StrideSim

StrideSim is a Nvidia Isaac Sim-based robot simulator, offering a realistic environment and compatibility with ROS2 for efficient robotics development. We are implementing a quadruped robot as our first target.

How to guide

You can find a how to guide on the wiki.

Directories

• app - It is a folder link to the location of your Omniverse Kit based app. When you clone this repository, there is no app folder.
• exts - It is a folder where you can add new extensions. It was automatically added to extension search path. (Extension Manager -> Gear Icon -> Extension Search Path).

Open this folder using Visual Studio Code. It will suggest you to install few extensions that will make python experience better.

App Link Setup

If app folder link doesn't exist or broken it can be created again. For better developer experience it is recommended to create a folder link named app to the Omniverse Kit app installed from Omniverse Launcher. Convenience script to use is included.

Run:

> ./link_app.sh

If successful you should see app folder link in the root of this repo.

If multiple Omniverse apps is installed script will select recommended one. Or you can explicitly pass an app:

> ./link_app.sh --path "/home/${USER}/.local/share/ov/pkg/${ISAAC_FOLDER}"

Set Environment Variables

Set environment variables to facilitate running Isaac Sim in the ~/.bashrc.

# ~/.bashrc
export ISAAC_FOLDER=isaac_sim-2022.2.1
# Isaac Sim root directory
export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/${ISAAC_FOLDER}"
# Isaac Sim python executable
alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh"
# Isaac Sim app
alias ISAACSIM="${ISAACSIM_PATH}/isaac-sim.sh"

Run Stride Simulator

After the installation, Look for the "stride.simulator" extension in the extension manager and enable it. Try applying changes to any Python files on your workspace. The simulator will hot-reload, and you can observe results immediately.

Alternatively, you can launch your app from the console with this folder added to the search path and your extension enabled, e.g.:

> app/isaac-sim.sh --ext-folder exts --enable stride.simulator

Run Linter

Install required packages.

$ python -m pip install --upgrade pip
$ pip install pylint
$ pylint --version
pylint 3.0.3

Run linter.

$ . run_pylint.sh

Acknowledge

We developed this project by referencing the code framework of the Pegasus simulator.

@misc{jacinto2023pegasus,
      title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation},
      author={Marcelo Jacinto and João Pinto and Jay Patrikar and John Keller and Rita Cunha and Sebastian Scherer and António Pascoal},
      year={2023},
      eprint={2307.05263},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

TODO

• Implement MVP of quadruped robot simulation until March 2024.