.. _how-to:

How-to Guides
=============

This section includes guides that help you use Isaac Lab. These are intended for users who
have already worked through the tutorials and are looking for more information on how to
use Isaac Lab. If you are new to Isaac Lab, we recommend you start with the tutorials.

.. note::

    This section is a work in progress. If you have a question that is not answered here,
    please open an issue on our `GitHub page <https://github.com/isaac-sim/IsaacLab>`_.

Importing a New Asset
---------------------

Importing an asset into Isaac Lab is a common task. It contains two steps: importing the asset into
a USD format and then setting up the configuration object for the asset. The following guide explains
how to import a new asset into Isaac Lab.

.. toctree::
    :maxdepth: 1

    import_new_asset
    write_articulation_cfg
    robots

Creating a Fixed Asset
----------------------

Often you may want to create a fixed asset in your scene. For instance, making a floating base robot
a fixed base robot. This guide goes over the various considerations and steps to create a fixed asset.

.. toctree::
    :maxdepth: 1

    make_fixed_prim

Spawning Multiple Assets
------------------------

This guide explains how to import and configure different assets in each environment. This is
useful when you want to create diverse environments with different objects.

.. toctree::
    :maxdepth: 1

    multi_asset_spawning

Cloning Environments
--------------------

This guide explains how Isaac Lab's template-based cloning system works, including
cloning strategies, heterogeneous environments, and collision filtering.

.. toctree::
    :maxdepth: 1

    cloning

Saving Camera Output
--------------------

This guide explains how to save the camera output in Isaac Lab.

.. toctree::
    :maxdepth: 1

    save_camera_output

Estimate How Many Cameras Can Run On Your Machine
-------------------------------------------------

This guide demonstrates how to estimate the number of cameras one can run on their machine under the desired parameters.

.. toctree::
    :maxdepth: 1

    estimate_how_many_cameras_can_run

Configure Rendering
-------------------

This guide demonstrates how to select rendering mode presets and overwrite preset rendering settings.

.. toctree::
    :maxdepth: 1

    configure_rendering

Drawing Markers
---------------

This guide explains how to use the :class:`~isaaclab.markers.VisualizationMarkers` class to draw markers in
Isaac Lab.

.. toctree::
    :maxdepth: 1

    draw_markers


Interfacing with Environments
-----------------------------

These guides explain how to interface with reinforcement learning environments in Isaac Lab.

.. toctree::
    :maxdepth: 1

    wrap_rl_env
    add_own_library


Recording an Animation and Video
--------------------------------

This guide explains how to record an animation and video in Isaac Lab.

.. toctree::
    :maxdepth: 1

    record_animation
    record_video


Dynamically Modifying Environment Parameters With CurriculumTerm
----------------------------------------------------------------

This guide explains how to dynamically modify environment parameters during training in Isaac Lab.
It covers the use of curriculum utilities to change environment parameters at runtime.

.. toctree::
    :maxdepth: 1

    curriculums


Mastering Omniverse
-------------------

Omniverse is a powerful platform that provides a wide range of features. This guide links to
additional resources that help you use Omniverse features in Isaac Lab.

.. toctree::
    :maxdepth: 1

    master_omniverse


Setting up Isaac Teleop with CloudXR
------------------------------------

This guide explains how to install Isaac Teleop, start the CloudXR runtime, and connect XR
devices for immersive teleoperation in Isaac Lab.

.. toctree::
    :maxdepth: 1

    cloudxr_teleoperation


Setting up Haply Teleoperation
------------------------------

This guide explains how to use Haply Inverse3 and VerseGrip devices for robot teleoperation
with directional force feedback in Isaac Lab.

.. toctree::
    :maxdepth: 1

    haply_teleoperation


Understanding Simulation Performance
------------------------------------

This guide provides tips on optimizing simulation performance for different simulation use cases.
Additional resources are also linked to provide relevant performance guides for Isaac Sim and
Omniverse Physics.

.. toctree::
    :maxdepth: 1

    simulation_performance


Optimize Stage Creation
-----------------------

This guide explains 2 features that can speed up stage initialization, **fabric cloning** and **stage in memory**.

.. toctree::
    :maxdepth: 1

    optimize_stage_creation