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
ext_template
only serves as an example and we provide a script to rename all the references to it automatically:# Rename all occurrences of ext_template (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 ext/ext_template
python -m pip install -e .
To setup the IDE, please follow these instructions:
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.
We provide an example UI extension that will load upon enabling your extension defined in exts/ext_template/ext_template/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:
Add the search path of your repository to the extension manager:
Window
-> Extensions
.Settings
.Extension Search Paths
, enter the absolute path to IsaacLabExtensionTemplate/exts
Extension Search Paths
, enter the path that leads to Isaac Lab's extension directory directory (IsaacLab/source/extensions
)Refresh
.Search and enable your extension:
Third Party
category.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