Subscribe to ROS joint position node and stream to Isaac Sim#43
Open
Subscribe to ROS joint position node and stream to Isaac Sim#43
Conversation
Move all Isaac Lab and rclpy imports to after AppLauncher initialization to use Isaac Sim's internal Python 3.11 rclpy instead of system Python 3.10 rclpy. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Author
|
not finished, waiting on yichen to update node details |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Added a script (hand_test.py) that launches Isaac Sim with the humanoid hand model and subscribes to a ROS2 topic to control joint positions in real-time
Fixed import order to use Isaac Sim's internal Python 3.11 rclpy instead of the system Python 3.10 version
Updated subscriber and publisher to use VRHandState message format (from Yichen's VR hand pose node) instead of raw Float32MultiArray
Maps VR finger features (curl, flexion) to the 15 hand joints in simulation