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Configuration files, example programs, and docker environment for physics simulations with an LBR iiwa 14 R820 robot
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Note that this is still under development with several hand-crafted parameters
- Support the following physics simulators
- Please refer to the comparison below
- Ubuntu 22.04 PC
- NVIDIA GeForce RTX 3090
- NVIDIA Driver 550.120
- CUDA v12.4
- Docker 27.4.1
- Docker Compose 2.32.1
- nvidia-container-runtime 1.17.5
- Download the software
git clone git@github.com:takuya-ki/iiwa-phys.git --recursive --depth 1
- Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym
- Unzip the file via
tar -xf IsaacGym_Preview_4_Package.tar.gz -C pathto/iiwa-phys/dockerfile/noetic
- Build the dockerfile
cd iiwa-phys && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel
- Create and run the docker container from the docker image
cd iiwa-phys && docker compose up --timeout 600
- Execute the docker container
xhost + && docker exec -it iiwa_phys_[noetic/humble]_container bash
- iiwa_phys_noetic_container
- iiwa_phys_humble_container
- Run a command in the docker container
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Show an LBR iiwa robot using rviz
conda deactivate && source /opt/ros/noetic/setup.bash && source /catkin_ws/devel/setup.bash && roslaunch iiwa_description display_iiwa.launch end_effector:='[rq140]'
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Demonstrate a MoveIt GUI to try motion generations for an LBR iiwa robot
conda deactivate && source /opt/ros/noetic/setup.bash && source /catkin_ws/devel/setup.bash && roslaunch iiwa_moveit_config demo.launch end_effector:='[rq140]' '[use_gui:=true]'
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Execute and visualize an example motion for an LBR iiwa robot with MoveIt
conda deactivate && source /opt/ros/noetic/setup.bash && source /catkin_ws/devel/setup.bash && roslaunch iiwa_example_motion iiwa_example.launch
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Demonstrate an example motion for an LBR iiwa robot on Gazebo
conda deactivate && source /opt/ros/noetic/setup.bash && source /catkin_ws/devel/setup.bash && roslaunch iiwa_moveit_config demo_gazebo.launch enf_effector:='[rq140]'
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Show an LBR iiwa robot
cd /scripts && conda activate pybullet && python pybullet_vis.py
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Example motion planning for an LBR iiwa robot
cd /scripts && conda activate pybullet && python pybullet_rrt.py --alg '[naiveRRT, RRT, BiRRT, RRTStar, BiRRTStar]'
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Visualize LBR iiwa robots in X environments
cd /scripts && conda activate isaacgym && CUDA_LAUNCH_BLOCKING=1 python isaacgym_vis.py --num_envs X
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Example motion planning for an LBR iiwa robot
cd /scripts && conda activate isaacgym && CUDA_LAUNCH_BLOCKING=1 python isaacgym_rrt.py --num_envs X --alg naiveRRT
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Example pick-and-place motions for an LBR iiwa robot
cd /scripts && conda activate isaacgym && CUDA_LAUNCH_BLOCKING=1 python isaacgym_pick.py --num_envs 1
- Show an LBR iiwa robot
cd /scripts && conda activate mujoco && python mujoco_vis.py
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Show an LBR iiwa robot
cd /scripts && conda activate genesis && python genesis_hello.py
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Demonstrate some poses of an LBR iiwa robot
cd /scripts && conda activate genesis && python genesis_motion.py
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Show an LBR iiwa robot using rviz2
byobu
ros2 launch lbr_bringup mock.launch.py model:=iiwa14
ros2 launch lbr_bringup rviz.launch.py rviz_cfg_pkg:=lbr_bringup rviz_cfg:=config/mock.rviz
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Demonstrate a MoveIt GUI to try motion generations for an LBR iiwa robot
byobu
ros2 launch lbr_bringup mock.launch.py model:=iiwa14
ros2 launch lbr_bringup move_group.launch.py mode:=mock rviz:=true model:=iiwa14
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Demonstrate an example motion for an LBR iiwa robot on Gazebo
byobu
ros2 launch lbr_bringup gazebo.launch.py ctrl:=joint_trajectory_controller model:=iiwa14
ros2 run lbr_demos_py joint_trajectory_client --ros-args -r __ns:=/lbr
We always welcome collaborators!