Awesome
Isaac Extended
Some examples, notes, and patches not yet included in the latest Isaac release.
The description of each Isaac components can be found in the j3soon/nvidia-isaac-summary repo.
Set up
git clone https://github.com/j3soon/isaac-extended.git
cd isaac-extended
The following will assume you have cloned the directory and cd
into it:
Isaac Sim
Conda issue on Linux
Bug reports:
Solutions:
- Isaac Sim 2022.1.1
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.1.1" cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak cp ./isaac_sim-2022.1.1-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh
- Isaac Sim 2022.2.0
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.2.0" cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak cp ./isaac_sim-2022.2.0-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh
- Isaac Sim 2022.2.1
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.2.1" cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak cp ./isaac_sim-2022.2.1-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh
- Isaac Sim 2023.1.0
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2023.1.0" cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak cp ./isaac_sim-2023.1.0-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh
- Isaac Sim 2023.1.1
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2023.1.1" cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak cp ./isaac_sim-2023.1.1-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh
- Isaac Sim 4.0.0
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac-sim-4.0.0" cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak cp ./isaac-sim-4.0.0-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh
Conda issue on Windows
Bug reports:
Solutions:
- Isaac Sim 2022.1.1
and make sure to run the following after activating the conda environment:set ISAAC_SIM="%LOCALAPPDATA%\ov\pkg\isaac_sim-2022.1.1" copy .\isaac_sim-2022.1.1-patch\windows\setup_conda_env.bat %ISAAC_SIM%\setup_conda_env.bat
call setup_conda_env.bat
- If you need a patch for other Isaac Sim versions, please open an issue.
- For other package version issues, please refer to the bug reports.
Docker Container issue
Bug reports:
Solution:
- Run the following command immediately after starting a
nvcr.io/nvidia/isaac-sim:2022.2.1
container:rm /etc/vulkan/icd.d/nvidia_icd.json
Docker Container with Display
Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
The original docker command is:
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
-e "PRIVACY_CONSENT=Y" \
-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
-v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
-v ~/docker/isaac-sim/documents:/root/Documents:rw \
nvcr.io/nvidia/isaac-sim:2023.1.1
The modified docker command with display is:
xhost +local:docker
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
-e "PRIVACY_CONSENT=Y" \
-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
-v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
-v ~/docker/isaac-sim/documents:/root/Documents:rw \
-v $(pwd):/workspace \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY=$DISPLAY \
nvcr.io/nvidia/isaac-sim:2023.1.1
and run /isaac-sim/runapp.sh
inside the container to start Isaac Sim.
Running on Omniverse Farm
Please refer to https://github.com/j3soon/omni-farm-isaac.
Minors
Bug reports:
Nucleus
Installation
Many users often forget to install Nucleus before running Isaac Sim examples.
Please follow the official installation instructions carefully.
Or follow our installation guide below:
-
Open Omniverse Launcher, go to the
Nucleus
tab, and clickAdd Local Nucleus Service
. -
Use the default
DATA PATH
and clickNEXT
. -
Create a local admin account for Nucleus by filling out the form and click
COMPLETE SETUP
. -
Wait for the installation to finish.
-
Confirm that
Local Nucleus Service
is displayed instead of the originalAdd Local Nucleus Service
, indicating that the installation is successful. -
Launch Isaac Sim and click
Content > Omniverse > localhost
in the bottom tab. -
You should see a hint to login from your web browser.
-
A new tab should be opened in your web browser. Login with the account you created in step 3.
If you have trouble logging in, simply create a new account by clicking
Create Account
. -
After logging in, you should see the following page. You can close the tab now.
-
Go back to Isaac Sim and click
Content > Omniverse > localhost
again. You should see the built-in folders (Library
,NVIDIA
,Projects
,Users
).
Troubleshooting
In some cases, Nucleus may not be running properly. You can check the status of the Nucleus process by visiting the Settings
page of Nucleus:
-
Go to the Nucleus tab and click
Settings
. -
A new tab should be opened in your web browser. Visit the
Apps
tab and make sure that all Apps are currently running. If not, clickRestart all
to start them. If your disk is almost full, you may want to visit theCache
tab and clear the cache. -
Open Isaac Sim and click
Content > Omniverse > localhost
, Nucleus may ask you to login. After that, you should see the built-in folders (Library
,NVIDIA
,Projects
,Users
). -
As a side note, you may also need to re-login to the Omniverse Launcher after some time.
Isaac ROS
isaac_ros_common issue
Bug reports:
Solution:
- Change repo remote to https://github.com/j3soon/isaac_ros_common and reset to remote HEAD.
Jetson Board Setup
- Make sure to flash the supported Jetpack version: https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/hardware-setup.md.
- A large enough MicroSD Card seem to be able to replace the NVMe SSD card mentioned here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup_jetson.md.