Tutorials

Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand and use various features of the framework. All the tutorials are written as Python scripts. You can find the source code for each tutorial in the source/standalone/tutorials directory of the Isaac Lab repository.

Note

We would love to extend the tutorials to cover more topics and use cases, so please let us know if you have any suggestions.

We recommend that you go through the tutorials in the order they are listed here.

• Setting up a Simple Simulation
  • Creating an empty scene
  • Spawning prims into the scene
  • Deep-dive into AppLauncher
• Interacting with Assets
  • Interacting with a rigid object
  • Interacting with an articulation
• Creating a Scene
  • Using the Interactive Scene
• Designing an Environment
  • Creating a Manager-Based Base Environment
  • Creating a Manager-Based RL Environment
  • Creating a Direct Workflow RL Environment
  • Registering an Environment
  • Training with an RL Agent
• Integrating Sensors
  • Adding sensors on a robot
• Using Motion Generators
  • Using a task-space controller