Following joint state robot (in combination with URSim)

Omniverse Isaac Sim
1

Hi,

I want to simulate an Universal Robot with the URSim (Setup URSim with Docker — ur_robot_driver documentation). As I can connect it with the ROS ur_robot_driver (Universal_Robots_ROS2_Driver/ur_robot_driver at main · UniversalRobots/Universal_Robots_ROS2_Driver · GitHub). So the interfaces and the robot motion is the same for both the real robot and the simulated robot.
Though I mount a camera on the UR, which I would like to simulate in IsaacSim.

Is it possible to simulate an UR with Isaac, which follows the joint state outputted by the URSim? So I can have a moving camera in Isaac Sim providing me with simulated images.

2

Hi @MatthijsBurgh - You will be able find the UR robot assets in this document. You can simulate them in Isaac Sim.
https://docs.omniverse.nvidia.com/isaacsim/latest/features/environment_setup/assets/usd_assets_robots.html

You can follow this tutorial for ROS2 Joint control:
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html

Let us know if you have any follow up questions.