FFTAI/Wiki-GRx-Webots

Wiki-GRx-Webots

This repository provides an environment used to test the RL policy trained in NVIDIA's Isaac Gym on the GRx robot model in Webots.

User Guide

1. Install Webots:

   • Official Website: https://cyberbotics.com/
   • Documents: https://cyberbotics.com/doc/guide/installation-procedure

2. Install Ananconda:

   • Anaconda Official Website: https://www.anaconda.com/products/distribution
   • Download and install Anaconda:

   bash Anaconda3-2021.11-Linux-x86_64.sh
   

3. Create a conda environment:

   • Create a conda environment:

   conda create -n wiki-grx-webots python=3.11
   conda activate wiki-grx-webots
   

4. Install development environment:

   • Enter the repository robot-rcs-gr folder and run the following command:

   pip install -e .
   

5. Run the simulation:

   • Run the simulation (in the wiki-grx-webots conda environment) by running the following command:

   webots
   

6. Load the world file:

   • Load the world file wiki-grx-webots/robot-rcs-gr/webots/worlds/gr1t1_simple.wbt in Webots to control the GR1T1 robot model.
   • Load the world file wiki-grx-webots/robot-rcs-gr/webots/worlds/gr1t2_simple.wbt in Webots to control the GR1T2 robot model.

The robot will be loaded and start walking in the simulation environment.

Different Webots World Files

Besides the gr1t1_simple.wbt and gr1t2_simple.wbt files, we also provide the gr1t1.wbt and gr1t2.wbt files in the robot-rcs-gr/webots/worlds folder.

Here are some differences between the gr1t1.wbt and gr1t2.wbt files and the gr1t1_simple.wbt and gr1t2_simple.wbt files:

• gr1t1.wbt and gr1t2.wbt files:
  • It is the full version of the GR1T1 and GR1T2 robot model.
  • The joint positions are set to the 0.0 radian.
• gr1t1_simple.wbt and gr1t2_simple.wbt files:
  • It is the simplified version of the GR1T1 and GR1T2 robot model.
  • The joint position at elbow, hip_pitch, knee_pitch, and ankle_pitch are set to the RL default position to have better performance.

Model Conversion

The URDF file can not be used directly in Webots. You need to convert the URDF file to a PROTO file.

• https://github.com/cyberbotics/urdf2webots

The following steps show how to convert the URDF file to a PROTO file:

1. Install the urdf2webots tool:

   pip install urdf2webots
   

2. Convert the URDF file to a PROTO file:

   python -m urdf2webots.importer --input=grx.urdf --output=grx.proto
   

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Thank you for your interest in the Fourier Intelligence GRx Robot Model Repository. We hope you find this resource helpful in your robotics projects!