IsaacLab

Installation

Pull the pre-built docker image

If you want to use a pre-built image from Docker Hub, you can pull it directly:

docker pull ghcr.io/pointscoder/isaaclab:dev
docker tag ghcr.io/pointscoder/isaaclab:dev isaaclab:dev

On the host machine and before entering the container, run

xhost +local:

This is to allow the container to access the host's X server for IsaacSim GUI.

Then, launch the container:

docker compose -p "$USER" -f docker/compose.yml up -d isaaclab

and enter it:

docker compose -p "$USER" -f docker/compose.yml exec isaaclab bash

We need to convert the textured meshes to USD format. This is done by running the following script:

python openreal2sim/simulation/isaaclab/sim_preprocess/usd_conversion.py

Then, we generate grasp proposals for each object in the scene:

python openreal2sim/simulation/isaaclab/sim_preprocess/grasp_generation.py

We provide heuristic policies using grasping and motion planning:

python openreal2sim/simulation/isaaclab/sim_heuristic_manip.py