Connecting to Real Robot like RoboDK

[jtgenova]

Hello,

I have some experience with RoboDK and it allows me to connect to the real robot seamlessly.
However, it seems like the Isaac Sim is state of the art simulation environment nowadays, so I wanted to see if I can make the switch. Can Isaac Sim connect to real robots and has its own API in doing so, or is it strictly a simulation environment?

Best,

Joshua

[Simplychenable]

@jtgenova i am just another OV user; and, by looking through the forum a bit, there seems to be a few similar questions made in the past that may provide some insight from the mods:

Implementation method of the model learned with OmniIsaacGymEnvs for real robot

Hi @1616ttkj You can take a look at this external link (Examples - skrl (1.0.0)) that contains simple examples for training in simulation (in OIGE) and deploy to real-world (Python and ROS)

How to apply manipulator application developed in isaac sim to real robot

@jwson3 You need to stream the simulated robot’s joint configurations out on ROS to an external controller. That controller might be implemented by the OEM and may require interpolating / buffering the streamed configuration. An important consideration is the simulation needs to be synchronized with the physical robot, so the physical robot should be streaming out the measured joint configurations on ROS and before trying to control the physical robot, we need to make sure the simulated robot …

Switching between simulation (Issac ominivers) and real world robot (Kaya)

Hi, here is a guide. You would need Isaac SDK running on a Jetson device on the Kaya physical robot and use the Robot Engine Bridge Extension on Isaac Sim to communicate with the robot. Hope that answers your question.

if none of these are helpful, feel free to defer to mods’/devs’ input.

[rthaker]

Hi @jtgenova - I would suggest to explore the “Cortex” documentation: 11. Cortex — Omniverse IsaacSim latest documentation