Docker env for Isaacsim 4.5.0

Clone docker environment for issacsim

git clone --filter=blob:none --no-checkout https://github.com/tsuneka/isaacsim.git
cd isaacsim/
git sparse-checkout set docker_env
git checkout
ls # Ensure that a directory named docker_env exists.

You edit USERNAME in .env file. Name your username as you like.

Docker build and run

Build a docker environment to run isaacsim. I created the docker environment by referring to the following cite: https://zenn.dev/eochair/articles/isaacsim_tutorial
https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/index.html

cd docker_env/
sudo docker compose build gpu
sudo docker compose run -u <username> gpu

Create virtual environment for Issacsim

cd isaacsim/ 
# activate venv environment
source .venv/bin/activate 
# If not, install the following packages:
pip3 install requests
git clone https://github.com/tsuneka/isaacsim.git 

Execute sample code

cd isaacsim/src/
# This is the multi-munipulator example.
python send_sample.py 
# This is the mobile robot with lidar.
python sample_simulate.py