Isaac[1] 是 NVIDIA 开放的机器人平台。其 Isaac SDK[2] 包括以下内容:
参考 Isaac SDK Doc[5]。
参考:
# 添加驱动源
sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt update -y
# 查看驱动
ubuntu-drivers devices
# driver : nvidia-driver-470 - distro non-free recommended
# 安装驱动 (470.57 or later)
sudo apt install -y nvidia-driver-470
# 重启
sudo reboot
# 确认版本
nvidia-smi
# 解压 Isaac SDK 2021.1
mkdir ~/Envs/isaac-sdk-2021.1
tar -xvf isaac-sdk-20210609-e336b5195.tar.xz -C ~/Envs/isaac-sdk-2021.1
# 安装依赖
cd ~/Envs/isaac-sdk-2021.1/engine
./engine/build/scripts/install_dependencies.sh
试下样例:
cd ~/Envs/isaac-sdk-2021.1/sdk
# 编译
bazel build //apps/samples/stereo_dummy
# 运行
bazel run //apps/samples/stereo_dummy
# 查看
xdg-open http://127.0.0.1:3000
准备好 Omniverse Launcher (Individual) 后,进行安装:
# 添加执行权限
sudo chmod +x omniverse-launcher-linux.AppImage
# 双击进行安装,最后会提示确认 Settings & Install Cache
具体过程,可见 Workstation Setup[13], Installing Launcher[14]。进一步,阅读 User Guide[15] 了解使用。
Nucleus Service 是 Omniverse 应用的数据库,并可多用户协作开发。
该服务于 Omniverse Launcher 的 Nucleus Tab 页,点 “+” 安装:
安装完成后,用之前注册的账号登录,会见到如下文件管理器:
Isaac Sim 是 Omniverse 平台上的机器人应用仿真工具包。
该应用于 Omniverse Launcher 的 Exchange Tab 页,搜 “isaac sim” 安装:
安装如果一直完成不了,取消后多试几次就行。
安装完成后,进 Library Tab 页,选择 Isaac Sim,点击 Launch 运行:
弹出如下选择框:
Start 后就可见到如下 Sim 界面:
菜单 Isaac Examples > Import Robots > Carter URDF > Load Robot,尝试加载样例,确认工作正常。
进一步,阅读 Isaac Sim Interface[16] 了解使用。
参考:
安装 VS Code[19],
sudo apt install -y ./code_*.deb
之后,于 Isaac Sim 界面,菜单 Window > Extensions 搜索 “vscode” 安装扩展:
ENABLED 打开后,可见 VS Code Link 面板。这时,再 Launch 打开选择框,于 Open in Terminal 里 code .
打开 VS Code:
进行 Debug 调试,选择 “Python: Attach (windows-x86_64/linux-x86_64) ” 运行:
如果弹出安装 Python 扩展:
就 Install 一下:
之后,在 hello_world.py
里打个断点。菜单 Isaac Examples > Hello World > Load World 即可进入断点,进行调试了:
有关支持,可见 VSCode Support[20]。
[1]Isaac: https://developer.nvidia.com/isaac
[2]Isaac SDK: https://developer.nvidia.com/isaac-sdk
[3]Isaac GEMs: https://developer.nvidia.com/isaac-ros
[4]Isaac Sim: https://developer.nvidia.com/isaac-sim
[5]Isaac SDK Doc: https://docs.nvidia.com/isaac/doc/index.html
[6]Ubuntu 18.04 LTS: https://releases.ubuntu.com/bionic/
[7]GPU (RTX 2070 or higher): https://developer.nvidia.com/cuda-gpus
[8]GPU Driver (470.57 or later): https://www.nvidia.com/Download/index.aspx
[9]Isaac SDK: https://developer.nvidia.com/isaac/downloads
[10]Omniverse: https://www.nvidia.com/en-us/omniverse/
[11]Isaac SDK Setup: https://docs.nvidia.com/isaac/doc/setup.html
[12]Isaac Sim Requirements: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/requirements.html
[13]Workstation Setup: https://docs.omniverse.nvidia.com/prod_install-guide/prod_install-guide/workstation.html
[14]Installing Launcher: https://docs.omniverse.nvidia.com/prod_install-guide/prod_launcher/installing_launcher.html
[15]User Guide: https://docs.omniverse.nvidia.com/prod_install-guide/prod_launcher/workstation-launcher.html
[16]Isaac Sim Interface: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_intro_interface.html#isaac-sim-app-tutorial-intro-interface
[17]Basic Isaac Sim Installation: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_basic.html
[18]Isaac Sim Built on Omniverse: https://docs.nvidia.com/isaac/doc/simulation/ovkit.html
[19]VS Code: https://code.visualstudio.com/Download
[20]VSCode Support: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_python.html#visual-studio-code-support
[21]Isaac SDK总览: https://zhuanlan.zhihu.com/p/110710116
[22]Isaac仿真平台搭建以及ROS试用教程: https://zhuanlan.zhihu.com/p/543745183
[23]Ubuntu18.04安装ISAAC SIM,亲测成功: https://zhuanlan.zhihu.com/p/397776698