ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble ur_description moveit_config

Repository Summary

Description The "UR_Isaac-sim" repository provides configurations and files to control a UR3e robot using Moveit2. It includes Isaac Sim simulation for testing.
Checkout URI https://github.com/dark404/ur_isaac-sim.git
VCS Type git
VCS Version main
Last Updated 2024-05-16
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ur_description 2.0.1
moveit_config 0.3.0

README

UR_Isaac-sim

This repository provides a moveit_config to control a UR3e robot using Moveit2. The container includes Isaac Sim simulation for testing purposes.

Getting Started

To get started with this repository, follow these steps:

  1. Clone this repository to your local machine.
git clone https://github.com/DarK404/moveit2_tutorials

  1. Install Docker and Docker Compose if you haven’t already.
  2. Open a terminal in the project directory and run the following command to build the Docker container:
cd moveit2_tutorials/doc/how_to_guides/isaac_panda
docker compose build

  1. Git clone https://github.com/DarK404/UR_Isaac-sim/tree/main and Locate the usd files in your localhost Nucleus environment under the folder name ur3e_gripper_humble_moveit2-humble .

  2. Launch Isaac-sim inside the launch directory

 cd moveit2_tutorials/doc/how_to_guides/isaac_panda/launch
 ./python.sh isaac_moveit_Hackathon.py
 
  1. After the build process is complete, run the following command to start the container:
docker compose up demo_isaac

  1. In RVIZ, you should see a visualization of the UR3e robot. You can control the robot using Moveit2.

1.RVIZ visualization

Material Bread logo

2.Isaac Sim visualization

CONTRIBUTING

No CONTRIBUTING.md found.

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble

ur_isaac-sim repository

universal-robots ros-industrial moveit2 isaac-sim ros2-control ros2-humble