| # Isaac Lab: Framework | |
| Isaac Lab includes its own set of interfaces and wrappers around Isaac Sim classes. One of the main goals behind this | |
| decision is to have a unified description for different systems. While isaac Sim tries to be general for a wider | |
| variety of simulation requires, our goal has been to specialize these for learning requirements. These include | |
| features such as augmenting simulators with non-ideal actuator models, managing different observation and reward | |
| settings, integrate different sensors, as well as provide interfaces to features that are currently not available in | |
| Isaac Sim but are available from the physics side (such as deformable bodies). | |
| We recommend the users to try out the demo scripts present in `scripts/demos` that display how different parts | |
| of the framework can be integrated together. | |