Isaac sim script

omniverse_scripts/README.md

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+# Explanation of the start_isaac_sim file to open and play Isaac Sim examples
+
+```
+alias omni_python='~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh'
+omni_python start_isaac_sim_visual_slam.py 
+```
+
+#### **Parameters Explained**
+
+| Parameter           | Default                                                                                                        | Description                                                                                                                                                                                                |
+|---------------------|------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| `scenario_path`        | */Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd*| Path of the scenario to launch relative to the nucleus server base path. Scenario must contain a carter robot.|
+| `environment_prim_path` | */World/WareHouse* | Path to the world to create a navigation mesh.|
+| `tick_rate_hz` | *20* | The rate (in hz) that we step the simulation at.|

omniverse_scripts/start_isaac_sim_visual_slam.py

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+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import argparse
+import os
+import random
+import time
+
+import omni
+
+ADDITIONAL_EXTENSIONS_BASE = ['omni.isaac.ros2_bridge-humble']
+
+
+def enable_extensions_for_sim():
+    """
+    Enable the required extensions for the simulation.
+
+    """
+    from omni.isaac.core.utils.extensions import enable_extension
+    add_exten = ADDITIONAL_EXTENSIONS_BASE
+    for idx in range(len(add_exten)):
+        enable_extension(add_exten[idx])
+
+
+def setting_camera():
+    """
+    camera setting 
+
+    """
+    from pxr import Sdf, Gf
+    import omni.kit.commands
+    print('Setting camera')
+    omni.kit.commands.execute(
+    "ChangeProperty", prop_path=Sdf.Path(
+        f"/World/Carter_ROS/ROS_Cameras/enable_camera_right.inputs:condition"),
+    value=True, prev=None)
+    omni.kit.commands.execute(
+    "ChangeProperty", prop_path=Sdf.Path(
+        f"/World/Carter_ROS/ROS_Cameras/ros2_create_camera_right_info.inputs:stereoOffset"),
+    value=Gf.Vec2f([-175.92, 0.0]), prev=None)
+
+    print('finish setting camera.')
+
+
+def main(scenario_path: str,
+         environment_prim_path: str,
+         tick_rate_hz: float = 20.0):
+
+    # Start up the simulator
+    from omni.isaac.kit import SimulationApp
+    simulation_app = SimulationApp({
+        'renderer': 'RayTracedLighting',
+        'headless': False 
+    })
+
+    import omni.kit.commands
+    from omni.isaac.core import SimulationContext
+    from omni.isaac.core.utils.nucleus import get_assets_root_path
+
+    # Enables the simulation extensions
+    enable_extensions_for_sim()
+
+    assets_root_path = get_assets_root_path()
+    if assets_root_path is None:
+        print(
+            'Could not find Isaac Sim assets folder. Make sure you have an up to date local \
+             Nucleus server or that you have a proper connection to the internet.'
+        )
+        simulation_app.close()
+        exit()
+
+    usd_path = assets_root_path + scenario_path
+    print(f'Opening stage {usd_path}...')
+
+    # Load the stage
+    omni.usd.get_context().open_stage(usd_path, None)
+
+    # Wait two frames so that stage starts loading
+    simulation_app.update()
+    simulation_app.update()
+
+    print('Loading stage...')
+    from omni.isaac.core.utils.stage import is_stage_loading
+
+    while is_stage_loading():
+        simulation_app.update()
+    print('Loading Complete')
+
+    setting_camera()
+    time_dt = 1.0 / tick_rate_hz
+    print(f'Running sim at {tick_rate_hz} Hz, with dt of {time_dt}')
+    # Run physics at 60 Hz and render time at the set frequency to see the sim as real time
+    simulation_context = SimulationContext(stage_units_in_meters=1.0,
+                                           physics_dt=1.0 / 60,
+                                           rendering_dt=time_dt)
+
+    simulation_context.play()
+    simulation_context.step()
+
+    # Simulate for a few seconds to warm up sim and let everything settle
+    for _ in range(2*round(tick_rate_hz)):
+        simulation_context.step()
+
+    # Run the sim
+    last_frame_time = time.monotonic()
+    while simulation_app.is_running():
+        simulation_context.step()
+        current_frame_time = time.monotonic()
+        if current_frame_time - last_frame_time < time_dt:
+            time.sleep(time_dt - (current_frame_time - last_frame_time))
+        last_frame_time = time.monotonic()
+
+    simulation_context.stop()
+    simulation_app.close()
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        description='Sample app for running Carter in a Warehouse for NVblox.')
+    parser.add_argument(
+        '--scenario_path',
+        help='Path of the scenario to launch relative to the nucleus server '
+        'base path. Scenario must contain a carter robot. If the scene '
+        'contains animated humans, the script expects to find them under /World/Humans. '
+        'Example scenarios are /Isaac/Samples/NvBlox/carter_warehouse_navigation_with_people.usd '
+        'or /Isaac/Samples/NvBlox/carter_warehouse_navigation.usd',
+        default='/Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd')
+    parser.add_argument('--environment_prim_path',
+                        default='/World/WareHouse',
+                        help='Path to the world to create a navigation mesh.')
+    parser.add_argument(
+        '--tick_rate_hz',
+        type=int,
+        help='The rate (in hz) that we step the simulation at.',
+        default=20)
+    # This allows for IsaacSim options to be passed on the SimulationApp.
+    args, unknown = parser.parse_known_args()
+
+    main(args.scenario_path, args.environment_prim_path,
+         args.tick_rate_hz)