Arm Robot and Forklift

Omniverse Isaac Sim
1

Isaac Sim Version

5.1.0

Operating System

Ubuntu 22.04

Topic Description

Warehouse Operations Simulation – ARM Robot, Forklift, and Box Spawning

Detailed Description

I am working on simulating warehouse operations in Isaac Sim.
I was able to simulate actors and mobile robots easily using the standard extensions.

Now I want to extend my simulation to include more complex warehouse behaviors:

  1. ARM Robot Simulation

    • I want an arm robot to pick up boxes from a conveyor belt and place/sort them onto a pallet.

    • I am not sure which tools or extensions are recommended for robotic arm pick-and-place workflows.

  2. Forklift Simulation

    • I want a forklift to pick up a pallet and move it to another location.

    • I’m looking for examples or best practices for forklift motion planning + pallet grasping.

  3. Box Spawning

    • Ideally, new boxes should automatically spawn every 2 seconds to simulate continuous incoming items on the conveyor.

    • I’m unsure about the recommended way to script periodic spawning.

I would appreciate guidance, examples, tutorial links, or recommended workflows that can help implement these warehouse tasks.

Steps to Reproduce

  1. Create a basic warehouse scene

  2. Add actors and mobile robots using extensions

  3. Attempt to simulate:

    • ARM robot pick-and-place

    • Forklift pallet operations

    • Timed spawning of boxes

2

For the arm pick-and-place part, a good starting point is the UR10 Bin Stacking Cortex tutorial: Walkthrough: UR10 Bin Stacking — Isaac Sim Documentation