Best approach to build TCP Server to send command to

Omniverse Isaac Sim
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1

Isaac Sim Version

5.0.0

Operating System

Ubuntu 22.04

A lot of robotic arm uses TCP to send joint angles directly to the arm. To minimize the discrepancy between sim and physical arm, I am planning to setup a TCP server in Isaac Sim so I can send my commands to that server. I am using a joint position controller and modifying the values in MakeArray to control the robot.

However, I have tried to implement this through interactive python, but it seems to be blocking simulation frames. I have also tried asyncio, it is also blocking. What is the best way to approach this or is there a tutorial for doing this?

I feel like having this feature or just tutorial can bring down the effort to use Isaac Sim significantly.

3

Let me reach out to the internal team about your request.

5

Maybe you can take a look at IsaacSimZMQ GitHub - isaac-sim/IsaacSimZMQ: Isaac SIM extension for communication with external application via ZMQ