Drone Platform Replacement (Registration)

[zhw970623]

Hello, I would like to ask how to replace my own physical platform in aerial_gym_simulator and what problems may arise.

1. We exported the ros package of urdf in SW2024 and unzipped it to src/aerial_gym_simulator/resources/robots. See the directory as follows

(base) zhw@ubuntu-3090:~/workspaces/aerial_gym_ws/src/aerial_gym_simulator/resources/robots/hs_urdf$ tree
.
├── CMakeLists.txt
├── config
│   └── joint_names_hs_urdf.yaml
├── export.log
├── launch
│   ├── display.launch
│   └── gazebo.launch
├── meshes
│   ├── base_link.STL
│   ├── base_link_to_back_left_prop.STL
│   ├── base_link_to_back_right_prop.STL
│   ├── base_link_to_front_left_prop.STL
│   └── base_link_to_front_right_prop.STL
├── package.xml
├── textures
└── urdf
    ├── base_link.STL
    ├── base_link_to_back_left_prop.STL
    ├── base_link_to_back_right_prop.STL
    ├── base_link_to_front_left_prop.STL
    ├── base_link_to_front_right_prop.STL
    ├── hs_urdf.csv
    └── hs_urdf.urdf

2. Register the drone (quadcopter) configuration file in

 src/aerial_gym_simulator/aerial_gym/robots/__init__.py 
and add
robot_registry.register("hs_urdf", BaseMultirotor, HsUrdfCfg)

3. Add our drone configuration file in the config folder

src/aerial_gym_simulator/aerial_gym/config/robot_config/hs_urdf_config.py

The asset import code is as follows

asset_folder = f"{AERIAL_GYM_DIRECTORY}/resources/robots/hs_urdf"
file = "urdf/hs_urdf.urdf"
name = "hs_urdf"
base_link_name = "base_link"

4. Finally, modify the robot_name used in the navigation task configuration file

src/aerial_gym_simulator/aerial_gym/config/task_config/navigation_task_config.py
robot_name = "hs_urdf"

After the above operations, I found that when I turned on rendering for training
python3 runner.py --task=navigation_task --num_envs=512 --headless=False

I found that it was not replaced with our drone model. Is there any problem with the above steps?

[mihirk284]

Hello,

What you described should work. Could you please let me know what was printed on the screen for this to happen? Can you also try removing all the __pycache__ files/folders and trying to re-run the code?

Thanks