Integration — Isaac Lab

Isaac Lab is a robot learning framework built on top of Isaac Sim. SimForge integrates with Isaac Lab through SimforgeAssetCfg to configure the spawning of assets within interactive scenes.

Requirements

• Isaac Lab 1.4

SimforgeAssetCfg

The SimforgeAssetCfg class is a SpawnerCfg (FileCfg) subclass that streamlines the generation and spawning of SimForge assets within Isaac Lab. The primary attributes include:

• assets: Sequence of asset types to spawn
• num_assets: The number of asset variants distributed among assets to generate (default: 1)
• seed: The initial seed used to generate the first variant of assets (default: 0)
• use_cache: Use cached assets instead of generating new ones (default: True)
• random_choice: Randomly select variants instead of sequentially (default: False)

Example:

from omni.isaac.lab import sim as sim_utils
from omni.isaac.lab.assets import AssetBaseCfg, RigidObjectCfg
from omni.isaac.lab.scene import InteractiveSceneCfg
from omni.isaac.lab.utils import configclass
from simforge import AssetRegistry
from simforge.integrations.isaaclab import SimforgeAssetCfg
from simforge_foundry import ExampleModel


@configclass
class ExampleSceneCfg(InteractiveSceneCfg):
    num_envs: int = 64

    asset1: AssetBaseCfg = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/asset1",
        spawn=SimforgeAssetCfg(
            assets=[
                AssetRegistry.by_name("example_geo"),
                AssetRegistry.by_name("example_model"),
            ],
            num_assets=64,
            collision_props=sim_utils.CollisionPropertiesCfg(),
        ),
    )
    asset2: RigidObjectCfg = RigidObjectCfg(
        prim_path="{ENV_REGEX_NS}/asset2",
        spawn=SimforgeAssetCfg(
            assets=[ExampleModel],
            num_assets=8,
            seed=42,
            collision_props=sim_utils.CollisionPropertiesCfg(),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(),
            mass_props=sim_utils.MassPropertiesCfg(),
        ),
    )