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:

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 name ur3e_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