| .. _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 | |
| 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 | |
| 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 | |