[Newton] Franka Open Drawer with Warp based FrameTransformer #3363
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AntoineRichard
requested review from
pascal-roth,
Mayankm96,
jtigue-bdai and
kellyguo11
as code owners
eric-heiden
reviewed
Sep 9, 2025
| """ | ||
| quat = quat_1 * quat_2 | ||
| pos = pos_1 + wp.quat_rotate(quat_1, pos_2) | ||
| return wp.transformf(pos, quat) |
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I wonder if you could keep your transforms in a wp.transform object everywhere in this file? Then you can just do tf1 * tf2, or wp.transform_inverse(tf1) * tf2, etc. instead of handling position and rotation separately.
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Description
Modified the FrameTransformer to work with Newton. All the calculations are now done in warp with zero-copy torch bindings.
Run with zero actions:
./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Open-Drawer-Franka-v0 --headless --num_envs 4 --newton_visualizer
Train:
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Open-Drawer-Franka-v0 --headless --num_envs 4096