Readme.md

Introduction of an easy method to control Franka in Isaac sim

Contents

• Description
• How to install
• How to use

Description

Introduction of an easy method to control Franka in Isaac sim with inverse kinematic.

How to install

Requirements

• You must have a computer compatible with Isaac Sim 2021.2.1, please check the official documentation.
• You must install proper GPU driver, Isaac Sim and Orbit. Please check orbit documentation to install orbit.

Please do not use sudo apt-get install nvidia-*** to install GPU driver. Download .run file from Nvidia official and blacklist nouveau first.

Steps

1. Download this Git.
2. Copy Franka-Isaac-Sim to ~/Franka-Isaac-Sim
3. Install your orbit library to ~/Orbit, where orbit.sh locate.

How to use

Open a terminal and run the following commands:

To run

1. cd ~/Franka-Isaac-Sim
2. ~/Orbit/orbit.sh -p franka.py