Mosaic Isaac Sim Example

Overview

This project/repository provides an example of applying the mosaic system to an Isaac Lab-based project.

Installation

• Install Isaac Lab by following the installation guide. We recommend using the conda or uv installation as it simplifies calling Python scripts from the terminal.

• Clone or copy this project/repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):

  git clone https://github.com/ACSL-MOSAIC/mosaic-isaac-sim-example.git

• Install the mosaic-core library by following the instructions in its README.

• After building the mosaic-core library, with a python interpreter that has Isaac Lab installed, install the library in editable mode using:

  # use 'PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
  python -m pip install -e mosaic-core/build/python

Setup Mosaic Configuration yaml File

• Create a mosaic configuration yaml file based on your requirements.

Running the Example

• Using a python interpreter that has Isaac Lab installed, run h1_locomotion.py

  # use 'PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
  python scripts/h1_locomotion.py

Code formatting

We have a pre-commit template to automatically format your code, which is automatically generated by Isaac Lab. To install pre-commit:

pip install pre-commit

Then you can run pre-commit with:

pre-commit run --all-files