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Repository Summary
Checkout URI | https://github.com/dark404/ur_isaac-sim.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-05-16 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
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:
- Clone this repository to your local machine.
git clone https://github.com/DarK404/moveit2_tutorials
- Install Docker and Docker Compose if you haven’t already.
- 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
-
Git clone
https://github.com/DarK404/UR_Isaac-sim/tree/main
and Locate the usd files in your localhost Nucleus environment under the folder nameur3e_gripper_humble_moveit2-humble
. -
Launch Isaac-sim inside the launch directory
cd moveit2_tutorials/doc/how_to_guides/isaac_panda/launch
./python.sh isaac_moveit_Hackathon.py
- After the build process is complete, run the following command to start the container:
docker compose up demo_isaac
- In RVIZ, you should see a visualization of the UR3e robot. You can control the robot using Moveit2.
1.RVIZ visualization
2.Isaac Sim visualization
CONTRIBUTING
No CONTRIBUTING.md found.
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