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Isaac Sim Installation

We use Isaac Sim to train our models. NVIDIA Isaac Sim™, powered by Omniverse™, is a scalable robotics simulation application and synthetic data-generation tool that powers photorealistic, physically accurate virtual environments to develop, test, and manage AI-based robots.

Isaac Sim Setup

Setup AWS EC2 Instance

  • Go to us-east-1 region, as this image runs flawless in that region.
  • From the AWS Console, create a new EC2 Instance,
  • Next, go to the Application and OS Images (Amazon Machine Image) section and search for NVIDIA Omniverse.

AMI

  • Select the instance, the NVIDIA Omniverse recommends a g5dn.2xlarge, with 8-core and 32gb Memory.

Instance Selection

  • Create a new KeyPair

KeyPair

  • In the Network settings, click edit, and under the Inbound security groups rules, set the values as shown:

Network Inbound Rules

  • In the Configure storage section, set the Root volume size to 100GB or more.

  • and LAUNCH INSTANCE

Connect to EC2 Instance

  • Now that the Instance is Launched, click on connect.
  • On your desktop, go to the folder where the KeyPair created initially in downloaded, and make it executable by
    chmod 400 keypair.pem
  • In the same folder, open terminal and connect to the EC2 instace via SSH by
    ssh -i "keypair.pem" ubuntu@<dns>.compute-1.amazonaws.com
  • This will connect your terminal to the AWS ec2 instance.
  • Next, Pull the latest Isaac Sim container from the official NVIDIA AWS ECR Gallery by
    docker pull public.ecr.aws/l1t2k0k4/isaac-sim:2022.1.1

and run it

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
-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/config:/root/.nvidia-omniverse/config:rw \
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
-v ~/docker/isaac-sim/documents:/root/Documents:rw \
public.ecr.aws/l1t2k0k4/isaac-sim:2022.1.1
note

It is recommended to put the above docker run command into a bash file, making it easy to launch the next time. Follow the below steps

    touch isaac_sim_launch.bash
    nano isaac_sim_launch.bash

    docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
    -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/config:/root/.nvidia-omniverse/config:rw \
    -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
    -v ~/docker/isaac-sim/documents:/root/Documents:rw \
    public.ecr.aws/l1t2k0k4/isaac-sim:2022.1.1

then

    ./runheadless.native.sh

The docker image, once initiated will give you the following message:

Isaac Sim Headless Native App is loaded.

This message confirms that the docker image is up and running.

Setup Omniverse

Install launcher

  • Download the Omniverse Launcher. This will download omniverse-launcher-linux.AppImage, make it an executable by 
    chmod a+x /path/to/omniverse-launcher-linux.AppImage
  • Then install a few dependencies 
    sudo apt-get install fuse
  • Now launch the app
    cd /path/to/omniverse-launcher-linux.AppImage
    ./omniverse-launcher-linux.AppImage
  • This will first give a login screen, and then the app itself.

Omniverse Launcher

  • Under the Exchange tab, search and install OMNIVERSE STREAMING CLIENT.

Setup Client

  • Once installed click on launch, this will pop up a dialog box asking for Server Address and Resolution. The server address is the address to the machine that is running the SSH Client or to the AWS Instance.

Omniverse Stream Client

  • Click on Connect, and this will launch your Isaac Sim Instance

Isaam Sim Stream Client

Enabling ROS2 Bridge

In the streaming client, Go to 

Window > Extensions

and search for ROS

search for ros

and then enable ROS 2

Enable ROS 2

References

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