This repository contains a collection of python wrappers for NVIDIA Omniverse Isaac-Sim simulations. grasp package simulates a planar grasp execution of a Panda arm in a scene with various rigid objects place in a bin.
This repository requires installation of NVIDIA Omniverse Isaac-Sim. A comprehensive setup tutorial is provided in the official NVIDIA Omniverse Isaac-Sim documentation. Following installation of Isaac-Sim, a conda environment must also be created that contains all the required packages for the python wrappers. Another comprehensive conda environment setup tutorial is provided in this link.
ffmpeg-python must be installed within the isaac-sim conda environment and can be aquired via a typical pip install:
conda activate isaac-sim
pip install ffmpeg-pythonLastly, clone the repository into the python-samples sub-directory within the isaac-sim directory.
git clone https://github.com/erasromani/isaac-sim-python.gitNavigate to the python-samples sub-directory within the isaac-sim directory, source environment variables, activate conda environment, and run simulate_grasp.py.
source setenv.sh
conda activate isaac-sim
cd isaac-sim-python
python simulate_grasp.py -P Isaac/Props/Flip_Stack/large_corner_bracket_physics.usd Isaac/Props/Flip_Stack/screw_95_physics.usd Isaac/Props/Flip_Stack/t_connector_physics.usd -l nucleus_server -p 40 0 5 -a 45 -n 5 -v sim.mp4The code above will simulate grasp execution of Panda arm in a scene with a bin and objects 5 randomly selected objects selected from the collection of usd files given. The specified grasp pose is a planar grasp with grasp position (40, 0, 5) and angle 5 degrees. A video of the simulation will be generated and saved as sim.mp4.