Path Planning with a Manipulator Arm around an Object

Omniverse Isaac Sim
1

Isaac Sim Version

5.0.0

Operating System

Ubuntu 24.04

GPU Information

  • Model: Nvidia RTX 5000 Ada Generation
  • Driver Version: 570.169

Detailed Description

Hello,
I am a graduate student, and my Thesis paper will involve Isaac Sim and possibly Isaac Lab. What is the best course of action to take if I want to train a manipulator arm (specifically a UR16e) to find the best scanning path for the tooling end around an object? The base of the UR16e will either be in a fixed location or will have the ability to move linearly, depending on the size of the object, or we will be able to move the object itself (which is going to be the simplest outcome). I am still fairly new to Isaac Lab, and I am learning it slowly at this point. I am trying to learn if this is something I can do just with Isaac Sim, or if I have to go into Isaac Lab.

(I know this question involves Isaac Lab, but I figured that this question is more about whether I should use Isaac Lab or just Isaac Sim; it is still a question I can post here.)

2

If this is Reinforcement Learning related, To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

We appreciate your understanding and look forward to assisting you.