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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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Factory (Fast Contact for Robotic Assembly) integration #72

Closed pt127 closed 11 months ago

pt127 commented 1 year ago

Hello,

is there a a plan when and if "Factory" will be integrated in OmniIsaacGym as already for the Isaac Gym - Preview Release? Is there a way to already use the controllers provided in Factory in the OmniIsaacGym envs?

Thanks

iakinola23 commented 1 year ago

Hi, Factory is already integrated into OmniIsaacGym, along with the associated robot controllers. The Pick task from Factory is already available here, and we anticipate releasing the remaining Factory tasks in the coming weeks. We hope you'll find the Pick task and controllers already useful for your applications. Best,

pt127 commented 1 year ago

thanks for the answer. When i change the controller in the FactoryTaskNutBoltPick.yaml from joint_space_id to task_space_impedance, there iss something wrong with the robot movement. The wrist is spinning around randomly. Is there a fix for that? Thanks

iakinola23 commented 1 year ago

Hi,

I suspect that the issue may be due to the default gains for the task_space_impedance controller not being tuned for the robot model. I suggest adjusting the gains, particularly focusing on the rotational P/D gains. As a starting point, you can consider reducing the D gains by an order of magnitude.

Please give this a try and let us know if it improves the situation.

Best,