API参考#

This page gives an overview of all the modules and classes in the Isaac Lab extensions.

omni.isaac.lab extension#

The following modules are available in the omni.isaac.lab extension:

app

Sub-package containing app-specific functionalities.

actuators

Sub-package for different actuator models.

assets

Sub-package for different assets, such as rigid objects and articulations.

controllers

Sub-package for different controllers and motion-generators.

devices

Sub-package providing interfaces to different teleoperation devices.

envs

Sub-package for environment definitions.

managers

Sub-module for environment managers.

markers

Sub-package for marker utilities to simplify creation of UI elements in the GUI.

scene

Sub-package containing an interactive scene definition.

sensors

Sub-package containing various sensor classes implementations.

sim

Sub-package containing simulation-specific functionalities.

terrains

Sub-package with utilities for creating terrains procedurally.

utils

Sub-package containing utilities for common operations and helper functions.

omni.isaac.lab_tasks extension#

The following modules are available in the omni.isaac.lab_tasks extension:

utils

Sub-package with utilities, data collectors and environment wrappers.