.. _isaac-lab-quickstart-details: Quickstart Details ================== Extended reference for topics introduced in :doc:`quickstart`. Quick Start Using Isaac Launchable ---------------------------------- For users first learning Isaac Lab without sufficient local compute, the `Isaac Launchable `_ project provides a browser-based Isaac Sim and Isaac Lab environment via `NVIDIA Brev `_. .. image:: https://brev-assets.s3.us-west-1.amazonaws.com/nv-lb-dark.svg :target: https://brev.nvidia.com/launchable/deploy/now?launchableID=env-35JP2ywERLgqtD0b0MIeK1HnF46 :alt: Click here to deploy Running Tasks ------------- Use ``physics=`` and ``renderer=`` for backend selection and ``presets=`` for task-specific options (observation modes, camera configs, etc.). They fold into Hydra overrides automatically. .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash # Kit-less: Newton MJWarp + Newton visualizer ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py \ --task=Isaac-Cartpole-Direct-v0 \ --num_envs=4096 \ physics=newton_mjwarp --visualizer newton # With Isaac Sim: PhysX ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py \ --task=Isaac-Cartpole-Direct-v0 \ --num_envs=4096 \ physics=physx # Camera task: physics + renderer + domain preset ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py \ --task=Isaac-Cartpole-Camera-Presets-Direct-v0 \ physics=newton_mjwarp renderer=newton_renderer presets=rgb # OVRTX rendering (kit-less, no Kit visualizer) ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py \ --task=Isaac-Repose-Cube-Shadow-Vision-Benchmark-Direct-v0 \ --headless --enable_cameras --num_envs=16 --max_iterations=10 \ physics=newton_mjwarp renderer=ovrtx_renderer presets=simple_shading_diffuse_mdl .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\train.py ^ --task=Isaac-Cartpole-Direct-v0 ^ --num_envs=4096 ^ physics=newton_mjwarp --visualizer newton Kit-less visualizer options: ``newton``, ``rerun``, ``viser``. Combine with commas: ``--visualizer newton,rerun``. Available Presets ^^^^^^^^^^^^^^^^^ **Physics backends** (``physics=NAME``): - ``physx`` — PhysX via Isaac Sim (default when no selector is given) - ``newton_mjwarp`` — Newton with the MuJoCo-Warp solver - ``newton_kamino`` — Newton with the Kamino solver (beta, limited tasks) - ``ovphysx`` — OV PhysX (kit-less; incompatible with ``--visualizer kit``) **Renderer backends** (``renderer=NAME``): - ``isaacsim_rtx_renderer`` — Isaac Sim RTX (default with Isaac Sim) - ``newton_renderer`` — Newton Warp renderer - ``ovrtx_renderer`` — OV RTX renderer (kit-less) **Domain presets** (``presets=NAME[,NAME,...]``) are task-specific — run ``--task= --help`` to list them. Common combinations: .. code-block:: bash physics=newton_mjwarp renderer=newton_renderer presets=rgb physics=newton_mjwarp renderer=newton_renderer presets=depth physics=physx renderer=isaacsim_rtx_renderer presets=rgb physics=physx renderer=isaacsim_rtx_renderer presets=depth physics=physx renderer=isaacsim_rtx_renderer presets=albedo physics=newton_mjwarp renderer=ovrtx_renderer presets=rgb physics=newton_mjwarp renderer=ovrtx_renderer presets=simple_shading_diffuse_mdl Legacy ``presets=newton_mjwarp,newton_renderer,rgb`` form still works; prefer typed selectors for clarity. See :doc:`/source/features/hydra` for the full preset system. List Available Environments --------------------------- Task names are registered with the `Gymnasium API `_. List them with: .. code-block:: bash ./isaaclab.sh -p scripts/environments/list_envs.py Example output: .. code-block:: bash +--------+----------------------+--------------------------------------------+... | 2 | Isaac-Ant-Direct-v0 | isaaclab_tasks.direct.ant.ant_env:AntEnv |... | 48 | Isaac-Ant-v0 | isaaclab.envs:ManagerBasedRLEnv |... Each task may appear in **Direct** and **ManagerBased** variants — see :ref:`feature-workflows` for the two primary workflows. Generate Your Own Project ------------------------- Scaffold a new project with the template generator: .. code-block:: bash ./isaaclab.sh --new Choose **External vs Internal**, **Direct vs Manager**, and RL **Framework** options, then install: .. code-block:: bash uv pip install -e source/ The generated ``__init__.py`` registers the environment with Gymnasium: .. code-block:: python gym.register( id="Template-isaaclabtutorial_env-v0", entry_point=f"{__name__}.isaaclabtutorial_env:IsaaclabtutorialEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.isaaclabtutorial_env_cfg:IsaaclabtutorialEnvCfg", "skrl_cfg_entry_point": f"{agents.__name__}.skrl_ppo_cfg:PPORunnerCfg", }, ) Configurations -------------- Configurations use the ``@configclass`` decorator and contain no ``__init__``. Example from the :ref:`cartpole environment `: .. code-block:: python @configclass class CartpoleEnvCfg(DirectRLEnvCfg): decimation = 2 episode_length_s = 5.0 action_scale = 100.0 action_space = 1 observation_space = 4 sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation) robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="/World/envs/env_.*/Robot") scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True) rew_scale_alive = 1.0 rew_scale_terminated = -2.0 CLI arguments such as ``--num_envs`` override matching config fields at launch time. Robots ------ Robots are defined as configuration instances. See :doc:`/source/how-to/robots` for a full example. Apps and Sims ------------- PhysX workflows require launching the Isaac Sim app. Newton workflows do not. For standalone scripts outside the standard task runners, use :class:`~isaaclab.app.AppLauncher`: .. code-block:: python from isaaclab.app import AppLauncher parser = argparse.ArgumentParser() parser.add_argument("--num_envs", type=int, default=1) AppLauncher.add_app_launcher_args(parser) args_cli = parser.parse_args() app_launcher = AppLauncher(args_cli) simulation_app = app_launcher.app Many Isaac Lab modules cannot be imported until the app is launched. See the `Isaac Sim documentation `_ for standalone app development.