Isaac Sim 2023.01 / Go2-Omiverse 테스트 진행

Isaac Sim 2023.01 Docker 매뉴얼 작성

1. Dockerfile

# termianl - 작업 경로
touch Dockerfile.2023.1.0-ubuntu22.04

해당 파일에 복사

• https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/main/Dockerfile.2023.1.0-ubuntu22.04

2. Docker 실행

# termial
xhost +

# 도커 실행
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --network=host \
  -e "PRIVACY_CONSENT=Y" \
  -v $HOME/.Xauthority:/root/.Xauthority \
  -e DISPLAY \
  -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 \
  isaac-sim:2023.1.0-ubuntu22.04


xhost +

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --network=host \
  -e "PRIVACY_CONSENT=Y" \
  -e DISPLAY \
  -e ISAACSIM_PATH=/root/.local/share/ov/pkg/isaac-sim-2023.1.1 \
  -v $HOME/.Xauthority:/root/.Xauthority \
  -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 /home/yeonsoo/.local/share/ov/pkg/isaac-sim-2023.1.1:/root/.local/share/ov/pkg/isaac-sim-2023.1.1:rw \
  -v ~/docker/isaac-sim/documents:/root/Documents:rw \
  isaac-sim:2023.1.0-ubuntu22.04

3. ROS2 Humble 설치

   # ros2 설치
   apt update && apt install curl -y
   curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
   apt update
   apt upgrade -y
   apt install ros-humble-desktop -y   / asia - 6 & seoul 69
   apt install -y python3-rosdep python3-colcon-common-extensions
   
   # 테스트
   source /opt/ros/humble/setup.bash  
   ros2 run demo\_nodes\_cpp talker
   
   # 테스트 - 새로운 터미널 + docker exec -it isaas-sim /bin/bash
   source /opt/ros/humble/setup.bash  
   ros2 run demo\_nodes\_py listener
   

4. Go2 Omiverse 패키지

   
    # git 설치
   
    apt install git -y
   
    # Repository 클론
   
    git clone [https://github.com/abizovnuralem/go2\_omniverse.git](https://github.com/abizovnuralem/go2_omniverse.git)
   

Orbit 환경 구성

# 1\. 환경 변수 설정

echo 'export ISAACSIM\_PATH="/isaac-sim"' >> ~/.bashrc  
echo 'export ISAACSIM\_PYTHON\_EXE="${ISAACSIM_PATH}/python.sh"' >> ~/.bashrc  
source ~/.bashrc

# 2\. Orbit Repo 클론 및 심볼릭 링크 생성

    git clone --branch v0.3.1 [https://github.com/isaac-sim/IsaacLab.git](https://github.com/isaac-sim/IsaacLab.git) IsaacLab-0.3.1

    cd IsaacLab-0.3.1  
    ln -s ${ISAACSIM\_PATH} \_isaac\_sim

# 3\. Conda 설치

apt install wget -y

wget [https://repo.anaconda.com/miniconda/Miniconda3-py310\_23.3.1-0-Linux-x86\_64.sh](https://repo.anaconda.com/miniconda/Miniconda3-py310_23.3.1-0-Linux-x86_64.sh) -O Miniconda3-py310-Linux-x86\_64.sh

bash Miniconda3-py310-Linux-x86\_64.sh -b -p /root/miniconda

export PATH="/root/miniconda/bin:$PATH"

source /root/miniconda/etc/profile.d/conda.sh

conda --version

# 4\. Orbit 환경 설정 -> # 다시 진행해보는 중

apt install git -y  
git clone --branch v0.3.1 [https://github.com/isaac-sim/IsaacLab.git](https://github.com/isaac-sim/IsaacLab.git) IsaacLab-0.3.1

cd /isaac-sim/IsaacLab-0.3.1  
ln -s /root/.local/share/ov/pkg/isaac-sim-2023.1.1 \_isaac\_sim

export ISAACSIM\_PATH="/root/.local/share/ov/pkg/isaac-sim-2023.1.1"  
export ISAACSIM\_PYTHON\_EXE="${ISAACSIM_PATH}/python.sh"

./orbit.sh --conda

# 삭제

conda env remove -n orbit

rm -rf /root/miniconda/envs/orbit

conda activate orbit

./orbit.sh --install

./orbit.sh --extra rsl\_rl

cd isaac-sim  
git clone [https://github.com/abizovnuralem/go2\_omniverse/](https://github.com/abizovnuralem/go2_omniverse/) --recurse-submodules -j8 --depth=1

mkdir -p /isaac-sim/IsaacLab-0.3.1/source/data/sensors/lidar

cp /isaac-sim/go2\_omniverse/Isaac\_sim/Unitree/Unitree\_L1.json /isaac-sim/IsaacLab-0.3.1/source/data/sensors/lidar/Unitree\_L1.json

mkdir -p /isaac-sim/IsaacLab-0.3.1/source/data/material\_files

cp -r /root/.local/share/ov/pkg/isaac-sim-2023.1.1/data/material\_files/\* /isaac-sim/IsaacLab-0.3.1/source/data/material\_files/

# 5.  시뮬레이션 실행  
conda deactivate

sudo rosdep init  
rosdep update

./run\_sim.sh

## 에러 발생 - 25.02.11
- ModuleNotFoundError: No module named 'omni.usd' 해결해야함

omni kit -> 주석 처리
#"omni.kit.livestream.native" = {version = "2.4.0", exact = true}
#"omni.kit.streamsdk.plugins" = {version = "2.5.2", exact = true}

"semantics.schema.property" = {}

```

Reference

https://github.com/abizovnuralem/go2_omniverse?tab=readme-ov-file
https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles
https://github.com/abizovnuralem/go2_omniverse/issues/30