https://github.com/enactic/openarm_isaac_lab
OpenArm Isaac Lab Simulation
https://github.com/enactic/openarm_isaac_lab
Last synced: 5 months ago
JSON representation
OpenArm Isaac Lab Simulation
- Host: GitHub
- URL: https://github.com/enactic/openarm_isaac_lab
- Owner: enactic
- License: apache-2.0
- Created: 2025-07-23T05:44:54.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2025-11-25T05:00:32.000Z (7 months ago)
- Last Synced: 2025-11-28T13:51:35.616Z (7 months ago)
- Language: Python
- Homepage:
- Size: 60.6 MB
- Stars: 31
- Watchers: 3
- Forks: 12
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE.txt
- Code of conduct: CODE_OF_CONDUCT.md
Awesome Lists containing this project
README
# OpenArm Isaac Lab
[](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html)
[](https://isaac-sim.github.io/IsaacLab)
[](https://docs.python.org/3/whatsnew/3.11.html)
[](https://releases.ubuntu.com/22.04/)
[](https://opensource.org/license/apache-2-0)
## Overview
This repository provides simulation and learning environments for the **OpenArm robotic platform**, built on **NVIDIA Isaac Sim** and **Isaac Lab**.
It enables research and development in **reinforcement learning (RL)**, **imitation learning (IL)**, **teleoperation**, and **sim-to-real transfer** for both **unimanual (single-arm)** and **bimanual (dual-arm)** robotic systems.
### What this repo offers
- **Isaac Sim models** for OpenArm robots.
- **Isaac Lab training environments** for RL tasks (reach, lift a cube, open a drawer).
- **Imitation learning**, **teleoperation interfaces**, and **sim-to-sim / sim-to-real transfer pipelines** are currently under development and will be available soon.
This repository has been tested with:
- **Ubuntu 22.04**
- **Isaac Sim v5.1.0**
- **Isaac Lab v2.3.0**
- **Python 3.11**
---
## Index
- [OpenArm Isaac Lab](#openarm-isaac-lab)
- [Overview](#overview)
- [What this repo offers](#what-this-repo-offers)
- [Index](#index)
- [Installation Guide](#installation-guide)
- [(Option 1) Docker installation (linux only)](#option-1-docker-installation-linux-only)
- [(Option 2) Local installation](#option-2-local-installation)
- [Reinforcement Learning (RL)](#reinforcement-learning-rl)
- [Training Model](#training-model)
- [Replay Trained Model](#replay-trained-model)
- [Analyze logs](#analyze-logs)
- [Sim2sim](#sim2sim)
- [Sim2Real Deployment using OpenArm](#sim2real-deployment-using-openarm)
- [Related links](#related-links)
- [License](#license)
- [Code of Conduct](#code-of-conduct)
## Installation Guide
### (Option 1) Docker installation (linux only)
1. Pull the minimal Isaac Lab container
```bash
docker pull nvcr.io/nvidia/isaac-lab:2.3.0
```
2. Create container
```bash
xhost +
docker run --name isaac-lab --entrypoint bash -it --gpus all --rm -e "ACCEPT_EULA=Y" --network=host \
-e "PRIVACY_CONSENT=Y" \
-e DISPLAY \
-v $HOME/.Xauthority:/root/.Xauthority \
-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
-v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
-v ~/docker/isaac-sim/documents:/root/Documents:rw \
nvcr.io/nvidia/isaac-lab:2.3.0
```
3. Clone git at your HOME directory
```bash
cd /workspace
git clone git@github.com:enactic/openarm_isaac_lab.git
```
4. Install python package with
```bash
cd openarm_isaac_lab
python -m pip install -e source/openarm
```
5. With this command, you can verify that OpenArm package has been properly installed and check all the environments where it can be executed.
```bash
python ./scripts/tools/list_envs.py
```
### (Option 2) Local installation
It is assumed that you have created a virtual environment named env_isaaclab using miniconda or anaconda and will be working within that environment.
1. Clone git at your HOME directory
```bash
cd ~
git clone git@github.com:enactic/openarm_isaac_lab.git
```
2. Activate your virtual env which contains Isaac Lab package
```bash
conda activate env_isaaclab
```
3. Install python package with
```bash
cd openarm_isaac_lab
python -m pip install -e source/openarm
```
4. With this command, you can verify that OpenArm package has been properly installed and check all the environments where it can be executed.
```bash
python ./scripts/tools/list_envs.py
```
## Reinforcement Learning (RL)
You can run different tasks and policies.
Replace `` and `` with one of the following available tasks:
| Task Description | Task Name | Policy Name | Demo |
| ----------------------- | ------------------------------ | ----------------------------------- | ------------------------------------ |
| Reach target position | `Isaac-Reach-OpenArm-v0` | `rsl_rl`, `rl_games`, `skrl` | 
|
| Lift a cube | `Isaac-Lift-Cube-OpenArm-v0` | `rsl_rl`, `rl_games`, `skrl` | 
|
| Open a cabinet's drawer | `Isaac-Open-Drawer-OpenArm-v0` | `rsl_rl`, `rl_games`, `skrl` | 
|
| Reach target position (Bimanual) | `Isaac-Reach-OpenArm-Bi-v0` | `rsl_rl`, `rl_games`, `skrl` | 
|
### Training Model
```bash
python ./scripts/reinforcement_learning//train.py --task --headless
```
### Replay Trained Model
```bash
python ./scripts/reinforcement_learning//play.py --task --num_envs 64
```
### Analyze logs
```bash
python -m tensorboard.main --logdir=logs
```
And open the google and go to `http://localhost:6006/`
## Related links
* Read the [documentation](https://docs.openarm.dev/)
* Join the community on [Discord](https://discord.gg/FsZaZ4z3We)
* Contact us through
## License
[Apache License 2.0](LICENSE.txt)
Copyright 2025 Enactic, Inc.
## Code of Conduct
All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).