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isaac_hsr's Introduction

isaac_hsr

Requirements

  • OS: Ubuntu 18.04 or 20.04

Setup

Setting up Docker

curl https://get.docker.com | sh \
  && sudo systemctl --now enable docker

If you input the following command, even regular users will be able to execute the docker command.

sudo usermod -aG docker $USER

For more information, see.

Setting up Docker Compose

sudo curl -L "https://github.com/docker/compose/releases/download/1.29.2/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
sudo chmod +x /usr/local/bin/docker-compose
sudo ln -s /usr/local/bin/docker-compose /usr/bin/docker-compose

For more information, see.

Setting up NVIDIA Container Toolkit

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
   && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
   && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update
sudo apt-get install -y nvidia-docker2

For more information, see.

Login into NGC

Follow the steps in Generate Your NGC API Key.

docker login nvcr.io

For more information, see.

Usage

Please input the following commands to clone this repository.

git clone https://github.com/matsuolab/isaac_hsr.git
cd isaac_hsr

Starting the simulator

Please input the following command and start the simulator (it takes a minutes to launch).

docker-compose up

isaac_hsr's People

Contributors

m12watanabe1a avatar

Stargazers

tkp153 avatar yhashi91 avatar avatar Yusuke Mizoguchi avatar Yutaka Kondo avatar Kazuki MIyazawa avatar naruya avatar kokhayas avatar TatsuyaAoki avatar avatar arima avatar avatar Tatsuya Matsushima avatar

Watchers

Kaoru Nasuno avatar avatar Nisei Kimura avatar Ryo Okada avatar avatar Matsuo Lab avatar Yuya Soneoka avatar Yoshimaru Tanaka avatar Makoto Kawano avatar Yusuke Iwasawa avatar Abhishek Kashyap avatar masa-su avatar Tatsuya Matsushima avatar avatar amrta avatar Tatsuya Kamijo avatar

Forkers

kokhayas arata makolon

isaac_hsr's Issues

Dockerでのusdファイルの起動 

docker-compose up

を入力後，しばらく待つとIsaacが起動します．

isaac-launch

その後

/isaac_hsr/usd/hsr_empty_world.usd

を開くと

open-usd

HSRのモデルがスポーンします．

isaac

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