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srl-ethz / faive_gym_oss

Public repository of the RL environment for robotic hands and a simulated model of the Faive Hand (and also somewhat easily extendable to other robotic hands).
https://srl-ethz.github.io/get-ball-rolling/
Apache License 2.0
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Use own robot arm and gripper #6

Closed Tranthanhbao198 closed 4 months ago

Tranthanhbao198 commented 5 months ago

Hi there, I am a newbie in isaacgym, I want to use my robot arm and gripper for project “Franka cube stack”, so, can you guys please help me by letting me know step by step which files I need to modify to replace the robot arm Franka and its gripper with my robot arm and my gripper? And in these files, which code lines do I need to modify? Thank you so much.

Yasu31 commented 4 months ago

Hello, I think you mean the FrankaCubeStack environment in IsaacGym (linking your other question on that repo here so it can be cross-referenced easily for the future)

They define the Franka arm + gripper as a URDF file, which is saved in https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/assets/urdf/franka_description/robots/franka_panda_gripper.urdf . You can look at the ROS URDF tutorials to learn how to create a URDF for your own custom robot (https://docs.ros.org/en/iron/Tutorials/Intermediate/URDF/URDF-Main.html).

Once you do that, you should be able to change this line to refer to your robot instead of franka_panda_gripper.urdf, and it will show up in the FrankaCubeStack environment. https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/isaacgymenvs/cfg/task/FrankaCubeStack.yaml#L34

If your robot has a different DoF you might have to update some of the python code (https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/isaacgymenvs/tasks/franka_cube_stack.py) to match it as well, and IsaacGym might not support all URDF features so you might have to experiment around a bit.