Examples¶
These examples can also be found as interactive notebooks in the inertialsim/examples repository.
Most examples can be run using the examples virtual environment defined in the
pyproject.toml file or by installing the [examples] extras.
The Robot arm example requires an older version of numpy and websockets
and should use the examples-robot-arm virtual environment or specify the
following specific dependencies.
python -m venv .examples-robot-arm
source .examples-robot-arm/bin/activate
pip install inertialsim[examples]
pip install roboticstoolbox-python
pip install websockets==13.1
pip install numpy==1.26.4
Numpy version
The roboticstoolbox-python package requires numpy 1.x.x. When not
testing the examples, InertialSim should be installed with the most recent
numpy 2.x.x that is supported.
The Automotive testing example requires a mix of environments because of
the outdated Python support in CARLA 0.9.15. See comments in the notebook for
details.
The Quadruped robot example runs in the Isaac Sim 4.5.0 default Python
environment.
Install the inertialsim package in the environment and move the contents of
the isaacsim_extension directory from the InertialSim examples repository to the
Isaac Sim user examples folder.
cd {isaacsim}
./python.sh -m pip install inertialsim[examples]
cp {examples}/isaacsim_extension/*.py ./extension_examples/user_examples
Relaunch Isaac Sim and the example will be available via the menu at: Window ->
Examples -> Robotic Examples -> Sensors -> InertialSim IMU.