[Question] Could it be possible to add Digit v3 as usd file?

isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim

https://isaac-sim.github.io/IsaacLab

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[Question] Could it be possible to add Digit v3 as usd file? #575

Open xav-nal opened 1 week ago

xav-nal commented 1 week ago

Question

The robot Digit v4 is available in Isaac Sim and works with Isaac Lab. However, many research papers use the Digit robot v3, so it would be beneficial to have Digit v3 in Isaac Sim. Unfortunately, that is not currently available. Additionally, the Mujoco interpreter does not work well to convert a Digit v3 description file from XML to USD.

evanzijianhe commented 6 days ago

Yes, please. We are also using DIgit v3

Mayankm96 commented 4 days ago

While we'd like to add support to this model, we are currently swamped with many requests.

You can create the asset yourself using the steps here: https://isaac-sim.github.io/IsaacLab/source/how-to/import_new_asset.html

For the digit-v3 robot, you'd need to add closed-loop linkages, but I don't know if there are open-sourced models that have the correct kinematics.

If you manage to create the USD and its config successfully, we'd be happy to accept an MR for it.