ailab-isaac-sim-pick-place's Introduction

isaac-sim-pick-place

Environment Setup

1. Download Isaac Sim

Dependency check
- Ubuntu
  - Recommanded: 20.04 / 22.04
  - Tested on: 20.04
- NVIDIA Driver version
  - Recommanded: 525.60.11
  - Minimum: 510.73.05
  - Tested on: 510.108.03 /
Download Omniverse
Workstation Setup
Python Environment Installation

2. Conda Enviroment Setup

Create env create

conda env create -f environment.yml
conda activate isaac-sim

Setup environment variables so that Isaac Sim python packages are located correctly
```
source setup_conda_env.sh
```
Install requirment pakages
```
pip install -r requirements.txt
```

3. YCB object Dataset Download

You can get ycb dataset in MAT
```
/ailab_mat/dataset/ycb_usd
```

Run Pick and Place

## change directories of usd files, and ggcnn pth file ##
python isaac-sim-pick-place/ur5e_pick_place.py

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