Key links:

• Intro documentation
• https://isaac-sim.github.io/IsaacLab/index.html

Installing:

Tutorials:

Tutorials start here:

Tutorials — Isaac Lab documentation

Tutorial 1: Setting up a simple simulation

Tutorial 2: Interacting with assets

Tutorial 3: Creating a scene

Tutorial 4: Designing an environment

Tutorial 5: Integrating sensors

Tutorial 6: Controllers

omni.isaac.lab.controllers — Isaac Lab documentation

Damped Least Squares:

• Adding a damping factor to the computation of the Jacobian inverse helps mitigate the effects of singularities by avoiding extremely large joint velocities.

ethz.ch

Bonus Andrew content: Running isaac Lab stuff from another workspace:

• You need to first add the simlink to your isaac sim installaltion in the root of your workspace directory: (you may need to change this depending where isaac sim was installed)