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Simulation

Dawoo Yoon's Independent Study

Simulation Goal

Simulation 
Setup

I built a robotic tray-sorting simulation in NVIDIA Isaac Sim to evaluate how workspace layout affects sorting efficiency. The environment included a Franka Research 3 robotic arm, a tray area, randomized tray objects such as bowls, cups, utensils, and paper trash, and three sorting bins for food waste, general waste, and reusable dishes.

Workflow Strategies

Simulation Result

Performance comparison over 70 randomized simulation runs

Average Process Time (70 runs)

The nearest-object-first workflow achieved a lower average processing time of 42.902 s, improving efficiency by 3.184 s (6.9%) compared to the fixed workflow.

ISDN2001/2002: Second Year Design Project

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