Add Virtual Incision MIRA teleoperate tutorial #142
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Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Nic-Ma
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May 22, 2025
Nic-Ma
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May 22, 2025
Signed-off-by: Yiheng Wang <[email protected]>
Nic-Ma
reviewed
May 23, 2025
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
…4h-workflows into add-mira-tutorial
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
yiheng-wang-nv
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May 23, 2025
Nic-Ma
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Nic-Ma
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May 23, 2025
tutorials/assets/bring_your_own_robot/MIRA_ARM/teleoperate_mira_arm.py
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Nic-Ma
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tutorials/assets/bring_your_own_robot/MIRA_ARM/teleoperate_mira_arm.py
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Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Nic-Ma
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May 26, 2025
Co-authored-by: Nic Ma <[email protected]> Signed-off-by: Yiheng Wang <[email protected]>
Nic-Ma
reviewed
May 26, 2025
Co-authored-by: Nic Ma <[email protected]> Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
yiheng-wang-nv
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Hi @SachidanandAlle , could you please help also review this PR?
For the next step, besides Telesurgery workflow, @yiheng-wang-nv will also develop the reinforcement learning task based on this MIRA simulation.
Thanks in advance.
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Nic-Ma
reviewed
May 28, 2025
Nic-Ma
reviewed
May 28, 2025
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
Signed-off-by: Yiheng Wang <[email protected]>
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/build |
KumoLiu
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May 28, 2025
Nic-Ma
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May 28, 2025
KumoLiu
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Signed-off-by: Yiheng Wang <[email protected]>
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| def main(): | ||
| app_launcher = AppLauncher(headless=False) |
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Hi @yiheng-wang-nv , we followed the isaaclab tutorial style:
https://github.com/isaac-sim/IsaacLab/blob/main/scripts/tutorials/04_sensors/add_sensors_on_robot.py
IMO, it would be good to have a consistent way to launch the AppLauncher.
Also, we don't need to set headless=False since it is the default.
| robot_usd_root = "/World/A5_GUI_MODEL/A5_GUI_MODEL_001" | ||
| left_arm_base = f"{robot_usd_root}/ASM_L654321" | ||
| right_arm_base = f"{robot_usd_root}/ASM_R654321" | ||
| LJ_PATHS = [ |
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Variable named by all uppercase style suggests these are global. It would be either put it out of main function or change these to lowercases.
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Hi @mingxin-zheng , thanks for the comments, I created a ticket #151, and will address them in a separate PR later. |
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Fixes #ISSUE_NUMBER
Description
This PR requires:
to ensure MIRA asset is included