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:

.. currentmodule:: isaaclab

.. autosummary::
   :toctree: lab

   app
   actuators
   assets
   benchmark
   cloner
   controllers
   devices
   envs
   managers
   markers
   physics
   renderers
   scene
   scene_data
   sensors
   sim
   terrains
   utils
   visualizers

.. toctree::
   :hidden:

   lab/isaaclab.envs.mdp
   lab/isaaclab.envs.ui
   lab/isaaclab.sensors.patterns
   lab/isaaclab.sim.converters
   lab/isaaclab.sim.schemas
   lab/isaaclab.sim.spawners
   lab/isaaclab.sim.views
   lab/isaaclab.sim.utils


isaaclab_rl extension
---------------------

The following wrappers are available in the ``isaaclab_rl`` extension:

.. currentmodule:: isaaclab_rl

.. toctree::
   :maxdepth: 2

   lab_rl/isaaclab_rl


isaaclab_mimic extension
------------------------

The following modules are available in the ``isaaclab_mimic`` extension:

.. currentmodule:: isaaclab_mimic

.. autosummary::
   :toctree: lab_mimic

   datagen
   envs

isaaclab_contrib extension
-----------------------------

The following modules are available in the ``isaaclab_contrib`` extension:

.. currentmodule:: isaaclab_contrib

.. autosummary::
   :toctree: lab_contrib

   actuators
   assets
   controllers
   coupling
   custom_coupling
   deformable
   mdp
   rl
   sensors

isaaclab_tasks extension
------------------------

This package ``isaaclab_tasks`` contains the tasks that are available in the Isaac Lab.
For more information, browse the registered tasks in :doc:`/source/setup/environments`.

It includes the following modules:

.. currentmodule:: isaaclab_tasks

.. autosummary::
   :toctree: lab_tasks

   utils

isaaclab_teleop extension
-------------------------

The following modules are available in the ``isaaclab_teleop`` extension:

.. currentmodule:: isaaclab_teleop

.. toctree::
   :maxdepth: 2

   lab_teleop/isaaclab_teleop

isaaclab_physx extension
------------------------

The following modules are available in the ``isaaclab_physx`` extension:

.. currentmodule:: isaaclab_physx

.. autosummary::
   :toctree: lab_physx

   assets
   cloner
   physics
   renderers
   sensors

.. toctree::
   :hidden:

   lab_physx/isaaclab_physx.sim.schemas
   lab_physx/isaaclab_physx.sim.spawners

isaaclab_newton extension
-------------------------

The following modules are available in the ``isaaclab_newton`` extension:

.. currentmodule:: isaaclab_newton

.. autosummary::
   :toctree: lab_newton

   assets
   cloner
   physics
   renderers
   sensors
   sim.schemas

.. toctree::
   :hidden:

   lab_newton/isaaclab_newton.sim.spawners

isaaclab_ov extension
---------------------

The following modules are available in the ``isaaclab_ov`` extension:

.. currentmodule:: isaaclab_ov

.. autosummary::
   :toctree: lab_ov

   assets
   cloner
   physics
   renderers
   sim.views

isaaclab_assets extension
-------------------------

The following modules are available in the ``isaaclab_assets`` extension:

.. currentmodule:: isaaclab_assets

.. autosummary::
   :toctree: lab_assets

   robots
   sensors

isaaclab_visualizers extension
------------------------------

The following modules are available in the ``isaaclab_visualizers`` extension:

.. currentmodule:: isaaclab_visualizers

.. autosummary::
   :toctree: lab_visualizers

   kit
   newton
   rerun
   viser

isaaclab_experimental extension
--------------------------------

The following modules are available in the ``isaaclab_experimental`` extension:

.. currentmodule:: isaaclab_experimental

.. autosummary::
   :toctree: lab_experimental

   envs
   managers
   utils


isaaclab_tasks_experimental extension
--------------------------------------

The package ``isaaclab_tasks_experimental`` contains experimental task implementations
under active development, not yet part of the stable task suite.
For the list of available environments, please refer to :doc:`/source/setup/environments`.


Additional public API modules
-----------------------------

The following public modules provide additional specialized APIs:

.. toctree::
   :maxdepth: 1

   lab/isaaclab.benchmark.recorders
   lab/isaaclab.sensors.camera
   lab/isaaclab.sensors.ray_caster
   lab/isaaclab.ui.widgets
   lab/isaaclab.ui.xr_widgets
   lab/isaaclab.utils.leapp
   lab_experimental/isaaclab_experimental.envs.mdp.actions
   lab_newton/isaaclab_newton.envs.mdp
   lab_newton/isaaclab_newton.ik
   lab_newton/isaaclab_newton.sim.views
   lab_ov/isaaclab_ov.sensors
   lab_ov/isaaclab_ov.sensors.ray_caster
   lab_physx/isaaclab_physx.sim.views
   lab_ppisp/isaaclab_ppisp