Feature/script based stage builder

[TharitSinsunthorn]

Description

• Add script to build the stage instead of calling the prebuilt usd file
• Robot usd files are now maintained in github instead of downloading the whole folder from google drive.
• Fixed issues in usd assets.
• Update local install script

Changes

• Change package name from Int-ball2_control -> ib2_control
• Assets update
  • Intball 2
    • Change intball2 usd file name to INTBALL2.usd.
    • Fixed duplicated joint name.
    • Restructured the prim tree to the proper articulation system.
    • Ground truth Omnigraph is moved to INTBALL2.usd.
    • Rosbag subscriber Omnigraph is moved to INTBALL2.usd
    • Add Twist odometry publisher node.
    • Add mass properties to sensors.
  • Kibou
    • Change name of KIBOU_ISS_coordinate.usd to KIBOU_ISS.usd
    • Remove robot from the scene KIBOU_ISS.usd (import the robot from script instead).
    • Move ground truth publisher and rosbag (twist pose) subscriber from to INTBALL2.usd instead.
• Install script
  • Remove Isaacsim-ros workspace repo installation from install_local.sh. Since it will clone the latest version of Isaacsim-ros workspace main branch, based on the Isaac sim latest version (5.1.0 for the current version), which may cause conflict when new user install out intball2 simulation. Also I have changed some parts of the run_isaacsim.py and moved it inside the int-ball2_isaac_sim pkg instead. So it's not totally the same as the original one.

Testing

• Colcon build completes successfully.
• I have checked if the simulation is working fine.
• I update the corresponding changes to the document.
• I have checked there is no new generated warnings.

[Copilot]

Pull Request Overview

Script-based stage builder for Isaac Sim, migration of robot assets into the repo, and package rename for the control stack.

• Add ROS2 node and launch flows to run Isaac Sim and build/open stages via scripts.
• Move to script-driven stage creation (build_stage.py) instead of prebuilt USD, and update assets and names.
• Rename int-ball2_control to ib2_control across code and docs.

Reviewed Changes

Copilot reviewed 16 out of 24 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
int-ball2_isaac_sim/scripts/run_isaacsim.py	New ROS2 node to configure env, launch Isaac Sim, and exec stage scripts.
int-ball2_isaac_sim/scripts/open_isaacsim_stage.py	Opens an existing USD stage with optional auto-play.
int-ball2_isaac_sim/scripts/create_isaacsim_stage.py	Builds the stage programmatically; connects to Nucleus if needed.
int-ball2_isaac_sim/scripts/build_stage.py	Creates World, adds robot and environment, sets gravity and camera.
int-ball2_isaac_sim/package.xml	Adds runtime deps needed by the new scripts.
int-ball2_isaac_sim/launch/run_isaacsim.launch.py	Launch file to start the Isaac Sim runner node with configurable parameters.
int-ball2_isaac_sim/launch/int-ball2_issbag_demo.launch.py	Demo launch updated to use new run flow and auto-play flag.
int-ball2_isaac_sim/launch/int-ball2_isaac_sim.launch.py	Aggregator launch to parameterize Isaac Sim run and initial twist publish.
int-ball2_isaac_sim/CMakeLists.txt	Installs assets/launch/scripts and registers Python executables.
int-ball2_control/package.xml	Rename package to ib2_control.
int-ball2_control/launch/rviz_visualize.launch.py	Update package references to ib2_control.
int-ball2_control/launch/int-ball2_teleop.launch.py	Update package references to ib2_control.
int-ball2_control/description/ib2.urdf	Update mesh URIs to ib2_control.
README.md	Update commands to use ib2_control.
README_JA.md	Update commands to use ib2_control.

Comments suppressed due to low confidence (1)

int-ball2_isaac_sim/launch/int-ball2_issbag_demo.launch.py:24

• FindPackageShare should reference 'int-ball2_isaac_sim' (the Isaac Sim package), not 'ib2_isaac_sim' (which is the renamed control package). Otherwise the include cannot resolve.

    int_ball2_isaac_sim_launch_file = PathJoinSubstitution([
        FindPackageShare('ib2_isaac_sim'),
        'launch',
        'int-ball2_isaac_sim.launch.py'

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[Copilot]

Pull Request Overview

Copilot reviewed 17 out of 25 changed files in this pull request and generated 7 comments.

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