Advanced Robotics Workshop
Authors: Jonas Gschnell (Johannes Kepler Universität Linz) , Alexander Kitzinger , Hubert Gattringer , Andreas Müller
Simulation is increasingly used to accelerate the development of robotic manipulation systems, but integrating simulation environments with robotics frameworks remains challenging. This paper presents a framework that connects ROS 2 with NVIDIA Isaac Sim to support perception-driven dual-arm manipulation. A simulated workcell with two UR10 manipulators, parallel grippers, and an RGB-D camera is implemented to study system integration. The framework is evaluated on cooperative manipulation of rigid objects and textile manipulation using cloth simulation. While rigid object handling is achieved after careful parameter tuning, textile manipulation exposes limitations in current cloth simulation, particularly in reliable grasping. The paper discusses key integration challenges such as interface alignment, temporal and spatial synchronization, and coordinated dual-arm motion planning, providing practical insights for building reproducible simulation pipelines.
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How to Cite: Gschnell, J. , Kitzinger, A. , Gattringer, H. & Müller, A. (2026) “Building a ROS 2 - Isaac Sim Framework for Dual Arm Manipulation of Rigid Objects and Textiles”, Proceedings of the Austrian Symposium on AI, Robotics, and Vision. 3(1).