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README.md

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Readme.md

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Introduction of an easy method to control Franka in Isaac sim

Contents

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