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