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4d_recorder_sim

Introduction

4D Recorder Simulator based on NVIDIA Isaac Sim.

USD Files

  • demo/ParticleInflatableDemo.usd

Getting Started

  1. Install NVIDIA Isaac Sim

    sudo apt update \
  && sudo apt install libfuse2

    • check IOMMU

      sudo dmesg | grep -e DMAR -e IOMMU

  2. Set the following environment variables to your ~/.bashrc file

    echo "export ISAACSIM_PATH='${HOME}/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1'" >> ~/.bashrc

  3. Install conda

  4. Create conda environment

    conda create -n sim python=3.10 \
  && conda activate sim \
  && cp -r conda_setup/etc $CONDA_PREFIX \
  && conda activate sim \
  && conda install tqdm \
  && pip install opencv-python

  5. Verification

    python -c "from omni.isaac.kit import SimulationApp" \
  && python -c "import torch; print(torch.__path__)"

    • output

      ['~/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch']

Build and Test (with the Isaac Sim path setup above)

Particle Inflatable Demo

  • Camera cylinder set
python scripts/cylinder_camera_set.py usd/demo/ParticleInflatableDemo.usd
  • Camera rectangle set
python scripts/rectangle_camera_set.py usd/demo/ParticleInflatableDemo.usd

Make dataset

  • Camera cylinder set
./scripts/make_dataset.sh  cylinder
  • Camera rectangle set
./scripts/make_dataset.sh  rectangle

Convert png to mp4

python scripts/convert_png_to_mp4.py data/isaac_sim/Collisiongroups_C9H3_661

Upload dataset

python scripts/upload_dataset.py isaac_sim Collisiongroups_C9H3_661