Hello Robot

This demo is a combination of Nvidia's core tutorials and Otonoma's paranet actorization. It uses Nvidia's tutorials to build a simulation with one Jetbot robot and expose 4 actorized skills:

Actorized Skills

1. forward - Makes the Jetbot move forward.
2. backward - Makes the Jetbot move backward.
3. stop - Stops the Jetbot.
4. getStatus - Retrieves the current status of the Jetbot.

Prerequisites:

Isaac-sim (compatible with 4.2, 4.5 or 5.0):

• Complete and understand Nvidia's hello world and hello robot tutorials.
• Make sure you can execute Nvidia's Isaac Sim's Python Environment

Otonoma:

• Complete the getting started tasks:

  • Download and install Guide
  • Ensure you can run para -V and get a version displayed.

• Install the Python Paranet SDK for Isaac-Sim:

  Installation Command:

  • Linux:

    cd ~/.local/share/ov/pkg/isaac-sim-<VERSION>/
    ./python.sh -m pip install paranet_agent

  • Windows:

    cd C:\Users\<YourUser>\.local\share\ov\pkg\isaac-sim-<VERSION>\
    python.bat -m pip install paranet_agent

 

Note: Or use the ISAACPY45 shortcut created in developer_tools/integration_guides/omniverse

Note: Replace <VERSION> with your Isaac Sim version (e.g., 4.2.0, 4.5.0, 5.0.0). Make sure to install the paranet_agent with your Isaac Sim version.

Note: Make sure to use the path to your Isaac Sim Python Environment.

Version Requirements:

• Python SDK: v2.0.2 or higher
• Para: v0.21.0 or higher

Setup:

1. Create and new folder and initialize with para init --template hello_robot.

2. Navigate to the root of the init'ed hello_robot directory.

   • Result should look like:

      hello_robot
      ├── actors
      │ └── jetbot.py
      ├── isaac_app.py
      ├── readme.md
      ├── simulation.py
      └── paranet.node.yaml

Running the Demo:

1. Run the following commands to build the Paranet Docker project:

   para docker deploy node

2. Observe the output to ensure the core Paranet services are online. This can also be monitored in the Docker extension.
3. Open the provided Paracord link from the terminal:
   • http://localhost:3023
   • This is where we will later trigger skills.
4. Open a terminal at the Isaac-sim installation directory and use Isaac Sim's Python Environment to execute isaac_app.py:
   • Linux:

     ~/.local/share/ov/pkg/isaac-sim-<VERSION>/isaac-sim.sh isaac_app.py

   • Windows:

     C:\Users\<YourUser\>.local\share\ov\pkg\isaac-sim-<VERSION>\isaac-sim.bat isaac_app.py 

Note: Replace <VERSION> with your Isaac Sim version and make sure to use the path to your Isaac Sim Python Environment.

You should see an Isaac Sim instance with a default ground and a Jetbot spawned.

5. In Paracord, navigate to the "Actor Hub" tab and find the "Jetbot" actor.
6. Test the 4 available skills:
   • forward
   • backward
   • stop
   • getStatus

Stopping the Demo:

1. Stop Isaac Sim by closing the application window
2. (Optional) Clean up Docker resources:

   para docker down

Common Issues:

Docker Network Error:

If you run para docker deploy node and get the following error:

failed to create network hello-robot-network: Error response from daemon: invalid pool request: Pool overlaps with other one on this address space
Failed to start paranet.

Run the following command to remove unused Docker objects:

docker system prune