My robot is has only one rigid body without any joint. It has one rigid body called base_link, and I want to apply force and torque to it.
When I use Robot class, I got some error and it seems Articulations can’t initialize without joints. So I let my robot directly inherit the RigidPrimView, but it can’t work, and when I apply force to the base_link, the robot is not moving at all. Can you tell me how to solve it?
One option is to add some dummy links and joints. That you could not move the robot is possibly because you have applied forces to quadcopter rather than base_link. Is that right?
Also, I am interested in what you are planning to do. We have been developing a project for RL of drone control based on Isaac Sim. It is still under construction but you can take a look: GitHub - btx0424/OmniDrones at dev-xbt
I think it is a wonderful work, and the project seems exactly what I need: A drone that can be controled by velocity and the controller can be reset(sadly px4 can not do that),
I tried the project yesterday and there occur some error when I run train_with_controller.py, perhaps because some __init__.py are missing:
learning\modules
learning\utils
envs\control
and rl seems change the api, I got an error in envs\isaac_env.py:
self.action_spec = CompositeSpec(shape=self.batch_size)
can not assign an empty CompositeSpec to action_spec
Oh, the main branch is to be deprecated. We are planning a submission to RA-L while waiting for the Isaac Sim 2023.1 release, so the code is yet to be generally available. Please use the dev-xbt branch.
A (not very complete) introductory documentation is at Welcome to OmniDrones’s documentation! — OmniDrones 0.1 documentation. Also, feel free to contact me at [email protected] if you have any question or desired feature/functionality.