isaac-hrc

Human-Robot Collaboration in Isaac Sim

Installation

#------ Installation of Isaac Sim ------#
mkdir ~/isaacsim 
cd ~/Downloads 

# Download the Isaac Sim zip file (see: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html)
wget https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.2.0-rc.18%2Brelease.16044.3b2ed111.gl.linux-x86_64.release.zip

# Extract the downloaded zip file into the 'isaacsim' folder (see: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html)
unzip "[email protected]+release.16044.3b2ed111.gl.linux-x86_64.release.zip" -d ~/isaacsim 

#------ Cloning the GitHub Repo ------#
# Navigate into Isaac Sim's 'examples' extension directory
cd ~/isaacsim/exts/omni.isaac.examples/omni/isaac/examples/

# Remove existing 'user_examples' if present to prevent conflicts
rm -rf user_examples/

# Clone 'isaac-hrc' repo into the 'examples' directory
git clone https://github.com/fdcl-gwu/isaac-hrc.git

# Move the cloned 'user_examples' folder out of 'isaac-hrc' into the current 'examples' directory
mv ./isaac-hrc/user_examples/ ./user_examples

# Move the cloned 'human_cmd.txt' into the 'Downloads' folder
mv ./user_examples/human_cmd.txt ~/Downloads

#------ Running Isaac Sim ------#
cd ~/isaacsim
./isaac-sim.sh

Enable omni.anim.people, omni.flowusd, and omni.usd.schema Extensions

1. Open the Extension Manager from the menu bar: Window > Extensions.

2. In the Extension Manager, search for "people" and enable/autoload the omni.anim.people extension (ref).

3. Similarly, search for "flow" and enable/autoload the omni.flowusd, omni.flowusd.bundle, omni.flowusd.ui, and omni.usd.schema extensions (ref).

4. Load the People Simulation UI from Window > People Simulation.

Open the HRC Warehouse example

1. Go to the top menu bar and click Isaac Examples > HRC Warehouse.

2. Click Open Source Code to edit the scripts in Visual Studio Code.

• The human_robot_collaboration.py script is where the application's logic is addedand the application's UI elements are added in human_robot_collaboration_extension.py script and thus linked to the logic.

3. Click the LOAD button to load the World.

4. If needed, add objects to the scene through Isaac Assets(Beta).

Important: After modifying the scripts, press Ctrl+S for hot-reload, and then create a new empty stage via File > New From Stage Template > Empty and click Don’t Save.

Basic Usage of omni.flowusd Extension

1. Configure properties (e.g., size and smoke) of flow objects in flowEmitterSphere.

2. In case you need to turn on or off the flow object, toggle this activate/deactivate button:

Basic Usage of omni.anim.people Extension

1. In the People Simulation UI, click Command File Path and set the path to ~/Downloads/human_cmd.txt.

2. Click the Load Characters button to load the characters assets and animations, and then click Setup Characters button. Also, turn off the Navmesh Based Navigation setting.

3. Start simulation by clicking Play and click Setup Characters button again when you want to run a people simulation.

Tips: How to Create a Camera?

1. Select the character’s SkelRoot by holding down control and clicking on SkelRoot. Here, click Create button and add Camera.

2. If needed, Rename the camera such as human_camera.

3. With human_camera view, modify Translate and Orient to position the camera at the character’s head, facing forward.