MetaToolEU / MT_Isaac_sim

🤖 Simulate and control two Universal Robots arms simultaneously using NVIDIA Isaac Sim. Explore real-time control, collision avoidance, and path planning in a digital twin environment.

Overview

🤖 Simulate and control two Universal Robots (UR) arms concurrently using NVIDIA Isaac Sim. This project provides a digital twin environment for realistic robotic simulation and testing control algorithms.

Model Predictive Control (MPC) to reach target

UR_demo_1.mp4

Features

• Dual UR Arm Simulation: Simulate UR3e arms simultaneously.
• Real-Time Digital Twin Control: Implement real-time control using UR RTDE interface.
• Collision Avoidance: Integrate collision detection for safe operations.
• Path Planning: Develop optimized trajectories using Isaac Sim extensions.

Prerequisites

• Isaac Sim
• Python 3.7 or later
• UR RTDE

Getting Started

1. Clone the repository:

   git clone https://github.com/MetaToolEU/MT_Isaac_sim.git

2. Add an alias to Isaac Sim’s python in your bashrc file:

   echo "alias omni_python='~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh'" >> ~/.bashrc

3. Update your bash environment to include the new alias:

   source ~/.bashrc

4. Run the Python script with Isaac Sim: Replace "yyy.yyy.yyy.yyy" with the actual IP addresses of your first and second robots.

omni_python isaac_rtde_dual_arm.py --robot-ip "yyy.yyy.yyy.yyy" --robot-ip2 "yyy.yyy.yyy.yyy"