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How is it work Isaac Sim with nanosaur?

In this guide we are going more in detail about this Simulator.

What is Isaac Sim?

NVIDIA Isaac Sim™ is a reference application built on NVIDIA Omniverse that enables developers to develop, simulate, and test AI-driven robots in physically-based virtual environments.

Isaac Sim
Isaac Sim

Learn more: NVIDIA Isaac Sim.

Requirements

Check the requirements for your computer to run Isaac Sim at the requirement page.

Start NVIDIA Isaac Sim

Isaac Sim can be run from a docker container or you can run native from your computer. The only command you need to start the simulator is:

nanosaur simulation start

Remember to setup your computer with nanosaur simulation set.

:warning: WARNING If is your first time you start Isaac Sim will require a while before the simulator start.

:memo: Note If you set nanosaur simulation headless to yes will be not activated any GUI.

GUI from docker container

After the simulation start you will see a new folder in nanosaur/isaac-sim-cache where all Isaac Sim cached will be stored. This folder will save you time for all next Isaac Sim restart!

user-home/
└── nanosaur/
    └── ...
    └── isaac-sim-cache
    └── nanosaur.yaml

If you work with Isaac Sim from docker, you need the external Streaming tool to visualize the simulator.

Jump to the download page and download the Streaming Client for your operative system.

:memo: Note By downloading or using the NVIDIA Isaac Sim WebRTC Streaming Client, you agree to the NVIDIA Isaac Sim WebRTC Streaming Client License Agreement.

Isaac Sim Streaming client download
Isaac Sim Streaming client download

Follow the installation steps:

  1. Extract the zip file
  2. In Terminal, run chmod +x *.AppImage to allow the app to be executable.
  3. Double-click the AppImage file to run Isaac Sim WebRTC Streaming Client.

:memo: Note libfuse2 is required to run on Ubuntu 22.04 or later. See Install FUSE 2.

At the end you will the Isaac Sim Streaming client coming up.

Just press Connect , you don’t need to change the default configuration.

Isaac Sim client
Isaac Sim client

After a while you will see the the User Interface coming up with a world.

Nanosaur on Streaming client
Nanosaur on Streaming client

Now you can open a new terminal and switch on the robot with:

nanosaur robot start

:warning: WARNING Every time you change the nanosaur configuration, you need to reboot the simulation.

GUI from host

If you selected the run from your host and Isaac Sim is properly installed you will see the User Interface coming up like the image below.

Isaac Sim from host
Isaac Sim from host

Now you can open a new terminal and switch on the robot with:

nanosaur robot start

:warning: WARNING Every time you change the nanosaur configuration, you need to reboot the simulation.

Updated: