Related Paper:
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Constantin Enke, Jan-Felix Klein, Marvin Sperling, Benchun Zhou. Development of an Experimental Environment to Study the Challenges in Cyber-Physical Intralogistics Systems[C]//2022 Logistic Journal. [Link] [PDF] [Slide]
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If you use the code in your academic work, please cite the above paper.
This repository shows the Simulation of the logistics environment with Isaac Sim.
update 20230503 add json file
- create python environment:
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_python.html
create a python environment (conda) for isaac sim with the tutorial.
Then, you can write a simple script to activate the python environment.
I provide an example at "additional/isaac.sh"
- Configuring RMPflow controller for manipulater(uArm)
find the file:
.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.motion_generation/motion_policy_configs/policy_map.json
add the following item:
"uArm":{
"RMPflow" : "./uArm/config.json"
},
create or copy uArm folder ("addition/uArm") to the config folder
build the project
git clone https://git.scc.kit.edu/ifl_institute/robis/modelroboticswarehouse/demonstrator_isaac_sim.git
catkin_init_workspace
catkin build
run the project
source devel/setup.bash
python scripts/ifl_demonstrator.py
open another terminal, you can run
rostopic list
python scripts/ifl_overall_process.py
after building, you can test single robot by running:
source devel/setup.bash
python scripts/ifl_uArm_bk.py
# python scripts/ifl_turtlebot_bk.py
# python scripts/ifl_slider_bk.py
# python scripts/ifl_conveyor_bk.py
for each robot, we also have corresponding clients:
source devel/setup.bash
python scripts/uarm/uarm_client_test.py
# python scripts/turtlebot/turtlebot_client_test.py
# python scripts/slider/slider_client_test.py
# python scripts/conveyor/conveyor_client_test.py
all models are save at src/