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https://github.com/vpraise00/lekisaac
I’m working on making lekisaac function as a submodule of leisaac.
Would it be possible for you to integrate this repository in the future? I plan to continue developing it.
Actually, I’m working on the integration of lekiwi, and some parts are already finished. Maybe this week or next week it can be fully released.
I think integrating lekiwi directly into leisaac would be better, which can make the usage logic unified. Perhaps after the lekiwi integration commit is submitted, we can discuss and see which parts can be improved.
I am trying to address the omni-wheel problem by adding meshes for the rollers on each wheel. However, modeling each individual roller results in a very high computational cost.
If you have already solved this problem, could you please share the methods you used?
@vpraise00 We adopted an approach to bypass explicit wheel modeling. As you mentioned, modeling each small roller on the wheels would be very difficult. Instead, we added three extra dummy joints to control motion along the x-axis, motion along the y-axis, and rotation around the robot’s own axis. The corresponding USD can be found here.
This approach improves the teleoperation experience. However, in this case, the base motion is no longer driven by the wheels, which somewhat compromises physical realism.
Thank you @EverNorif for sharing.
I can see on this link - Kitchen env which has many USD assets.
also when I run command - python scripts/environments/list_envs.py given on link
-------------------------------------------------------------------------------------+
| S. No. | Task Name | Entry Point | Config |
+--------+---------------------------------------------+---------------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------+
| 1 | LeIsaac-SO101-AssembleHamburger-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.assemble_hamburger.assemble_hamhurger_env_cfg:AssembleHamburgerEnvCfg |
| 2 | LeIsaac-SO101-AssembleHamburger-BiArm-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.assemble_hamburger.assemble_hamhurger_bi_arm_env_cfg:AssembleHamburgerBiArmEnvCfg |
| 3 | LeIsaac-SO101-CleanToyTable-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.clean_toy_table.clean_toy_table_env_cfg:CleanToyTableEnvCfg |
| 4 | LeIsaac-SO101-CleanToyTable-BiArm-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.clean_toy_table.clean_toy_table_bi_arm_env_cfg:CleanToyTableBiArmEnvCfg |
| 5 | LeIsaac-SO101-CleanToyTable-BiArm-Direct-v0 | leisaac.tasks.clean_toy_table.direct.clean_toy_table_bi_arm_env:CleanToyTableBiArmEnv | leisaac.tasks.clean_toy_table.direct.clean_toy_table_bi_arm_env:CleanToyTableBiArmEnvCfg |
| 6 | LeIsaac-LeKiwi-CleanupTrash-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.cleanup_trash.cleanup_trash_env_cfg:CleanupTrashEnvCfg |
| 7 | LeIsaac-SO101-FoldCloth-BiArm-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.fold_cloth.fold_cloth_bi_arm_env_cfg:FoldClothBiArmEnvCfg |
| 8 | LeIsaac-SO101-FoldCloth-BiArm-Direct-v0 | leisaac.tasks.fold_cloth.direct.fold_cloth_bi_arm_env:FoldClothBiArmEnv | leisaac.tasks.fold_cloth.direct.fold_cloth_bi_arm_env:FoldClothBiArmEnvCfg |
| 9 | LeIsaac-SO101-LiftCube-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.lift_cube.lift_cube_env_cfg:LiftCubeEnvCfg |
| 10 | LeIsaac-SO101-LiftCube-DigitalTwin-v0 | leisaac.enhance.envs:ManagerBasedRLDigitalTwinEnv | leisaac.tasks.lift_cube.lift_cube_env_cfg:LiftCubeDigitalTwinEnvCfg |
| 11 | LeIsaac-SO101-LiftCube-Mimic-v0 | leisaac.enhance.envs:ManagerBasedRLLeIsaacMimicEnv | leisaac.tasks.lift_cube.lift_cube_mimic_env_cfg:LiftCubeMimicEnvCfg |
| 12 | LeIsaac-SO101-LiftCube-Direct-v0 | leisaac.tasks.lift_cube.direct.lift_cube_env:LiftCubeEnv | leisaac.tasks.lift_cube.direct.lift_cube_env:LiftCubeEnvCfg |
| 13 | LeIsaac-SO101-PickOrange-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.pick_orange.pick_orange_env_cfg:PickOrangeEnvCfg |
| 14 | LeIsaac-SO101-PickOrange-Mimic-v0 | leisaac.enhance.envs:ManagerBasedRLLeIsaacMimicEnv | leisaac.tasks.pick_orange.pick_orange_mimic_env_cfg:PickOrangeMimicEnvCfg |
| 15 | LeIsaac-SO101-PickOrange-Direct-v0 | leisaac.tasks.pick_orange.direct.pick_orange_env:PickOrangeEnv | leisaac.tasks.pick_orange.direct.pick_orange_env:PickOrangeEnvCfg |
+--------+---------------------------------------------+---------------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------+
Task 1 is LeIsaac-SO101-AssembleHamburger-v0, but I do not see env for this. Error in 'pxrInternal_v0_24__pxrReserved__::UsdStage::Open' at line 1059 in file C:\g\201060795\USD\pxr\usd\usd\stage.cpp : 'Failed to open layer @C:\Users\Admin01\Desktop\Physical AI\leisaac\assets\scenes\kitchen_with_hamburger\scene.usd@'
can you pls guide here- how to proceed to train on this task?
@neso613@EverNorif Hello, the current download link for the "lightwheel_loft" scene is no longer available (it jumps to simready.com and can not find the assets event i login in for searching). Could you please inform me how to download it now? Thank you.
@neso613 We have uploaded the lightwheel_loft scene to a new link. You can find the download link here.
Activity
EverNorif commentedon Sep 29, 2025
Yes, of course. We plan to support more lerobot-related devices in the future, such as lekiwi.
vpraise00 commentedon Dec 10, 2025
https://github.com/vpraise00/lekisaac
I’m working on making lekisaac function as a submodule of leisaac.
Would it be possible for you to integrate this repository in the future? I plan to continue developing it.
EverNorif commentedon Dec 10, 2025
@vpraise00 Thank you!
Actually, I’m working on the integration of lekiwi, and some parts are already finished. Maybe this week or next week it can be fully released.
I think integrating lekiwi directly into leisaac would be better, which can make the usage logic unified. Perhaps after the lekiwi integration commit is submitted, we can discuss and see which parts can be improved.
EverNorif commentedon Dec 19, 2025
Hi there, we’ve just added teleoperation support for lekiwi. Feel free to give it a try.
vpraise00 commentedon Dec 19, 2025
Have you solved the omni-wheel problem?
I am trying to address the omni-wheel problem by adding meshes for the rollers on each wheel. However, modeling each individual roller results in a very high computational cost.
If you have already solved this problem, could you please share the methods you used?
EverNorif commentedon Dec 19, 2025
@vpraise00 We adopted an approach to bypass explicit wheel modeling. As you mentioned, modeling each small roller on the wheels would be very difficult. Instead, we added three extra dummy joints to control motion along the x-axis, motion along the y-axis, and rotation around the robot’s own axis. The corresponding USD can be found here.
This approach improves the teleoperation experience. However, in this case, the base motion is no longer driven by the wheels, which somewhat compromises physical realism.
neso613 commentedon Jan 14, 2026
Hi
I do not finf LeKiwi env files for teleopeartions, could some one help or share the link
EverNorif commentedon Jan 15, 2026
@neso613 We have uploaded the lightwheel_loft scene to a new link. You can find the download link here.
neso613 commentedon Jan 15, 2026
Thank you @EverNorif for sharing.
I can see on this link - Kitchen env which has many USD assets.
also when I run command -
python scripts/environments/list_envs.pygiven on link-------------------------------------------------------------------------------------+
| S. No. | Task Name | Entry Point | Config |
+--------+---------------------------------------------+---------------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------+
| 1 | LeIsaac-SO101-AssembleHamburger-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.assemble_hamburger.assemble_hamhurger_env_cfg:AssembleHamburgerEnvCfg |
| 2 | LeIsaac-SO101-AssembleHamburger-BiArm-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.assemble_hamburger.assemble_hamhurger_bi_arm_env_cfg:AssembleHamburgerBiArmEnvCfg |
| 3 | LeIsaac-SO101-CleanToyTable-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.clean_toy_table.clean_toy_table_env_cfg:CleanToyTableEnvCfg |
| 4 | LeIsaac-SO101-CleanToyTable-BiArm-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.clean_toy_table.clean_toy_table_bi_arm_env_cfg:CleanToyTableBiArmEnvCfg |
| 5 | LeIsaac-SO101-CleanToyTable-BiArm-Direct-v0 | leisaac.tasks.clean_toy_table.direct.clean_toy_table_bi_arm_env:CleanToyTableBiArmEnv | leisaac.tasks.clean_toy_table.direct.clean_toy_table_bi_arm_env:CleanToyTableBiArmEnvCfg |
| 6 | LeIsaac-LeKiwi-CleanupTrash-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.cleanup_trash.cleanup_trash_env_cfg:CleanupTrashEnvCfg |
| 7 | LeIsaac-SO101-FoldCloth-BiArm-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.fold_cloth.fold_cloth_bi_arm_env_cfg:FoldClothBiArmEnvCfg |
| 8 | LeIsaac-SO101-FoldCloth-BiArm-Direct-v0 | leisaac.tasks.fold_cloth.direct.fold_cloth_bi_arm_env:FoldClothBiArmEnv | leisaac.tasks.fold_cloth.direct.fold_cloth_bi_arm_env:FoldClothBiArmEnvCfg |
| 9 | LeIsaac-SO101-LiftCube-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.lift_cube.lift_cube_env_cfg:LiftCubeEnvCfg |
| 10 | LeIsaac-SO101-LiftCube-DigitalTwin-v0 | leisaac.enhance.envs:ManagerBasedRLDigitalTwinEnv | leisaac.tasks.lift_cube.lift_cube_env_cfg:LiftCubeDigitalTwinEnvCfg |
| 11 | LeIsaac-SO101-LiftCube-Mimic-v0 | leisaac.enhance.envs:ManagerBasedRLLeIsaacMimicEnv | leisaac.tasks.lift_cube.lift_cube_mimic_env_cfg:LiftCubeMimicEnvCfg |
| 12 | LeIsaac-SO101-LiftCube-Direct-v0 | leisaac.tasks.lift_cube.direct.lift_cube_env:LiftCubeEnv | leisaac.tasks.lift_cube.direct.lift_cube_env:LiftCubeEnvCfg |
| 13 | LeIsaac-SO101-PickOrange-v0 | isaaclab.envs:ManagerBasedRLEnv | leisaac.tasks.pick_orange.pick_orange_env_cfg:PickOrangeEnvCfg |
| 14 | LeIsaac-SO101-PickOrange-Mimic-v0 | leisaac.enhance.envs:ManagerBasedRLLeIsaacMimicEnv | leisaac.tasks.pick_orange.pick_orange_mimic_env_cfg:PickOrangeMimicEnvCfg |
| 15 | LeIsaac-SO101-PickOrange-Direct-v0 | leisaac.tasks.pick_orange.direct.pick_orange_env:PickOrangeEnv | leisaac.tasks.pick_orange.direct.pick_orange_env:PickOrangeEnvCfg |
+--------+---------------------------------------------+---------------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------+
Task 1 is LeIsaac-SO101-AssembleHamburger-v0, but I do not see env for this.
Error in 'pxrInternal_v0_24__pxrReserved__::UsdStage::Open' at line 1059 in file C:\g\201060795\USD\pxr\usd\usd\stage.cpp : 'Failed to open layer @C:\Users\Admin01\Desktop\Physical AI\leisaac\assets\scenes\kitchen_with_hamburger\scene.usd@'can you pls guide here- how to proceed to train on this task?
EverNorif commentedon Jan 16, 2026
@neso613 We haven’t uploaded this scene yet, see also here. However, we are currently organizing this task and will release it very soon.
yanyoufu commentedon Jul 8, 2026
@neso613 @EverNorif Hello, the current download link for the "lightwheel_loft" scene is no longer available (it jumps to simready.com and can not find the assets event i login in for searching). Could you please inform me how to download it now? Thank you.
EverNorif commentedon Jul 8, 2026
@yanyoufu please try this download link
yanyoufu commentedon Jul 8, 2026
thanks a lot.