config Isaac Sim CMD

nano ~/.bashrc

export ISAACSIM_PATH="/isaac-sim"
alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh"
alias ISAACSIM="${ISAACSIM_PATH}/runheadless.native.sh -v"

install Pegasus Simulator

cd ~
git clone https://github.com/PegasusSimulator/PegasusSimulator.git
ISAACSIM

Window->extensions, open setting, extension search path, add /root/PegasusSimulator/extensions, and then in third party, enable and autoload pegasus.simulator

cd PegasusSimulator/extensions
ISAACSIM_PYTHON -m pip install --editable pegasus.simulator

install PX4-Autopilot

cd ~
apt install -y git make cmake python3-pip
pip install kconfiglib jinja2 empy jsonschema pyros-genmsg packaging toml numpy future
git clone https://github.com/PX4/PX4-Autopilot.git
cd PX4-Autopilot
git checkout v1.14.1
git submodule update --init --recursive
make px4_sitl_default none

config pegasus sim

nano ~/PegasusSimulator/extensions/pegasus.simulator/config/configs.yaml

px4_default_airframe: iris

run demo

cd ~/PX4-Autopilot
make px4_sitl_default none

cd ~/PegasusSimulator
ISAACSIM_PYTHON examples/1_px4_single_vehicle.py