isaacgym-robotics-usage

This repo provides minimal hands-on code for Isaac-Gym Robotics Algorithms. (This repository only covers the Isaac-gym simulation. Realworld is not included)

Isaac-Gym related code is employed from following repos:

• [Isaac-Gym] https://github.com/NVIDIA-Omniverse/IsaacGymEnvs

Prerequisites

This repo is tested on following environment:

• Ubuntu: 20.04
• Python: 3.8.10
• isaacgym: 1.0rc4
• isaacgymenvs: 1.3.4

Install dependencies

1. Download Isaac Gym Preview 4 & IsaacGymEnvs Download the Isaac Gym Preview 4 release from the website, then follow the installation instructions in the documentation. We highly recommend using a conda environment to simplify set up.

2. Setup Issac-gym Engine Goto the below directory of your computer.

   isaacgym
       /{to-your-path}/IsaacGym_Preview_4_Package/isaacgym/python/setup.py
   isaacgymenvs
       /{to-your-path}/IsaacGymEnvs/setup.py

   And then, run below terminal line.

   pip3 install -e .

Descriptions

Below is a list of files and their descriptions:

• Kinematic Solver

  1. Solve inverse kinematics in various method with
     • [General]
     • [Augmented]
     • [Nullspace-projection]
     • [Repelling]
     • [RRT*]

• Trajectory Planning method

  1. [Task space planning]
     • [Quintic]
     • [Minimum Jerk]
     • [Linear movement]
  2. [Velocity profile method]:
     • [Trapezoidal]
     • [S-spline method]

• Mobile Planning method

  1. [Differential Drive Kinematics]
  2. [Global planner]
     • [A*]
     • [RRT]
     • [RRT*]
  3. [Local planner]
     • [Pure-pursuit]

• Point-cloud

  1. [Point-cloud Projection]
  2. [RANSAC]
  3. [Iterative Closet Point]
  4. [Extrinsic calibration]

• Miscellaneous

  • TO-DO ...