# 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 |
| :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------- | :------------------------------------------------------------------------------------------------------------------- |
| 
| `gr1_microwave` | Reach out to the microwave and open it. |
| 
| `galileo_pnp` | Pick objects and place in target location |
| 
| `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. |
| 
| `kitchen_pnp` | Kitchen object manipulation tasks |
| 
| `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