NVIDIA Isaac Sim на GPU: физика и сенсоры

				
					version: "3.9"

x-env: &env
  OMNI_HEADLESS: "1"
  RENDER_RES: "1920x1080"
  PHYSICS_DT: "0.0166667"   # 60 Гц
  PHYSICS_SUBSTEPS: "2"
  RTX_LIDAR: "1"
  RTX_DENOISER: "1"
  SPP: "2"                  # samples per pixel
  RAY_DEPTH: "3"
  ASSETS_DIR: "/assets"
  OUTPUT_DIR: "/datasets"
  ROS2_BRIDGE: "enabled"    # enabled|disabled

services:
  isaac-batch:
    image: cloudcompute/isaac-sim:latest
    environment:
      <<: *env
      MODE: "batch"
    deploy:
      resources:
        reservations:
          devices: [{ capabilities: ["gpu"] }]
    volumes:
      - /nvme/assets:/assets
      - /nvme/datasets:/datasets
      - /nvme/cache:/var/cache/isaac
    command: ["python","apps/batch_dataset.py","--scenes","/assets/scenes/"]

  isaac-rt:
    image: cloudcompute/isaac-sim:latest
    environment:
      <<: *env
      MODE: "realtime"
    deploy:
      resources:
        reservations:
          devices: [{ capabilities: ["gpu"] }]
    ports: ["8100:8100"]   # http/ws для стриминга
    volumes:
      - /nvme/assets:/assets
      - /nvme/cache:/var/cache/isaac
    command: ["python","apps/rt_server.py","--host","0.0.0.0","--port","8100"]


				
			

				
					from omni.isaac.core import SimulationApp
from omni.isaac.core.utils.stage import open_stage, add_reference_to_stage
from omni.isaac.sensor import Camera, LidarRtx
from utils.rand import apply_randomization
from utils.writer import DatasetWriter

cfg = load_yaml("config.yaml")
simulation_app = SimulationApp({"headless": True, "width": cfg["scene"]["sensors"]["cameras"][0]["res"][0],
                                "height": cfg["scene"]["sensors"]["cameras"][0]["res"][1]})

open_stage(cfg["scene"]["usd"])
for r in cfg["scene"]["robots"]:
    add_reference_to_stage(r["usd"], "/World/Robot")

cam = Camera("/World/Robot/CameraFront", resolution=tuple(cfg["scene"]["sensors"]["cameras"][0]["res"]), freq=30)
lid = LidarRtx("/World/Robot/Lidar", horizontal_fov_deg=360, vertical_beams=64, rotation_rate=10)

writer = DatasetWriter(cfg["dataset"])
sim_dt = cfg["scene"]["physics"]["dt"]

for frame in range(0, 10000):
    if frame % 30 == 0:
        apply_randomization(cfg["randomization"])
    simulation_app.update()  # physics+render tick
    rgb = cam.get_rgba()
    depth = cam.get_depth()
    segm = cam.get_semantic_segmentation()
    cloud = lid.get_point_cloud()
    writer.write(frame_idx=frame, rgb=rgb, depth=depth, segm=segm, point_cloud=cloud)

simulation_app.close()