Isaac Sim and Isaac Lab

Isaac Sim

Isaac Sim is NVIDIA’s robotics simulator, built on NVIDIA Omniverse. It provides physics simulation and photorealistic rendering for designing, testing, and training robots.

• Isaac Sim (NVIDIA Developer)
• Isaac Sim documentation
• Isaac Sim on GitHub

Isaac Lab

Isaac Lab is an open-source framework for robot learning, built on top of Isaac Sim. It provides the tools to set up robot environments and train policies, for example with reinforcement learning.

• Isaac Lab documentation
• Isaac Lab on GitHub

Berkeley Humanoid Lite’s code is organized following the Isaac Lab conventions. See the Berkeley Humanoid Lite repository for an example.

Isaac Sim needs a capable NVIDIA GPU. Check the system requirements in the Isaac Sim documentation before installing.