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Isaac Lab 3.0.0

For workflows that use Isaac Sim, this branch targets Isaac Sim 6.2. For installation instructions, see the Isaac Lab documentation.

Isaac Lab is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows, such as reinforcement learning, imitation learning, and post-training. It is a multi-backend framework supporting physics and rendering through Newton, OVRTX, OVPhysX, and NVIDIA Isaac Sim. These backends provide fast and accurate physics and sensor simulation for sim-to-real transfer in robotics.

Isaac Lab provides developers with a range of essential features for accurate sensor simulation, such as RTX-based cameras, LIDAR, or contact sensors. The framework's GPU acceleration enables users to run complex simulations and computations faster, which is key for iterative processes like reinforcement learning and data-intensive tasks. Moreover, Isaac Lab can run locally or be distributed across the cloud, offering flexibility for large-scale deployments.

A detailed description of Isaac Lab can be found in our arXiv paper.

Key Features

Isaac Lab offers a comprehensive set of tools and environments designed to facilitate robot learning:

• Robots: A diverse collection of robots, from manipulators, quadrupeds, to humanoids, with more than 16 commonly available models.
• Environments: Ready-to-train implementations of more than 30 environments, which can be trained with popular reinforcement learning frameworks such as RSL RL, SKRL, RL Games, or Stable Baselines. We also support multi-agent reinforcement learning.
• Physics: Rigid bodies, articulated systems, deformable objects
• Sensors: RGB/depth/segmentation cameras, camera annotations, IMU, contact sensors, ray casters.

Getting Started

Documentation

Our documentation page provides everything you need to get started, including detailed tutorials and step-by-step guides. Follow these links to learn more about:

• Installation steps
• Reinforcement learning
• Getting started tutorial
• How-to guides
• Available environments

Isaac Sim Compatibility

Isaac Lab supports multiple backends and does not require Isaac Sim for every workflow. Workflows that use Isaac Sim require a compatible version. Below, we outline recent Isaac Lab releases and GitHub branches and their corresponding Isaac Sim versions.

Isaac Lab Version	Isaac Sim Version
release/3.0.0 branch	Isaac Sim 6.2
main branch	Isaac Sim 6.2
v3.0.0-EA tag	Isaac Sim 6.1
v3.0.0-beta2 tag	Isaac Sim 6.0
v2.3.X	Isaac Sim 4.5 / 5.0 / 5.1
v2.2.X	Isaac Sim 4.5 / 5.0
v2.1.X	Isaac Sim 4.5
v2.0.X	Isaac Sim 4.5

Contributing to Isaac Lab

We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone. These may happen as bug reports, feature requests, or code contributions. For details, please check our contribution guidelines.

Community Projects

This list includes only community projects based on Isaac Lab 3.0 or later.

• allegro-inhand-rolling: Allegro hand cylinder rolling with cached grasps and a pretrained policy.
• basic-locomotion-isaaclab: Quadruped locomotion with sim-to-sim and sim-to-real transfer.
• robot_lab: Locomotion tasks for quadrupeds, wheeled-legged robots, and humanoids.

See Community Projects for how to add your project. Follow each project's documentation for its supported versions and setup.

This is the beginning of the README. Read the rest at the original. Read the full README ↗