Add AR4 in Isaac (#10) (#30)

This patch adds the AR4 simulation with Isaac including the integration
with MoveIt

Signed-off-by: Steven Desvars <steven.desvars@ekumenlabs.com>
Signed-off-by: Francisco Rossi <frossi@ekumenlabs.com>
Signed-off-by: Gerardo Puga <glpuga@gmail.com>

Author: stevendes

.pre-commit-config.yaml

@@ -25,6 +25,7 @@ repos:
         exclude: ^ar4_description/config/ar4.yaml$
       - id: check-xml
       - id: end-of-file-fixer
+        exclude: 'ar4_isaac/usda/'
       - id: trailing-whitespace
 
   - repo: https://github.com/pre-commit/mirrors-clang-format

README.md

@@ -12,6 +12,7 @@ The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop
 - [`ar4_description`](./ar4_description): Contains the URDF of the arm.
 - [`ar4_hardware_interface`](./ar4_hardware_interface): Contains the software required to connect the computer with the real robot.
 - [`ar4_moveit_config`](./ar4_moveit_config): Contains configuration and launch files to run and command the arm.
+- [`ar4_isaac`](./ar4_isaac): Isaac simulation for the ar4 arm.
 
 ## Installation
 
@@ -76,15 +77,21 @@ There are two ways of selecting a target position for the arm using `RViz`:
 ####  1. Selecting random valid position
 This will select a random position for the arm that would not cause a collision with itself or objects around it, calculated from the semantic information of the robot.
 
-[Random valid position video](https://github.com/user-attachments/assets/be9406d2-6589-456c-8ae6-edbbe067b701)
+[Random valid position video](https://github.com/user-attachments/assets/ec926968-8952-4ccf-ba63-5423e94f61cd)
 
 
 ####  2. Moving end effector to a desired position
 This allows you to select a goal position for the end effector, which is currently the last link in the arm as no gripper is being used. This is done by dragging and dropping where the end effector should move to.
 
-[User selected position video](https://github.com/user-attachments/assets/a3057320-02ba-4898-8c07-b08d86ec0dcf)
+[User selected position video](https://github.com/user-attachments/assets/04dbb11c-bca4-4c05-95ae-251d70f41931)
 
 
+## Isaac sim
+
+![Ar4 Isaac](docs/ar4_isaac.png)
+
+See: [Isaac Sim Instructions](ar4_isaac/README.md)
+
 ## Licenses
 
 All packages in this repository except for `ar4_description` and `ar4_hardware_interface` are distributed under a **BSD 3-Clause** License.

ar4_description/docs/UPDATE_MESHES.md

@@ -0,0 +1,11 @@
+# Update the robot meshes
+
+To change the robot meshes, you can use [Blender](https://www.blender.org/), loading the [`ar4.blend`](../meshes/ar4.blend)
+
+
+After the modifications, you'll need to update the meshes used in [`ar4.urdf.xacro`](../urdf/ar4.urdf.xacro). If new meshes are added, you'll need to add that in the `link` macro, as well as it's material.
+
+
+If a new material is created, please create an entry in [`materials.xacro`](../urdf/include/materials.xacro).
+
+Before exporting the new meshes as `STL` reset the transforms of all objects with: `ALT+G`.