ISAAC SIM DUAL ROBOT MANIPULATION

This project demonstrates the simulation and manipulation of Two Dobot Nova5 robotic arms in NVIDIA Isaac Sim 4.2.0 using MoveIt 2 and MoveIt Task Constructor.

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📑 Table of Contents

• ISAAC SIM DUAL ROBOT MANIPULATION
  • 📑 Table of Contents
  • 📖 Overview
  • ✅ Requirements
  • 🛠️ Installation Instructions
    • Install MoveIt 2
    • Install Isaac Sim 4.2.0
  • 📁 Project Setup
    • Clone the Repository
    • Build and Source the Workspace
  • 🚀 Running the Simulation
    • Launch Isaac Sim
    • Launch MoveIt 2 and RViz2
    • Launch MoveIt Task Constructor
  • 🔗 Links & References

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📖 Overview

This package controls and coordinates two Dobot Nova5 arms in a simulated environment provided by NVIDIA Isaac Sim. The arms are controlled using MoveIt 2, and complex manipulation tasks (like pick-and-place) are executed using MoveIt Task Constructor (MTC). This setup is ideal for testing dual-arm industrial manipulation, coordinated motion planning, and task sequencing.

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✅ Requirements

• ROS 2 Humble (or later)
• MoveIt 2
• Isaac Sim 4.2.0 or later
• NVIDIA GPU with proper drivers
• Colcon build system
• Python 3.10

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🛠️ Installation Instructions

Install MoveIt 2

Follow the MoveIt 2 installation instructions for your ROS 2 distro:

🔗 https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html

Make sure MoveIt 2 is properly sourced in your terminal:

source /opt/ros/humble/setup.bash

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Install Isaac Sim 4.2.0

Install Isaac Sim 4.2.0 by following the official guide:

🔗 https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_isaacsim.html

Also follow the guide for ROS 2 bridge integration:

🔗 https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_setup.html

Make sure Isaac Sim can run with python.sh and ROS 2 environment is sourced in it.

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📁 Project Setup

Clone the Repository

Clone this repository into your desired workspace:

git clone https://github.com/emusman-lab/dual_robot_arm.git
cd dual_robot_arm

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Build and Source the Workspace

Build your workspace using colcon:

colcon build --base-paths src/

Then source it:

source install/setup.bash

✅ Replace the source path as needed, e.g., /home/username/dual_robot_arm/install/setup.bash

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🚀 Running the Simulation

Launch Isaac Sim

Launch Isaac Sim with the dual-arm control script:

~/.local/share/ov/pkg/isaac-sim-4.2.0/python.sh \
  /home/usman/projects_ws/dual_robot_arm/isaac/scripts/isaac_moveit_dobot_dual.py

Make sure your Isaac Sim environment and ROS2 bridge are fully initialized.

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Launch MoveIt 2 and RViz2

Launch the MoveIt2 config and visualizer with:

ros2 launch dual_dobot_control dual_launch_config_dobot.py

🛠 This file should load both robot descriptions and bring up the joint state publishers, controllers, and MoveGroup interface.

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Launch MoveIt Task Constructor

Launch the dual-arm manipulation logic:

ros2 launch dual_dobot_control dual_pick_and_place_dobot.py

📦 This script uses MoveIt Task Constructor to execute predefined pick-and-place tasks using both Dobot Nova5 arms.

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🔗 Links & References

• MoveIt 2 Documentation
• Isaac Sim ROS 2 Bridge Docs
• MoveIt Task Constructor
• Dobot Nova5 Official Page
• Isaac Sim Python API Reference

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