IsaacGym supports scaling objects?

Autonomous Machines Robotics - Isaac Isaac Gym
1

I’m just wondering if IsaacGym supports scaling objects along multiple dimensions? I have an environment with a cube that I would like to scale up and down to different sizes without having to create different models for each size. If not are there plans to add this as a feature in the near future?

Best
Arthur

2

Hi Arthur,

Gym has a create_box(self: Gym, sim: Sim, width: float, height: float, depth: float, options: AssetOptions = None) method that you can use to create cubes of different dimensions. We are also looking into ways of introducing a scaling function to scale more general objects. In the meantime, it is also possible to specify a scaling parameter via URDF or specify the size information in MJCF definitions.

Thanks,
Kelly

3

You can use get_actor_scale(self: Gym, arg0: Env, arg1: int) to scale actors.

1 Like
4

Thanks for your suggestion. But get_actor_scale(self: Gym, arg0: Env, arg1: int) is not supported with Flex. I want to scale the robot hand in software operating scene. Are there any functions available?