iiwa-phys

• Configuration files, example programs, and docker environment for physics simulations with an LBR iiwa 14 R820 robot

• Note that this is still under development with several hand-crafted parameters

• iiwa-phys

  • Features
  • Dependency (tested as a host machine)
  • Installation
  • Usage
    • Pybullet
    • Isaac Gym
    • MuJoCo
    • Genesis
    • Gazebo

Features

• Support the following physics simulators
  1. PyBullet
  2. Isaac Gym
  3. MuJoCo
  4. Genesis
  5. Gazebo
  • Please refer to the comparison below
    • A brief summary for physics simulators
    • A Review of Nine Physics Engines for Reinforcement Learning Research

Dependency (tested as a host machine)

• Ubuntu 24.04 PC
  • NVIDIA GeForce RTX 3070
  • NVIDIA Driver 535.288
    • CUDA v12.2
  • Docker 27.4.1
  • Docker Compose 2.32.1
  • nvidia-container-runtime 1.17.5

Installation

1. Download the software

   git clone git@github.com:takuya-ki/iiwa-phys.git --recursive --depth 1

2. Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym
3. Unzip the file via

   tar -xf IsaacGym_Preview_4_Package.tar.gz -C pathto/iiwa-phys/dockerfile/jazzy

4. Build the dockerfile

   cd iiwa-phys && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel 

Usage

1. Create and run the docker container from the docker image

   cd iiwa-phys && docker compose up --timeout 600

2. Execute the docker container

   xhost + && docker exec -it iiwa_phys_jazzy_container bash

3. Run a command in the docker container

Pybullet

• Show an LBR iiwa robot

  cd /scripts && conda activate pybullet && python pybullet_vis.py

  

• Example motion planning for an LBR iiwa robot

  cd /scripts && conda activate pybullet && python pybullet_rrt.py --alg '[naiveRRT, RRT, BiRRT, RRTStar, BiRRTStar]'

  

Isaac Gym

• Visualize LBR iiwa robots in X environments

  cd /scripts && conda activate isaacgym && CUDA_LAUNCH_BLOCKING=1 python isaacgym_vis.py --num_envs X

  

• 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

  

• 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

  

MuJoCo

• Show an LBR iiwa robot

  cd /scripts && conda activate mujoco && python mujoco_vis.py

  

Genesis

• Show an LBR iiwa robot

  cd /scripts && conda activate genesis && python genesis_hello.py

  

• Demonstrate some poses of an LBR iiwa robot

  cd /scripts && conda activate genesis && python genesis_motion.py

  

Gazebo

• 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

  

• 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

  

• 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

  

Authors and Contributors

• Takuya Kiyokawa
• Claude Code

We always welcome collaborators!