Add gripper to the Isaac simulation

.pre-commit-config.yaml

@@ -25,7 +25,7 @@ repos:
         exclude: ^ar4_description/config/ar4.yaml$
       - id: check-xml
       - id: end-of-file-fixer
-        exclude: 'ar4_isaac/usda/'
+        exclude: 'ar4_isaac_sim/usda/'
       - id: trailing-whitespace
 
   - repo: https://github.com/pre-commit/mirrors-clang-format

README.md

@@ -13,10 +13,9 @@ These are the main packages providing launch files for the different use cases:
 
 - [`ar4_description`](./ar4_description): Contains the platform-agnostic parts of the URDF robot description.
 - [`ar4_gazebo_bringup`](./ar4_gazebo): Launch a Gazebo Sim simulation of AR4.
-- [`ar4_isaac_bringup`](./ar4_gazebo): **Not yet available.** Launch an Isaac Sim simulation of AR4.
-- [`ar4_mujoco_bringup`](./ar4_gazebo): **Not yet available.** Launch a MuJoCo-based simulation of AR4.
+- [`ar4_isaac_bringup`](./ar4_gazebo): Launch an Isaac Sim simulation of AR4.
+- [`ar4_mujoco_bringup`](./ar4_gazebo): Launch a MuJoCo-based simulation of AR4.
 - [`ar4_realbot_bringup`](./ar4_gazebo): Launch drivers and control software for the real AR4 robot.
-- [`ar4_isaac`](./ar4_isaac): Isaac simulation for the ar4 arm.
 
 
 ```mermaid

ar4_isaac/launch/ar4_in_empty_world.launch.py → ar4_isaac_bringup/CMakeLists.txt

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 # BSD 3-Clause License
 #
 # Copyright 2025 Ekumen, Inc.
@@ -30,54 +28,11 @@
 # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
+cmake_minimum_required(VERSION 3.7)
+project(ar4_isaac_bringup)
 
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import LaunchConfiguration
-
-
-def generate_launch_description():
-    headless = LaunchConfiguration('headless')  # noqa F841
-    declare_headless = DeclareLaunchArgument(
-        'headless',
-        default_value='false',
-        description='Launch Isaac in headless mode',
-    )
-
-    pkg_ar4_isaac = get_package_share_directory('ar4_isaac')
-    run_sim_path = os.path.join(pkg_ar4_isaac, 'scripts', 'run_sim.py')
-
-    isaac_process = ExecuteProcess(
-        cmd=[
-            '/isaac-sim/python.sh',
-            run_sim_path,
-            '--robot_model_path',
-            os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
-        ],
-        shell=True,
-        output='screen',
-        condition=UnlessCondition(LaunchConfiguration('headless')),
-    )
-
-    isaac_process_headless = ExecuteProcess(
-        cmd=[
-            '/isaac-sim/python.sh',
-            run_sim_path,
-            '--robot_model_path',
-            os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
-            '--headless',
-        ],
-        shell=True,
-        output='screen',
-        condition=IfCondition(LaunchConfiguration('headless')),
-    )
+find_package(ament_cmake REQUIRED)
 
-    ld = LaunchDescription()
-    ld.add_action(declare_headless)
-    ld.add_action(isaac_process)
-    ld.add_action(isaac_process_headless)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
 
-    return ld
+ament_package()

ar4_isaac_bringup/README.md

@@ -0,0 +1,22 @@
+# Description
+
+Bringup package for the AR4 software stack on the Isaac simulator.
+
+```bash
+colcon build --packages-up-to ar4_isaac_bringup
+. install/setup.bash
+```
+
+To run the simulation, source and run:
+
+```bash
+ros2 launch ar4_isaac_bringup main.launch.py
+```
+
+#### Launch file arguments
+
+To see a detailed list of the arguments, run:
+
+```bash
+ros2 launch ar4_isaac_bringup main.launch.py --show-args
+```

ar4_isaac/launch/moveit.launch.py → ar4_isaac_bringup/launch/main.launch.py

@@ -31,77 +31,40 @@
 """launch file for integrating Isaac with MoveIt for the AR4 robot."""
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
 
 
 def generate_launch_description():
-    """Launch the AR4 robot in Isaac and MoveIt."""
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    headless = LaunchConfiguration('headless')
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='true',
-        description='Use simulation (Isaac) clock if true',
-    )
-    declare_headless = DeclareLaunchArgument(
-        'headless',
-        default_value='false',
-        description='Launch Isaac in headless mode',
-    )
-
-    ar4_isaac_pkg = FindPackageShare('ar4_isaac')
-    ar4_moveit_config_pkg = FindPackageShare('ar4_moveit_config')
-
-    isaac_launch = IncludeLaunchDescription(
+    common_stack_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    ar4_isaac_pkg,
-                    'launch',
-                    'ar4_in_empty_world.launch.py',
+                    FindPackageShare("ar4_common"),
+                    "launch",
+                    "main.launch.py",
                 ]
             )
-        ),
-        launch_arguments={
-            'headless': headless,
-        }.items(),
-    )
-
-    controllers_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    ar4_isaac_pkg,
-                    'launch',
-                    'ar4_controllers.launch.py',
-                ]
-            ),
-        ),
-        launch_arguments={
-            'use_sim_time': use_sim_time,
-        }.items(),
+        )
     )
 
-    moveit_launch = IncludeLaunchDescription(
+    isaac_sim_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    ar4_moveit_config_pkg,
-                    'launch',
-                    'demo.launch.py',
+                    FindPackageShare("ar4_isaac_sim"),
+                    "launch",
+                    "main.launch.py",
                 ]
             )
         )
     )
 
-    ld = LaunchDescription()
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_headless)
-    ld.add_action(isaac_launch)
-    ld.add_action(controllers_launch)
-    ld.add_action(moveit_launch)
-
-    return ld
+    return LaunchDescription(
+        [
+            common_stack_include,
+            isaac_sim_include,
+        ]
+    )

ar4_isaac_bringup/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>ar4_isaac_bringup</name>
+  <version>0.0.1</version>
+  <description>
+    Launch Isaac simulation with Ar4 robot.
+  </description>
+  <author email="[email protected]">Santiago Lopez mendez</author>
+  <maintainer email="[email protected]">Steven Desvars</maintainer>
+  <maintainer email="[email protected]">Gerardo Puga</maintainer>
+  <license file="LICENSE">BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>ar4_common</exec_depend>
+  <exec_depend>ar4_isaac_sim</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ar4_isaac/CMakeLists.txt → ar4_isaac_sim/CMakeLists.txt

@@ -29,7 +29,7 @@
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 cmake_minimum_required(VERSION 3.7)
-project(ar4_isaac)
+project(ar4_isaac_sim)
 
 find_package(ament_cmake REQUIRED)
 

ar4_isaac_sim/LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, Ekumen Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

ar4_isaac/README.md → ar4_isaac_sim/README.md

@@ -20,7 +20,7 @@ Build the packages
 
 ```
 source /opt/ros/humble/setup.bash
-colcon build --packages-up-to ar4_isaac
+colcon build --packages-up-to ar4_isaac_bringup
 ```
 
 Source the built packages
@@ -31,7 +31,7 @@ source install/setup.bash
 
 ## Launch the simulation
 ```
-ros2 launch ar4_isaac ar4_in_empty_world.launch.py
+ros2 launch ar4_isaac_bringup main.launch.py
 ```
 ![AR4 in Isaac Sim](docs/pics/isaac_sim.png)
 

ar4_isaac/docs/UPDATE_MODEL.md → ar4_isaac_sim/docs/UPDATE_MODEL.md

@@ -42,7 +42,6 @@ For changes made to the robot's urdf or meshes to impact the Isaac Sim model it'
     - Import Inertia Tensor
     - Clear Stage
     - Self Collision
-    - Collision From Visuals
 
 7. Select the generated `urdf` in step 2 (with step 3 mods) as the input file
 
@@ -96,4 +95,4 @@ For changes made to the robot's urdf or meshes to impact the Isaac Sim model it'
 
     Finally save your output as `usda` overriding the existing ar4_layer. (Note: Select the type to `*.usda`)
 
-    File > Save As... > ar4_isaac/usda/layers/ar4_layer.usda
+    File > Save As... > ar4_isaac_sim/usda/layers/ar4_layer.usda