Isaac sim vs isaac gym. Getting Started with Issac Gym.

Isaac sim vs isaac gym Figuring out if something is documented as part of Omniverse documentation, vs Isaac Sim documentation can be tricky. I have trained a robot within the Isaac Gym simulator using the Isaac Gym’s RL game library. In addition to supporting the OpenAI Gym and DeepMind environment interfaces, it allows loading and configuring NVIDIA Isaac Gym and NVIDIA Omniverse Isaac Gym environments Isaac Gym Reinforcement Learning Environments. See full list on zhuanlan. Ive tried a few sim's using NITROS and ISAAC Sim(streamed from AWS). I worked on IsaacGym, but I’m considering migration to IsaacGym. 0变成了isaac lab Orbit采用模块化设计，可通过逼真的场景和快速准确的刚体和变形体模拟，轻松高效地创建机器人环境。 Oct 23, 2022 · Hey, I am working on a reinforcement learning project where we want to train robot manipulators for different tasks and want to do this in parallel. About Isaac Gym. What is Isaac Gym? How does Isaac Gym relate to Omniverse and Isaac Sim? The Future of Isaac Gym; Installation. In addition to . Isaac Sim is not limited to synchronous operation either, and can operate with hardware in the loop through ROS and ROS2, facilitating sim-to-real transfer and digital twins. These frameworks are now deprecated in favor of continuing development in Isaac Lab. Re: Isaac Gym: I would still give Nvidia a look because they are very heavily invested into RL for robotics, its just they've renamed the tools. Programming Examples Apr 23, 2024 · Hi, I am currently preparing to use isaacGym to build my RL environment, but I have found two versions of isaacGym. IsaacGym - initial interface built to showcase physX with tensorAPI Nov 30, 2020 · Soft Body support is still very much in development for Isaac Gym. To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project. This framework simplifies the process of connecting reinforcement learning libraries and algorithms with other components in Isaac Sim. Jul 31, 2023 · The same can't be said about Isaac Gym, which was initially available as a standalone "Preview" release. I Sep 2, 2024 · Isaac Sim与Isaac Gym对比分析在选择用于机器人学习的仿真器时，两个备受关注的选项是NVIDIA的Isaac Sim和Isaac Gym。本文将从功能性、生态以及计算资源三个方面对比分析这两个仿真器，为研究人员和学术界提供选择建 Oct 27, 2024 · In Isaac Gym, I used to set vhacd_enabled and its related params (resolution, max_convex_hulls, etc). 04) 原创-CSDN博客 Isaac Sim今年一月份推出了最新版本4. GPU 加速：基于 GPU 提供高性能仿真，比 Gym 快数百倍。 真实物理模拟：支持机器人、机械臂、关节动力学等真实物理任务。 Oct 5, 2023 · Which one of the two works better for Sim-to-Real?: Isaac Sim + OmniIsaacGymEnvs Isaac Gym Preview 4. preview4; 1. Notifications You must be Physics simulation in Isaac Sim and Isaac Lab assumes a breadth-first ordering for the joints in a given kinematic tree. I tried starting up the Omniverse application on a desktop with a Quadro card with 4GB but it would spit out errors and not boot while a laptop with RTX 2080 booted up okay. 1. I have the following settings for a 10000 second multi-robot simulation. Could anyone suggest whether Jan 26, 2025 · Isaac Lab will be replacing previously released frameworks for robot learning and reinformcement learning, including IsaacGymEnvs for the Isaac Gym Preview Release, OmniIsaacGymEnvs for Isaac Sim, and Orbit for Isaac Sim. Jun 22, 2022 · Isaac Sim does use a more recent version of PhysX compared to what we’ve shipped in Isaac Gym Preview Release, but the two should be very similar. May I know what is the purpose of orbit? It seems like it is a modular framework for especially robot learning. The environment is shown in Figure 13 . Transform(gymapi. acquire_gym() is obviously a function of the gym API but I can’t find a reference or implementation of it in gymapi. I’m wondering is there any way to use ROS launch files to launch Jun 7, 2021 · Hi, I’m working with a toy example which is based on the cartpole model but without the slider and I want to print the contact forces at the cart. On the contrary, isaac Gym has its own docs: About Isaac Gym — Isaac Gym documentation (junxnone. t initially was slower but needed some changes in the tasks yaml and now runs faster than Isaac gym Feb 26, 2025 · Update(04-02-2025) 基于isaac sim4. 3 days ago · Isaac Lab will be replacing previously released frameworks for robot learning and reinforcement learning, including IsaacGymEnvs for the Isaac Gym Preview Release, OmniIsaacGymEnvs for Isaac Sim, and Orbit for Isaac Sim. The Isaac Gym is a GPU-accelerated tool that keeps the entire RL training workflow on the GPU, which is critical to reduce training time. Hi. Isaac Gym Reinforcement Learning Environments. NOTE: I am also using Apr 27, 2023 · This is copied from the Discord Server We are cognizant of the technical problems faced by the community in robot learning and are working towards unified solutions. Prerequisites; Set up the Python package; Testing the installation; Troubleshooting; Release Notes. io) Does omni isaac gym has the docs like this I just tested Isaac gym on a consumer grade "modest" gpu (2080). While I understand that both of these relate to forces that resist movement, I’m a bit confused about how exactly they differ and how each parameter affects the simulation. Sep 22, 2022 · Isaac Sim. Comparing the Jacobian and CoM values in Isaac Sim and MuJoCo on the same model, I realized that the Jacobian entries relating to position (i. Nov 2, 2023 · Note that this is a bit different than Isaac's cloning as I understand it from the documentation - in MJX we create N truly distinct environments (independent universes) rather than spatially organizing N objects in the same universe. 一旦你成功安装和配置了Isaac Sim，你就可以开始使用Isaac Gym插件来进行强化学习控制器的训练了。通过仿真大量相同的机器人，并获取它们的运行数据，你可以进行模型训练和优化。 希望这些步骤能帮助你入门Isaac Sim，并开始使用它进行机器人仿真和训练 May 6, 2021 · The Unity version is no longer in development, Isaac Sim in Omniverse includes PhysX5 which provides a much higher level of accuracy, the RTX renderer to generate more photorealistic environments (for better image-based training) as well as multi-camera support for ROS amongst other features like synthetic data generation. 0的isaac lab配置教程：IsaacLab最新2025教程-环境配置(IsaacSim 4. 本篇的内容，是如何正确安装和使用英伟达的 Isaac Sim 和 Isaac Lab，包括需要注意规避哪些错误， 由于 Isaac Sim 和 Isaac Lab 正处在快速迭代升级的过程中，产品不稳定，所以安装过程很容易出错，尤其是很容易同时犯多个错误，导致出现很多十分让人困惑的现象， Nov 28, 2024 · 根据官方教程，连接远程服务器可以在ssh下以容器的形式安装，但是在我尝试过后，docker正常运行、镜像正常运行的情况下，isaac sim的服务也启动了，就是连不上live stream，webrtc也不行，在这个时候我就想起来autodl里面那个远程桌面的教程，贴一个链接在这里： Isaac Gym Reinforcement Learning Environments. zhihu. 24: 1197: October 5, 2021 Scene not getting rendered. Jun 9, 2022 · Dear community, skrl is an open-source modular library for Reinforcement Learning written in Python (using PyTorch) and designed with a focus on readability, simplicity, and transparency of algorithm implementation. RigidShapeProperties class. . Is the Orbit an appropriate platform if we May 5, 2023 · Hi fbm2 I recently made the shift fromisaac gym to omniisaacGymEnvs it was pretty painful and I had to rewrite most of my initialisation code. 2 are Carter, Franka panda, Kaya, UR10, and STR (Smart Transport Robot). Moving forward, OmniIsaacGymEnvs will be deprecated and future development will continue in Isaac Lab. py, but encountered the following issue: Isaac Sim和Isaac Lab中的物理模拟假定给定运动树中关节的顺序是广度优先顺序。然而，Isaac Gym Preview Release中假定关节运动树中关节的顺序是深度优先顺序。这意味着根据它们的顺序对关节进行索引在IsaacGymEnvs和Isaac Lab中可能不同。 Isaac Gym Reinforcement Learning Environments. Isaac Sim requires a beefy modern RTX GPU with a specific CUDA compatibility device and a decent amount of VRAM while other simulators don't. I see that there are 2 methods to get contact forces: 1) placing a sensor 2) acquire_net_force_tensor(), what is the difference between them? In my example, I placed a sensor at the bottom of the cart sensor_pose1 = gymapi. So, what is so special about Orbit? In the Orbit tutorial, the example always uses the built-in API, e. Reinforcement Learning Environments for Omniverse Isaac Gym - isaac-sim/OmniIsaacGymEnvs NVIDIA Isaac Sim 2023. Reinforcement Learning Environments for Omniverse Isaac Gym - isaac-sim/OmniIsaacGymEnvs Aug 10, 2023 · Hi, I am using the PPO for Isaac-Lift-Franka-v0, which is a task in NVIDIA Isaac Orbit. I have ensured that self collisions are enabled and trialled different simulator settings and debugging with some of the included tools but am not sure what I am missing. Mar 31, 2019 · Flex, or more precisely Flex Gym build a top of Flex used for these 2 projects could be seen as an early and research version of RL/robotics training framework grown into Isaac Gym as a result. Like gymapi. The simulation and model can be easily launched & spawned in gazebo with ROS launch files and gazebo world files. The goal of this project was to explore how to use Isaac sim to train reinforcement learning policies and to study the workflow for deployment to a Nvidia Jetson embedded system. Mar 6, 2024 · When I run the example rlgame_train. Isaac Sim, built on NVIDIA Omniverse™, is fully extensible. Dec 3, 2021 · If instead Mujoco is used for physical simulation, it has to communicate with the CPU again, which makes Isaac Gym meaningless. Defining collision masks in Isaac Lab vs Isaac Gym In Isaac Gym, I used to define collision masks and set the masks value to filter property in isaacgym. For this, I need to replicate the neural network architecture used in Isaac Gym’s RL game library on the robot and load the . sim_params. Omniverse Isaac-sim (primary parent product) enterprise grade simulation in robotics Isaac-sim (standalone): this is not a thing. Most of the functionality of standalone Isaac Gym has been moved to the Gym extension within (Omniverse) Isaac Sim, which is what will be supported and developed going forward. I have included a screenshot of the behaviour I am referring to. Mar 19, 2024 · Yes, Isaac Lab will be accessible to public similar to Isaac Sim. I've stuck to gazebo for now, but hoping to shift to Isaac soon as it has a lot of potential especially with the GYM functionality. Same for other functions of the API, which makes development extremely difficult, if you don’t Isaac Gym Reinforcement Learning Environments. robots and controllers. However, implementing the neural network architecture exactly as it is in Physics simulation in Isaac Sim and Isaac Lab assumes a breadth-first ordering for the joints in a given kinematic tree. Isaac Gym is NVIDIA’s prototype physics simulation environment for reinforcement learning research. I found that the performance of PPO in rl_games is much better than skrl. 0. Isaac Gym will be the API of Isaac Sim in the future, and Isaac Sim is a part of Omniverse. While it will work with the Flex physics engine, and there should be some samples up that use it in the next few weeks, we will not be able to provide significant support on the soft body APIs until we bring the Gym functionality into Omniverse and Isaac Sim. 1. 2. I am just wondering at the moment what’s the difference between Mujoco and Isaac Gym is in terms of precision’s of the internal calculations and overall. Transferring Policies from Isaac Gym Preview Releases — Omniverse Robotics documentation Nov 16, 2024 · NVIDIA Isaac Sim 通过支持 MDL，进一步提升了仿真环境中材质的真实感和细节表现。精确的材质定义：MDL 允许开发者精确地定义材质的光学特性和物理属性，如反射率、折射率、粗糙度和透明度等。这使得仿真环境中的物体看起来更加真实和自然。动态材质。_isaac sim Jan 18, 2022 · Dear community, I would like to share, in this topic and in a more official way, the RL library (previously mentioned in this post) that we are developing/using in our lab… skrl is an open-source modular library for Reinforcement Learning written in Python (using PyTorch) and designed with a focus on readability, simplicity, and transparency of algorithm implementation. Nov 29, 2023 · Hello, I am a student. Click below to find out more. py,it shows ModuleNotFoundError: No module named 'gymnasium' even in the conda enviroments. I am using PyCharm version 2022. Oct 1, 2020 · Hi, The default robots in Isaac Sim 2020. Jul 28, 2024 · When I run a quadruped robot training with 4096 environments on isaac gym, the GPU utilization is about 60%, while when I use isaac lab to train the same robot with the same environment, the GPU utilization is only about 30%. 6 Genesis 0. preview1; Known Issues and Limitations; Examples. Apr 1, 2019 · The robots in Isaac Sim are tightly coupled to the tools and frameworks in the Isaac SDK, making it possible to easily transfer data as well as algorithms between physical and virtual robots. Train complex robotic skills using RL. 3 MuJoCo 2. So, I have tried to adjust the skrl’s parameterS as same as rl_games’s, but it does not work. Designing Robots. 0 to support the migration process to Isaac Lab. They've asked developers to migrate away from Isaac Gym to Isaac Sim + Isaac Orbit instead. 0 + IsaacGymEnvs How much percentage of ‘Isaac Gym Preview 4. but i read this question, when this loaded on mar 04, 21. i want to use lidar in my RL environment with isaac gym. You can find them in Isaac Robotics > URDF and the STR in Isaac Robotics > Samples > Simple Robot Navigation menu Feb 7, 2025 · Isaac Gym has been deprecated and is now considered legacy software. Transferring Policies from Isaac Gym Mar 11, 2024 · Figure 3 shows that responses for the arm in Isaac Gym resemble better the results obtained in the real TIAGo than those obtained in Isaac Sim. com Isaac Sim requires a beefy modern RTX GPU with a specific CUDA compatibility device and a decent amount of VRAM while other simulators don't. dt=1/60 max_step=600000 (defined by myself, and using at while loop) I’m using GeForce RTX2080Ti, and it takes about 9650 seconds In this post, we discuss all the new advances in NVIDIA Isaac: Isaac Sim; Isaac Lab; Isaac Manipulator; Isaac Perceptor; What’s new in Isaac Sim 4. May 24, 2022 · When using the PhysX backend in Isaac Gym, if two rigid bodies with friction coefficients mu_A and mu_B make contact, what is the resulting friction between them? (additive? multiplicative?) I know the effective friction can be measured by directly inspecting a RigidContact object, but I am having trouble loading this while using the tensor API. Isaac Sim. issa-sim】最新从零无死角系列-(01) isaac-sim 环境搭建(分辨率调整)，无遗漏，各种疑难杂症处理中介绍了如何搭建 isaac-sim 环境，且介绍一种最基本通过 vsode 进行代码调试的方式。 Aug 15, 2024 · issac lab的framework 实际上是orbit的，但是isaac sim update到了4. github. Vec3(0 Features from OmniIsaacGymEnvs have been integrated into the Isaac Lab framework. preview3; 1. Features from OmniIsaacGymEnvs have been integrated into the Isaac Lab framework. PARKBONG September 22, 2022, 7:37am 1. Isaac Lab will be a single app for robotics learning (instead of using Isaac Gym, OIGE, Orbit). I am wondering if I overlook something or if the architecture of PPO in rl_games and skrl are fundamentally different. Sep 7, 2021 · If I use a lot of GPUs, will it speed up the simulation? I would appreciate it if you could tell me how to increase the processing speed. Solidworks. ) as done in the OpenAI examples for instance. Could you provide In , it was shown that Isaac Gym training combined with Domain Randomization allows sim-to-real transfer. Isaac Gym allows developers to experiment with end-to-end GPU accelerated RL for physically based systems. We use an asymmetric actor-critic formulation for this system as that allows to design a policy that uses input observations that are possible to obtain in the real world and therefore enable sim-to Sep 28, 2023 · What is Issac Orbit vs Isaac Gym vs Omniverse Isaac Gym? Which one we are supposed to use? Documentation for the Jupyter workflow is outdated, and Jupyter live sessions are broken with 2022. Isaac Gym has faster and higher quality RTX renderer, Python and C++ support from creating training environments and 2 physics simulation backends Mar 20, 2024 · I opened VSCode in the Anaconda Isaac Sim environment and executed the example file scripts/random_policy. From another point of view, this is incompatible with Nvidia’s software ecology. This means that indexing joints based on their ordering may be different in IsaacGymEnvs and Isaac Lab. Isaac Sim will be available soon. e. apologies if this was confusing. Control architectures are Jun 17, 2022 · Isaac Gym: Train robots in minutes instead of weeks. There were a few "preview" releases, the 4th and current being the final one, from about a year ago. 目标. I was able to transfer most of my reward functions. 2 (Proffesional Edition) on Windows 10 Since I am more comfortable using it, then VS Code, I found a way to use these two. Nov 13, 2024 · 文章浏览阅读1k次，点赞4次，收藏6次。目前Isaac Gym Preview 4只支持Ubuntu系统，然后发现一个下面有一个， Omniverse Isaac Gym Reinforcement Learning Environments for Isaac Sim ,这个可以用于Isaac sim的Omniverse Isaac Gym，安装要求没提系统，是可以在最新的Isaac Sim里运行。 Mar 26, 2024 · 4. We recommend transitioning to Isaac Lab , an open-source, lightweight, and performance-optimized application for robot learning. They are all based on PhysX. However, Isaac Gym Preview Release assumed a depth-first ordering for joints in the kinematic tree. 4 days ago · Isaac Sim also provides direct Python development support in the form of extensions for VS Code and Jupyter Notebooks. I am extremely impressed how a quadruped gait can be learned in just a few minutes ! Now we need to find affordable hardware for system identification (aka making an accurate model of your hardware robot), heavy domain randomization, and the future of robotic control will be Dec 13, 2024 · Isaac Lab 是一个用于机器人学习的统一模块化框架，旨在简化机器人研究中的常见工作流程（如 RL、从演示中学习和运动规划）。 它建立在英伟达 Isaac Sim 的基础上，利用最新的仿真功能实现逼真的场景和快速高效的仿真。 Feb 20, 2025 · 文章浏览阅读862次，点赞12次，收藏12次。有的朋友可能不太了解isaac-gym 与 isaac-sim 的关系，简单的说：isaac-gym 就是一个仿真模拟器(主要用于强化学习)， isaacGymEnvs 就是对其封装了一套接口，便于更多类型机器人的强化学习开发。 Nov 13, 2024 · Thank you for your interest in Isaac Lab. Could someone help clarify what these parameters specifically control in a PhysX PBD material? For Apr 13, 2023 · isaac sim과 isaac gym을 처음 접하는 분들은 둘의 어떤 차이가 존재하는지 궁금할 것이다 나는 기존에 pybullet을 사용하여 구성하던 강화학습 환경에 문제점들로 인해서 최근 issac sim 기반으로 환경을 변경하고 있는데, isaac sim이니 isaac gym이니 비슷한 용어들이 자꾸 등장해 헷갈리고 이해도 안됐다 Omniverse We have updated OmniIsaacGymEnvs to Isaac Sim version 4. Unlike other similar ‘gym’ style systems, in Isaac Gym, simulation can run on the GPU, storing results in GPU tensors rather than Isaac Gym Reinforcement Learning Environments. While developers can still download and use it, official support is no longer available. 5. Please review our documentation here. Jan 13, 2025 · 三、Isaac Gym. Nonetheless, it seems to have a slower response, possibly due to prioritizing each joint based on their position in the hyerarchical tree. 3. Dec 24, 2024 · Isaac Gym 是一个强大的仿真工具，特别适合那些需要进行大规模并行仿真和训练的机器人和强化学习任务。 通过 GPU 加速、深度学习集成和丰富的物理仿真能力，Isaac Gym 能够显著提高仿真和训练效率，是机器人学和 AI 研究中的一大利器。 Isaac Gym used to be a standalone simulator, enabling fast and highly parallel experience collection for RL research, by utilising GPU physics simulation. How can this be achieved in Isaac Lab? Mar 31, 2023 · Hi there, I’m currently modifying the ShadowHand example provided in OmniIsaacGymEnvs in order to control the hand using efforts rather than position control, and I’d like to train RL models to achieve this using contact/force/tactile observations rather than “visual” ones (fingertip positions, angles, velocities, etc. Orbit is a set of interfaces and environments that build on top Feb 7, 2022 · Hi all, How to best use VSCode or other editors / IDEs with Isaac Gym? Also from the python code alone, I don’t know which functions are available through the API. pth file. Wanted In order to Aug 25, 2022 · Greetings to all, This is my first post, so I apologize in advance if you do not follow all the rules, but I just wanted to share my solution with using the Isaac Sim with PyCharm, which includes auto complete, ect. 一. I feel there a lot more functionality is to be added, if it needs to used in the mainstream simulations. Now, I am looking to apply this trained model to a real robot. Machine learning is not implemented yet. isaac-sim / IsaacLab Public. We have updated OmniIsaacGymEnvs to Isaac Sim version 4. We will share the roadmap in coming weeks. These latter tools are frequently updated (latest Sim release was this month). Would it be possible to combine both ? All best and thank you very much for your help. Training Robots. Isaac Gym 是 NVIDIA 开发的高性能物理仿真平台，专注于机器人仿真和大规模强化学习任务。 1. 1; Isaac Sim 提供了各种资产和机器人，以帮助您建立虚拟世界。 May 9, 2023 · Hi everyone, as part of a domain randomization effort, I am currently trying to port a custom gravity compensation function that relies on Jacobian and CoM information from MuJoCo to Issac Sim. issac gym 与issac sim是nvidia出品的两个仿真环境，两个环境共享同样的底层物理引擎，不同之处在于，issac gym针对机器人强化学习训练做了格外的开发，在加快强化学习训练的同时，也牺牲了一部分作为机器人仿真器的通用性。issac gym最主要的创新是将物理引擎计算 Apr 28, 2022 · The lighting model is the only part of Isaac Gym’s graphics system which is shared globally. However, policies trained using the two tools could still have differences, which we have outlined in 3. Feb 21, 2024 · I believe Isaac gym is more like an extension for Isaac sim to make reinforcement learning easier. I’m experimenting with clearpath’s husky demo for simulation and lidar navigation. Isaac Gym 的特点. Jan 17, 2021 · I’m developing with ROS and trying to replace gazebo with Isaac sim, however, I cannot find any guide or ways to do so. g. Getting Started with Issac Gym. However, reinforcement learning can be realized by Issac Sim (Issac Gym). Reinforcement Learning Environments for Omniverse Isaac Gym - isaac-sim/OmniIsaacGymEnvs NVIDIA Isaac Sim™ is a reference application built on NVIDIA Omniverse that enables developers to simulate and test AI-driven robotics solutions in physically based virtual environments. the first three) radically differ between MuJoCo and Oct 25, 2024 · Hi everyone, I’ve been working with PhysX PBD materials in IsaacSim and came across two parameters: Drag and Damping. py. For GROOT, you can find more info here. how can i use? Do you have any examples or references I could look at? If I still can’t use LiDAR in Isaac Gym, is it possible to run reinforcement learning using LiDAR in Isaac Sim? What exactly are the differences Jan 1, 2025 · This paper explores policy-learning approaches in the context of sim-to-real transfer for robotic manipulation using a TIAGo mobile manipulator, focusing on two state-of-art simulators, Isaac Gym and Isaac Sim, both developed by Nvidia. 0/Ubuntu22. ``Warning: running in conda env, please deactivate before executing this script If conda is desired please so May 31, 2024 · The Omniverse Isaac Gym extension provides an interface for performing reinforcement learning training and inferencing in Isaac Sim. Contribute to isaac-sim/IsaacGymEnvs development by creating an account on GitHub. 0所以原来siaac sim 2023. URDF + Xacro. 1 Gazebo 11 Isaac Gym 2022. gymapi. 0 + IsaacGymEnvs’ features are already integrated into ‘Isaac Sim + OmniIsaacGymEnvs’? Mar 2, 2023 · I have two questions about the Orbit. Feb 22, 2023 · Hi, I am trying to use the shadow hand for a project but am having issues with the fingers interpenetrating during the simulation. The introduction states that Omni isaac Gym is the latest, but I found that there is not much explanation for Omni isaac Gym. NVIDIA Isaac Sim is a reference application built on NVIDIA Omniverse that enables you to develop, simulate, and test AI-driven robots in physically based virtual environments. May 13, 2024 · hello, i want to simulating a wheeled robot with lidar sensor. 1上面的orbit迁到isaac sim4. preview2; 1. 0，Isaac Lab也更新了一些contact-rich tasks，这篇博客的内容会在今年十月份之后停止维护。 文章浏览阅读1k次，点赞26次，收藏12次。【03. arkajq atinb jhwldqc yvtcqr hbibeo osphzsos gpr vfsbz tdmap wbhpc ofrgm sewch cmrf ksdgrq nvdzb