Add AR4 Isaac Simulation

.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`.

ar4_description/urdf/ar4.urdf.xacro

@@ -11,13 +11,17 @@
   <xacro:link link_name="base_link"
               inertial="${robot_properties['base_link']['inertial']}"
               visual="${robot_properties['base_link']['visual']}"
-              collision="${robot_properties['base_link']['collision']}">
+              collision="${robot_properties['base_link']['collision']}"
+              meshes="${['base_link', 'base_link_bottom', 'base_link_motor']}"
+              materials="${['grey', 'blue', 'black']}">
               <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <xacro:link link_name="link_1"
               inertial="${robot_properties['link_1']['inertial']}"
               visual="${robot_properties['link_1']['visual']}"
-              collision="${robot_properties['link_1']['collision']}">
+              collision="${robot_properties['link_1']['collision']}"
+              meshes="${['link_1', 'link_1_motor']}"
+              materials="${['grey', 'black']}">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <joint name="joint_1" type="revolute">
@@ -31,7 +35,9 @@
   <xacro:link link_name="link_2"
               inertial="${robot_properties['link_2']['inertial']}"
               visual="${robot_properties['link_2']['visual']}"
-              collision="${robot_properties['link_2']['collision']}">
+              collision="${robot_properties['link_2']['collision']}"
+              meshes="${['link_2', 'link_2_motor', 'link_2_cover', 'link_2_cover_logo']}"
+              materials="${['grey', 'black', 'white', 'blue']}">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <joint name="joint_2" type="revolute">
@@ -45,7 +51,9 @@
   <xacro:link link_name="link_3"
               inertial="${robot_properties['link_3']['inertial']}"
               visual="${robot_properties['link_3']['visual']}"
-              collision="${robot_properties['link_3']['collision']}">
+              collision="${robot_properties['link_3']['collision']}"
+              meshes="${['link_3', 'link_3_motor', 'link_3_misc']}"
+              materials="${['grey', 'black', 'black']}">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <joint name="joint_3" type="revolute">
@@ -59,7 +67,9 @@
   <xacro:link link_name="link_4"
               inertial="${robot_properties['link_4']['inertial']}"
               visual="${robot_properties['link_4']['visual']}"
-              collision="${robot_properties['link_4']['collision']}">
+              collision="${robot_properties['link_4']['collision']}"
+              meshes="${['link_4', 'link_4_motor']}"
+              materials="${['grey', 'black']}">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <joint name="joint_4" type="revolute">
@@ -73,7 +83,9 @@
   <xacro:link link_name="link_5"
               inertial="${robot_properties['link_5']['inertial']}"
               visual="${robot_properties['link_5']['visual']}"
-              collision="${robot_properties['link_5']['collision']}">
+              collision="${robot_properties['link_5']['collision']}"
+              meshes="${['link_5', 'link_5_motor']}"
+              materials="${['grey', 'black']}">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <joint name="joint_5" type="revolute">
@@ -87,7 +99,9 @@
   <xacro:link link_name="link_6"
               inertial="${robot_properties['link_6']['inertial']}"
               visual="${robot_properties['link_6']['visual']}"
-              collision="${robot_properties['link_6']['collision']}">
+              collision="${robot_properties['link_6']['collision']}"
+              meshes="${['link_6']}"
+              materials="${['grey']}">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:link>
   <joint name="joint_6" type="revolute">

ar4_description/urdf/include/common_macros.urdf.xacro

@@ -2,43 +2,52 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 <!-- ===================== Arm link xacro ================================== -->
 
-  <xacro:macro name="link" params="link_name *origin inertial visual collision">
-    <link name="${link_name}">
-      <xacro:insert_block name="origin"/>
-      <xacro:box_inertia m="${inertial['mass']}"
-                         x="${inertial['size']['dx']}"
-                         y="${inertial['size']['dy']}"
-                         z="${inertial['size']['dz']}"
-                         o_xyz="${inertial['origin']['dx']} ${inertial['origin']['dy']} ${inertial['origin']['dz']}"
-                         o_rpy="${inertial['origin']['dr']} ${inertial['origin']['dp']} ${inertial['origin']['dY']}">
-      </xacro:box_inertia>
-      <visual>
-        <origin rpy="${visual['origin']['dr']}
-                     ${visual['origin']['dp']}
-                     ${visual['origin']['dY']}"
-                xyz="${visual['origin']['dx']}
-                     ${visual['origin']['dy']}
-                     ${visual['origin']['dz']}"/>
-        <geometry>
-           <mesh filename="file://$(find ar4_description)/meshes/${link_name}.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 0 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="${collision['origin']['dr']}
-                     ${collision['origin']['dp']}
-                     ${collision['origin']['dY']}"
-                xyz="${collision['origin']['dx']}
-                     ${collision['origin']['dy']}
-                     ${collision['origin']['dz']}"/>
-        <geometry>
-          <mesh filename="file://$(find ar4_description)/meshes/${link_name}.STL"/>
-        </geometry>
-      </collision>
-    </link>
-  </xacro:macro>
+<xacro:include filename="$(find ${package_name})/urdf/include/materials.xacro" />
+<xacro:macro name="link" params="link_name *origin inertial visual collision meshes:=^ materials:=^">
+  <link name="${link_name}">
+    <xacro:insert_block name="origin"/>
+
+    <xacro:box_inertia m="${inertial['mass']}"
+                       x="${inertial['size']['dx']}"
+                       y="${inertial['size']['dy']}"
+                       z="${inertial['size']['dz']}"
+                       o_xyz="${inertial['origin']['dx']} ${inertial['origin']['dy']} ${inertial['origin']['dz']}"
+                       o_rpy="${inertial['origin']['dr']} ${inertial['origin']['dp']} ${inertial['origin']['dY']}">
+    </xacro:box_inertia>
+
+    <xacro:mesh_loop meshes="${meshes}" materials="${materials}" visual="${visual}" collision="${collision}" />
+  </link>
+</xacro:macro>
+
+<!-- Recursive macro to iterate over meshes -->
+<xacro:macro name="mesh_loop" params="meshes:=^ materials:=^ visual collision">
+  <xacro:if value="${meshes}">
+    <xacro:property name="mesh" value="${meshes.pop(0)}"/>
+    <xacro:property name="material" value="${materials.pop(0)}"/>
+
+    <visual>
+      <origin rpy="${visual['origin']['dr']} ${visual['origin']['dp']} ${visual['origin']['dY']}"
+              xyz="${visual['origin']['dx']} ${visual['origin']['dy']} ${visual['origin']['dz']}"/>
+      <geometry>
+         <mesh filename="file://$(find ar4_description)/meshes/${mesh}.stl"/>
+      </geometry>
+      <material name="${material}"/>
+    </visual>
+
+    <collision>
+      <origin rpy="${collision['origin']['dr']} ${collision['origin']['dp']} ${collision['origin']['dY']}"
+              xyz="${collision['origin']['dx']} ${collision['origin']['dy']} ${collision['origin']['dz']}"/>
+      <geometry>
+        <mesh filename="file://$(find ar4_description)/meshes/${mesh}.stl"/>
+      </geometry>
+    </collision>
+
+    <!-- Recursive call to process the remaining list -->
+    <xacro:mesh_loop meshes="${meshes}" materials="${materials}" visual="${visual}" collision="${collision}" />
+  </xacro:if>
+</xacro:macro>
+
+
 
 <!-- ===================== Box inertia xacro ================================== -->
 <!-- params -->

ar4_description/urdf/include/materials.xacro

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot>
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.020 0.032 0.171 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="0.631 0.665 0.831 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+</robot>

ar4_isaac/CMakeLists.txt

@@ -0,0 +1,43 @@
+# BSD 3-Clause License
+#
+# Copyright 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.
+
+cmake_minimum_required(VERSION 3.7)
+project(ar4_isaac)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch
+            scripts
+            urdf
+            usda
+  DESTINATION share/${PROJECT_NAME}/)
+
+ament_package()

ar4_isaac/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

@@ -0,0 +1,40 @@
+# Description
+An Isaac simulation of the AR4 Package.
+
+## Prerequirements
+
+Running the `nvidia` isaac simulation requires:
+
+  - Minimum specs (See: [Isaac Sim System Requirements](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements)
+  - [Installing the NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+## Run the simulation container
+
+```
+docker/run.sh -s ar4_isaac
+```
+
+## Build the packages
+
+Build the packages
+
+```
+source /opt/ros/humble/setup.bash
+colcon build
+```
+
+Source the built packages
+
+```
+source install/setup.bash
+```
+
+## Launch the simulation
+```
+ros2 launch ar4_isaac ar4_in_empty_world.launch.py
+```
+![AR4 in Isaac Sim](docs/pics/isaac_sim.png)
+
+## More:
+
+  - [Update the model](docs/UPDATE_MODEL.md)