Isaacsim tutorial

Contributor: Chanyoung Ahn

IsaacSim tutorial is Isaacsim examples for KAIST RIRO Lab member or everyone.
I provide various examples for creating and manipulating customized assets/robots.

• Supplymentary files: Tutorial_DAY1 (KOR)

Requirement

To set a PYTHON_PATH variable in the terminal that links to the python executable, we can run a command that resembles the following. Make sure to update the paths to your local path.

# For Linux: 
alias PYTHON_PATH=~/.local/share/ov/pkg/isaac-sim-*/python.sh

# Install other package in isaacsim environment
PYTHON_PATH -m pip install ## 

• But, Please install other package in your virtual environment like conda.

Run Examples

# For Run:
PYTHON_PATH tutorials/[FOLDER_NAME]/[FILE_NAME].py

1DAY - Create Asset / Robot

• This tutorial explain HOW TO CREATE customized assets.
• We enable make various objects from your own cad files.

Example 1: Add and spawn your asset

# Spawn your asset
PYTHON_PATH tutorials/00_assets/spawn_scene.py

Example 2: Create your robot and get robot states

# Spawn your asset
PYTHON_PATH tutorials/01_robots/move_robot.py

TODO

Sensors

• Use wrist camera on robot arm

NVIDIA ORBIT > Isaac Lab

• How Add new task?
• Respawn deformed object using 'Soft_Object' class - (pcd spawn)
• Data collect from RGB-D camera(RGB, Depth, Point cloud..)

Acknowledgement

NVIDIA Isaac Sim is available freely under individual license. For more information about its license terms, please check here.

This tutorial package is released under MIT License.

Citation

@misc{coldyoung2024isaac-tutorial,
	author = {Chanyoung Ahn},
	title = {Isaacsim_tutorial},
	year = {2024},
}