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COLLAB-SIM Running Instructions

We provide examples in collab_sim/demos. The examples can be run in VR mode or without VR (using mouse and keyboard teleop), making it easy to test even without a VR headset. This flexibility supports quicker iterations and faster development cycles.

  • Start from a conda env that has curobo installed, Isaac Sim sourced, and collab-sim available. This process is shown in the Installation instructions.
$ conda activate collab-sim 
(collab-sim) $ source <your-path>/[email protected]+release.19112.f59b3005.gl.linux-x86_64.release/setup_conda_env.sh 
(collab-sim) $ cd collab-sim/collab_sim
  • Run the example scripts on the conda env with the commands below.

Franka MPC teleop example Script

Non VR:

(collab-sim) <>collab_sim$ python demos/franka_mpc_example.py

VR:

(collab-sim) <>collab_sim$ python demos/franka_mpc_example.py –-run_vr --enable omni.kit.xr.profile.vr --enable isaacsim.xr.openxr

  • Run the VR-SteamVR connection (shown in the install instructions). The HMD should be rendering SteamVR Home and the controllers should be tracking.

  • The script launches Isaac Sim and loads the robot environment. Read the scripts for more information about their functionality.

  • In the VR Tab of Isaac Sim, change the Selected Output Plugin from OpenXR to SteamVR.

  • Click Start VR.

  • The robot's controller will load and start within a few seconds.

  • Use the right controller's trigger button to activate the robot and start movement. The robot moves only while the trigger is pressed. Teleop 6DOF commands are relative to the controller's pose at the time of pressing, eliminating the need to pre-align the controller.

  • Use the right controller's side button to control the gripper's open/close function.

  • The left controller's trigger button resets the environment.

  • The left controller’s joystick or trackpad teleports your view.

  • Avoid pressing buttons while the controllers overlap with objects to prevent grabbing objects.

Dual Franka example script

Non VR:

(collab-sim) <>collab_sim$ python demos/dual_franka_mpc_teleop.py

VR:

(collab-sim) <>collab_sim$ python demos/dual_franka_mpc_teleop.py –-run_vr --enable omni.kit.xr.profile.vr --enable isaacsim.xr.openxr

Data replay example Script

The repo includes an example data file with a short demo for replay. Users can run this without having the VR set up.

(collab-sim) <>collab-sim$ python replay_states.py