + + The pendulum is a fixed-base articulation. A massless base link is welded to + the world with a fixed joint at the pivot, and the swinging capsule link is + attached to the base with a revolute joint about the world y-axis. A position + target of pi/2 [rad] therefore raises the capsule from its resting (downward) + pose to horizontal. + + The explicit base-plus-fixed-joint structure (rather than a bare revolute + joint to the world frame) is what the physics importers recognise as a + fixed-base articulation rooted at :paramref:`prim_path`. + + Args: + stage: USD stage to author on. + prim_path: Articulation root prim path. + x_offset: World-space x-offset of the pivot [m]. + """ + pivot = Gf.Vec3d(x_offset, 0.0, PIVOT_HEIGHT) + identity_rot = Gf.Quatf(1.0, 0.0, 0.0, 0.0) + + # Articulation root. + root = UsdGeom.Xform.Define(stage, prim_path) + UsdPhysics.ArticulationRootAPI.Apply(root.GetPrim()) + + # Base link, welded to the world frame at the pivot. + base_path = f"{prim_path}/base" + base = UsdGeom.Xform.Define(stage, base_path) + base.AddTranslateOp().Set(pivot) + UsdPhysics.RigidBodyAPI.Apply(base.GetPrim()) + base_mass = UsdPhysics.MassAPI.Apply(base.GetPrim()) + base_mass.CreateMassAttr(CAPSULE_MASS) + # The base is welded to the world, so its inertia is irrelevant; author an + # explicit diagonal to avoid the physics engine's invalid-inertia warning. + base_mass.CreateDiagonalInertiaAttr(Gf.Vec3f(0.01, 0.01, 0.01)) + fixed_joint = UsdPhysics.FixedJoint.Define(stage, f"{prim_path}/fixed") + fixed_joint.CreateBody1Rel().SetTargets([Sdf.Path(base_path)]) + fixed_joint.CreateLocalPos0Attr(Gf.Vec3f(x_offset, 0.0, PIVOT_HEIGHT)) + fixed_joint.CreateLocalPos1Attr(Gf.Vec3f(0.0, 0.0, 0.0)) + + # Swinging capsule link (rigid body) placed at the pivot. + link_path = f"{prim_path}/link" + link = UsdGeom.Xform.Define(stage, link_path) + link.AddTranslateOp().Set(pivot) + UsdPhysics.RigidBodyAPI.Apply(link.GetPrim()) + UsdPhysics.MassAPI.Apply(link.GetPrim()).CreateMassAttr(CAPSULE_MASS) + + # Capsule geometry offset so its centre of mass hangs below the pivot. + capsule = UsdGeom.Capsule.Define(stage, f"{link_path}/geom") + capsule.CreateAxisAttr("Z") + capsule.CreateRadiusAttr(CAPSULE_RADIUS) + capsule.CreateHeightAttr(CAPSULE_LENGTH) + capsule.AddTranslateOp().Set(Gf.Vec3d(0.0, 0.0, -CAPSULE_LENGTH / 2.0)) + UsdPhysics.CollisionAPI.Apply(capsule.GetPrim()) + + # Revolute joint connecting the base to the swinging link. + joint = UsdPhysics.RevoluteJoint.Define(stage, f"{prim_path}/joint") + joint.CreateAxisAttr("Y") + joint.CreateBody0Rel().SetTargets([Sdf.Path(base_path)]) + joint.CreateBody1Rel().SetTargets([Sdf.Path(link_path)]) + joint.CreateLocalPos0Attr(Gf.Vec3f(0.0, 0.0, 0.0)) + joint.CreateLocalRot0Attr(identity_rot) + joint.CreateLocalPos1Attr(Gf.Vec3f(0.0, 0.0, 0.0)) + joint.CreateLocalRot1Attr(identity_rot) + + # Angular drive so the actuator runtime can push gains into the solver. The + # non-zero stiffness/damping put the joint into position-actuation mode at + # import time; the actual gains are overwritten per instance by the actuator + # configuration, but a zero-gain drive would import as an unactuated joint. + drive = UsdPhysics.DriveAPI.Apply(joint.GetPrim(), "angular") + drive.CreateTypeAttr("force") + drive.CreateMaxForceAttr(1.0e9) + drive.CreateStiffnessAttr(DRIVE_STIFFNESS) + drive.CreateDampingAttr(DRIVE_DAMPING) + + +def _live_values(row: RowSpec) -> list[float | str]: + """Return the non-``None`` entries of :attr:`RowSpec.values`.""" + return [value for value in row.values if value is not None] + + +def build_scene(sim: sim_utils.SimulationContext, row: RowSpec) -> list[Articulation]: + """Author the pendulum scene for a comparison row. + + A ground plane and dome light are added for visualization, then one pendulum + is authored per live entry of :attr:`RowSpec.values`. Each pendulum receives + its own actuator configuration built from that entry. + + Args: + sim: Active simulation context. + row: Comparison row to build. + + Returns: + The spawned articulations, one per live parameter value, in value order. + """ + stage = sim_utils.get_current_stage() + + # Ground plane and lighting for interactive viewing. + ground_cfg = sim_utils.GroundPlaneCfg() + ground_cfg.func("/World/defaultGroundPlane", ground_cfg) + light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)) + light_cfg.func("/World/Light", light_cfg) + + values = _live_values(row) + num_instances = len(values) + articulations: list[Articulation] = [] + for index, value in enumerate(values): + x_offset = (index - (num_instances - 1) / 2.0) * INSTANCE_SPACING + prim_path = f"/World/Pendulum_{index}" + _author_pendulum(stage, prim_path, x_offset) + + cfg = ArticulationCfg( + prim_path=prim_path, + spawn=None, + actuators={"joint": row.make_actuator_cfg(value)}, + init_state=ArticulationCfg.InitialStateCfg( + joint_pos={".*": row.initial_joint_pos}, + joint_vel={".*": row.initial_joint_vel}, + ), + ) + articulations.append(cfg.class_type(cfg)) + + return articulations + + +## +# Simulation loop and logging. +## + + +def _reset_pendulums(articulations: list[Articulation], row: RowSpec) -> None: + """Reset every pendulum to the row's initial joint state.""" + for articulation in articulations: + shape = (articulation.num_instances, articulation.num_joints) + joint_pos = torch.full(shape, row.initial_joint_pos, dtype=torch.float32, device=articulation.device) + joint_vel = torch.full(shape, row.initial_joint_vel, dtype=torch.float32, device=articulation.device) + articulation.write_joint_position_to_sim_index(position=joint_pos) + articulation.write_joint_velocity_to_sim_index(velocity=joint_vel) + articulation.reset() + + +def _apply_command(articulation: Articulation, command: tuple[float | None, float | None, float | None]) -> None: + """Issue a command tuple to one pendulum through the actuator collection.""" + position, velocity, effort = command + shape = (articulation.num_instances, articulation.num_joints) + if position is not None: + target = torch.full(shape, position, dtype=torch.float32, device=articulation.device) + articulation.actuators.set_joint_position_target_index(target=target) + if velocity is not None: + target = torch.full(shape, velocity, dtype=torch.float32, device=articulation.device) + articulation.actuators.set_joint_velocity_target_index(target=target) + if effort is not None: + target = torch.full(shape, effort, dtype=torch.float32, device=articulation.device) + articulation.actuators.set_joint_effort_target_index(target=target) + + +def run_row( + sim: sim_utils.SimulationContext, + articulations: list[Articulation], + row: RowSpec, + on_frame: Callable[[int], None] | None = None, + num_steps: int | None = None, +) -> dict[str, torch.Tensor]: + """Step the scene for one comparison row and log per-step telemetry. + + The row's command profile is issued through the actuator collection every + :data:`DECIMATION` physics steps. Joint state and actuator torques are logged + every physics step. Logged tensors always have five columns; columns for + ``None`` entries of :attr:`RowSpec.values` are filled with ``NaN``. + + Args: + sim: Active simulation context. + articulations: Pendulums returned by :func:`build_scene`, in value order. + row: Comparison row being run. + on_frame: Optional callback invoked with the physics step index after each + step (used by the recording tooling for camera capture). + num_steps: Number of physics steps to run. Defaults to the number of steps + spanning :attr:`RowSpec.duration`. + + Returns: + Mapping with keys ``joint_pos``, ``joint_vel``, ``applied_torque``, and + ``computed_torque``. Each value is a tensor of shape ``[num_steps, 5]``. + """ + sim_dt = sim.get_physics_dt() + if num_steps is None: + num_steps = int(round(row.duration / sim_dt)) + + live_columns = [index for index, value in enumerate(row.values) if value is not None] + + logs: dict[str, list[torch.Tensor]] = { + "joint_pos": [], + "joint_vel": [], + "applied_torque": [], + "computed_torque": [], + } + + _reset_pendulums(articulations, row) + sim_time = 0.0 + for step in range(num_steps): + if step % DECIMATION == 0: + command = row.command(sim_time) + for articulation in articulations: + _apply_command(articulation, command) + for articulation in articulations: + articulation.write_data_to_sim() + sim.step() + sim_time += sim_dt + for articulation in articulations: + articulation.update(sim_dt) + + _record_step(logs, articulations, live_columns) + if on_frame is not None: + on_frame(step) + + return {key: torch.stack(values) for key, values in logs.items()} + + +def _record_step( + logs: dict[str, list[torch.Tensor]], + articulations: list[Articulation], + live_columns: list[int], +) -> None: + """Append one row of telemetry (five columns, NaN-padded) to *logs*.""" + sources = { + "joint_pos": lambda a: a.data.joint_pos.torch, + "joint_vel": lambda a: a.data.joint_vel.torch, + "applied_torque": lambda a: a.actuators.applied_torque.torch, + "computed_torque": lambda a: a.actuators.computed_torque.torch, + } + for key, read in sources.items(): + frame = torch.full((5,), float("nan")) + for articulation, column in zip(articulations, live_columns): + frame[column] = read(articulation).reshape(-1)[0].detach().cpu() + logs[key].append(frame) + + +def _run_interactive( + sim: sim_utils.SimulationContext, + articulations: list[Articulation], + row: RowSpec, +) -> None: + """Loop the row's command profile forever while a visualizer is open.""" + sim_dt = sim.get_physics_dt() + _reset_pendulums(articulations, row) + sim_time = 0.0 + step = 0 + while sim.is_headless_or_exist_active_visualizer(): + if sim_time >= row.duration: + _reset_pendulums(articulations, row) + sim_time = 0.0 + step = 0 + if step % DECIMATION == 0: + command = row.command(sim_time) + for articulation in articulations: + _apply_command(articulation, command) + for articulation in articulations: + articulation.write_data_to_sim() + sim.step() + sim_time += sim_dt + step += 1 + for articulation in articulations: + articulation.update(sim_dt) + + +def _print_parameters() -> None: + """Print the available comparison keys and their descriptions.""" + print("Available actuator parameter comparisons:") + width = max(len(key) for key in ROWS) + for key, row in ROWS.items(): + print(f" {key:<{width}} {row.name}") + + +def main() -> None: + """Author the requested comparison scene and run it.""" + if args_cli.list_parameters: + _print_parameters() + return + + if args_cli.parameter not in ROWS: + raise SystemExit(f"Unknown parameter {args_cli.parameter!r}. Use --list_parameters to see the available keys.") + row = ROWS[args_cli.parameter] + + torch.manual_seed(SEED) + + with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg: + sim_cfg = sim_utils.SimulationCfg(dt=DT, device=args_cli.device, physics=physics_cfg) + sim = sim_utils.SimulationContext(sim_cfg) + sim.set_camera_view(eye=[0.0, -6.0, 2.0], target=[0.0, 0.0, 1.6]) + + articulations = build_scene(sim, row) + sim.reset() + print(f"[INFO]: Comparing actuator parameter '{args_cli.parameter}': {row.name}") + + if args_cli.smoke: + run_row(sim, articulations, row, num_steps=SMOKE_STEPS) + print("[INFO]: Smoke run complete.") + return + + _run_interactive(sim, articulations, row) + + +if __name__ == "__main__": + main() From 609f6552e9805a3c84d5e99d1b287f39b0d52942 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Tue, 7 Jul 2026 13:15:22 +0200 Subject: [PATCH 02/32] Generate actuator parameter reference media --- .../_static/actuators/armature-clip.webp | 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