feat(ur5_ws): Add UR5e bringup, Isaac Sim, and Isaac Lab support

docs/ur5-ws/index.md

@@ -8,9 +8,9 @@
 ![Docker image version](https://img.shields.io/docker/v/j3soon/ros2-ur5-ws)
 ![Docker image size](https://img.shields.io/docker/image-size/j3soon/ros2-ur5-ws)
 
-This workspace provides a ROS 2 Humble environment for controlling **Universal Robots UR5** manipulators. It includes the official [Universal_Robots_ROS2_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver), description packages, **OnRobot RG2** gripper support, **servo control**, and **pose tracking**.
+This workspace provides a ROS 2 Humble environment for controlling **Universal Robots UR5** and **UR5e** manipulators. It includes the official [Universal_Robots_ROS2_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver), description packages, **OnRobot RG2** gripper support, **servo control**, **pose tracking**, and **Isaac Sim / Isaac Lab** for high-fidelity simulation and policy learning.
 
-> Please note that this workspace has only been tested on the UR5 (CB3 version). In theory, it can support other models with minor configuration adjustments; please feel free to modify the settings as needed for your specific use case.
+> Please note that this workspace has been primarily tested on the UR5 (CB3 version) and UR5e. The bundled `Universal_Robots_ROS2_Description` covers the rest of the UR family, so other models can be supported with minor configuration adjustments.
 >
 > See [Last tested](../last-tested.md) for the latest validation status.
 
@@ -71,6 +71,33 @@ Regarding the RG2 gripper: although it is not explicitly modeled in URSim, our c
 
 Since URSim aims to faithfully replicate the real robot's behavior, you should follow all the steps outlined in the subsequent sections, including calibration and bring-up.
 
+## Simulation with Isaac Sim
+
+The container ships with Isaac Sim 5.1.0 (enabled via `ISAAC_SIM_VERSION` in `docker/compose.yaml`). Two helper scripts spawn a UR5 or UR5e in Isaac Sim:
+
+```sh
+cd /home/ros2-essentials/ur5_ws
+./scripts/isaac_sim_ur5.sh        # UR5
+./scripts/isaac_sim_ur5e.sh       # UR5e
+```
+
+Both wrappers call `${ISAACSIM_PYTHON_EXE} scripts/isaac/spawn_ur.py` with the appropriate `--ur_type`. The script loads the bundled UR USD asset from `Isaac/Robots/UniversalRobots/<ur_type>/<ur_type>.usd`, drops the robot onto a ground plane, and steps the simulator until the window is closed. Add `--headless` for offscreen rendering.
+
+Isaac Sim/Lab assume a desktop X11 environment. If you are on a remote server, use a remote-desktop session (VNC, NoMachine, etc.) — the same caveats described in the [SO-101 workspace docs](../so101-ws/index.md) apply here.
+
+## Imitation Learning / RL with Isaac Lab
+
+Isaac Lab 2.3.2 is also pre-installed (see `ISAAC_LAB_VERSION` in `docker/compose.yaml`). A minimal scaffold loads UR5/UR5e as an Isaac Lab `Articulation`:
+
+```sh
+cd /home/ros2-essentials/ur5_ws
+./scripts/isaac_lab_ur_minimal.sh --ur_type ur5e
+```
+
+This is a starting point, not a full task. To build a Reach / Pick / RL task, copy Isaac Lab's existing UR10 manager-based config (under `$ISAACLAB_PATH/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/`) and swap the USD path for `ur5` or `ur5e`. UR robots share joint names across the family, so most of the config carries over unchanged.
+
+See `scripts/isaac/README.md` for more notes.
+
 ## Setup Robot
 
 > For URSim users, the settings are already pre-configured in the docker compose file, so you can skip this step.
@@ -81,25 +108,41 @@ For network setup, please refer to [this section](https://docs.universal-robots.
 
 ## Robot Calibration
 
-To improve accuracy, run the calibration correction and save the result to the workspace description config:
+To improve accuracy, run the calibration correction and save the result to the workspace description config.
+
+For **UR5**:
 
 ```sh
 cd /home/ros2-essentials/ur5_ws
 ./scripts/ur5_calibration.sh
 ```
 
-You only need to run this once for each robot. This creates `default_kinematics.yaml` which is required for the subsequent steps.
+For **UR5e**:
+
+```sh
+cd /home/ros2-essentials/ur5_ws
+./scripts/ur5e_calibration.sh
+```
+
+You only need to run this once for each robot. This creates `default_kinematics.yaml` (under `src/Universal_Robots_ROS2_Description/config/<ur_type>/`) which is required for the subsequent steps.
 
 ## Bring Up Robot
 
-Use the script:
+For **UR5**:
 
 ```sh
 cd /home/ros2-essentials/ur5_ws
 ./scripts/ur5_bringup.sh
 ```
 
-Or run the launch file directly:
+For **UR5e**:
+
+```sh
+cd /home/ros2-essentials/ur5_ws
+./scripts/ur5e_bringup.sh
+```
+
+Or run the launch file directly (swap `ur_type:=ur5` for `ur5e` as needed):
 
 ```sh
 ros2 launch ur_robot_driver ur_control.launch.py \

ur5_ws/docker/compose.yaml

@@ -39,9 +39,9 @@ services:
         # TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
         # CUDA_TOOLKIT_VERSION: ""
         # TODO: Set Isaac Sim version, set to "" if not using Isaac Sim, set to "5.1.0" for the binary install, or set to "develop" to build upstream IsaacSim from source
-        # ISAAC_SIM_VERSION: "5.1.0" # "develop"
+        ISAAC_SIM_VERSION: "5.1.0" # "develop"
         # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab, set to "2.3.2" for the latest stable version, or set to "develop" to build upstream Isaac Lab from source
-        # ISAAC_LAB_VERSION: "2.3.2" # "develop"
+        ISAAC_LAB_VERSION: "2.3.2" # "develop"
         # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer

ur5_ws/scripts/isaac/README.md

@@ -0,0 +1,34 @@
+# Isaac Sim / Isaac Lab examples for ur5_ws
+
+Minimal scripts that load a Universal Robots UR5 or UR5e in Isaac Sim and Isaac Lab.
+
+| Script | Runtime | Purpose |
+| --- | --- | --- |
+| `spawn_ur.py` | Isaac Sim standalone | Load UR5/UR5e USD, run physics, render. Good first sanity check. |
+| `ur_isaaclab_minimal.py` | Isaac Lab | Load UR5/UR5e as an `Articulation` with `InteractiveScene`. Scaffold for RL / Reach / Pick. |
+
+## How to run
+
+Inside the `ur5_ws` container (Isaac Sim and Isaac Lab installed via the build args in `docker/compose.yaml`):
+
+```sh
+# Convenience wrappers in ur5_ws/scripts/
+./scripts/isaac_sim_ur5.sh
+./scripts/isaac_sim_ur5e.sh
+
+# Or directly:
+${ISAACSIM_PYTHON_EXE} scripts/isaac/spawn_ur.py --ur_type ur5e
+~/IsaacLab/isaaclab.sh -p scripts/isaac/ur_isaaclab_minimal.py --ur_type ur5
+```
+
+Pass `--headless` to the Isaac Sim script for offscreen rendering (e.g., on a cluster without a desktop).
+
+## Extending to RL / manipulation tasks
+
+`ur_isaaclab_minimal.py` is intentionally bare. To turn it into a full Reach or Pick task, copy the UR10 manager-based config in Isaac Lab — typically at:
+
+```
+$ISAACLAB_PATH/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/
+```
+
+Swap the `usd_path` and joint init values for UR5/UR5e (joint names are identical across the UR family, so the joint-name lists in the config don't need to change).

ur5_ws/scripts/isaac/spawn_ur.py

@@ -0,0 +1,54 @@
+"""Spawn a UR5 or UR5e in Isaac Sim and step the physics loop.
+
+Usage (inside the ur5_ws container):
+    ${ISAACSIM_PYTHON_EXE} ur5_ws/scripts/isaac/spawn_ur.py --ur_type ur5
+    ${ISAACSIM_PYTHON_EXE} ur5_ws/scripts/isaac/spawn_ur.py --ur_type ur5e --headless
+
+The convenience wrappers ur5_ws/scripts/isaac_sim_ur5.sh and isaac_sim_ur5e.sh
+just call this script with the appropriate --ur_type.
+"""
+
+import argparse
+
+parser = argparse.ArgumentParser(description="Spawn a UR robot in Isaac Sim")
+parser.add_argument("--ur_type", choices=["ur5", "ur5e"], default="ur5")
+parser.add_argument("--headless", action="store_true")
+parser.add_argument(
+    "--steps",
+    type=int,
+    default=0,
+    help="number of physics steps to run; 0 = until the window is closed",
+)
+args = parser.parse_args()
+
+from isaacsim import SimulationApp
+
+simulation_app = SimulationApp({"headless": args.headless})
+
+from isaacsim.core.api import World
+from isaacsim.core.utils.stage import add_reference_to_stage
+from isaacsim.storage.native import get_assets_root_path
+
+assets_root = get_assets_root_path()
+if assets_root is None:
+    raise RuntimeError(
+        "Could not resolve Isaac Sim assets root. "
+        "Check Nucleus connectivity or set ISAAC_NUCLEUS_DIR."
+    )
+
+usd_path = f"{assets_root}/Isaac/Robots/UniversalRobots/{args.ur_type}/{args.ur_type}.usd"
+prim_path = f"/World/{args.ur_type.upper()}"
+
+world = World(stage_units_in_meters=1.0)
+world.scene.add_default_ground_plane()
+add_reference_to_stage(usd_path=usd_path, prim_path=prim_path)
+world.reset()
+
+step = 0
+while simulation_app.is_running():
+    world.step(render=True)
+    step += 1
+    if args.steps > 0 and step >= args.steps:
+        break
+
+simulation_app.close()

ur5_ws/scripts/isaac/ur_isaaclab_minimal.py

@@ -0,0 +1,104 @@
+"""Minimal Isaac Lab scene with a UR5 or UR5e articulation.
+
+Usage (inside the ur5_ws container):
+    ~/IsaacLab/isaaclab.sh -p ur5_ws/scripts/isaac/ur_isaaclab_minimal.py --ur_type ur5e
+
+This is a scaffold: it loads the chosen UR USD into an Isaac Lab scene,
+applies small random joint targets, and steps the simulator. Use it as a
+starting point for Reach / Pick / RL tasks by swapping the USD path and
+joint names into Isaac Lab's manager-based task templates under
+isaaclab_tasks.manager_based.manipulation.
+"""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Minimal UR articulation in Isaac Lab")
+parser.add_argument("--ur_type", choices=["ur5", "ur5e"], default="ur5")
+parser.add_argument("--num_envs", type=int, default=1)
+parser.add_argument(
+    "--steps",
+    type=int,
+    default=0,
+    help="number of sim steps to run; 0 = until the window is closed or Ctrl-C",
+)
+AppLauncher.add_app_launcher_args(parser)
+args = parser.parse_args()
+
+app_launcher = AppLauncher(args)
+simulation_app = app_launcher.app
+
+import torch
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import Articulation, ArticulationCfg, AssetBaseCfg
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.utils import configclass
+from isaacsim.storage.native import get_assets_root_path
+
+assets_root = get_assets_root_path()
+if assets_root is None:
+    raise RuntimeError("Could not resolve Isaac Sim assets root.")
+
+usd_path = f"{assets_root}/Isaac/Robots/UniversalRobots/{args.ur_type}/{args.ur_type}.usd"
+
+UR_CFG = ArticulationCfg(
+    prim_path="{ENV_REGEX_NS}/Robot",
+    spawn=sim_utils.UsdFileCfg(usd_path=usd_path),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "shoulder_pan_joint": 0.0,
+            "shoulder_lift_joint": -1.57,
+            "elbow_joint": 1.57,
+            "wrist_1_joint": -1.57,
+            "wrist_2_joint": -1.57,
+            "wrist_3_joint": 0.0,
+        },
+    ),
+    actuators={
+        "arm": ImplicitActuatorCfg(
+            joint_names_expr=[".*"], stiffness=400.0, damping=40.0
+        ),
+    },
+)
+
+
+@configclass
+class URSceneCfg(InteractiveSceneCfg):
+    ground = AssetBaseCfg(
+        prim_path="/World/defaultGroundPlane",
+        spawn=sim_utils.GroundPlaneCfg(),
+    )
+    light = AssetBaseCfg(
+        prim_path="/World/Light",
+        spawn=sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)),
+    )
+    robot: ArticulationCfg = UR_CFG
+
+
+sim_cfg = sim_utils.SimulationCfg(dt=1.0 / 120.0)
+sim = sim_utils.SimulationContext(sim_cfg)
+sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+
+scene = InteractiveScene(URSceneCfg(num_envs=args.num_envs, env_spacing=2.0))
+sim.reset()
+
+robot: Articulation = scene["robot"]
+default_joint_pos = robot.data.default_joint_pos.clone()
+
+step = 0
+while simulation_app.is_running():
+    target = default_joint_pos + 0.2 * torch.sin(
+        torch.tensor(step * 0.01, device=sim.device)
+    )
+    robot.set_joint_position_target(target)
+    scene.write_data_to_sim()
+    sim.step()
+    scene.update(sim.get_physics_dt())
+    step += 1
+    if args.steps > 0 and step >= args.steps:
+        break
+
+simulation_app.close()

ur5_ws/scripts/isaac_lab_ur_minimal.sh

@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)"
+
+"${ISAACLAB_PATH}/isaaclab.sh" -p "${SCRIPT_DIR}/isaac/ur_isaaclab_minimal.py" "$@"

ur5_ws/scripts/isaac_sim_ur5.sh

@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)"
+
+"${ISAACSIM_PYTHON_EXE}" "${SCRIPT_DIR}/isaac/spawn_ur.py" --ur_type ur5 "$@"

ur5_ws/scripts/isaac_sim_ur5e.sh

@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)"
+
+"${ISAACSIM_PYTHON_EXE}" "${SCRIPT_DIR}/isaac/spawn_ur.py" --ur_type ur5e "$@"

ur5_ws/scripts/ur5e_bringup.sh

@@ -0,0 +1,7 @@
+#!/bin/bash -e
+
+ros2 launch ur_robot_driver ur_control.launch.py \
+    ur_type:=ur5e \
+    use_rg2_gripper:=true \
+    robot_ip:=192.168.56.101 \
+    launch_rviz:=true

ur5_ws/scripts/ur5e_calibration.sh

@@ -0,0 +1,12 @@
+#!/bin/bash -e
+
+# Get the directory of this script.
+# Reference: https://stackoverflow.com/q/59895
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)"
+UR5_WORKSPACE_DIR="${SCRIPT_DIR}/.."
+
+# Reference:
+# - https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_calibration/doc/usage.html
+ros2 launch ur_calibration calibration_correction.launch.py \
+    robot_ip:=192.168.56.101 \
+    target_filename:="${UR5_WORKSPACE_DIR}/src/Universal_Robots_ROS2_Description/config/ur5e/default_kinematics.yaml"