Mujina Isaac Lab Project

Overview

This project is based on the Isaac Lab project template.

Requirements

• Isaac Sim 5.1.0
• Isaac Lab 2.3.0

Installation

• Install Isaac Lab by following the installation guide. We recommend using the conda installation as it simplifies calling Python scripts from the terminal.

• Clone or copy this project/repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):

• Using a python interpreter that has Isaac Lab installed, install the library in editable mode using:

  # use 'PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
  python -m pip install -e source/mujina_isaac_lab
  

• Verify that the extension is correctly installed by:

  • Running a train task:

    # use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
    python scripts/rsl_rl/train.py --task=<TASK_NAME>

Acknowledgements

• This package is forked from CoRE-MA-KING/mevius_isaac_lab
• mujina.usd is based on CAD models from Mujina_Hardware.
  • We have obtained permission from Noriaki Nakagawa to use the CAD models.