Question from a master student who is almost giving up
Hey,
im currently studying mechatronic in my masters and we are doing a project which is not coming forward since 2 Weeks and we only have 1 week left. So if anyone can help us it would literally save our a..
So to the Project. We currently setting up isaac sim for a future project for a neura roboter we will get. The goal of our Project is to import the so101 from lerobot into isaac sim and move the robot in the simulation by moving the real robot. While doing that saving all the joint datas etc. via lerobot in the lerobot format.
We are running isaac sim on a windows os and ros2 in the wsl.
What currently is running:
Isaac Sim 5.1 with ros2 in wsl. But using Isaac Sim 6.0 is not working. When we publish some topics they are not seen in the wsl. We dont know why and really tried everything. Is the new automatic Ros2 Bridge in Isaac Sim 6.0 broken? We even tested with the new isaac sim 6.0.1. Still not working.
Using ONLY Lerobot to teleoperate the so101 follower with the leader. Works really fine
What is not working fine:
- If we move the so101 in isaac sim the robot joints are oscillating. Is the urdf incorrect? We did use the urdf from the original github. Do we have to change the physical parameters ? Does smybody know how?
Where we dont know what to do now:
So we habe the so101 in isaac sim. We have ros2 in the wsl. So know we have to create a ros topic which shares all the joint movements and subscribe to that topic inside isaac sim and use the articulation controller to move the robot in the simulation. BUT:
- How do we connect the so101 to the environment inside wsl?
- In this setup. How do we add lerobot? How are we using lerobot? Where are we adding lerobot?
If you have any questions feel free to ask us.
We are thankfull for every help