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https://github.com/j3soon/isaac-extended

Some examples, notes, and patches not yet included in the latest Isaac release.
https://github.com/j3soon/isaac-extended

examples isaac isaac-ros isaac-sim nvidia omniverse ros ros2 samples

Last synced: 15 days ago
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Some examples, notes, and patches not yet included in the latest Isaac release.

Host: GitHub
URL: https://github.com/j3soon/isaac-extended
Owner: j3soon
Created: 2023-05-11T10:32:18.000Z (over 1 year ago)
Default Branch: master
Last Pushed: 2024-07-18T06:03:27.000Z (5 months ago)
Last Synced: 2024-07-18T07:57:08.312Z (5 months ago)
Topics: examples, isaac, isaac-ros, isaac-sim, nvidia, omniverse, ros, ros2, samples
Language: Shell
Homepage:
Size: 3.9 MB
Stars: 5
Watchers: 1
Forks: 2
Open Issues: 0
Metadata Files:
- Readme: README.md

Awesome Lists containing this project

README

# 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](https://github.com/j3soon/nvidia-isaac-summary) repo.

## Set up

```sh
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

Reference:

Bug reports:

- [#3752249](https://github.com/j3soon/nvbugs/blob/master/3752249.md)

Solutions:

- Isaac Sim 2022.1.1
```sh
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 $ISAAC_SIM/setup_python_env.sh
```
- Isaac Sim 2022.2.0
```sh
export ISAAC_SIM="$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 $ISAAC_SIM/setup_python_env.sh
```
- Isaac Sim 2022.2.1
```sh
export ISAAC_SIM="$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 $ISAAC_SIM/setup_python_env.sh
```
- Isaac Sim 2023.1.0
```sh
export ISAAC_SIM="$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 $ISAAC_SIM/setup_python_env.sh
```
- Isaac Sim 2023.1.1
```sh
export ISAAC_SIM="$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 $ISAAC_SIM/setup_python_env.sh
```
- Isaac Sim 4.0.0
```sh
export ISAAC_SIM="$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:

- [#3837533](https://github.com/j3soon/nvbugs/blob/master/3837533.md)
- [#3837573](https://github.com/j3soon/nvbugs/blob/master/3837573.md)
- [#3837658](https://github.com/j3soon/nvbugs/blob/master/3837658.md)

Solutions:

- Isaac Sim 2022.1.1
```sh
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
```
and make sure to run the following after activating the conda environment:
```sh
call setup_conda_env.bat
```
- If you need a patch for other Isaac Sim versions, please [open an issue](https://github.com/j3soon/isaac-extended/issues).
- For other package version issues, please refer to the bug reports.

### Docker Container issue

Bug reports:

- [#4063971](https://github.com/j3soon/nvbugs/blob/master/4063971.md)

Solution:

- Run the following command immediately after starting a `nvcr.io/nvidia/isaac-sim:2022.2.1` container:
```sh
rm /etc/vulkan/icd.d/nvidia_icd.json
```

### Docker Container with Display

Reference:

The original docker command is:

```sh
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:

```sh
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 .

### Minors

Bug reports:

- [#4035662](https://github.com/j3soon/nvbugs/blob/master/4035662.md)

## Nucleus

### Installation

Many users often forget to install Nucleus before running Isaac Sim examples.

Please follow [the official installation instructions](https://docs.omniverse.nvidia.com/nucleus/latest/workstation/installation.html#install-using-omniverse-launcher) carefully.

Or follow our installation guide below:

1. Open Omniverse Launcher, go to the `Nucleus` tab, and click `Add Local Nucleus Service`.

![](./docs/images/nucleus/01-nucleus-not-installed.png)

2. Use the default `DATA PATH` and click `NEXT`.

![](./docs/images/nucleus/02-nucleus-add-service.png)

3. Create a local admin account for Nucleus by filling out the form and click `COMPLETE SETUP`.

![](./docs/images/nucleus/03-nucleus-create-admin-account.png)

4. Wait for the installation to finish.

![](./docs/images/nucleus/04-nucleus-installing.png)

5. Confirm that `Local Nucleus Service` is displayed instead of the original `Add Local Nucleus Service`, indicating that the installation is successful.

![](./docs/images/nucleus/05-nucleus-installed.png)

6. Launch Isaac Sim and click `Content > Omniverse > localhost` in the bottom tab.

![](./docs/images/nucleus/06-isaac-sim.png)

7. You should see a hint to login from your web browser.

![](./docs/images/nucleus/07-isaac-sim-login-required.png)

8. A new tab should be opened in your web browser. Login with the account you created in step 3.

![](./docs/images/nucleus/08-web-login.png)

If you have trouble logging in, simply create a new account by clicking `Create Account`.

![](./docs/images/nucleus/09-web-create-user.png)

9. After logging in, you should see the following page. You can close the tab now.

![](./docs/images/nucleus/10-web-logged-in.png)

10. Go back to Isaac Sim and click `Content > Omniverse > localhost` again. You should see the built-in folders (`Library`, `NVIDIA`, `Projects`, `Users`).

![](./docs/images/nucleus/11-isaac-sim-nucleus.png)

### 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:

1. Go to the Nucleus tab and click `Settings`.

![](./docs/images/nucleus-troubleshooting/02-nucleus-settings.png)

2. 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, click `Restart all` to start them. If your disk is almost full, you may want to visit the `Cache` tab and clear the cache.

![](./docs/images/nucleus-troubleshooting/03-nucleus-web-settings.png)

3. 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`).

![](./docs/images/nucleus/11-isaac-sim-nucleus.png)

4. As a side note, you may also need to re-login to the Omniverse Launcher after some time.

![](./docs/images/nucleus-troubleshooting/01-omniverse-launcher-login.png)

## Isaac ROS

### isaac_ros_common issue

Bug reports:

- [#4113333](https://github.com/j3soon/nvbugs/blob/master/4113333.md)

Solution:

- Change repo remote to and reset to remote HEAD.

### Jetson Board Setup

- Make sure to flash the supported Jetpack version: .
- A large enough MicroSD Card seem to be able to replace the NVMe SSD card mentioned here: .