Examples or descriptions on setting up a new mobile manipulator into issac sim

I have a usd file for my dualarm mobile robot. I want to run some RL with it. Is there any examples or descriptions on how I can get started?

Basically, I want to use some provided motion generation methods like RMPflow to control my dualarm mobile platform. The usd file is generated already.

In addition, I have a omnidirectional robot base. How do I move the base without teleporting. I seems teleprting by frame will cause some issues for collision handlers.

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