grc26 kinova demo

Task

realworld

• A single kinova gen3 arm mounted on a table top.
• A tray setup on the table.
• The arm moves compliantly down till it made contact with the table.
• After contact, it slides forward to make contact with the tray (fixed position)
• It then waits for a human to hold the tray on the other side.
• Once human holds, the arm initiates movement upwards to place tray in a diff. place.
• The arm reacts compliantly to the human while in motion.
• Task completes, once the tray is placed in the target position on the table.

simulation - isaacscim 5.1.0

• another kinova robot acts as an agent instead of human
• no compliance behaviour
• uses moveit for motion planning

Setup

clone the repo

mkdir -p ~/grc26/src

cd ~/grc26/src

git clone --depth=1 https://github.com/secorolab/grc26_kinova_demo.git

pull the dependent repos

vcs import src < src/grc26_kinova_demo/grc26.repos

setup flags

copy the colcon.meta to the ros2 workspace folder.

cd ~/grc26

cp src/grc26_kinova_demo/colcon.meta .

build

cd ~/grc26

colcon build

Isaac Sim Setup for ROS2 bridge

You need to enable Isaac Sim's internal ROS2 libraries in the terminal before launching Isaac Sim:

export isaac_sim_package_path=$ISAAC_SIM_DIR # where your Isaac Sim install is located

export ROS_DISTRO=jazzy

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# Can only be set once per terminal.
# Setting this command multiple times will append the internal library path again potentially leading to conflicts
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$isaac_sim_package_path/exts/isaacsim.ros2.bridge/jazzy/lib

Important

Do not source the system ROS2 before running Isaac Sim as this will most likely cause a Python version mismatch. Isaac Sim uses its built-in Python 3.11!

launch_sim.py then needs to be ran in the same terminal using the bundled python.sh.

To control the simulation itself, see Isaac Sim ROS2 Simulation Control.