ExportingToSimulators.md

Exporting an Indoors Scene for Robotics Simulation in NVIDIA IsaacSim

This documentation details how to run a robotics simulation in an exported Infinigen scene using NVIDIA IsaacSim. For more information on scene generation or export, refer to Hello Room or Exporting to External File Formats.

⚠️ Exported scenes can be imported to any simulator that supports .usd files. However, we have only extensively tested simulator import on Indoor scenes using IsaacSim, so quality is not guaranteed for Infinigen Nature scenes and/or other simulators.

First, create and export a scene with the commands below:

python -m infinigen_examples.generate_indoors --seed 0 --task coarse --output_folder outputs/indoors/coarse -g overhead_singleroom.gin -p compose_indoors.terrain_enabled=False  restrict_solving.solve_max_rooms=1 

python -m infinigen.tools.export --input_folder outputs/indoors/coarse --output_folder outputs/my_export -f usdc -r 1024 --omniverse

Download IsaacSim from NVIDIA Omniverse and set up an IsaacSim conda environment by running the following commands in your IsaacSim Directory (typically ~/.local/share/ov/pkg/isaac_sim-2023.1.1)

conda env create -f environment.yml
conda activate isaac-sim
source setup_conda_env.sh

Import scene and run a simulation

python {PATH_TO/isaac_sim.py} --scene-path outputs/my_export/export_scene.blend/export_scene.usdc --json-path outputs/my_export/export_scene.blend/solve_state.json 

⚠️ Physical properties are applied based on object relations specified in solve_state.json. Scenes can be imported without a solve_state.json, but all objects will be static colliders.