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Intro

  • Derived from Isaac Orbit

IsaacLab 1.X

Install

  • Instructions here: ()
  • git clone https://github.com/isaac-sim/IsaacLab.git
  • cd IsaacLab
  • isaaclab.bat --help
  • The following needs an admin console
  • mklink /D _isaac_sim C:\Users\mwise\AppData\Local\ov\pkg\isaac-sim-4.0.0
  • isaaclab.bat --install

Verification

  • Existing scripts (samples): (https://isaac-sim.github.io/IsaacLab/source/setup/sample.html)
  • Example:
    • isaaclab.bat -p source/standalone/demos/quadrupeds.py - takes like 90 seconds to load so be patient with the black Isaac Sim screen

IsaacLab 2.0 - Jan 2025

Install

  • Instructions here: (https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/isaaclab_pip_installation.html)

Install Commands

  • git clone https://github.com/isaac-sim/IsaacLab.git
  • cd IsaacLab
  • sudo apt install python3.10-venv
  • python3.10 -m venv env_isaaclab
  • source env_isaaclab/bin/activate
  • pip install torch==2.5.1 --index-url https://download.pytorch.org/whl/cu121
  • pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com
  • ./isaaclab.sh --help
  • sudo apt install cmake build-essential
  • ./isaaclab.sh --install

Verify

  • ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py

See all the possible environments

  • ./isaaclab.sh -p scripts/environments/list_envs.py

A real test run

  • Remove --headless parameter from the following if you want to watch it execute, but it will go much much slower
  • ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless (took like 600 seconds on a 4070)

Understanding PPO

  • Medium article: https://medium.com/@chris.p.hughes10/understanding-ppo-a-game-changer-in-ai-decision-making-explained-for-rl-newcomers-913a0bc98d2b

Isaac Gym

  • Depreciated, but still lots of good things there
  • Install article on Medium:(https://medium.com/@piliwilliam0306/install-isaac-gym-on-ubuntu-22-04-8ebf4b86e6f7)
  • LD_LIBRARY Fix:
    • find . --name libsomethingorother
    • export LD_LIBRARY_PATH=/home/mike/miniconda3/pkgs/python-3.7.12-hf930737_100_cpython/lib/
    • apparently you can do an apt install libpython3.7 but it didn’t work for me
    • `sudo apt install mk
  • Video on Legged Demo: (https://www.youtube.com/watch?v=02euh9dC2tw)
  • Legged Demo repo: (https://github.com/leggedrobotics/legged_gym)