Best controller for manipulator (UR) in OmniIsaacGymEnv

[paolo.a.torrado]

I am having difficulties coming up with a controller for a vectorized RL environment in OmniIsaacGymEnv. Isaac Sim has the RMPFlow controller but I can’t find an example on how to vectorize it. Is this possible? Will it be slow? If not what are my options in OmniIsaacGymEnv?

Thank you!

[toni.sm]

Hi @paolo.a.torrado

The last part of this post may help:

Compute Inverse kinematics using LulaKinematicsSolver in RL library

Hi @swimpark First, I really recommend you to move to the OmniIsaacGymEnvs RL Framework if you want to use massively parallel simulation. I think the problem is that "/World/M1013" is not registered as an Articulation (or Robot) object. Then, the line above is returning a NoneType object. By the way, scene.get_object expect an Isaac Core object name rather than a prim path. Wrap that prim with an Articulation (or Robot) class, and add the to the scene before passing it to the Articulati…

[paolo.a.torrado]

This is great. Thank you for sharing. It fixed my issue.