isaac-sim · Mar 25, 2025 · Mar 25, 2025 · Mar 25, 2025 · Mar 26, 2025 · May 9, 2025
diff --git a/README.md b/README.md
@@ -29,6 +29,16 @@ Isaac Lab offers a comprehensive set of tools and environments designed to facil
 
 ## Getting Started
 
+**On WatCloud:**
+- SSH into WatCloud and git clone this repo
+- Use wato_asd_tooling repo to start ssh session in the slurm nodes (See link: https://wiki.watonomous.ca/autonomous_software_general/watcloud_dev#one-time-setup) (See link for minimum spec on slurm nodes: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html)
+- On a new terminal, run `ssh -L 5900:localhost:5900 asd-dev-session` to enable ssh tunneling from slurm nodes to local computer
+- Run `cd IsaacLab`
+- Run `export DISPLAY=:0`
+- Run `./docker/container.py start`
+- Run `./docker/container.py enter base`
+- Download VNC Viewer and choose localhost:5900 to open Isaac Lab (See link: https://www.realvnc.com/en/connect/download/viewer/?lai_vid=63V0dbyEai1ON&lai_sr=5-9&lai_sl=l&lai_p=1)
+
 Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including detailed tutorials and step-by-step guides. Follow these links to learn more about:
 
 - [Installation steps](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation)

diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
@@ -33,6 +33,8 @@ ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
 # Set environment variables
 ENV LANG=C.UTF-8
 ENV DEBIAN_FRONTEND=noninteractive
+ENV USER=root
+ENV DISPLAY=:1.0
 
 USER root
 
@@ -47,6 +49,23 @@ RUN --mount=type=cache,target=/var/cache/apt \
     apt -y autoremove && apt clean autoclean && \
     rm -rf /var/lib/apt/lists/*
 
+# VNC dependencies
+RUN apt-get update -y
+RUN apt-get install -y supervisor
+RUN apt-get install -y x11vnc
+RUN apt-get install -y xvfb
+RUN apt-get install -y mesa-utils
+RUN apt-get install -y x11-apps
+RUN apt-get purge -y light-locker
+RUN apt-get install -y lxde
+
+# Set up VNC
+COPY --chown=${USER} docker/supervisord.conf /etc/supervisor/supervisord.conf
+RUN chown -R ${USER}:${USER} /etc/supervisor
+RUN chmod 777 /var/log/supervisor/
+EXPOSE 5900
+CMD ["/usr/bin/supervisord"]
+
 # Copy the Isaac Lab directory (files to exclude are defined in .dockerignore)
 COPY ../ ${ISAACLAB_PATH}
 

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -37,9 +37,6 @@ x-default-isaac-lab-volumes: &default-isaac-lab-volumes
   - type: bind
     source: ../source
     target: ${DOCKER_ISAACLAB_PATH}/source
-  - type: bind
-    source: ../scripts
-    target: ${DOCKER_ISAACLAB_PATH}/scripts
   - type: bind
     source: ../docs
     target: ${DOCKER_ISAACLAB_PATH}/docs
@@ -64,6 +61,7 @@ x-default-isaac-lab-volumes: &default-isaac-lab-volumes
 x-default-isaac-lab-environment: &default-isaac-lab-environment
   - ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim
   - OMNI_KIT_ALLOW_ROOT=1
+  - DISPLAY=:1.0
 
 x-default-isaac-lab-deploy: &default-isaac-lab-deploy
   resources:
@@ -91,10 +89,17 @@ services:
     container_name: isaac-lab-base
     environment: *default-isaac-lab-environment
     volumes: *default-isaac-lab-volumes
-    network_mode: host
+    network_mode: bridge
     deploy: *default-isaac-lab-deploy
+    ports:
+      - "5900:5900"
     # This is the entrypoint for the container
-    entrypoint: bash
+    entrypoint: >
+      bash -c "
+      Xvfb :1 -screen 0 1280x1024x24 -auth /tmp/.Xauthority &
+      x11vnc -display :1 -auth /tmp/.Xauthority -nopw -forever -shared &
+      startlxde &
+      bash"
     stdin_open: true
     tty: true
 
@@ -117,10 +122,17 @@ services:
     container_name: isaac-lab-ros2
     environment: *default-isaac-lab-environment
     volumes: *default-isaac-lab-volumes
-    network_mode: host
+    network_mode: bridge
     deploy: *default-isaac-lab-deploy
+    ports:
+      - "5900:5900"
     # This is the entrypoint for the container
-    entrypoint: bash
+    entrypoint: >
+      bash -c "
+      Xvfb :1 -screen 0 1280x1024x24 -auth /tmp/.Xauthority &
+      x11vnc -display :1 -auth /tmp/.Xauthority -nopw -forever -shared &
+      startlxde &
+      bash"
     stdin_open: true
     tty: true
 
@@ -138,4 +150,4 @@ volumes:
   # isaac-lab
   isaac-lab-docs:
   isaac-lab-logs:
-  isaac-lab-data:
+  isaac-lab-data:
diff --git a/docker/supervisord.conf b/docker/supervisord.conf
@@ -0,0 +1,63 @@
+[supervisord]
+nodaemon=true
+logfile=/tmp/supervisord.log
+loglevel=error
+
+[unix_http_server]
+file=/tmp/supervisor.sock   ; (the path to the socket file)
+
+[rpcinterface:supervisor]
+supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface
+
+[supervisorctl]
+serverurl=unix:///tmp/supervisor.sock         ; use a unix:// URL  for a unix socket
+
+[program:xvfb]
+priority=10
+command=/usr/bin/Xvfb :1 -screen 0 1440x1080x24
+autostart=true
+autorestart=true
+stopsignal=QUIT
+stdout_logfile=/tmp/xvfb.log
+redirect_stderr=true
+
+[program:openbox]
+priority=15
+command=/usr/bin/openbox-session
+autostart=true
+autorestart=true
+stopsignal=QUIT
+environment=DISPLAY=":1"
+stdout_logfile=/tmp/openbox.log
+redirect_stderr=true
+
+[program:lxpanel]
+priority=15
+command=/usr/bin/lxpanel --profile LXDE
+autostart=true
+autorestart=true
+stopsignal=QUIT
+environment=DISPLAY=":1"
+stdout_logfile=/tmp/lxpanel.log
+redirect_stderr=true
+
+[program:pcmanfm]
+priority=15
+command=/usr/bin/pcmanfm --desktop --profile LXDE
+autostart=true
+autorestart=true
+stopsignal=QUIT
+environment=DISPLAY=":1"
+stdout_logfile=/tmp/pcmanfm.log
+
+[program:x11vnc]
+priority=20
+command=x11vnc -display :1 -xkb -forever -shared -repeat
+autostart=true
+autorestart=true
+stopsignal=QUIT
+stdout_logfile=/tmp/x11vnc.log
+redirect_stderr=true
+
+[group:vnc]
+programs=xvfb,openbox,lxpanel,pcmanfm,x11vnc
diff --git a/scripts/wato_additional_scripts/robot_arm_controllers/joint_space_test.py b/scripts/wato_additional_scripts/robot_arm_controllers/joint_space_test.py
@@ -0,0 +1,156 @@
+import argparse
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Robot Arm with Joint Space Control")
+AppLauncher.add_app_launcher_args(parser)
+args_cli = parser.parse_args()
+
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+import torch
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import AssetBaseCfg
+from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.markers import VisualizationMarkers
+from isaaclab.markers.config import FRAME_MARKER_CFG
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.math import subtract_frame_transforms
+
+##
+# Pre-defined configs
+##
+from isaaclab_assets import UR10_CFG
+
+
+@configclass
+class TableTopSceneCfg(InteractiveSceneCfg):
+    """Configuration for a cart-pole scene."""
+
+    # ground plane
+    ground = AssetBaseCfg(
+        prim_path="/World/defaultGroundPlane",
+        spawn=sim_utils.GroundPlaneCfg(),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)),
+    )
+
+    # lights
+    dome_light = AssetBaseCfg(
+        prim_path="/World/Light",
+        spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    )
+
+    # mount
+    table = AssetBaseCfg(
+        prim_path="{ENV_REGEX_NS}/Table",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/Stand/stand_instanceable.usd", scale=(2.0, 2.0, 2.0)
+        ),
+    )
+
+    # articulation
+    robot = UR10_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+
+def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
+
+    robot = scene["robot"]
+
+    # Create controller
+    diff_ik_cfg = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=False, ik_method="dls")
+    diff_ik_controller = DifferentialIKController(diff_ik_cfg, num_envs=scene.num_envs, device=sim.device)
+
+    # Markers
+    frame_marker_cfg = FRAME_MARKER_CFG.copy()
+    frame_marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+    ee_marker = VisualizationMarkers(frame_marker_cfg.replace(prim_path="/Visuals/ee_current"))
+
+    # Specify robot-specific parameters
+    robot_entity_cfg = SceneEntityCfg("robot", joint_names=[".*"], body_names=["ee_link"])
+
+    # Resolving the scene entities
+    robot_entity_cfg.resolve(scene)
+
+    # Obtain the frame index of the end-effector ; For a fixed base robot, the frame index is one less than the body index. This is because ; the root body is not included in the returned Jacobians.
+    if robot.is_fixed_base:
+        ee_jacobi_idx = robot_entity_cfg.body_ids[0] - 1
+    else:
+        ee_jacobi_idx = robot_entity_cfg.body_ids[0]
+
+    # Define simulation stepping
+    sim_dt = sim.get_physics_dt()
+    count = 0
+    joint_position_index = 0
+
+    while simulation_app.is_running():
+        if count % 150 == 0:
+            # reset time
+            count = 0
+
+            # cycle between joint state
+            joint_pos = robot.data.default_joint_pos.clone()
+            joint_position_list = [
+                [0.0, -0.712, 0.712, 0.0, 0.0, 0.0],
+                [0.0, -1.712, 1.712, 0.0, 0.0, 0.0],
+                [1.0, -1.712, 1.712, 0.0, 0.0, 0.0],
+                [0.0, 1.712, 1.712, 0.0, 0.0, 0.0],
+            ]
+            joint_position = torch.tensor(joint_position_list[joint_position_index], device=sim.device)
+            joint_vel = robot.data.default_joint_vel.clone()
+
+            if joint_position_index >= len(joint_position_list) - 1:
+                joint_position_index = 0
+            else:
+                joint_position_index += 1
+
+            robot.reset()
+
+            joint_pos_des = joint_position.unsqueeze(0)[:, robot_entity_cfg.joint_ids].clone()
+
+        # apply actions (Smooth movement)
+        robot.set_joint_position_target(joint_pos_des, joint_ids=robot_entity_cfg.joint_ids)
+        scene.write_data_to_sim()
+
+        # perform step
+        sim.step()
+
+        # update sim-time
+        count += 1
+
+        # update buffers
+        scene.update(sim_dt)
+
+        # obtain quantities from simulation
+        ee_pose_w = robot.data.body_state_w[:, robot_entity_cfg.body_ids[0], 0:7]
+        # update marker positions
+        ee_marker.visualize(ee_pose_w[:, 0:3], ee_pose_w[:, 3:7])
+
+
+def main():
+    # Load kit helper
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = sim_utils.SimulationContext(sim_cfg)
+
+    # Set main camera
+    sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+
+    # Design scene
+    scene_cfg = TableTopSceneCfg(num_envs=1, env_spacing=2.0)
+    scene = InteractiveScene(scene_cfg)
+
+    # Play the simulator
+    sim.reset()
+
+    print("[INFO]: Setup complete...")
+
+    # Run the simulator
+    run_simulator(sim, scene)
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()