Hello everyone, I’m a beginner using Isaac Sim. My goal is to simulate my robot in Isaac Sim and use ROS2 to evaluate the VLA model for a humanoid robot. Could you please provide me with the overall pipeline for this? (For example: what should I use for locomotion, how should I implement it, should I fully configure it in the USD file and open it with the GUI, or should I deploy it using a script?..) Normally, what approach do people use to configure a simulation environment like this? I want to achieve a relatively stable control frequency. Currently, I’m doing it this way: https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_rl_controller.html. However, I feel that my robot is not very stable — the configuration of physx_dt and render_dt has a significant impact on how the robot performs in the simulation. By the way, if anyone has documentation that clearly explains these two parameters, please share it with me. I’ve already read the official documentation, but I still find it quite difficult to tune these values. When I try to make the simulation stable, my robot’s motion looks like it’s in “slow motion".
THANKS A LOT, EVERYONE !