Isaac Sim + OmniGibson | 安装记录 (Ubuntu 20.04)

1. Omniverse

硬件配置要求

technical requirements

1.1 Omniverse download

https://www.nvidia.com/en-us/omniverse/

download sdk

1.2 Omniverse installation

https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html

sudo chmod +x omniverse-launcher-linux.AppImage
./omniverse-launcher-linux.AppImage

1.3 Omniverse Cache installation

Installing Omniverse Launcher

exchange->cache

选择 cache 2023.1.0

1.4 Nucleus installation

添加本地 Nucleus 服务, 设置管理员帐户

通过在浏览器连接系统监视器。验证所有服务是否正在运行：http://localhost:3080
或者点击settings

检查是否正常运行

2 Isaac Sim

2.1 Isaac sim installation

exchange -> isaac sim

第一个只能安装最新版本 isaac sim 4.0.0 isaac sim 4.0.0 release notes

选择最右侧isaac sim的入口，有全部历史版本，isaac sim 版本选择 2023.1.1

安装完成之后从Library进入, Launch.

第一次运行isaac sim时间会比较长，无需force quit

3. OmniGibson

3.1 install from source

https://behavior.stanford.edu/omnigibson/getting_started/installation.html#setup

git clone https://github.com/StanfordVL/OmniGibson.git
cd OmniGibson
./scripts/setup.sh

3.2 下载数据集

conda activate omnigibson
python scripts/download_datasets.py

3.3 测试场景共50个

3.4 测试远程操作机器人

python -m omnigibson.examples.scenes.scene_selector

Finish!

4. Troubleshooting

4.1 Cache off

isaac sim 右上角 cache显示 cache off

local nucleus cache 报错: cannot connect to system monitor backend

此时 cache选择的是最新版本 2023.2.3, 建议更改较低的版本试试，目前选择 2023.1.1

4.2 Failed to solve some dependencies locally...

安装omnigibson时包含以下报错：

Failed to solve some dependencies locally...

ModuleNotFoundError: No module named 'omni.kit.usd'

'trusted' is not set for registry 'kit/default' in '/exts/omni.kit.registry.nucleus/registries'

[omni.kit.app.plugin] Exiting app because of dependency solver failure...

原因是isaac sim版本不适配，最新的4.0.0不包含omni.kit.streamsdk.plugins' = { version='=2.5.2' }

建议切换至2023.1.1：在exchange搜索isaac sim之后从最右侧的入口下载历史版本。最左侧只有最新版4.0.0

4.3 Isaac Sim Compatibility Checker 报错