Nvidia Isaac Universal Robots RTDE communication

Introduction

This example was created in collaboration with Fravebot company. This example is a simple demonstration of using Nvidia's Isaac Sim software to control a collaborative robot UR5e from Universal Robots.

Software
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| Nvidia Isaac Sim version 2022.2.0
| Isaac Python version 3.7
|   - ur-rtde 1.5.5

1. Nvidia Isaac Requirements

2. Nvidia Omniverse Isaac Instalation

3. Install ur_rtde (Check docs Win/Lin). After install python bindings:

user@user-pc:~/.../isaac_sim-2022.2.0$ ./python.sh -m pip install ur_rtde

How-to-Start

1. Go to workspace Nvidia Omniverse Isaac
2. Clone repository
3. Run VM Polyscope or Real Robot.
4. Run command (robot-ip is ip adress of robot VM or Real):

user@user-pc:~/.../isaac_sim-2022.2.0$ ./python.sh test_fravebot/isaac_rtde.py --robot-ip 192.168.200.135

Video!

ℹ️ Contacts

📫 juricek@fravebot.com