Tutorial for RT-DETR with Isaac Sim
===================================

Overview
--------
   
1. Detect object bounding boxes using :ir_repo:`Isaac ROS RT-DETR object detection <isaac_ros_object_detection> <isaac_ros_rtdetr>`
   
.. note::

    This tutorial detects the Mac and Cheese Box mentioned in the :ir_ngc:`SyntheticaDETR Object Classes section <teams/isaac/models/synthetica_detr>`. In order to detect other objects from ``SyntheticaDETR Object Classes``, you need to create a mesh and replace the ``mesh_file_path`` and ``texture_path`` arguments to this tutorials launch file with the mesh you generated. The tutorial on how to create a mesh using an iPhone can be found :doc:`here </concepts/pose_estimation/foundationpose/tutorial_create_your_own_mesh>`. In order to detect other objects not supported by ``SyntheticaDETR``, you will have to modify the launch file and replace the 2D object detection pipeline with one that supports the object you are trying to detect.

Tutorial Walkthrough
--------------------
   
1.  Complete the :ref:`Isaac ROS RT-DETR tutorial <repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index:quickstart>`.


2.  Open a new terminal and launch the Docker container using the
    ``run_dev.sh`` script:

    .. code:: bash

       cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
         ./scripts/run_dev.sh

3.  Install and launch Isaac Sim following the steps in the :doc:`Isaac ROS Isaac Sim Setup Guide </getting_started/isaac_sim/index>`.

4.  Run the launch file.

    .. code:: bash

       ros2 launch isaac_ros_rtdetr isaac_ros_rtdetr_isaac_sim.launch.py
   
5.  Press **Play** to start publishing data from the Isaac Sim.

    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png>`
        :align: center
        :width: 600px

6.  Validate that you see a visualization of the 2D object detection as shown below:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/object_detection/rtdetr/isaac_sim_rtdetr.gif>`
      :alt: Isaac ROS RT-DETR
      :align: center