Custom extensions made for Isaac Sim.
Clone repo into desired location. Once it has been cloned, create symlink into the exts/ in your Isaac Sim installation directory.
ln -s /path/to/MPlib_extension/exts ~/isaacsim-4.5.0/exts/MPlib_extension
Or you can copy contents from TacslExtensions/exts/MPlib_extension into isaacsim-4.5.0/exts/MPlib_extension directly.
To install MPlib so that Isaac Sim can recognize it, do the following at the top of your Isaac Sim directory.
./python.sh -m pip install mplibif you are using Linux.
Once you've done that, run Isaac Sim GUI from terminal.
When Isaac Sim is loaded, go to:
Window -> Extensions ... from here type mplib into the search bar. Enable the following extension:
FRANKA PICK-AND-PLACE TASK
To enable this extension for all times you open Isaac Sim, click on the checkmark for "Autoload".
Now, click on: Window -> Examples -> Robotics Examples
There should be a tab now in Robotics Examples at the very bottom titled CUSTOM EXAMPLES. Click on the file and click LOAD to load the scene. You should see a Franka Panda arm with 3 cubes.
To test your installation of MPlib, try running RUN TEST. If you see the Franka arm moving, then MPlib is working correctly.
To run the simulation, press the play button to the left before clicking on RUN in the Task Control window (bottom of the screen).
The target zone for where the blocks are to be thrown to can be changed according to what is needed for testing.
The blocks may not land within the target zone due to them slipping while thrown, the behavior of the physics, or the blocks not settling when being grasped.