Dear NVIDIA community,
Its Hamid, I am a beginner in Isacc Sim / Lab. I have been working on this amazing simulator since last few months. My research area is robotics (robot learning for manipulation tasks).
I am replicating a research paper. They have developed a scene for a robotic manipulator for doing peg-insertion task, the idea is to train a policy in simulator (RL: PPO) and then transferring that (zero-shot) to real robot (Franka Emika robot). I need to do some modification in the assets of the provided scene like changing the size of some assets like diameter of a peg.
I was wondering how I can design my assets in Oneshape (I already have designed them) and then spawn them in my physical scene (Isaac Sim) for interacting with the robot.
Basically, I am so lost in how to change a stl/obj file into a physical asset for a robotic task.
Thanks in advance to whom share his/her knowledge :)