> This page is for version Release 3.0 (default).
> For other versions, use one of these documentation indexes:
> - Release 3.0 (default): https://docs.nvidia.com/isaaclab/3.0/llms.txt
> - Release 2.3: https://docs.nvidia.com/isaaclab/2.3/llms.txt
> - Release 2.2: https://docs.nvidia.com/isaaclab/2.2/llms.txt
> - Release 2.1: https://docs.nvidia.com/isaaclab/2.1/llms.txt

> For clean Markdown of any page, append .md to the page URL.
> For a complete documentation index, see https://docs.nvidia.com/isaaclab/llms.txt.
> For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.nvidia.com/isaaclab/_mcp/server.

# How-to Guides

> Step-by-step guides for building with Isaac Lab.

Find a guide below.

* [Adding your own learning library](/isaaclab/3.0/isaac-lab/adding-your-own-learning-library)
* [Adding sensors on a robot](/isaaclab/3.0/isaac-lab/adding-sensors-on-a-robot)
* [Capturing sensor frames during training](/isaaclab/3.0/isaac-lab/capturing-sensor-frames-during-training)
* [Cloning Environments](/isaaclab/3.0/isaac-lab/cloning-environments)
* [Setting up Isaac Capture with CloudXR](/isaaclab/3.0/isaac-lab/installation/setting-up-isaac-capture-with-cloud-xr)
* [Select and configure a Renderer](/isaaclab/3.0/isaac-lab/select-and-configure-a-renderer)
* [Configuring an RL Agent](/isaaclab/3.0/isaac-lab/configuring-an-rl-agent)
* [Creating a Direct Workflow RL Environment](/isaaclab/3.0/isaac-lab/creating-a-direct-workflow-rl-environment)
* [Creating an empty scene](/isaaclab/3.0/isaac-lab/creating-an-empty-scene)
* [Creating a Manager-Based Base Environment](/isaaclab/3.0/isaac-lab/creating-a-manager-based-base-environment)
* [Creating a Manager-Based RL Environment](/isaaclab/3.0/isaac-lab/creating-a-manager-based-rl-environment)
* [Using the Interactive Scene](/isaaclab/3.0/isaac-lab/using-the-interactive-scene)
* [Creating visualization markers](/isaaclab/3.0/isaac-lab/creating-visualization-markers)
* [Curriculum Utilities](/isaaclab/3.0/isaac-lab/curriculum-utilities)
* [Setting up Haply Teleoperation](/isaaclab/3.0/isaac-lab/setting-up-haply-teleoperation)
* [Importing a New Asset](/isaaclab/3.0/isaac-lab/importing-a-new-asset)
* [Deep-dive into the simulation launcher](/isaaclab/3.0/isaac-lab/deep-dive-into-the-simulation-launcher)
* [Making a physics prim fixed in the simulation](/isaaclab/3.0/isaac-lab/making-a-physics-prim-fixed-in-the-simulation)
* [Manage Asset Downloads](/isaaclab/3.0/isaac-lab/installation/manage-asset-downloads)
* [Mastering Omniverse for Robotics](/isaaclab/3.0/isaac-lab/mastering-omniverse-for-robotics)
* [Modifying an existing Direct RL Environment](/isaaclab/3.0/isaac-lab/modifying-an-existing-direct-rl-environment)
* [Exploring MPM materials and coupling](/isaaclab/3.0/isaac-lab/exploring-mpm-materials-and-coupling)
* [Spawning Multiple Assets](/isaaclab/3.0/isaac-lab/spawning-multiple-assets)
* [Policy Inference in USD Environment](/isaaclab/3.0/resources/sim-2-real-deployment-of-policies-trained-in-isaac-lab/policy-inference-in-usd-environment)
* [Prepare an Asset for Newton with MJWarp](/isaaclab/3.0/isaac-lab/prepare-an-asset-for-newton-with-mj-warp)
* [Profiling Isaac Lab with Nsight Systems](/isaaclab/3.0/isaac-lab/profiling-isaac-lab-with-nsight-systems)
* [Working with ProxyArray](/isaaclab/3.0/isaac-lab/working-with-proxy-array)
* [Recording Animations of Simulations](/isaaclab/3.0/isaac-lab/recording-animations-of-simulations)
* [Recording video](/isaaclab/3.0/isaac-lab/recording-video)
* [Registering an Environment](/isaaclab/3.0/isaac-lab/registering-an-environment)
* [Reproducibility and Determinism](/isaaclab/3.0/isaac-lab/reproducibility-and-determinism)
* [Interacting with an articulation](/isaaclab/3.0/isaac-lab/interacting-with-an-articulation)
* [Interacting with a deformable object](/isaaclab/3.0/isaac-lab/interacting-with-a-deformable-object)
* [Using a task-space controller](/isaaclab/3.0/isaac-lab/using-a-task-space-controller)
* [Using an operational space controller](/isaaclab/3.0/isaac-lab/using-an-operational-space-controller)
* [Interacting with a rigid object](/isaaclab/3.0/isaac-lab/interacting-with-a-rigid-object)
* [Training with an RL Agent](/isaaclab/3.0/isaac-lab/training-with-an-rl-agent)
* [Run Scripted State Machines](/isaaclab/3.0/isaac-lab/run-scripted-state-machines)
* [Interacting with a surface gripper](/isaaclab/3.0/isaac-lab/interacting-with-a-surface-gripper)
* [Saving rendered images and 3D re-projection](/isaaclab/3.0/isaac-lab/saving-rendered-images-and-3-d-re-projection)
* [Simulation Performance](/isaaclab/3.0/isaac-lab/simulation-performance)
* [Tune Kamino](/isaaclab/3.0/isaac-lab/tune-kamino)
* [Tune MJWarp](/isaaclab/3.0/isaac-lab/tune-mj-warp)
* [MPM Solver](/isaaclab/3.0/isaac-lab/mpm-solver)
* [Tune the PhysX Solver](/isaaclab/3.0/isaac-lab/tune-the-phys-x-solver)
* [VBD Solver](/isaaclab/3.0/isaac-lab/vbd-solver)
* [Spawning prims into the scene](/isaaclab/3.0/isaac-lab/spawning-prims-into-the-scene)
* [Transfer Policies Between PhysX and Newton](/isaaclab/3.0/isaac-lab/transfer-policies-between-phys-x-and-newton)
* [Streaming a camera view in a visualizer](/isaaclab/3.0/isaac-lab/streaming-a-camera-view-in-a-visualizer)
* [Wrapping environments](/isaaclab/3.0/isaac-lab/wrapping-environments)
* [Robot and articulation configuration](/isaaclab/3.0/isaac-lab/robot-and-articulation-configuration)