Issac sim and Omniverse Installation
If you're planning to install Isaac Sim, you've come to the right place!
Note: NVIDIA often updates their package names, application names, and the GUI. If you encounter any difficulties following this guide, it may be time to update this document. Feel free to make any necessary changes.
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Prior Knowledge about NVIDIA Omniverse
Omniverse is a platform designed for real-time collaboration across multiple GPUs. There are
too manysooooo many things we can do. It is very important and useful to comprehend an interactions of each components. For Isaac Sim, we utilize Omniverse (of course), Nucleus, Cache, and Isaac Sim itself.Nucleus serves as the collaboration database. It enables multiple users to connect across various applications simultaneously (note: the enterprise version is required for two or more collaborators).
Understanding USD (Universal Scene Description) is also vital. We highly recommend following one of these tutorials: tut_usd_tutorials or Getting Started with USD
The Omniverse Launcher facilitates easy management and updates of Omniverse apps. You can download it here or by searching for Omniverse SDK download. You will need to complete a registration form before downloading the Omniverse installer.
Creating an NVIDIA account is required. After agreeing to the licensing terms, you will gain access to the Omniverse Launcher.
Omniverse Cache is used for asset caching. To install it, open the Omniverse Launcher and click on EXCHANGE at the top bar. Search for 'cache' and proceed with the installation.
Verify your installation at http://localhost:3080/. If you see an interface similar to the image below, your installation has been successful.
Omniverse Nucleus serves as the database for downloading robot assets from NVIDIA. To install it, select NUCLEUS from the top bar in the Omniverse Launcher and then choose 'Add Local Nucleus Service'.
You will be prompted to set a data path and create an administrator account. This account information may differ from your NVIDIA account and is specifically used for NUCLEUS access.
Confirm your installation at http://localhost:34080/. If you find a NVIDIA directory at localhost/NVIDIA/, your installation has been successful.
To install it, open the Omniverse Launcher and click on EXCHANGE at the top bar. Search for 'sim' and proceed with the installation.
Note: If you aim to replicate previous work, it is strongly recommended to use the same version of Isaac Sim that was used in that work.
Be aware of the limitations when using Isaac Sim with Docker. To my knowledge, its primary constraint is related to running programs that require visualization. If you have insights or advice on this matter, please feel free to reach out to me at [email protected].
WIP Taisei