Your work is always trendy and practical. I was wondering if you could create a simple example using Isaac Sim to demonstrate reinforcement learning, like a basic task for a robotic arm👍
Hi, I have a problem. I follow along, and the last step, I play the simulation button and the RViz plan&excute button, the issac sim didn't move with RViz
Hi 솔Au! This project is made with Isaac sim 4.2. Isaac sim 4.2 ROS bridge supports only ROS Humble, so probably you will not be able to run this simulation using Foxy.
Hi Edson Filho! Thanks for watching my video! In this case, I think you have to add a “moveit_cpp(arm_robot_sim_path + "/config/controller_setting.yaml")” line to the MoveItConfigsBuilder and specify planner you would like to use in the yaml file. Please refer to the “moveit_gazebo_obb.py” (line77~84) of this tutorial. ua-cam.com/video/ypr3RtJzgKI/v-deo.html
Thanks a ton for putting together such a great demo! I followed along, and it works great most of the time. But sometimes I’ve noticed that the robot in Isaac Sim doesn’t quite stick to the path that MoveIt planned-it sometimes drifts off the track or even ends up stopping at the wrong goal pose. Just wondering if you’ve run into this issue before? And if so, do you have any tips on how to fix it?
I noticed something around the 15-second mark (ua-cam.com/video/pGje2slp6-s/v-deo.html) in your video-the robot seems to have this issue where, for a target pose with a left rotation, the end effector in Isaac Sim first rotates a lot to the right before quickly snapping back. This movement doesn’t match the trajectory shown in RViz. I made a video of my own tests, which I’ve linked here (ua-cam.com/video/oqbEgEgK_Jc/v-deo.html). In my tests, I planned four times for random valid poses. The first and third runs worked perfectly, but in the second, the trajectory didn’t match, and in the fourth, the robot stopped at a wrong position.
Hi Daohui Liu! Thanks for watching my video! Yes, I had this issue too, but currently I am not sure why it is happening. Maybe I set wrong physical properties for some links. It may affect Isaac solver.
Hi wuuuk! Thanks for watching my video! If you would like to operate a real robotic arm, you should define interface for your actuator using ros2 control.
Hello can you help me on using huggingface lerobot on unitree d1 arm. How can i integrate llm model on arm using chatgpt like model and computer vision.
I am just wondering, how it is possible that your sim runs so smoothly with RTX 2060 and mine is almost useless with A3000 12 gb. Where is the difference? Thank you for reply :) great job btw
@robotmania8896 hi, thank for replying. Yes, I also run the isaac sim compatibility app, and was all Green actually. Maybe its the fact, that professional GPUs does not support raytracing?
@@janrozsypal3802 Isaac sim will not even launch if GPU does not support raytracing. Previously, I tried to run Isaac sim using GTX1070 and there was an error in the terminal that my GPU was not supporting raytracing. So, I think it is not the case. Is your FPS of Isaac sim also low?
I'm looking forward to seeing this integrated with Isaac Lab
What kind of learning you would like to do using arm?
I follow you with interest, you are the best
Hi Nikola Teslanın Çırağı!
Thank you!!
Your work is always trendy and practical. I was wondering if you could create a simple example using Isaac Sim to demonstrate reinforcement learning, like a basic task for a robotic arm👍
Hi Sungho Woo!
Thanks for watching my video!
Yes, I am also interested in doing reinforcement learning with Isaac sim. But it will take me a while.
Hi, I have a problem. I follow along, and the last step, I play the simulation button and the RViz plan&excute button, the issac sim didn't move with RViz
Is the arm moving in the RVIZ? Are there any errors in the terminal?
thank you good video. my ros2 version is 2. how to do this project in foxy?
Hi 솔Au!
This project is made with Isaac sim 4.2. Isaac sim 4.2 ROS bridge supports only ROS Humble, so probably you will not be able to run this simulation using Foxy.
Great tutorial! Do you know how one can integrate the other OMPL planners into this? Thanks!
Hi Edson Filho!
Thanks for watching my video!
In this case, I think you have to add a “moveit_cpp(arm_robot_sim_path + "/config/controller_setting.yaml")” line to the MoveItConfigsBuilder and specify planner you would like to use in the yaml file. Please refer to the “moveit_gazebo_obb.py” (line77~84) of this tutorial.
ua-cam.com/video/ypr3RtJzgKI/v-deo.html
Thanks a ton for putting together such a great demo! I followed along, and it works great most of the time. But sometimes I’ve noticed that the robot in Isaac Sim doesn’t quite stick to the path that MoveIt planned-it sometimes drifts off the track or even ends up stopping at the wrong goal pose.
Just wondering if you’ve run into this issue before? And if so, do you have any tips on how to fix it?
I noticed something around the 15-second mark (ua-cam.com/video/pGje2slp6-s/v-deo.html) in your video-the robot seems to have this issue where, for a target pose with a left rotation, the end effector in Isaac Sim first rotates a lot to the right before quickly snapping back. This movement doesn’t match the trajectory shown in RViz.
I made a video of my own tests, which I’ve linked here (ua-cam.com/video/oqbEgEgK_Jc/v-deo.html). In my tests, I planned four times for random valid poses. The first and third runs worked perfectly, but in the second, the trajectory didn’t match, and in the fourth, the robot stopped at a wrong position.
Hi Daohui Liu!
Thanks for watching my video!
Yes, I had this issue too, but currently I am not sure why it is happening. Maybe I set wrong physical properties for some links. It may affect Isaac solver.
Hi, I have a problem. My interactive markers cannot be displayed. What is the reason?😢
Hi Eric Chen!
Thanks for watching my video!
Do you have any errors in the terminal?
@@robotmania8896 Sorry, I am using ros2 on vmware ubuntu. Is this relevant?
Sorry, there is a display error but I didn't find it. I will try to correct it, thank you.
Great video, but how to link it with a real robotic arm?
Hi wuuuk!
Thanks for watching my video!
If you would like to operate a real robotic arm, you should define interface for your actuator using ros2 control.
Hello can you help me on using huggingface lerobot on unitree d1 arm. How can i integrate llm model on arm using chatgpt like model and computer vision.
Hi Yash Mulewa!
Thanks for watching my video!
I think, this is what you are looking for.
openvla.github.io/
I am just wondering, how it is possible that your sim runs so smoothly with RTX 2060 and mine is almost useless with A3000 12 gb. Where is the difference? Thank you for reply :) great job btw
Hi Jan ROZSYPAL!
Thanks for watching my video!
I am not sure either. Does your computer meet other requirements for execution of Isaac sim?
@robotmania8896 hi, thank for replying. Yes, I also run the isaac sim compatibility app, and was all Green actually. Maybe its the fact, that professional GPUs does not support raytracing?
@@janrozsypal3802 Isaac sim will not even launch if GPU does not support raytracing. Previously, I tried to run Isaac sim using GTX1070 and there was an error in the terminal that my GPU was not supporting raytracing. So, I think it is not the case. Is your FPS of Isaac sim also low?
@@robotmania8896 yes. When I run robot party for example, fps are around 16..
I found this issue. This may give you a clue.
forums.developer.nvidia.com/t/low-fps-issue-on-isaac-sim-4-1/301534