Ask for code for driving a real robotic arm

[zhe-beginner]

Hello, your work has been very helpful to us. Can you share your code for driving a real robotic arm? I would like to refer to it and transplant its ideas into my real robotic arm system. My email is Isaac-mppi@proton.me Thank you very much for your help.

[Ticotico410]

Followed up with this question
What a great work! I want to try your method to some different robotic arm, may I ask how you deal with the urdf file of each robot? I mean the visual/collision. Should I modify something or just use the official urdf files? Thank you very much for your help.

[cpezzato]

@Ticotico410 thanks! In theory, you can use the official ones as they are. But if I remember correctly, the Panda URDF we were using in PyBullet was not spawning correctly, and we pulled it from some NVIDIA repositories. But some years have passed, and I cannot recall exactly I am sorry. Do you have a specific issue?

You might need to tweak some actor properties in the sim wrapper for specific tasks. For instance, the URDF of a mug might have a convex collision mesh out of the box, which is not what you want if you are willing to put stuff inside.