| .. _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 |
|
|
| 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 |
|
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| 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 |
|
|
| 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 |
|
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| 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 CloudXR Teleoperation |
| -------------------------------- |
|
|
| This guide explains how to use CloudXR and Apple Vision Pro for immersive streaming and |
| 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 |
|
|
