| .. _tutorials: |
|
|
| Tutorials |
| ========= |
|
|
| Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand |
| and use various features of the framework. All the tutorials are written as Python scripts. You can |
| find the source code for each tutorial in the ``scripts/tutorials`` directory of the Isaac Lab |
| repository. |
|
|
| .. note:: |
|
|
| We would love to extend the tutorials to cover more topics and use cases, so please let us know if |
| you have any suggestions. |
|
|
| We recommend that you go through the tutorials in the order they are listed here. |
|
|
|
|
| Setting up a Simple Simulation |
| ------------------------------- |
|
|
| These tutorials show you how to launch the simulation with different settings and spawn objects in the |
| simulated scene. They cover the following APIs: :class:`~isaaclab.app.AppLauncher`, |
| :class:`~isaaclab.sim.SimulationContext`, and :class:`~isaaclab.sim.spawners`. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 00_sim/create_empty |
| 00_sim/spawn_prims |
| 00_sim/launch_app |
|
|
| Interacting with Assets |
| ----------------------- |
|
|
| Having spawned objects in the scene, these tutorials show you how to create physics handles for these |
| objects and interact with them. These revolve around the :class:`~isaaclab.assets.AssetBase` |
| class and its derivatives such as :class:`~isaaclab.assets.RigidObject`, |
| :class:`~isaaclab.assets.Articulation` and :class:`~isaaclab.assets.DeformableObject`. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 01_assets/add_new_robot |
| 01_assets/run_rigid_object |
| 01_assets/run_articulation |
| 01_assets/run_deformable_object |
| 01_assets/run_surface_gripper |
|
|
| Creating a Scene |
| ---------------- |
|
|
| With the basic concepts of the framework covered, the tutorials move to a more intuitive scene |
| interface that uses the :class:`~isaaclab.scene.InteractiveScene` class. This class |
| provides a higher level abstraction for creating scenes easily. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 02_scene/create_scene |
|
|
| Designing an Environment |
| ------------------------ |
|
|
| The following tutorials introduce the concept of manager-based environments: :class:`~isaaclab.envs.ManagerBasedEnv` |
| and its derivative :class:`~isaaclab.envs.ManagerBasedRLEnv`, as well as the direct workflow base class |
| :class:`~isaaclab.envs.DirectRLEnv`. These environments bring-in together |
| different aspects of the framework to create a simulation environment for agent interaction. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 03_envs/create_manager_base_env |
| 03_envs/create_manager_rl_env |
| 03_envs/create_direct_rl_env |
| 03_envs/register_rl_env_gym |
| 03_envs/run_rl_training |
| 03_envs/configuring_rl_training |
| 03_envs/modify_direct_rl_env |
| 03_envs/policy_inference_in_usd |
|
|
| Integrating Sensors |
| ------------------- |
|
|
| The following tutorial shows you how to integrate sensors into the simulation environment. The |
| tutorials introduce the :class:`~isaaclab.sensors.SensorBase` class and its derivatives |
| such as :class:`~isaaclab.sensors.Camera` and :class:`~isaaclab.sensors.RayCaster`. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 04_sensors/add_sensors_on_robot |
|
|
| Using motion generators |
| ----------------------- |
|
|
| While the robots in the simulation environment can be controlled at the joint-level, the following |
| tutorials show you how to use motion generators to control the robots at the task-level. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 05_controllers/run_diff_ik |
| 05_controllers/run_osc |
|
|
| Exporting Policies |
| ------------------ |
|
|
| The following tutorial shows how to prepare a Direct workflow policy for export with LEAPP. |
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :titlesonly: |
|
|
| 06_exporting/exporting_direct_workflow_policies_with_leapp |
|
|
