Leatherback Example Interactive

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Intro

This Omniverse Extension works as an example that shows how to run a policy in IsaacSim for a F1Tenth car based on the project Leatherback. The policy is trained on IsaacLab and further deployed on IsaacSim.

Important

This extension depends on a special extension that requires to me manually installed similar to IsaacLab.

Dependencies

This extension depends on a special extension leatherback.example.ackermann that requires to me manually installed similar to IsaacLab.

• leatherback.example.ackermann
• IsaacLab
• IsaacSim

Please go to leatherback.example.ackermann and follow the instructions to get the extension running.

Getting Started

To enable this extension, go to the Extension Manager menu and enable leatherback.example.interactive extension.

Manual installation

Go to the Extension Manager and in the drop down menu select Settings and add the path to the folder where the extension is located.

Example:

/home/user/Documents/GitHub/boredengineer

The extension manager will automatically look for extension with the name leatherback.example.interactive

Usage

Step 1: Click on the viewport with the left mouse button to select the environment

Step 2: Use the middle mouse button to generate the waypoints

ROADMAP

The end goal would be a sample to build Sim2Real and Real2Sim applications that beyond facilitating debugging the policy, also would allow controlling the robot in real time as well rendering the environment given sensor inputs.

• Initial project setup
• DOCS + material to create your own extension
• ZMQ support
• REAL2SIM support
• Script for building your own policy controller
• Add testing and debugging for auto-commit
• Linter for improving project readability
• Video Tutorial demo the project and how to use it

BIG PLANS !!!

Acknowledgement

If you find this work useful for your research/project, please be so kind to give a star and citing this work.

@misc{LeatherbackExampleInteractive,
  author       = {Renan Monteiro Barbosa},
  title        = {Leatherback Example Interactive},
  year         = {2025},
  publisher    = {GitHub},
  journal      = {GitHub repository},
  howpublished = {\url{https://github.com/boredengineering/leatherback.example.interactive}},
}