/isaac-sim-franka

Interaction with Panda arm using Isaac Sim 4.0.0

Primary LanguagePython

isaac-sim-franka

This repository handles the useful scripts and configurations for interacting with Isaac Sim. The main goal is to provide a simple way to interact with the Franka Emika Panda robot in the Isaac Sim environment.

Requirements

Package / SDK Version
Nvidia Omniverse 2023.2.3
Isaac Sim 4.0.0
Python 3.10
ROS2 Humble
Moveit Humble

Setup experiment

  1. Clone this repository in your workspace
  2. Install the required dependencies
    1. Make sure you have virtualenv installed
    2. Create a virtual environment
    3. Install the required dependencies 
      pip install -r requirements.txt

Run experiment

  1. Start Isaac Sim
    1. Run the bash script to start the Isaac Sim environment 
      ./isaac --isaac-dir <path-to-isaac-sim>
  2. Start ROS2
    1. To start the demo launch file, 
      # From the root of the workspace,
cd ros_ws/
colcon build
source ./install/setup.bash

# Now start the demo launch file
ros2 launch franka_demo demo.launch.py