API Reference

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

isaaclab extension

The following modules are available in the isaaclab extension:

app	Sub-package containing app-specific functionalities.
actuators	Sub-package for different actuator models.
assets	Sub-package for different assets, such as rigid objects and articulations.
cloner
controllers	Sub-package for different controllers and motion-generators.
devices	Sub-package providing interfaces to different teleoperation devices.
envs	Sub-package for environment definitions.
managers	Sub-module for environment managers.
markers	Sub-package for marker utilities to simplify creation of UI elements in the GUI.
physics	Implementation backends for simulation interfaces.
renderers	Sub-package for renderer configurations and implementations.
scene	Sub-package containing an interactive scene definition.
sensors	Sub-package containing various sensor classes implementations.
sim	Sub-package containing simulation-specific functionalities.
terrains	Sub-package with utilities for creating terrains procedurally.
utils	Sub-package containing utilities for common operations and helper functions.
visualizers	Visualizer base and factory entrypoints.

isaaclab_rl extension

The following wrappers are available in the isaaclab_rl extension:

• isaaclab_rl
  • RL-Games Wrapper
  • RSL-RL Wrapper
  • SKRL Wrapper
  • Stable-Baselines3 Wrapper

isaaclab_mimic extension

The following modules are available in the isaaclab_mimic extension:

datagen	Sub-package with core implementation logic for Isaac Lab Mimic.
envs	Sub-package with environment wrappers for Isaac Lab Mimic.

isaaclab_contrib extension

The following modules are available in the isaaclab_contrib extension:

actuators	Sub-package for thruster actuator models.
assets	Sub-package for externally contributed assets.
mdp	Sub-package for MDP (Markov Decision Process) components contributed by the community.
rl	Reinforcement learning extensions contributed by the community.
sensors	Sub-package for externally contributed sensors.

isaaclab_tasks extension

This package isaaclab_tasks contains the tasks that are available in the Isaac Lab. For more information, please refer to the Available Environments.

It includes the following modules:

utils

Sub-package with utilities, data collectors and environment wrappers.

isaaclab_teleop extension

The following modules are available in the isaaclab_teleop extension:

• isaaclab_teleop
  • Configuration
  • Device
  • XR Anchor

isaaclab_physx extension

The following modules are available in the isaaclab_physx extension:

assets	Sub-package for different assets, such as rigid objects and articulations.
cloner
physics	Implementation backends for simulation interfaces.
renderers	Sub-module for PhysX renderer backends (Isaac RTX / Omniverse Replicator).
scene_data_providers	PhysX scene data provider backends.
sensors	Sub-package containing PhysX-specific sensor implementations.

isaaclab_newton extension

The following modules are available in the isaaclab_newton extension:

assets
cloner
physics	Implementation backends for simulation interfaces.
renderers	Sub-module for Newton renderer backends (Newton Warp).
scene_data_providers	Newton scene data provider backends.
sensors	Sub-package containing Newton-specific sensor implementations.

isaaclab_ov extension

The following modules are available in the isaaclab_ov extension:

renderers

Sub-module for OVRTX renderer backend.

isaaclab_assets extension

The following modules are available in the isaaclab_assets extension:

robots
sensors

isaaclab_visualizers extension

The following modules are available in the isaaclab_visualizers extension:

kit	Kit visualizer backend (Isaac Sim viewport).
newton	Newton OpenGL visualizer backend.
rerun	Rerun visualizer backend.
viser	Viser visualizer backend.