Nvidia-Learning

Basic Robot Tutorial

Learned From, What, I practice file - Download - Franka Emika Panda - Robot Arm - “arm.usd”

Step 1 - File menu > New

Step 2 - Create > Robots > Franka Emika Panda

Step 3 - Tools > Physics > Physics Inspector

  1. Click Franka Robot Arm in Stage tab.
  2. Click Arrow in Physics Inspector tab (Articulation)
  3. List of Robot Name is show in Articulation popup window.
  4. Click the Franka in the list.
  5. Click the Select button in bottom of Articulation popup window.

Note : Before doing the Step 4, close the Physics Inspector tab. Since, for me, Is not working doing Step 4, when Physics Inspector tab in use, If it work for anyone, please send me video of it.

Step 4 - Tools > Robotics > Omnigraph Controllers > Joint Position.

  1. Articulation Position Controller popup window appears.
  2. Click Add for the Robot Prim field.
  3. Select Targets popup window appears.
  4. Click Franka from target list.
  5. Click Select button in bottom of the Select Target popup window.
  6. Click Ok button in bottom of the Articulation Position Controller popup window.
  7. Click Graph > Position Controller > JointCommandArray in Stage tab.
  8. Before doing Step 9, Click Play button in Toolbar or Click Spacebar in keyboard.
  9. Slide and Check movement of Robot Arm by moving the Slider label or named with “Input 1, …” in the Property tab.

Step 5 - Window > Graph Editors > Action Graph

  1. Click Edit Graph in Action Graph Panel.
  2. Click the only existing graph on the list.
  3. Check by clicking the Nodes in the Action Graph panel, it shows the highlight in Stage tab and Changes in the Property tab.