Hello everyone, I have encountered a very troublesome problem.
I am simulating a robotic arm and using independent operation. I want to control the movement of the robotic arm, and it’s fine when I run it independently.
But I want to transmit real-time data to my robotic arm so that it can be simulated in Isaac SIM.
When I modify my data, he cannot transmit data in real time and set up my robotic arm.
from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/World/arm")
dc.wake_up_articulation(articulation)
dof_ptr = dc.find_articulation_dof(articulation, "b1_b2_joint")
print(dof_ptr)
dc.set_dof_position_target(dof_ptr, 1.5)
After I ran it and modified 1.5, it did not update the results in real time. I want to know if there is any way to update the results when I transmit data.I want the screen to update in real-time when I modify 1.5。
My data is obtained from external sources (the curvature of the axis) and it changes in real-time, so I want to input it into my robotic arm in real-time.
from omni.isaac.dynamic_control import _dynamic_control
i=0
while simulation_app.is_running():
my_world.step(render=True)
if my_world.is_playing():
if my_world.current_time_step_index == 0:
my_world.reset()
my_controller.reset()
Are there any methods or tutorials that can achieve this function?
I hope to receive help, thank you very much.