42 lines
1.5 KiB
Bash
Executable File
42 lines
1.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Launch the Isaac Sim full GUI (no task, no policy) in the project's docker.
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# Use this to manually inspect USDs (e.g. drag the Go2 USD into the stage,
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# expand link tree, view collision meshes).
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#
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# Usage:
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# ./scripts/open_isaacsim_gui.sh
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#
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# To open the Go2 USD inside the GUI:
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# 1. File -> Open -> paste the URL printed below into the file picker
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# 2. Or drag it from the Content browser (left panel):
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# Robots/Unitree/Go2/go2.usd
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set -e
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REPO_ROOT="$(cd "$(dirname "$0")/.." && pwd)"
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xhost +local:root >/dev/null 2>&1 || xhost +local:docker >/dev/null 2>&1 || true
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cat <<EOF
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[host] DISPLAY=${DISPLAY:-:1}
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[host] Launching Isaac Sim GUI from sru-nav:latest ...
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To inspect the Go2 USD once GUI is up, look under the Content browser:
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omniverse://localhost/NVIDIA/Assets/Isaac/<ver>/Isaac/Robots/Unitree/Go2/go2.usd
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or via the cloud asset path used by IsaacLab:
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\$ISAACLAB_NUCLEUS_DIR/Robots/Unitree/Go2/go2.usd
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EOF
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docker run --rm --gpus all \
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-e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y \
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-e DISPLAY="${DISPLAY:-:1}" \
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-e PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True \
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--shm-size=16g --network host --ipc host \
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--ulimit memlock=-1 --ulimit stack=67108864 \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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-v "$HOME/.Xauthority:/root/.Xauthority:ro" \
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-v "$REPO_ROOT/outputs/logs:/workspace/IsaacLab/logs" \
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-v "$REPO_ROOT/mount/sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task" \
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--entrypoint bash sru-nav:latest -lc \
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"/isaac-sim/isaac-sim.sh"
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