Isaac Extended

Some examples, notes, and patches not yet included in the latest Isaac release.

The description of each Isaac components can be found in the j3soon/nvidia-isaac-summary repo.

Set up

git clone https://github.com/j3soon/isaac-extended.git
cd isaac-extended

The following will assume you have cloned the directory and cd into it:

Isaac Sim

Conda issue on Linux

Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#advanced-running-with-anaconda

Bug reports:

• #3752249

Solutions:

• Isaac Sim 2022.1.1

  export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.1.1"
  cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak
  cp ./isaac_sim-2022.1.1-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh

• Isaac Sim 2022.2.0

  export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.2.0"
  cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak
  cp ./isaac_sim-2022.2.0-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh

• Isaac Sim 2022.2.1

  export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.2.1"
  cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak
  cp ./isaac_sim-2022.2.1-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh

• Isaac Sim 2023.1.0

  export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2023.1.0"
  cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak
  cp ./isaac_sim-2023.1.0-patch/linux/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh

Conda issue on Windows

Bug reports:

• #3837533
• #3837573
• #3837658

Solutions:

• Isaac Sim 2022.1.1

  set ISAAC_SIM="%LOCALAPPDATA%\ov\pkg\isaac_sim-2022.1.1"
  copy .\isaac_sim-2022.1.1-patch\windows\setup_conda_env.bat %ISAAC_SIM%\setup_conda_env.bat

  and make sure to run the following after activating the conda environment:

  call setup_conda_env.bat

• If you need a patch for other Isaac Sim versions, please open an issue.
• For other package version issues, please refer to the bug reports.

Docker Container issue

Bug reports:

• #4063971

Solution:

• Run the following command immediately after starting a nvcr.io/nvidia/isaac-sim:2022.2.1 container:

  rm /etc/vulkan/icd.d/nvidia_icd.json

Docker Container with Display

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

The original docker command is:

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
  -e "PRIVACY_CONSENT=Y" \
  -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 \
  nvcr.io/nvidia/isaac-sim:2023.1.1

The modified docker command with display is:

xhost +local:docker
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
  -e "PRIVACY_CONSENT=Y" \
  -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 \
  -v $(pwd):/workspace \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -e DISPLAY=$DISPLAY \
  nvcr.io/nvidia/isaac-sim:2023.1.1

and run /isaac-sim/runapp.sh inside the container to start Isaac Sim.

Running on Omniverse Farm

Please refer to https://github.com/j3soon/omni-farm-isaac.

Minors

Bug reports:

• #4035662

Nucleus

Installation

Many users often forget to install Nucleus before running Isaac Sim examples.

Please follow the official installation instructions carefully.

Or follow our installation guide below:

1. Open Omniverse Launcher, go to the Nucleus tab, and click Add Local Nucleus Service.

   

2. Use the default DATA PATH and click NEXT.

   

3. Create a local admin account for Nucleus by filling out the form and click COMPLETE SETUP.

   

4. Wait for the installation to finish.

   

5. Confirm that Local Nucleus Service is displayed instead of the original Add Local Nucleus Service, indicating that the installation is successful.

   

6. Launch Isaac Sim and click Content > Omniverse > localhost in the bottom tab.

   

7. You should see a hint to login from your web browser.

   

8. A new tab should be opened in your web browser. Login with the account you created in step 3.

   

   If you have trouble logging in, simply create a new account by clicking Create Account.

   

9. After logging in, you should see the following page. You can close the tab now.

   

10. Go back to Isaac Sim and click Content > Omniverse > localhost again. You should see the built-in folders (Library, NVIDIA, Projects, Users).

    

Troubleshooting

In some cases, Nucleus may not be running properly. You can check the status of the Nucleus process by visiting the Settings page of Nucleus:

1. Go to the Nucleus tab and click Settings.

   

2. A new tab should be opened in your web browser. Visit the Apps tab and make sure that all Apps are currently running. If not, click Restart all to start them. If your disk is almost full, you may want to visit the Cache tab and clear the cache.

   

3. Open Isaac Sim and click Content > Omniverse > localhost, Nucleus may ask you to login. After that, you should see the built-in folders (Library, NVIDIA, Projects, Users).

   

4. As a side note, you may also need to re-login to the Omniverse Launcher after some time.

   

Isaac ROS

isaac_ros_common issue

Bug reports:

• #4113333

Solution:

• Change repo remote to https://github.com/j3soon/isaac_ros_common and reset to remote HEAD.

Jetson Board Setup

• Make sure to flash the supported Jetpack version: https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/hardware-setup.md.
• A large enough MicroSD Card seem to be able to replace the NVMe SSD card mentioned here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup_jetson.md.