/IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim

Primary LanguagePythonOtherNOASSERTION

Donwload IsaacSim 4 (Omniverse Launcher) if you do not have it

Download link

Installation guideline

Donwload and setup MAD3D IsaacLab

The master branch of MAD3D IsaacLab should follow the official IsaacLab

Clone mad3d IsaacLab

Official installation guideline

# git clone MAD3D IsaacLab
git clone https://github.com/johnnylu305/IsaacLab.git
# enter the cloned repository
cd IsaacLab
# create a symbolic link
# example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.0.0 _isaac_sim
ln -s path_to_isaac_sim _isaac_sim
# install
./isaaclab.sh --install

Test IsaacLab

# cartpole sb3 example
./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task=Isaac-Cartpole-Direct-v0

For ssh user

# headless (no gui)
./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task=Isaac-Cartpole-Direct-v0 --livestream 1

# webrtx (gui)
./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task=Isaac-Cartpole-Direct-v0 --livestream 2
# use this link to access gui
http://138.25.209.105:8211/streaming/webrtc-demo/?server=138.25.209.105