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Robot_Digital_Twin

This repository includes the digital twin models for

  • Fanuc LR-mate 200id-7L.
  • Yaskawa GP4.
  • Yaskawa GP50.
  • Lego bricks, including Lego baseplates, 1x1, 1x2, 1x4, 1x6, 1x8, 2x2, 2x4, 2x6, 2x8.

Robot Rviz visualization

roslaunch robot_digital_twin YOUR_ROBOT_rviz.launch

Gazebo Usage

  1. Create your digital twin launch file.
  2. Launch the Gazebo world.
roslaunch robot_digital_twin your_launch_file.launch

Examples:

  1. Single Fanuc arm environment with Lego bricks.
roslaunch robot_digital_twin single_fanuc_lego.launch
  1. Dual GP4 arms environment.
roslaunch robot_digital_twin dual_gp4.launch

Citation

If you find this repository helpful, please kindly cite our work.

@article{liu2023simulationaided,
  title={Simulation-aided Learning from Demonstration for Robotic LEGO Construction}, 
  author={Ruixuan Liu and Alan Chen and Xusheng Luo and Changliu Liu},
  journal={arXiv preprint arXiv:2309.11010},
  year={2023}
}

License

This project is licensed under the MIT License.