Robot Collision during Isaac Lab Training

Omniverse Isaac Sim
1

Hello there,

I have imported ABB’s dual arm Yumi, and have tried to train a Direct RL Workflow to take the end effector of one of the arms of the robot to the cube position. Despite the task being sucessful in achieving the cube´s position, there seems to be major collisions between the arms, where they seem to have no collision meshes. Any tips?

Thanks

3

Any help?

4

Thank you for your interest in Isaac Lab. It may help to review Isaac Lab’s motion generators. You can also use a contact sensor as discussed here.

For future reference, 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.