Isaac SimとIsaac Lab入門：Docker環境構築＋公式サンプルを動かす

[ホストOSとNVIDIAドライバ]
    ↓
[Dockerコンテナ]
    ↓
[Isaac Sim]  物理・レンダリング・USD
    ↓
[Isaac Lab]  並列環境・タスク定義
    ↓
[RLライブラリ]  RSL-RL / SKRL など

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo usermod -aG docker $USER

git clone https://github.com/isaac-sim/IsaacLab.git
cd IsaacLab/
python3 docker/container.py start
python3 docker/container.py enter

mkdir -p /workspace/isaaclab/scripts/nexty_sample

import argparse
from isaacsim import SimulationApp

parser = argparse.ArgumentParser()
parser.add_argument("--test", default=False, action="store_true")
args, _ = parser.parse_known_args()

CONFIG = {
    "width": 1280,
    "height": 720,
    "window_width": 1920,
    "window_height": 1080,
    "headless": True,
    "hide_ui": False,
    "renderer": "RaytracedLighting",
    "display_options": 3286,
}

kit = SimulationApp(launch_config=CONFIG)

from isaacsim.core.experimental.utils.app import enable_extension
kit.set_setting("/app/window/drawMouse", True)
enable_extension("omni.kit.livestream.app")

# --- シーン構築: 床、Jetbot、赤いキューブ、Franka ---
import isaacsim.core.experimental.utils.stage as stage_utils
import numpy as np
from isaacsim.core.experimental.materials import PreviewSurfaceMaterial
from isaacsim.core.experimental.objects import Cube
from isaacsim.core.experimental.prims import Articulation, GeomPrim, RigidPrim, XformPrim
from isaacsim.storage.native import get_assets_root_path
import omni.timeline

assets_root_path = get_assets_root_path()

stage_utils.add_reference_to_stage(
    usd_path=assets_root_path + "/Isaac/Environments/Grid/default_environment.usd",
    path="/World/ground",
)
stage_utils.add_reference_to_stage(
    usd_path=assets_root_path + "/Isaac/Robots/NVIDIA/Jetbot/jetbot.usd",
    path="/World/Jetbot",
)

visual_material = PreviewSurfaceMaterial("/World/Materials/red")
visual_material.set_input_values("diffuseColor", [1.0, 0.0, 0.0])
cube_shape = Cube(
    paths="/World/Cube",
    positions=np.array([[0.15, 0.0, 0.025]]),
    sizes=[1.0],
    scales=np.array([[0.05, 0.05, 0.05]]),
    reset_xform_op_properties=True,
)
GeomPrim(paths=cube_shape.paths, apply_collision_apis=True)
RigidPrim(paths=cube_shape.paths)
cube_shape.apply_visual_materials(visual_material)

stage_utils.add_reference_to_stage(
    usd_path=assets_root_path + "/Isaac/Robots/FrankaRobotics/FrankaPanda/franka.usd",
    path="/World/Franka",
)
XformPrim("/World/Franka").set_world_poses(positions=np.array([[0.8, -0.5, 0.0]]))

for _ in range(5):
    kit.update()

jetbot = Articulation("/World/Jetbot")
timeline = omni.timeline.get_timeline_interface()

# PLAY（Stop→Play、Reset→Playを含む）のたびに押し動作をやり直す
state = {"step_counter": 0}

def on_timeline_event(event):
    if event.type == int(omni.timeline.TimelineEventType.PLAY):
        state["step_counter"] = 0
        print("[INFO] PLAY detected. Jetbot will push the cube again.")

timeline_event_stream = timeline.get_timeline_event_stream()
timeline_sub = timeline_event_stream.create_subscription_to_pop(on_timeline_event)

timeline.play()

while kit._app.is_running() and not kit.is_exiting():
    kit.update()
    if timeline.is_playing():
        state["step_counter"] += 1
        if state["step_counter"] < 300:
            jetbot.set_dof_velocity_targets([[10.0, 10.0]])
        else:
            jetbot.set_dof_velocity_targets([[0.0, 0.0]])
    if args.test and state["step_counter"] >= 400:
        break
    
kit.close()

isaaclab -p scripts/reinforcement_learning/rsl_rl/train.py \
  --task Isaac-Velocity-Flat-Unitree-Go2-v0 \
  --headless \
  --max_iterations 50

総ステップ数 = 同時に動かすロボットの数 × 1体あたりのステップ数 × イテレーション数
             = 4096 × 24 × イテレーション数

isaaclab -p scripts/reinforcement_learning/rsl_rl/play.py \
  --task Isaac-Velocity-Flat-Unitree-Go2-v0 \
  --num_envs 32 \
  --headless \
  --video \
  --video_length 200

isaaclab -p scripts/reinforcement_learning/skrl/train.py \
  --task Isaac-Velocity-Flat-Unitree-Go2-v0 \
  --headless \
  --max_iterations 1000

isaaclab -p scripts/reinforcement_learning/rsl_rl/train.py \
  --task Isaac-Velocity-Rough-G1-v0 \
  --max_iterations 50 \
  --headless