| Repository organization |
| ----------------------- |
|
|
| .. code-block:: bash |
|
|
| IsaacLab |
| ├── .vscode |
| ├── CONTRIBUTING.md |
| ├── CONTRIBUTORS.md |
| ├── LICENSE |
| ├── isaaclab.bat |
| ├── isaaclab.sh |
| ├── pyproject.toml |
| ├── README.md |
| ├── docs |
| ├── docker |
| ├── source |
| │ ├── isaaclab |
| │ ├── isaaclab_assets |
| │ ├── isaaclab_mimic |
| │ ├── isaaclab_rl |
| │ └── isaaclab_tasks |
| ├── scripts |
| │ ├── benchmarks |
| │ ├── demos |
| │ ├── environments |
| │ ├── imitation_learning |
| │ ├── reinforcement_learning |
| │ ├── tools |
| │ ├── tutorials |
| ├── tools |
| └── VERSION |
|
|
| Isaac Lab is built on the same back end as Isaac Sim. As such, it exists as a collection of **extensions** that can be assembled into **applications**. |
| The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows). |
| These are the two primary ways of interacting with the simulation and Isaac lab supports both! |
| Checkout this `Isaac Sim introduction to workflows <https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html>`__ for more details. |
|
|
| Extensions |
| ~~~~~~~~~~ |
|
|
| The extensions that compose Isaac Lab are kept in the ``source`` directory. To simplify the build process, Isaac Lab directly use `setuptools <https://setuptools.readthedocs.io/en/latest/>`__. It is strongly recommend that you adhere to this process if you create your own extensions using Isaac Lab. |
|
|
| The extensions are organized as follows: |
|
|
| * **isaaclab**: Contains the core interface extension for Isaac Lab. This provides the main modules for actuators, |
| objects, robots and sensors. |
| * **isaaclab_assets**: Contains the extension with pre-configured assets for Isaac Lab. |
| * **isaaclab_tasks**: Contains the extension with pre-configured environments for Isaac Lab. |
| * **isaaclab_mimic**: Contains APIs and pre-configured environments for data generation for imitation learning. |
| * **isaaclab_rl**: Contains wrappers for using the above environments with different reinforcement learning agents. |
|
|
|
|
| Standalone |
| ~~~~~~~~~~ |
|
|
| The ``scripts`` directory contains various standalone applications written in python. |
| They are structured as follows: |
|
|
| * **benchmarks**: Contains scripts for benchmarking different framework components. |
| * **demos**: Contains various demo applications that showcase the core framework :mod:`isaaclab`. |
| * **environments**: Contains applications for running environments defined in :mod:`isaaclab_tasks` with |
| different agents. These include a random policy, zero-action policy, teleoperation or scripted state machines. |
| * **tools**: Contains applications for using the tools provided by the framework. These include converting assets, |
| generating datasets, etc. |
| * **tutorials**: Contains step-by-step tutorials for using the APIs provided by the framework. |
| * **workflows**: Contains applications for using environments with various learning-based frameworks. These include different |
| reinforcement learning or imitation learning libraries. |
|
|
