Hello guys,
Is anyone working entirely on Nvidia’s IsaacLab framework. I have ported all the assets to IL, making sure its equivalent to gazebo framework including the cartesian impedance controller.
I was able to teleop and do the port insertion.
Looking to connect with people working on similar lines.
Hi, have you tested whether very large forces occur during insertion in Isaac Lab? I ran into this before when doing reinforcement learning training, mainly because the coordinate frames were not aligned at the beginning. At that stage, I only worked out a ground-truth setup by trial and error.
Are you talking about FT sensor readings? If so those are stable for me.
Yes, I’m referring to the force sensor. What teleoperation device/setup are you using? Would you be willing to share your modified Isaac Lab environment? I opened a GitHub issue before, but nobody has addressed it.
Sure,I will release the setup.
Thank you! Can you share me your setup? My email is e1520658@u.nus.edu, I want to try RL and IL in isaaclab.
Hi, did you end up releasing the setup? It would be much appreciated!
Hi @blue_dot , I would also love to chat to discuss if you are willing!
I’m thinking of giving the IL setup a try. Gazebo has been hogging all my GPU space. @blue_dot , would much appreciate it if you’re willing to share your IL environment? Beers on me when we meet…
Zipped the IL codebase.
Guys, just don’t surpass me in the rankings. 
Also the assets have been updated..you might need to download the latest asset pack. Difference between IsaacLab and Gazebo gravity comp forces · Issue #434 · intrinsic-dev/aic · GitHub