Isaac Sim Version: 2023.1.1
Operating System: Ubuntu 20.04
I am currently building a digital twin environment for manipulation tasks in Isaac Sim. I am using a Dobot CR5 robotic arm and a Robotiq 2F-140 gripper. My goal is to replicate the exact environment of my lab and perform pick-and-place tasks in this simulated environment.
So far, I have successfully synchronized the robotic arm by publishing joint states from the real robot and subscribing to them in the simulation.
However, I am struggling with synchronizing the gripper for the digital twin. For the Robotiq gripper, the simulated robot does not mimic the real robot because the real robot does not publish joint states.
Currently, I can control the real and simulated Robotiq grippers independently, but using different methods:
- Real robot: Controlled via the Modbus RTU protocol, as explained in the tutorial linked below:
Control of a 2-Finger Gripper using the Modbus RTU protocol - Simulated robot: Controlled using MoveIt Commander with the following Python code:
python
コードをコピーする
import moveit_commander
group_name = "robotiq_gripper"
group_hand = moveit_commander.MoveGroupCommander(group_name)
group_hand.set_named_target('open')
group_hand.go()
group_hand.set_named_target('close')
group_hand.go()
In the simulation, I can open the gripper, but I cannot close it, and I am unsure why.
Summary
I want to control the real robot gripper (open/close) and have the simulation mimic its movements.
If anyone could help me figure out how to achieve this, I would greatly appreciate it. Thank you!