isaaclab-sim

Simulation demo for IsaacSim. This repository provides a minimal example for loading and controlling the Wuji Hand in IsaacSim simulator. Loads pre-built USD assets with PBR materials and plays trajectory in a loop, supporting both left- and right-hand configurations via --side argument.

Get started with Quick Start. For detailed documentation, please refer to Isaac Lab Simulation Example on Wuji Docs Center.

https://github.com/user-attachments/assets/3fffb009-f78a-4dda-93ed-94de20b93811

Repository Structure

├── assets/                        // Demo videos and screenshots
├── data/
│   └── wave.npy                   // Pre-recorded trajectory data
├── wuji_hand_description/         // Submodule: URDF, MJCF, USD, meshes
├── run_sim.py                     // Main simulation script
└── README.md

Quick Start

Installation

git clone --recurse-submodules https://github.com/wuji-technology/isaaclab-sim.git
cd isaaclab-sim

Follow the official documentation to set up your IsaacSim environment.

Running

# Right hand (default)
python run_sim.py

# Left hand
python run_sim.py --side left

The script loads the pre-built USD model from the submodule and plays the trajectory in a loop.

Contact

For any questions, please contact support@wuji.tech.