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Yanu simulator with isaac sim

Summary

This section is to be filled out by the project manager based on the summary document.

Company Yanu
Project Manager Project Manager
Project Team Kristjan Laht; Houman Masnavi
Challenge Tackled 3d model optimization;
Technology Used nvidia isaac robot simulator
Lessons Learned link explains well how sim and real are two very very different environments https://cfvod.kaltura.com//api_v3//index.php//service//attachment_attachmentAsset//action//serve//attachmentAssetId//1_0c9c81g7//ks//djJ8MjkzNTc3MXxEgkLwxL1prkl_vPyZp8uOVHRh4OkIyYSQh5bkF9LPXFHSVaogGkeoPYMNmtz8zYTxjMwFzeQRvofwuPSAJeCYNarZmBMSc0anFEnczRLLZqU7YWjx11mchibaSnYLoWpXwkvekMDI6kuLzZxNBEmsuBRfnlFpWSctMWo8_Xg-pTeLdbEe23LxDHXnwAi806BdanyAptcmZFr5ykD6PUPu
Result Published
Target Group
Diagrams/Photos
Video

Installation

  1. Follow the instructions here to get the isaac container.

  2. Get an interactive shell in the container:

    -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache/Kit: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:2022.2.1
  1. Start isaac sim with native livestream mode:
./runheadless.native.sh
  1. git clone this repo to ~/docker/isaac-sim/documents/Kit/apps/Isaac-Sim/scripts:
cd ~/docker/isaac-sim/documents/Kit/apps/Isaac-Sim/scripts
git clone https://github.com/KingBoomie/yanu-twin
cd yanu-twin

  1. start roscore source /opt/ros/noetic/setup.zsh && roscore

  2. in the container shell, run the script with the command:

source /opt/ros/noetic/setup.zsh && source ~/dev/yanu-workspace/devel/setup.zsh
./python.sh /root/Documents/Kit/apps/Isaac-Sim/scripts/yanu-twin/import_robot.py
  1. in shells 3,4 and 5, start the yanu nodes
source /opt/ros/noetic/setup.zsh && source ~/dev/yanu-workspace/devel/setup.zsh
roslaunch yanu_3_moveit_config demo.launch
source /opt/ros/noetic/setup.zsh && source ~/dev/yanu-workspace/devel/setup.zsh
rosrun robobar_engine yanu_docker_server
source /opt/ros/noetic/setup.zsh && source ~/dev/yanu-workspace/devel/setup.zsh
rosrun robobar_engine yanu_client