scenic.simulators.isaac.lab

Simulator interface running Scenic scenarios in Isaac Lab manager-based environments.

Summary of Module Members

Classes

IsaacLabSimulation	A Scenic Simulation backed by an Isaac Lab manager-based environment.
IsaacLabSimulator	Scenic simulator backend for Isaac Lab manager-based environments.

Member Details

class IsaacLabSimulator(*, env=None, task=None, env_cfg=None, env_cfg_entry_point=None, env_cls=None, timestep=0.01, decimation=None, num_envs=None, env_spacing=None, terrainBorderWidth=20.0, environmentUSDPath=None, headless=False, device=None, use_fabric=True, render_mode=None, app_launcher_args=None, debug_lifecycle=True, **kwargs)

Bases: Simulator

Scenic simulator backend for Isaac Lab manager-based environments.

Supported construction modes:

1. env=<already-created Isaac Lab env>

2. task=”Isaac-Cartpole-v0” or another registered Isaac Lab task

3. env_cfg=<ManagerBasedEnvCfg / ManagerBasedRLEnvCfg instance or class>

4. env_cfg_entry_point=”package.module:CfgClass”

If none of these is given, a minimal empty manager-based environment is used and populated with the sampled Scenic objects.

Parameters:

• env (Any | None)

• task (str | None)

• env_cfg (Any | None)

• env_cfg_entry_point (str | None)

• env_cls (Any | None)

• timestep (float | None)

• decimation (int | None)

• num_envs (int | None)

• env_spacing (float | None)

• terrainBorderWidth (float)

• environmentUSDPath (str | os.PathLike | None)

• headless (bool)

• device (str | None)

• use_fabric (bool)

• render_mode (str | None)

• app_launcher_args (dict[str, Any] | None)

• debug_lifecycle (bool)

class IsaacLabSimulation(scene, simulator, *, timestep, **kwargs)

Bases: Simulation

A Scenic Simulation backed by an Isaac Lab manager-based environment.

Scenic objects are collected during createObjectInSimulator and turned into asset cfgs in setup, when the Isaac Lab environment is built.

Parameters:

simulator (IsaacLabSimulator)

setup()

Build the Isaac Lab env after Scenic has collected all objects.

_buildEnvCfg()

Create, validate, and patch an Isaac Lab manager-based env cfg.

_materializeEnvCfg()

Resolve env cfg from task, cfg object/class, or entry point.

_loadEntryPoint(entry_point)

Load ‘package.module:ClassName’.

Parameters:

entry_point (str)

_applyStandardOverrides(cfg)

Apply common simulator-level overrides to the env cfg.

_applyScenicToEnvCfg(cfg)

Patch the Isaac Lab cfg using the objects sampled by Scenic.

• Terrain objects are merged into one mesh installed via a custom terrain generator (see lab_env.configureEnvCfgForScenicTerrain).

• The environment USD, if any, is added as a static asset.

• If a Scenic object name matches an existing cfg.scene field, that asset’s initial pose is patched; otherwise a new asset cfg is created.

_makeEnv(cfg)

Construct the actual Isaac Lab environment.

_resolveEnvCls(cfg)

Pick ManagerBasedEnv or ManagerBasedRLEnv from the cfg type.

createObjectInSimulator(obj)

Collect Scenic objects; they are spawned together in setup.

step()

Apply buffered robot commands, then step the Isaac Lab environment once.

_applyPendingRobotCommands()

Apply buffered Scenic robot commands to Isaac Lab articulations.

_zeroLabAction()

A zero action tensor with the shape Isaac Lab expects (num_envs first).

getProperties(obj, properties)

Read Scenic-requested properties from Isaac Lab asset buffers (env 0).

_physicsValuesFromAsset(asset, env_id=0, initial_rotation=None)

Read the root state of a RigidObject/Articulation for one environment.

Parameters:

env_id (int)