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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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class omni.isaac.orbit.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg #283

Closed Nimingez closed 2 months ago

Nimingez commented 6 months ago

class omni.isaac.orbit.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg Is this class for specifying a point in the environment for the robotic arm to reach? How do I know the coordinates of a point on the table? How can I specify four points on the desktop to form a rectangle and display it?

Mayankm96 commented 2 months ago

This depends on what you want to do with it. The pose command just gets "flat patches" from the terrain to which the robot can go. It is primarily designed for navigation environments, but you can modify it to fit your needs.

All coordinates are in the world frame. If you need object-centric transformations, you will need to account for that yourself.