Please review this tutorial if you need to install ign-omni.
Run the shapes.sdf
world in Ignition Gazebo. This should run in a separate terminal using your normal Ignition Gazebo installation.
ign gazebo -v 4 shapes.sdf
If not already done so, install nvidia omniverse, isaac sim and omniverse nucleus, for more information, see https://www.nvidia.com/en-us/omniverse/.
When nucleus is first installed, it will prompt you to create a user. If the ignition user is not created at this time, it can be created later via the omniverse app.
Launch IsaacSim
and activate the live sync
Note: ignition-omni
will be built under src/ign-omni/_build
, this is because
it uses a custom build system by NVidia which is hard coded to put output in that directory.
In this case you need to source the special workspace that we have created
with the ign-omni-meta
repository.
In a new terminal
source ~/ign-omni/install/setup.bash
cd ~/ign-omni/src/ign-omni
bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/shapes.usd -w shapes --pose ignition
You may replace ignition
with any user registered in nucleus.
Open the shapes.usd
in Isaac Sim and optionally enable live sync.