Dual-Arm Robot Controller

Omniverse Isaac Sim
1

Hi, is there any way I can control Baxter in Isaac Sim Via Lula Robot Description Editor or other ways?

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I want to use it to get its kinematics, however it seems that there is no Dual-arm Robot in examples.

the console shows:
2024-01-24 03:27:28 [2,573,205ms] [Error] [carb.events.python] IndexError: list index out of range

At:

  • /home/walker2/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(1251): _get_selected_link*
  • /home/walker2/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(1241): _get_selected_link_path*
  • /home/walker2/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(327): _refresh_collision_sphere_comboboxes*
  • /home/walker2/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(466): _on_stage_event*
3

We do not currently support any control strategies for dual-armed robots.

The only path would be to use RMPflow to individually control the two robot arms using two different robot_description.yaml files for the left and right arms. This has been tested out internally, but it takes a good amount of effort and know-how, and there is currently not tooling available to make it easier.

4

@arudich Thank you.
I’ve controlled it via ROS Bridge though its not easier either.

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5

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