From 6eb1ee249b12a5eb3bb7118516f0cc34e9c5b2e3 Mon Sep 17 00:00:00 2001 From: EverNorif <1320346985@qq.com> Date: Tue, 11 Nov 2025 15:56:04 +0800 Subject: [PATCH 1/6] add isaaclab as submodules. --- .gitmodules | 3 +++ dependencies/IsaacLab | 1 + 2 files changed, 4 insertions(+) create mode 100644 .gitmodules create mode 160000 dependencies/IsaacLab diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..a7df0aeb --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "dependencies/IsaacLab"] + path = dependencies/IsaacLab + url = https://github.com/isaac-sim/IsaacLab.git diff --git a/dependencies/IsaacLab b/dependencies/IsaacLab new file mode 160000 index 00000000..3c6e67bb --- /dev/null +++ b/dependencies/IsaacLab @@ -0,0 +1 @@ +Subproject commit 3c6e67bb5c7ada942a6d1884ab69338f57596f77 From b7fbbee70cf2490d7ef65168835dca6beb3a3ff8 Mon Sep 17 00:00:00 2001 From: EverNorif <1320346985@qq.com> Date: Tue, 11 Nov 2025 16:50:19 +0800 Subject: [PATCH 2/6] update isaacsim version. --- .../docs/docs/getting_started/installation.md | 42 +++++++++---------- 1 file changed, 20 insertions(+), 22 deletions(-) diff --git a/docs/docs/docs/getting_started/installation.md b/docs/docs/docs/getting_started/installation.md index 9d73776d..563f8c2b 100644 --- a/docs/docs/docs/getting_started/installation.md +++ b/docs/docs/docs/getting_started/installation.md @@ -2,33 +2,42 @@ ## 1. Environment Setup -First, follow the [IsaacLab official installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html) to install IsaacLab. We recommend using Conda for easier environment management. In summary, you only need to run the following command. +First, clone our repository and related submodules. + +```bash +git clone https://github.com/LightwheelAI/leisaac.git --recursive +``` + +Then follow the [IsaacLab official installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html) to install IsaacLab. We recommend using Conda for easier environment management. In summary, you only need to run the following command. ```bash # Create and activate environment -conda create -n leisaac python=3.10 +conda create -n leisaac python=3.11 conda activate leisaac # Install cuda-toolkit -conda install -c "nvidia/label/cuda-11.8.0" cuda-toolkit +conda install -c "nvidia/label/cuda-12.8.1" cuda-toolkit # Install PyTorch -pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu118 +pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128 # Install IsaacSim pip install --upgrade pip -pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com +pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com # Install IsaacLab -git clone git@github.com:isaac-sim/IsaacLab.git sudo apt install cmake build-essential -cd IsaacLab -# fix isaaclab version for isaacsim4.5 -git checkout v2.1.1 +cd dependencies/IsaacLab ./isaaclab.sh --install ``` +Finally, install leisaac as dependency. +```bash +cd ../.. +pip install -e source/leisaac +``` + ::::tip The steps above are essentially the same as the official IsaacLab documentation; please adjust according to the versions you use. Below is the compatibility between LeIsaac and IsaacLab and the related version dependencies. @@ -42,18 +51,7 @@ If you are using a 50-series GPU, we recommend using IsaacSim 5.0+ and IsaacLab | PyTorch | 2.5.1 | 2.7.0 | 2.7.0 | :::: -## 2. Clone LeIsaac Repository and Install - -Clone our repository and install it as dependency. - -```bash -cd .. -git clone https://github.com/LightwheelAI/leisaac.git -cd leisaac -pip install -e source/leisaac -``` - -## 3. Asset Preparation +## 2. Asset Preparation We provide an example USD asset—a kitchen scene. Please download related scene [here](https://github.com/LightwheelAI/leisaac/releases/tag/v0.1.0) and extract it into the `assets` directory. The directory structure should look like this: @@ -83,7 +81,7 @@ Below are the download links for the scenes we provide. For more high-quality sc | Lightwheel Bedroom | Realistic bedroom scene with cloth | [Download](https://github.com/LightwheelAI/leisaac/releases/tag/v0.2.0) | :::: -## 4. Device Setup +## 3. Device Setup We use the SO101Leader as the teleoperation device. Please follow the [official documentation](https://huggingface.co/docs/lerobot/so101) for connection and configuration. From e5582bf04cbc652e8fb3aecea1cbd72ca731c2fe Mon Sep 17 00:00:00 2001 From: EverNorif <1320346985@qq.com> Date: Thu, 13 Nov 2025 17:18:01 +0800 Subject: [PATCH 3/6] nvidia brev docs update. --- .../docs/docs/cloud_simulation/nvidia_brev.md | 38 +++++++++++++++++++ docs/sidebars.js | 18 +++++++++ 2 files changed, 56 insertions(+) create mode 100644 docs/docs/docs/cloud_simulation/nvidia_brev.md diff --git a/docs/docs/docs/cloud_simulation/nvidia_brev.md b/docs/docs/docs/cloud_simulation/nvidia_brev.md new file mode 100644 index 00000000..9eb96ecd --- /dev/null +++ b/docs/docs/docs/cloud_simulation/nvidia_brev.md @@ -0,0 +1,38 @@ +# Experence LeIsaac with Nvidia Brev + +The fastest way to get started with Leisaac — you don't need a high-performance GPU, just a web browser. + +Open a web browser and navigate to this [link](https://brev.nvidia.com/launchable/deploy/now?launchableID=env-35P96N3pyzVDW3Xlohy7X2TuLCX). After the deployment is complete,click the link for port 80 (HTTP) to open Visual Studio Code Server.The default password is `password`. + +Quick install: +```bash +cd leisaac +pip install -e source/leisaac +``` + +Our four open-source scenarios have been pre-installed and can be started using the following code： +```bash +python scripts/environments/teleoperation/teleop_se3_agent.py \ + --task=LeIsaac-SO101-PickOrange-v0 \ + --teleop_device=keyboard \ + --num_envs=1 \ + --device=cuda \ + --enable_cameras \ + --kit_args="--no-window --enable omni.kit.livestream.webrtc" +``` + +Then you can open a new browser tab to view the UI. In this tab, paste the same address as the Visual Studio Code server, changing the end of the URL to: `/viewer`. + +:::info[EXAMPLE] +if VSCode is at `ec2.something.amazonaws.com`, then the UI can be accessed at `ec2.something.amazonaws.com/viewer`. +::: + +After a few seconds you should see the UI in the viewer tab. The first launch may take much longer as shaders are cached. + +Here is our demo video： + +