Please make sure your system meets the following specs:
- OS: Ubuntu 18.04+
- RAM: 32GB+
- GPU: NVIDIA RTX 2070+
- VRAM: 8GB+
Why these specs?
You can quickly get
OmniGibson immediately up and running from our pre-built 🐳 docker image:
Need to install docker or NVIDIA docker?
# Install docker curl https://get.docker.com | sh && sudo systemctl --now enable docker # Install nvidia-docker runtime distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | \ sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \ sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list sudo apt-get update sudo apt-get install -y nvidia-docker2 # install sudo systemctl restart docker # restart docker engine
Install our docker launching scripts:
What is being installed?
Our docker image automatically ships with a pre-configured conda virtual environment named
omnigibson with Isaac Sim and
OmniGibson pre-installed. Upon running the first time, our scene and object assets will automatically be downloaded as well. (1)
- 📊 Worried about dataset size? We will ask whether you want to install our small demo dataset or full dataset of assets!
Then, simply launch the desired script:
<DATA_PATH>specifies where data will be stored on your machine (if no
<DATA_PATH>is specified, it defaults to
./omnigibson_data). This needs to be called each time the docker container is run!
Are you using NFS or AFS?
Docker containers are unable to access NFS or AFS drives, so if
run_docker_gui.sh are located on an NFS / AFS partition, please set
<DATA_PATH> to an alternative data directory located on a non-NFS / AFS partition.
Advanced: Installing from Source
This method is recommended for deeper users looking to develop upon
OmniGibson or use it extensively for research.
Install NVIDIA's Isaac Sim platform (1)
Export IsaacSim directory path as an environment variable: (2)
OmniGibsonand move into the directory:
Run the command to setup a virtual conda environment to run
This will automatically create an dump you into a conda env called
omnigibson. If you need to activate this environment later, simply call:
🎉 Congrats! You installed
Be sure keep track of where you choose Omniverse to write package files! By default this should be
If you installed Isaac Sim to the default location, this is
Expect slowdown during first execution
Omniverse requires some one-time startup setup (up to ~5 minutes) when
OmniGibson is imported for the first time. This is expected behavior, and should only occur once!
OmniGibson is now successfully installed! Try exploring some of our new scenes interactively:
- This demo lets you choose a scene and interactively move around using your keyboard and mouse. Hold down
Left-click + Dragan object to apply forces!
You can also try teleoperating one of our robots:
- This demo lets you choose a scene, robot, and set of controllers, and then teleoperate the robot using your keyboard.
Next: Get quickly familiarized with
OmniGibson from our Quickstart Guide!