#simulation #usd #omniverse

isaac_sim

Rust interface for Isaac Sim

2 unstable releases

0.2.0 Apr 28, 2024
0.1.0 Jan 9, 2024

#38 in Robotics

MIT/Apache

15KB
170 lines

isaac_sim_rs

crates.io Rust deps.rs codecov.io

Rust interface for NVIDIA Isaac Sim.

Status

This project is in early development and is not ready for production use. Not all of the Isaac Sim API is currently exposed.

Documentation and examples are currently lacking but will be the focus once the crates are more stable.

Overview

The workspace contains these packages:

Dependencies

The complete list of dependencies can be found within Dockerfile.

Instructions

Rust

First, specify the path to existing Isaac Sim and Omniverse Kit installation directories via the following environment variables.

export ISAAC_SIM_PATH=/path/to/isaac_sim
export CARB_APP_PATH="$ISAAC_SIM_PATH/kit"

Add isaac_sim as a Rust dependency to your Cargo.toml manifest.

[dependencies]
isaac_sim = { version = "0.2" }

Note that the first build might take up to 50 minutes because OpenUSD will be automatically downloaded and compiled with the vendored feature enabled. The artifacts will be cached in OUT_DIR and reused for subsequent builds.

Alternatively, you can specify the path to an existing OpenUSD installation directory via the following environment variable.

export OPENUSD_PATH=/path/to/pxr/openusd

It is highly recommended to use lld or mold linker because ld might currently fail.

Docker

To install Docker on your system, you can run .docker/host/install_docker.bash to configure Docker with NVIDIA GPU support.

.docker/host/install_docker.bash

By running the Docker container, you are implicitly agreeing to the NVIDIA Omniverse EULA. If you do not agree to this license agreement, do not use this container.

Build Image

In order to pull the base Isaac Sim image from the NGC registry, you must first create an account and generate an API key in order to authenticate with the registry.

docker login nvcr.io

To build a new Docker image from Dockerfile, you can run .docker/build.bash as shown below.

.docker/build.bash ${TAG:-latest} ${BUILD_ARGS}

Run Container

To run the Docker container, you can use .docker/run.bash as shown below.

.docker/run.bash ${TAG:-latest} ${CMD}

Run Dev Container

To run the Docker container in a development mode (source code mounted as a volume), you can use .docker/dev.bash as shown below.

.docker/dev.bash ${TAG:-latest} ${CMD}

As an alternative, VS Code users familiar with Dev Containers can modify the included .devcontainer/devcontainer.json to their needs. For convenience, .devcontainer/open.bash script is available to open this repository as a Dev Container in VS Code.

.devcontainer/open.bash

Join Container

To join a running Docker container from another terminal, you can use .docker/join.bash as shown below.

.docker/join.bash ${CMD:-bash}

Disclaimer

This project is not affiliated with NVIDIA Corporation.

License

This project is dual-licensed to be compatible with the Rust project, under either the MIT or Apache 2.0 licenses.

Contributing

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

Dependencies

~4–11MB
~206K SLoC