🤖 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
- 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.
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Clone the repository:
git clone https://github.com/MetaToolEU/MT_Isaac_sim.git
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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
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Update your bash environment to include the new alias:
source ~/.bashrc
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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"