Setup environment

Install Isaac Sim & Isaac Lab

Follow the instructions Isaac_Lab_Doc to install isaac sim & lab. Currently we use Isaac-sim == 5.0.0 & Isaac-lab == 2.2.x.

Install dependencies

conda activate {your_isaaclab_env}
pip install -r requirements.txt

Set up IDE:

To setup the IDE, please follow these instructions:

• set /path/to/your_isaaclab in .vscode/settings.json to activate code prompting

Asset:

Download the assets from Google Drive Link, and put it under root directory.

Setup /path/to/your_asset_root & /path/to/robot_asset in utils/asset_utils.py.

Run benchmark simulation:

# run with config file
./run_sim.sh {cfg_file}

# for example
./run_sim.sh configs/tasks/object_movement/arnold_room_0.yaml