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.
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.
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.

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:

envs	Sub-package with environment wrappers for Isaac Lab Mimic.

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.