Fire up:\n
IsaacSim -> Window -> Examples -> Robotics Examples -> Policy -> Qudrupped -> Click 'Open Source Code' -> [it will fire up VSCode] -> paste the code below commenting the initial one
My code just extends the control, if no transmitter converted, it’ll set back to initial Arrow+N/M control over Spot.\nWritten using pygame library, so it should be installed in Python version linked to your IsaacSim installation
\nFor me\n
\npython3.10 -m pip install pygame\n
\nworked well, but check that you pip install tthings for the right python
In my setup the transmitter is connected via Trainer-USB wire to my laptop and is perceived as a PPM joystick device by Windows.
\nSome additional setups might be needed for other transmitters or older Windows versions. (Setup work fine on Ubuntu 22.04 also)
\nOn Windows check the connection of your transmitter by using Win+R -> joy.cpl -> [see your PPM device] -> Properties\nIn Properties you can see how your sticks are set.\nUse smth like vJoy or analogues to set up your sticks
\nvJoy seems to be compromised, so stick to analogues, I use joyToKey instead.
\nThe plan is to publish extension for a radio control of any movable agent in Isaac by any FPV Controller.
\nЗдесь код для управления собакой Spot.\n
import carb\nimport numpy as np\nimport omni\nimport pygame\nfrom isaacsim.examples.interactive.base_sample import BaseSample\nfrom isaacsim.robot.policy.examples.robots import SpotFlatTerrainPolicy\n\nclass QuadrupedExample(BaseSample):\n def __init__(self) -> None:\n super().__init__()\n\n # World settings\n pygame.init()\n pygame.display.init() # Explicitly initialize display (needed for event pump)\n\n\n self._world_settings = {\n \"stage_units_in_meters\": 1.0,\n \"physics_dt\": 1.0 / 500.0,\n \"rendering_dt\": 10.0 / 500.0\n }\n self._base_command = [0.0, 0.0, 0.0]\n \n # Pygame initialization\n pygame.init()\n pygame.joystick.init()\n \n # Controller state\n self.joystick = None\n self.controller_connected = False\n self.last_axis_values = None\n self.threshold = 0.1 # 10% deadzone\n self.scale_factor = 2.0\n \n self.setup_controller()\n \n # Claude suggestion: Add setup for simulation callbacks\n self.setup_simulation_callbacks()\n \n # Fallback keyboard controls\n self._input_keyboard_mapping = {\n \"UP\": [2.0, 0.0, 0.0],\n \"DOWN\": [-2.0, 0.0, 0.0],\n \"RIGHT\": [0.0, -2.0, 0.0],\n \"LEFT\": [0.0, 2.0, 0.0],\n \"N\": [0.0, 0.0, 2.0],\n \"M\": [0.0, 0.0, -2.0],\n }\n\n def setup_scene(self) -> None:\n self._world.scene.add_default_ground_plane(\n z_position=0,\n name=\"default_ground_plane\",\n prim_path=\"/World/defaultGroundPlane\",\n static_friction=0.2,\n dynamic_friction=0.2,\n restitution=0.01,\n )\n self.spot = SpotFlatTerrainPolicy(\n prim_path=\"/World/Spot\",\n name=\"Spot\",\n position=np.array([0, 0, 0.8]),\n )\n\n def setup_controller(self):\n \"\"\"Initialize Pygame joystick connection\"\"\"\n if pygame.joystick.get_count() > 0:\n self.joystick = pygame.joystick.Joystick(0)\n self.joystick.init()\n self.controller_connected = True\n self.last_axis_values = [0.0] * self.joystick.get_numaxes()\n carb.log_info(f\"Controller connected: {self.joystick.get_name()}\")\n carb.log_info(f\"Axes: {self.joystick.get_numaxes()}, Buttons: {self.joystick.get_numbuttons()}\")\n else:\n carb.log_warn(\"No controller found - using keyboard fallback\")\n self._setup_keyboard_fallback()\n\n # Claude suggestion: Add method to setup simulation callbacks\n def setup_simulation_callbacks(self):\n \"\"\"Set up callbacks for simulation events\"\"\"\n self._timeline = omni.timeline.get_timeline_interface()\n self._stop_sub = self._timeline.get_timeline_event_stream().create_subscription_to_pop(\n self._on_timeline_event\n )\n\n # Claude suggestion: Modified timeline event handler with world existence check\n def _on_timeline_event(self, event):\n \"\"\"Handle timeline events like stop/play\"\"\"\n if event.type == int(omni.timeline.TimelineEventType.STOP):\n carb.log_info(\"Simulation stopped, preparing for reset\")\n self._physics_ready = False\n elif event.type == int(omni.timeline.TimelineEventType.PLAY):\n carb.log_info(\"Simulation started, resetting state\")\n try:\n self.reset()\n except Exception as e:\n carb.log_error(f\"Error during reset: {str(e)}\")\n # Set flag to ensure initialization happens later\n self._physics_ready = False\n\n def _setup_keyboard_fallback(self):\n \"\"\"Setup keyboard controls as fallback\"\"\"\n self._appwindow = omni.appwindow.get_default_app_window()\n self._input = carb.input.acquire_input_interface()\n self._keyboard = self._appwindow.get_keyboard()\n self._sub_keyboard = self._input.subscribe_to_keyboard_events(\n self._keyboard, self._sub_keyboard_event)\n\n # Claude suggestion: Add method to handle world initialization\n def ensure_world_initialized(self):\n \"\"\"Make sure world reference is initialized\"\"\"\n if not hasattr(self, '_world') or self._world is None:\n carb.log_info(\"Initializing world reference\")\n try:\n self._world = self.get_world()\n if self._world is not None:\n # Set up physics callback\n if not self._world.physics_callback_exists(\"physics_step\"):\n self._world.add_physics_callback(\"physics_step\", callback_fn=self.on_physics_step)\n return True\n else:\n carb.log_warn(\"World still not available\")\n return False\n except Exception as e:\n carb.log_error(f\"Error initializing world: {str(e)}\")\n return False\n return True\n\n # Claude suggestion: Modified to ensure world is initialized\n async def setup_post_load(self) -> None:\n self._physics_ready = False\n self.ensure_world_initialized()\n try:\n await self.get_world().play_async()\n except Exception as e:\n carb.log_error(f\"Error in setup_post_load: {str(e)}\")\n\n # Claude suggestion: Modified to add additional checks and error handling\n def on_physics_step(self, step_size) -> None:\n # Ensure world is properly initialized\n if not self.ensure_world_initialized():\n return\n \n # Process controller input\n pygame.event.pump()\n \n if self.controller_connected:\n self._process_controller_input()\n \n # Make sure spot robot is initialized\n if not hasattr(self, 'spot') or self.spot is None:\n carb.log_warn(\"Spot robot not initialized yet\")\n self._physics_ready = False\n return\n \n # Update robot physics - with additional safety checks\n try:\n if not self._physics_ready:\n # Initialize or reinitialize on first step or after reload\n self._physics_ready = True\n self.spot.initialize()\n self.spot.post_reset()\n self.spot.robot.set_joints_default_state(self.spot.default_pos)\n carb.log_info(\"Robot initialized successfully\")\n else:\n # Check if articulation view exists before applying commands\n if hasattr(self.spot.robot, '_articulation_controller') and \\\n hasattr(self.spot.robot._articulation_controller, '_articulation_view') and \\\n self.spot.robot._articulation_controller._articulation_view is not None:\n self.spot.forward(step_size, self._base_command)\n else:\n # Physics components not ready yet, try to reinitialize\n carb.log_warn(\"Physics components not ready, reinitializing...\")\n self._physics_ready = False\n except Exception as e:\n # Reset physics ready flag to force reinitialization on next step\n self._physics_ready = False\n carb.log_error(f\"Error in physics step: {str(e)}\")\n\n def _process_controller_input(self):\n \"\"\"Convert joystick input to robot commands\"\"\"\n new_command = [0.0, 0.0, 0.0]\n \n # Get current axis values (Xbox/PS4 mapping)\n axes = [self.joystick.get_axis(i) for i in range(self.joystick.get_numaxes())]\n\n print(axes)\n \n # # Left Stick: Movement (Axis 0: LR, Axis 1: UD)\n # roll = axes[0] if len(axes) > 0 else 0.0\n # pitch = -axes[1] if len(axes) > 1 else 0.0 # Invert for natural control\n \n # # Right Stick: Rotation (Axis 2: LR)\n # yaw = axes[2] if len(axes) > 2 else 0.0\n \n\n # WAITASEC!!!\n # Right Stick: Movement (Axis 0: LR, Axis 1: UD)\n roll = -axes[0] if len(axes) > 0 else 0.0\n pitch = axes[1] if len(axes) > 1 else 0.0 # Invert for natural control\n \n # Left Stick: Rotation (Axis 2: LR)\n yaw = -axes[4] if len(axes) > 4 else 0.0 # Claude suggestion: Fixed index check from 2 to 4\n \n # Apply deadzone and scaling\n if abs(roll) > self.threshold:\n new_command[1] = roll * self.scale_factor # Left/Right\n \n if abs(pitch) > self.threshold:\n new_command[0] = pitch * self.scale_factor # Forward/Back\n \n if abs(yaw) > self.threshold:\n new_command[2] = yaw * self.scale_factor # Rotation\n \n # Print diagnostics when values change significantly\n if self.last_axis_values:\n changes = [abs(a - b) > 0.05 for a, b in zip(axes, self.last_axis_values)]\n if any(changes):\n carb.log_info(f\"Controller Input - Roll: {roll:.2f}, Pitch: {pitch:.2f}, Yaw: {yaw:.2f}\")\n \n self._base_command = new_command\n self.last_axis_values = axes\n\n def _sub_keyboard_event(self, event, *args, **kwargs) -> bool:\n \"\"\"Handle keyboard fallback controls\"\"\"\n if event.type == carb.input.KeyboardEventType.KEY_PRESS:\n if event.input.name in self._input_keyboard_mapping:\n self._base_command += np.array(self._input_keyboard_mapping[event.input.name])\n elif event.type == carb.input.KeyboardEventType.KEY_RELEASE:\n if event.input.name in self._input_keyboard_mapping:\n self._base_command -= np.array(self._input_keyboard_mapping[event.input.name])\n return True\n\n # Claude suggestion: Add safety checks for None world\n def reset(self):\n \"\"\"Reset the simulation state\"\"\"\n self._physics_ready = False\n self._base_command = [0.0, 0.0, 0.0]\n \n # Reset controller state\n if self.controller_connected:\n self.last_axis_values = [0.0] * self.joystick.get_numaxes()\n \n # Check if world exists before trying to access it\n if self.ensure_world_initialized():\n # Make sure any old physics callbacks are cleaned up\n if self._world.physics_callback_exists(\"physics_step\"):\n self._world.remove_physics_callback(\"physics_step\")\n \n # Re-add the physics callback\n self._world.add_physics_callback(\"physics_step\", callback_fn=self.on_physics_step)\n else:\n carb.log_warn(\"World not available during reset, will initialize when ready\")\n\n def world_cleanup(self):\n \"\"\"Clean up resources\"\"\"\n if self.controller_connected:\n pygame.quit()\n if hasattr(self, '_sub_keyboard'):\n self._sub_keyboard = None\n if hasattr(self, '_world') and self._world is not None:\n if self._world.physics_callback_exists(\"physics_step\"):\n self._world.remove_physics_callback(\"physics_step\")\n