UR10 Reach Task from Isaac Lab Sim2Real Transfer

This repository uses a UR10 Reach task trained policy using Isaac Lab to do sim-to-real transfer. It has been tested with ROS2 Humble on Ubuntu 22.04.

Table of Contents

• Overview
• Prerequisites
• Installation
• Usage
  • Sim2Sim Setup
  • Sim2Real Setup
• Acknowledgments
• License

Overview

This repository provides scripts to test a pretrained UR10 policy in simulation using URSim (sim2sim) and then transfer it to a real robot (sim2real). The simulation is based on the ur_robot_driver package. A pretrained policy is available in the sample directory. Note that you need to adjust the policy path in ur.py.

Prerequisites

• Operating System: Ubuntu 22.04
• ROS 2: Humble Hawksbill
  Installation guide
• UR Robot Driver: ur_robot_driver
• Python: Python 3

Installation

1. Install ROS 2 Humble:
   Follow the ROS 2 installation guide.

2. Install the UR Robot Driver Package:

   sudo apt update
   sudo apt install ros-humble-ur-robot-driver

3. Clone the Repository:

   git clone https://github.com/louislelay/isaaclab_ur_reach_sim2real.git

Usage

Sim2Sim Setup

Follow these steps to run the simulation:

1. Launch URSim:

   Open a terminal and run:

   ros2 run ur_robot_driver start_ursim.sh -m ur10e

   This will launch URSim at http://192.168.56.101:6080/vnc.html. Click Connect and you should see an interface similar to:

   

2. Activate External Control in URCaps:

   In the Programs tab, below URCaps, click on External Control. Below Robot Progam you should see appear : Control by 192.168.56.1

   

3. Start the UR Robot

   Click on the red button in the bottom left. Click on On, then Start until you obtain the following interface:

   

4. Exit and Proceed:

   • Press Exit.

   • Switch to the Move tab in the interface:

     

5. Connect the interface to the computer:

   • Press the play button in the bottom.

   • Select the Control by 192.168... option in the interface:

     

6. Launch Robot Control:

   In another terminal, run:

   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101

7. Run the Task Script:

   Navigate to the Python directory within the repository:

   cd <path_to_repository>/isaaclab_ur_reach_sim2real/python

   Note: Ensure that the policy path in ur.py is updated to point to your pretrained policy (one is available in the sample directory if needed).

   Finally, run:

   python3 run_task.py

   The robot’s end effector should move to the target pose specified in the script.

8. Demonstration Video:

   Click on it to go to the youtube video and see the result.

   

Sim2Real Setup

This section is a work in progress (WIP).

Acknowledgments

• Johnson Sun: Many thanks for his valuable advice and time.
• UR10Reacher Sim2Real for Isaac Gym: UR10Reacher repository
• Isaac Lab: Isaac Lab repository
• UR Robot Driver: UR Robot Driver repository
• ROS 2 Community: ROS 2 project

License

This project is licensed under the MIT License.