This repository contains the extensions for Matterport3D and Unreal Engine Assets. The extensions enable the easy loading of assets into Isaac Sim and have access to the semantic labels. They are developed as part of the ViPlanner project (Paper | Code) and are based on the Orbit framework.
Attention: The central part of the extensions is currently updated to the latest orbit version. This repo contains a temporary solution sufficient for the demo script included in ViPlanner, found here. An updated version will be available soon.
To install the extensions, follow these steps:
- Install Isaac Sim using the Orbit installation guide.
- Clone the orbit repo and link the extension.
git clone [email protected]:NVIDIA-Omniverse/orbit.git
cd orbit/source/extensions
ln -s {ORBIT_ENVS_PROJECT_DIR}/extensions/omni.isaac.matterport .
ln -s {ORBIT_ENVS_PROJECT_DIR}/extensions/omni.isaac.carla .
- Then run the orbit installer script.
./orbit.sh -i -e
For the Matterport extension, a GUI interface is available. To use it, start the simulation:
./orbit.sh -s
Then, in the GUI, go to Window -> Extensions and type Matterport in the search bar. You should see the Matterport3D extension.
Enable it to open the GUI interface.
To use both as part of an Orbit workflow, please refer to the ViPlanner Demo.
If you use this code in a scientific publication, please cite the following paper:
@article{roth2023viplanner,
title ={ViPlanner: Visual Semantic Imperative Learning for Local Navigation},
author ={Pascal Roth and Julian Nubert and Fan Yang and Mayank Mittal and Marco Hutter},
journal = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2023},
month = {May},
}
This code belongs to the Robotic Systems Lab, ETH Zurich. All right reserved
Authors: Pascal Roth
Maintainer: Pascal Roth, [email protected]
This repository contains research code, except that it changes often, and any fitness for a particular purpose is disclaimed.