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isaaclab_arena
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Table of Contents

Isaac Lab-Arena

  • Overview
  • Why Isaac Lab-Arena

Set Up

  • Installation

Getting Started

  • First Arena Environment
  • First Arena Experiment
  • Exploring Environment Variations
  • Running a Real Policy
    • OpenPI
    • GR00T

Arena in Your Repo

  • Arena in Your Repository
    • Installing IsaacLab-Arena in Your Repository
    • Defining Environments in Your Repository
    • Your Own Tasks and Embodiments

Example Workflows

  • Example Environments
    • RoboLab Task Catalog
    • Kitchen Benchmark Catalog
    • Python Environment Catalog
  • Evaluation
    • Run an Evaluation
    • Sensitivity Analysis
    • Multi-Node Evaluation
  • Agentic Environment Generation
    • Pick and Place atomic task with homogeneous objects
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Pick and Place atomic task with heterogeneous objects
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Pick and Place composite task with SimReady assets
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Pick and Place on a Kitchen Countertop
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Open a Kitchen Fridge Door
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
  • Imitation Learning
    • G1 Loco-Manipulation Box Pick and Place Task
      • Environment Setup and Validation
      • Teleoperation Data Collection
      • Data Generation
      • Policy Post-Training
      • Closed-Loop Policy Inference and Evaluation
    • GR1 Open Microwave Door Task
      • Environment Setup and Validation
      • Teleoperation Data Collection
      • Data Generation
      • Policy Post-training
      • Closed-Loop Policy Inference and Evaluation
    • GR1 Sequential Pick & Place and Close Door Task
      • Environment Setup and Validation
      • Teleoperation Data Collection
      • Data Generation
      • Policy Post-training
      • Closed-Loop Policy Inference and Evaluation
  • Reinforcement Learning
    • Franka Lift Object Task
      • Environment Setup and Validation
      • Policy Training
      • Closed-Loop Policy Inference and Evaluation
    • Dexsuite Kuka Allegro Lift Task (Newton)
      • Environment Setup and Validation
      • Policy Training (Isaac Lab)
      • Evaluation in Arena

Concepts

  • Environment
    • Environment Definition
    • Environment Builder
    • Physics configuration
    • Physics backend selection
    • Graph YAML env_cfg_override
  • Agentic Environment Generation
    • System Overview
    • Inference Model and Spec Quality
    • GUI Runner
    • CLI Runner
  • Scene
    • Assets
    • Rigid Object Sets
    • Affordances
  • Task
    • Composite and Sequential Tasks
    • Predicates and Subtask Progress Tracking
    • RL Tasks
    • Metrics
  • Embodiment
    • Teleop Devices
  • Object and Robot Placement
    • Relations and Strategies
    • Record and Replay Placement Poses
      • Clutter Layouts
    • Collision Handling
    • Placement Solver
    • Placement Validation
    • Pooled Placement
    • Homogeneous and Heterogeneous Object Placement
  • Policy
  • Arena Experiments
  • Variations
    • Variations
  • Sensitivity Analysis

Advanced

  • Omniverse Authentication
  • Assets Management
  • Jupyter Notebooks

References

  • Performance and scaling
  • Release Notes
  • Citing Isaac Lab-Arena

Gallery

  • Gallery

Development Team Internal

  • Development Team Internal
    • DreamZero
  • Arena in Your Repository

Arena in Your Repository#

This section explains how to integrate IsaacLab-Arena into your own repository — installing it as a submodule, defining custom environments, and registering your own tasks and embodiments.

To record clutter layouts from your own environment, see Adapt Your Own Environment for registration, factory configuration, and recording/replay requirements.

  • Installing IsaacLab-Arena in Your Repository
  • Defining Environments in Your Repository
  • Your Own Tasks and Embodiments

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GR00T

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Installing IsaacLab-Arena in Your Repository
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