Template for Isaac Lab Projects

Overview

This repository serves as a template for building projects or extensions based on Isaac Lab. It allows you to develop in an isolated environment, outside of the core Isaac Lab repository.

Key Features:

• Isolation Work outside the core Isaac Lab repository, ensuring that your development efforts remain self-contained.
• Flexibility This template is set up to allow your code to be run as an extension in Omniverse.

Keywords: extension, template, isaaclab

Installation

• Throughout the repository, the name interactive_navigation only serves as an example and we provide a script to rename all the references to it automatically:

# Rename all occurrences of interactive_navigation (in files/directories) to your_fancy_extension_name
python scripts/rename_template.py your_fancy_extension_name

• Install Isaac Lab, see the installation guide.

• Using a python interpreter that has Isaac Lab installed, install the library

cd exts/interactive_navigation
python -m pip install -e .

Set up IDE (Optional)

To setup the IDE, please follow these instructions:

• Run VSCode Tasks, by pressing Ctrl+Shift+P, selecting Tasks: Run Task and running the setup_python_env in the drop down menu. When running this task, you will be prompted to add the absolute path to your Isaac Lab installation.

If everything executes correctly, it should create a file .python.env in the .vscode directory. The file contains the python paths to all the extensions provided by Isaac Sim and Omniverse. This helps in indexing all the python modules for intelligent suggestions while writing code.

Setup as Omniverse Extension (Optional)

We provide an example UI extension that will load upon enabling your extension defined in exts/interactive_navigation/interactive_navigation/ui_extension_example.py. For more information on UI extensions, enable and check out the source code of the omni.isaac.ui_template extension and refer to the introduction on Isaac Sim Workflows 1.2.3. GUI.

To enable your extension, follow these steps:

1. Add the search path of your repository to the extension manager:

   • Navigate to the extension manager using Window -> Extensions.
   • Click on the Hamburger Icon (☰), then go to Settings.
   • In the Extension Search Paths, enter the absolute path to IsaacLabExtensionTemplate/exts
   • If not already present, in the Extension Search Paths, enter the path that leads to Isaac Lab's extension directory directory (IsaacLab/source/extensions)
   • Click on the Hamburger Icon (☰), then click Refresh.

2. Search and enable your extension:

   • Find your extension under the Third Party category.
   • Toggle it to enable your extension.

Code formatting

We have a pre-commit template to automatically format your code. To install pre-commit:

pip install pre-commit

Then you can run pre-commit with:

pre-commit run --all-files

Docker Setup for Extension and rsl_rl

All changes are done in IsaacLab-Internal/docker rsl_rl and the extension should be installed besides IsaacLab:

├── Project/
│ ├── IsaacLab-Internal/
│ ├── rsl_rl/
│ ├── interactive_navigation/

Step 1

In IsaacLab-Internal/docker/.env.base add the paths to rsl_rl and the extension

# Local rsl_rl path
LOCAL_RSL_RL_RELATIVE_PATH=../../rsl_rl/rsl_rl

# Locale extension path
LOCAL_EXTENSION_RELATIVE_PATH=../../interactive_navigation

Step 2

In IsaacLab-Internal/docker/docker-compose.yaml, bind the two modules

  - type: bind
    source: ${LOCAL_RSL_RL_RELATIVE_PATH}
    target: ${DOCKER_ISAACLAB_PATH}/rsl_rl
  - type: bind
    source: ${LOCAL_EXTENSION_RELATIVE_PATH}
    target: ${DOCKER_ISAACLAB_PATH}/isaaclab_extension

Change the context and the docker file path from

      context: ../
      dockerfile: docker/Dockerfile.base

to

      context: ../..
      dockerfile: IsaacLab-Internal/docker/Dockerfile.base

Step 3

In IsaacLab-Internal/docker/Dockerfile.base change paths to image from

COPY ../ ${ISAACLAB_PATH}

to

COPY IsaacLab-Internal/ ${ISAACLAB_PATH}
# Copy rsl_rl into the image
COPY rsl_rl/ ${ISAACLAB_PATH}/rsl_rl
# Copy extension into the image
COPY interactive_navigation/ ${ISAACLAB_PATH}/isaaclab_extension

and install the additional modules after installing Isaac Lab dependencies

# Upgrade pip, setuptools and wheel to the latest version
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --upgrade pip setuptools wheel

# Install local rsl_rl module
RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
    ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e ${ISAACLAB_PATH}/rsl_rl

# Install local isaaclab_extension module
RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
    ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e ${ISAACLAB_PATH}/isaaclab_extension/exts/interactive_navigation

Cluster

Student pc documentation: https://student-pc-docs.leggedrobotics.com/docs/apptainer.html

Isaac Lab internal documentation: https://leggedrobotics.github.io/IsaacLab-Internal/source/deployment/cluster.html

Step 1

Within /scratch/user install the latest apptainer version (1.3.5)

cd /scratch/${USER}
curl -s https://raw.githubusercontent.com/apptainer/apptainer/main/tools/install-unprivileged.sh | \
    bash -s - install-dir

And add the path to the end of the .bashrc :

echo "export PATH=/scratch/${USER}/install-dir/bin:\$PATH" >> ~/.bashrc

Step 2

Configure cluster parameters in IsaacLab-Internal/docker/cluster/.env.cluster substitute username with your username

###
# Cluster specific settings
###

# Job scheduler used by cluster.
# Currently supports PBS and SLURM
CLUSTER_JOB_SCHEDULER=SLURM
# Docker cache dir for Isaac Sim (has to end on docker-isaac-sim)
# e.g. /cluster/scratch/$USER/docker-isaac-sim
CLUSTER_ISAAC_SIM_CACHE_DIR=/cluster/scratch/username/docker-isaac-sim
# Isaac Lab directory on the cluster (has to end on isaaclab)
# e.g. /cluster/home/$USER/isaaclab
CLUSTER_ISAACLAB_DIR=/cluster/home/username/isaaclab
# Cluster login
[email protected]
# Cluster scratch directory to store the SIF file
# e.g. /cluster/scratch/$USER
CLUSTER_SIF_PATH=/cluster/scratch/username
# Remove the temporary isaaclab code copy after the job is done
REMOVE_CODE_COPY_AFTER_JOB=false
# Python executable within Isaac Lab directory to run with the submitted job
# CLUSTER_PYTHON_EXECUTABLE=source/standalone/workflows/rsl_rl/train.py
# We use the train script of the extension, not the one in IsaacLab
CLUSTER_PYTHON_EXECUTABLE=isaaclab_extension/scripts/rsl_rl/train.py 

Step 4

Enable ssh key-based authentication for euler. Generate rsa ssh key:

ssh-keygen -t rsa -b 4096 -C "[email protected]"

Copy key to cluster (with your username)

ssh-copy-id [email protected]

Enter your eth password

Test connection:

ssh [email protected]

This time, no password should be required.

Step 5

Export singularity image. Within IsaacLab-Internal, run

./docker/cluster/cluster_interface.sh push

this takes up to 20 min.

Step 6

Add your email to docker/cluster/submit_job_slurm.sh and load eth_proxy, i.e.,

# e.g., `module load eth_proxy`
module load eth_proxy

Step 7 Submitting a job

To submit a job, cd into IsaacLab-Internal and run

./docker/cluster/cluster_interface.sh job "argument1" "argument2" ...

You can submit multiple jobs in parallel. If you need to update your docker environment, you need to repeat step 5.