Jaka Control

Latest changes - 24 June 2024

While the motivating goal is to create a control program for the JAKA robot using Isaac Sim, this repo is actually more of a platform for investigating various Isaac Sim approaches. Isaac Sim is a rich platform with many options, so a robot can be controled in a variety of fashions and it is not clear to us which one is best for our task at hand.

This extension is derived from an Issac Sim template extension.

Structure

This is the root directory of an Omniverse extension. There are several subdirectories:

• config - subdir contains the extension.toml that has various extension configuration settings
• data - subdir containing the extension icon and a more descriptive screen
• JakaCtrl - subdir containing the actual python code
• usd - subdir containing some usd files that the extension needs.
• models - subdir containing fbx files, some of which are directly referenced by USD models.
• gptcommands - subdir for json files generated by GPT

Getting Started

Clone Extension Repos

Clone all the repos to the same directory - this can be a general directory for Omniverse extensions.

• https://github.com/MikeWise2718/omni.asimov.manipulator
• https://github.com/MikeWise2718/omni.asimov.jaka
• https://github.com/MikeWise2718/JakaControl

Open Isaac Sim 4.x

• Also works with older versions like 2023.1.1

Open Extensions Window

• Select "Window" > Click "Extensions"

Add the directory where you cloned the repos to NVidia Extensions Search Paths

• Near the top, Select the Hamburger Menu (3 lines) -> Click "Settings"
• In "Extension Search Paths", add an entry using directory where you cloned the repos above
  • E.g. /home/mattm/repos

Note: The above steps are shown visually here

View "Third-Party" extension

• Verify all 3 extensions are listed
  • Asimov Jaka Minicobo Robot
  • Asimov Manipulators
  • Jaka Control
• Enable all 3 extensions
  • Set the toggle switch to right of extension to "enabled"

Close Extensions Windows

Open Jaka Control Extension

When you enabled the JakaControl extension a new menu should have appeared called "Jaka"

Select "Jaka" -> Click "Jaka"