GettingStarted

Getting started:

In this page we'll explore how you can start a simulation! Before we get into how we launch a simulation, let's briefly see how configurations are managed. Our simulation uses hydra to manage the configuration of the differement simulation element.

Tip

Learn more about hydra here!

Our base config is organized around 4 main files:

• environment: Defines everything that deals with the environment to be simulated.
• mode: Defines what mode should be use, ROS1, ROS2, or synthetic data generation.
• rendering: Defines everything that relates to the rendering.
• physics: Defines everything that relates to the physics engine.

Example commands

Caution

The following assumes you are running ROS2/SpaceROS. While the code has ROS1 compatibility, we do not provide base configs or robots for ROS1.

Important

If you are using docker, first run the container by using:

./omnilrs.docker/run_docker.sh

Important

If you are using the native installation, make sure ROS2 is sourced before running the simulation.

You can then run the commands inside the docker, as if you were using the native installation. To run isaac prefix python.sh by /isaac-sim/ in docker, and ~/.local/share/ov/pkg/isaac_sim-2023.1.1/ in the native installation. Before

Run your first scene using:

python.sh run.py

This will launch a lunalab environment with ROS2 and ray_traced rendering.

You can run the lunaryard by using:

python.sh run.py environment=lunaryard_20m

You can run the largescale environment by using:

python.sh run.py environment=largescale

Tip

To learn more about how to run scenes please refere to the Wiki here!

More examples

Deformable lunalab:

python.sh run.py environment=lunalab_deformable

Deformable lunaryard:

python.sh run.py environment=lunaryard_20m_deformable

Larger lunaryard:

python.sh run.py environment=lunaryard_40m