Orbit / IsaacGymEnvs / OmniIsaacGymEnvs (predecessors of Isaac Lab)

Three now-discontinued NVIDIA robot-learning frameworks that were later unified into Isaac Lab.

These are the three robot reinforcement-learning frameworks that existed in NVIDIA's ecosystem before Isaac Lab. IsaacGymEnvs (from 2021) was a library of example environments for the Isaac Gym preview release, including tasks like Ant, ShadowHand, and ANYmal, and it demonstrated training with thousands of parallel environments on a single GPU. OmniIsaacGymEnvs ported that style of task onto Isaac Sim; version 4.0.0 was its last release, and NVIDIA's documentation says it has been folded into Isaac Lab. Orbit was proposed by Mayank Mittal and colleagues (RA-L 2023), built on Isaac Sim, and supported 16 robot platforms with more than 20 benchmark tasks — it became the codebase Isaac Lab is built on. Today the first two repositories are archived, and Isaac Lab's documentation provides migration guides from all three; anyone reading older paper code will still run into them regularly.

ExampleOld code that imports from omni.isaac.orbit needs to be changed to import from isaaclab when migrating to Isaac Lab — that's the first step in the official Orbit migration guide.

Also called

Isaac Orbit, OmniIsaacGymEnvs, OIGE

Related

NVIDIA Isaac Lab · Isaac Gym · NVIDIA Isaac Sim · legged_gym · GPU-Accelerated Parallel Simulation · Massively Parallel Reinforcement Learning

Sources

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments (RA-L 2023)
GitHub: isaac-sim/IsaacGymEnvs (archived)
Isaac Lab Docs: Migrating from Orbit

As of

2026-09