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c6e3d62 2668f5f c6e3d62 bcaecb7 e35f84d bcaecb7 c6e3d62 bcaecb7 c6e3d62 bcaecb7 c6e3d62 bcaecb7 c6e3d62 bcaecb7 c6e3d62 bcaecb7 2668f5f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | # IsaacLab-Arena Environments
[](https://huggingface.co/nvidia/isaaclab-arena-envs)
[Isaac Lab-Arena](https://github.com/isaac-sim/IsaacLab-Arena) is a robotics simulation framework that enhances [NVIDIA IsaacLab](https://github.com/isaac-sim/IsaacLab) by providing a composable, scalable system for creating diverse simulation environments and evaluating robot learning policies. GPU-accelerated simulation environments for robotics learning, compatible with [LeRobot](https://github.com/huggingface/lerobot) and the [EnvHub](https://huggingface.co/docs/lerobot/envhub) ecosystem.
## Available Environments
The following are example environments built with NVIDIA IsaacLab Arena. The community can create custom environments using the IsaacLab Arena framework:
| Preview | Environment | Description |
| :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------- | :------------------------------------------------------------------------------------------------------------------- |
| <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/Gr1OpenMicrowaveEnvironment.png" alt="GR1 Microwave" width="200" /> | `gr1_microwave` | Reach out to the microwave and open it. |
| <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/GalileoPickAndPlaceEnvironment.png" alt="Galileo Pick and Place" width="200" /> | `galileo_pnp` | Pick objects and place in target location |
| <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/GalileoG1LocomanipPickAndPlaceEnvironment.png" alt="G1 Loco-manipulation" width="200" /> | `g1_locomanip_pnp` | Pick up the brown box from the shelf, and place it into the blue bin on the table located at the right of the shelf. |
| <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/KitchenPickAndPlaceEnvironment.png" alt="Kitchen Pick and Place" width="200" /> | `kitchen_pnp` | Kitchen object manipulation tasks |
| <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/PressButtonEnvironment.png" alt="Press Button" width="200" /> | `press_button` | Locate and press button |
## Quick Start
Evaluate a trained policy e.g. ```SmolVLA```:
```bash
lerobot-eval \
--policy.path=nvidia/smolvla-arena-gr1-microwave \
--env.type=isaaclab_arena \
--env.hub_path=nvidia/isaaclab-arena-envs \
--rename_map='{"observation.images.robot_pov_cam_rgb": "observation.images.robot_pov_cam"}' \
--policy.device=cuda \
--env.environment=gr1_microwave \
--env.embodiment=gr1_pink \
--env.object=mustard_bottle \
--env.headless=false \
--env.enable_cameras=true \
--env.video=true \
--env.video_length=10 \
--env.video_interval=15 \
--env.state_keys=robot_joint_pos \
--env.camera_keys=robot_pov_cam_rgb \
--trust_remote_code=True \
--eval.batch_size=1
```
## Related Links
- [LeRobot](https://github.com/huggingface/lerobot) - Open-source robotics learning library
- [EnvHub Documentation](https://huggingface.co/docs/lerobot/envhub) - LeRobot environment hub
- [IsaacLab](https://github.com/isaac-sim/IsaacLab) - NVIDIA's robot learning framework
- [IsaacLab Arena](https://github.com/isaac-sim/IsaacLab-Arena) - Community environments for IsaacLab
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