I’ve mostly been working with the Isaac Gym preview releases up until this point. I feel like I should move over at some point… Also how dope would it be if I didn’t need to constantly switch between windows and linux! Maybe we’ll do some performance comparisons at the end as well.

Getting Isaac Gym running with Isaac Sim

Install Omniverse
From Omniverse install Isaac Sim
Following these directions to get Isaac Gym software from repo and integrate
- Isaac Gym Tutorials
- https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs
- On My Desktop, the isaac_sim python executable was found at : C:\Users\Plutonium\AppData\Local\ov\pkg\isaac_sim-2023.1.1
- Save This Command : doskey PYTHON_PATH=C:\Users\Plutonium\AppData\Local\ov\pkg\isaac_sim-2023.1.1\python.bat $*

Extension Workflow (Didn’t work on windows):

OmniIsaacGymEnvs/docs/framework/extension_workflow.md at main · NVIDIA-Omniverse/OmniIsaacGymEnvs

Moving from URDF to USD files

Questions :

Can we do something similar to the OG Isaac where we used the isaac directory but only had our project files?
1. Copy the omniisaacggymenv to my github repo

PROBLEM :

isaac sim examples are all using premade usd files. I’m going to need to figure out what to do with the URDFs

SOLUTION :

PROBLEM :

Doesn’t seem so straight forward so far… My usd file ends up causing errors during the loading process

SOLUTION :

The articulation root assigned through the urdf importer was changed between isaac 2022 and 2023. This change was not reflected in the gym task code
After importing the URDF with the importing tool, open up the resulting usd file
Update the main prim name to Guarddog
Save the usd file
In the GuarddogTask class, update the prim_path_expr to
- prim_paths_expr="/World/envs/.*/Guarddog/Body", name="guarddog_view", reset_xform_properties=False

ANSWER :

yeah, it seems like we can use a similar organizational approach like how I was dealing with the original Isaac files.