Simulator - Mujoco with Docker(rby1-sdk)

Simulator - IsaacLab

Troubleshooting

시연 영상

Get a Robot Joint State

Git으로 협업할 때 main branch의 변경 사항 병합

Poetry 관련

16 joint position + 2 rgb data code generation, demo collect. rgb 데이터랑 joint position이 동일한 timestamp에 찍히게.

RB-Y1 ENV SETUP with IsaacLab

Process

1. change rby1 urdf [done]
2. spawn 2 side view camera ( intel realsense D455 ) [done]
3. camera image to PCD (done)
4. crop the robot from PCD and add a gripper tip manually (done)
5. project the PCD to top-down depth image (done)
6. depth image equivariance checking (done)