02_quickstart.md

Run it

Please review this tutorial if you need to install ign-omni.

Run Ignition

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

Run IsaacSim

If not already done so, install nvidia omniverse, isaac sim and omniverse nucleus, for more information, see https://www.nvidia.com/en-us/omniverse/.

(Optional) Create ignition user in nucleus

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

Run the connector

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.