Leatherback Tutorial for Isaac Lab Study Group

Credit: 
Strainflow (Eric)
Antoine Richard: https://github.com/AntoineRichard/
Papachuck: https://github.com/renanmb

Maintainer:
Genozen https://github.com/Genozen

Licensing: BSD-3-Clause

03/14/2025

Documentation

https://lycheeai.notion.site/Leatherback-Community-Project-1b828763942b818c903be4648e53f23d?pvs=4

Specifications:
Isaac Sim = 4.5.0
Isaac Lab = 2.0
CUDA = 12.
Linux/Windows
For more specifications checkout: https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/pip_installation.html#

Quick Commands

Linux

# training
python scripts/reinforcement_learning/skrl/train.py --task Isaac-Leatherback-Direct-v0 --num_envs 32
python scripts/reinforcement_learning/skrl/train.py --task Isaac-Leatherback-Direct-v0 --num_envs 4096 --headless

# playing
python scripts/reinforcement_learning/skrl/play.py --task Isaac-Leatherback-Direct-v0 --num_envs 32

Windows

# training
python scripts\reinforcement_learning\skrl\train.py --task Isaac-Leatherback-Direct-v0 --num_envs 32
python scripts\reinforcement_learning\skrl\train.py --task Isaac-Leatherback-Direct-v0 --num_envs 4096 --headless

# playing
python scripts\reinforcement_learning\skrl\play.py --task Isaac-Leatherback-Direct-v0 --num_envs 32