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Overview
========

.. figure:: source/_static/isaaclab.jpg
:width: 100%
:alt: H1 Humanoid example using Isaac Lab

**Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows
in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon
`NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast
and efficient simulation. The core objectives of the framework are:

- **Modularity**: Easily customize and add new environments, robots, and sensors.
- **Agility**: Adapt to the changing needs of the community.
- **Openness**: Remain open-sourced to allow the community to contribute and extend the framework.
- **Battery-included**: Include a number of environments, sensors, and tasks that are ready to use.

Key features available in Isaac Lab include fast and accurate physics simulation provided by PhysX,
tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability,
and support for running in the cloud.

For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_
:cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the
:doc:`/source/setup/faq` section.

.. figure:: source/_static/tasks.jpg
:width: 100%
:alt: Example tasks created using Isaac Lab


License
=======

The Isaac Lab framework is open-sourced under the BSD-3-Clause license.
Please refer to :ref:`license` for more details.

Acknowledgement
===============
Isaac Lab development initiated from the `Orbit <https://isaac-orbit.github.io/>`_ framework. We would appreciate if you would cite it in academic publications as well:

.. code:: bibtex
@article{mittal2023orbit,
author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
journal={IEEE Robotics and Automation Letters},
title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
year={2023},
volume={8},
number={6},
pages={3740-3747},
doi={10.1109/LRA.2023.3270034}
}
Table of Contents
=================

.. toctree::
:maxdepth: 2
:caption: Getting Started

source/setup/translation
source/setup/installation/index
source/setup/developer
source/setup/sample
source/setup/template
source/setup/faq

.. toctree::
:maxdepth: 2
:caption: Features

source/features/task_workflows
source/features/multi_gpu
source/features/tiled_rendering
source/features/environments
source/features/actuators
.. source/features/motion_generators

.. toctree::
:maxdepth: 1
:caption: Resources
:titlesonly:

source/tutorials/index
source/how-to/index
source/deployment/index

.. toctree::
:maxdepth: 1
:caption: Source API

source/api/index

.. toctree::
:maxdepth: 1
:caption: Migration Guides
:titlesonly:

source/migration/migrating_from_isaacgymenvs
source/migration/migrating_from_omniisaacgymenvs
source/migration/migrating_from_orbit

.. toctree::
:maxdepth: 1
:caption: References

source/refs/contributing
source/refs/troubleshooting
source/refs/issues
source/refs/changelog
source/refs/license
source/refs/bibliography

.. toctree::
:hidden:
:caption: Project Links

GitHub <https://github.com/isaac-sim/IsaacLab>
NVIDIA Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>
NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.0/index.html>

Indices and tables
==================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html
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API Reference
=============

This page gives an overview of all the modules and classes in the Isaac Lab extensions.

omni.isaac.lab extension
------------------------

The following modules are available in the ``omni.isaac.lab`` extension:

.. currentmodule:: omni.isaac.lab

.. autosummary::
:toctree: lab

app
actuators
assets
controllers
devices
envs
managers
markers
scene
sensors
sim
terrains
utils

.. toctree::
:hidden:

lab/omni.isaac.lab.envs.mdp
lab/omni.isaac.lab.envs.ui
lab/omni.isaac.lab.sensors.patterns
lab/omni.isaac.lab.sim.converters
lab/omni.isaac.lab.sim.schemas
lab/omni.isaac.lab.sim.spawners

omni.isaac.lab_tasks extension
--------------------------------

The following modules are available in the ``omni.isaac.lab_tasks`` extension:

.. currentmodule:: omni.isaac.lab_tasks

.. autosummary::
:toctree: lab_tasks

utils


.. toctree::
:hidden:

lab_tasks/omni.isaac.lab_tasks.utils.wrappers
lab_tasks/omni.isaac.lab_tasks.utils.data_collector
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omni.isaac.lab.actuators
========================

.. automodule:: omni.isaac.lab.actuators

.. rubric:: Classes

.. autosummary::

ActuatorBase
ActuatorBaseCfg
ImplicitActuator
ImplicitActuatorCfg
IdealPDActuator
IdealPDActuatorCfg
DCMotor
DCMotorCfg
DelayedPDActuator
DelayedPDActuatorCfg
RemotizedPDActuator
RemotizedPDActuatorCfg
ActuatorNetMLP
ActuatorNetMLPCfg
ActuatorNetLSTM
ActuatorNetLSTMCfg

Actuator Base
-------------

.. autoclass:: ActuatorBase
:members:
:inherited-members:

.. autoclass:: ActuatorBaseCfg
:members:
:inherited-members:
:exclude-members: __init__, class_type

Implicit Actuator
-----------------

.. autoclass:: ImplicitActuator
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: ImplicitActuatorCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

Ideal PD Actuator
-----------------

.. autoclass:: IdealPDActuator
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: IdealPDActuatorCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

DC Motor Actuator
-----------------

.. autoclass:: DCMotor
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: DCMotorCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

Delayed PD Actuator
-------------------

.. autoclass:: DelayedPDActuator
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: DelayedPDActuatorCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

Remotized PD Actuator
---------------------

.. autoclass:: RemotizedPDActuator
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: RemotizedPDActuatorCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

MLP Network Actuator
---------------------

.. autoclass:: ActuatorNetMLP
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: ActuatorNetMLPCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

LSTM Network Actuator
---------------------

.. autoclass:: ActuatorNetLSTM
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: ActuatorNetLSTMCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type
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