RL training using Nvidia Omniverse

 How to run Isaac gym on my computer:

C:\Users\jynx4\AppData\Local\ov\pkg\isaac_sim-2023.1.1\isaac-sim.gym.bat --ext-folder D:\isaac\

This includes default robots. In order to run training on Pinky, many files must be created along with importing a .xacro or .urdf robot description into a USD stage.

Modify this file:

by adding "omni.isaac.sensor" = {} at the end.

Gait phases:

1. Stance: the foot is in contact with the ground
1. Loading: the foot transitions from non-contact to contact
2. Travel: foot follows the opposite vector of the command
3. Pre-swing: as the foot nears the end of its range of motion, it waits for 4 feet to be in contact with the ground
2. Swing: the food is in the air
1. Unloading: the foot transitions from non-contact to contact
2. Position: the foot lifts to a minimum height for clearance while maintaining minimal distance from the center of the robot.
3. Travel: moves to maximize its stride
4. Pre-stance: waits until only 3 feet are in contact with the ground

Micro-ROS adventure

 PS C:\Program Files\uagent_superbuild\bin> .\MicroXRCEAgent.exe udp4 -p 2018 -v 6