Installation using Isaac Sim pip#
Note
If you use Conda, we recommend using Miniconda.
Installing Isaac Sim#
From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip. This approach is experimental and may have compatibility issues with some Linux distributions. If you encounter any issues, please report them to the Isaac Sim Forums.
Attention
Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility.
To check the GLIBC version on your system, use command ldd --version
.
This may pose compatibility issues with some Linux distributions. For instance, Ubuntu 20.04 LTS has GLIBC 2.31 by default. If you encounter compatibility issues, we recommend following the Isaac Sim Binaries Installation approach.
Attention
On Windows with CUDA 12, the GPU driver version 552.86 is required.
To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment. Ensure that the python version of the virtual environment is Python 3.10.
conda create -n isaaclab python=3.10 conda activate isaaclab
# create a virtual environment named isaaclab with python3.10 python3.10 -m venv isaaclab # activate the virtual environment source isaaclab/bin/activate
# create a virtual environment named isaaclab with python3.10 python3.10 -m venv isaaclab # activate the virtual environment isaaclab\Scripts\activate
Next, install a CUDA-enabled PyTorch 2.4.0 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118
pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu121
Before installing Isaac Sim, ensure the latest pip version is installed. To update pip, run
pip install --upgrade pip
Then, install the Isaac Sim packages necessary for running Isaac Lab:
pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
Verifying the Isaac Sim installation#
Make sure that your virtual environment is activated (if applicable)
Check that the simulator runs as expected:
# note: you can pass the argument "--help" to see all arguments possible. isaacsim
By default, this will launch an empty mini Kit window.
To run with a specific experience file, run:
# experience files can be absolute path, or relative path searched in isaacsim/apps or omni/apps isaacsim omni.isaac.sim.python.kit
Attention
When running Isaac Sim for the first time, all dependent extensions will be pulled from the registry. This process can take upwards of 10 minutes and is required on the first run of each experience file. Once the extensions are pulled, consecutive runs using the same experience file will use the cached extensions.
In addition, the first run will prompt users to accept the Nvidia Omniverse License Agreement.
To accept the EULA, reply Yes
when prompted with the below message:
By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html
Do you accept the EULA? (Yes/No): Yes
If the simulator does not run or crashes while following the above instructions, it means that something is incorrectly configured. To debug and troubleshoot, please check Isaac Sim documentation and the forums.
Installing Isaac Lab#
Cloning Isaac Lab#
Note
We recommend making a fork of the Isaac Lab repository to contribute
to the project but this is not mandatory to use the framework. If you
make a fork, please replace isaac-sim
with your username
in the following instructions.
Clone the Isaac Lab repository into your workspace:
git clone git@github.com:isaac-sim/IsaacLab.git
git clone https://github.com/isaac-sim/IsaacLab.git
Note
We provide a helper executable isaaclab.sh that provides utilities to manage extensions:
./isaaclab.sh --help
usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
optional arguments:
-h, --help Display the help content.
-i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
-f, --format Run pre-commit to format the code and check lints.
-p, --python Run the python executable provided by Isaac Sim or virtual environment (if active).
-s, --sim Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
-t, --test Run all python unittest tests.
-o, --docker Run the docker container helper script (docker/container.sh).
-v, --vscode Generate the VSCode settings file from template.
-d, --docs Build the documentation from source using sphinx.
-c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
isaaclab.bat --help
usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
optional arguments:
-h, --help Display the help content.
-i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
-f, --format Run pre-commit to format the code and check lints.
-p, --python Run the python executable provided by Isaac Sim or virtual environment (if active).
-s, --sim Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
-t, --test Run all python unittest tests.
-v, --vscode Generate the VSCode settings file from template.
-d, --docs Build the documentation from source using sphinx.
-c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
Installation#
Install dependencies using
apt
(on Ubuntu):sudo apt install cmake build-essential
Run the install command that iterates over all the extensions in
source/extensions
directory and installs them using pip (with--editable
flag):
./isaaclab.sh --install # or "./isaaclab.sh -i"
isaaclab.bat --install :: or "isaaclab.bat -i"
Note
By default, this will install all the learning frameworks. If you want to install only a specific framework, you can
pass the name of the framework as an argument. For example, to install only the rl_games
framework, you can run
./isaaclab.sh --install rl_games # or "./isaaclab.sh -i rl_games"
isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
The valid options are rl_games
, rsl_rl
, sb3
, skrl
, robomimic
, none
.
Verifying the Isaac Lab installation#
To verify that the installation was successful, run the following command from the top of the repository:
# Option 1: Using the isaaclab.sh executable
# note: this works for both the bundled python and the virtual environment
./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py
# Option 2: Using python in your virtual environment
python source/standalone/tutorials/00_sim/create_empty.py
:: Option 1: Using the isaaclab.bat executable
:: note: this works for both the bundled python and the virtual environment
isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
:: Option 2: Using python in your virtual environment
python source\standalone\tutorials\00_sim\create_empty.py
The above command should launch the simulator and display a window with a black
ground plane. You can exit the script by pressing Ctrl+C
on your terminal.
On Windows machines, please terminate the process from Command Prompt using
Ctrl+Break
or Ctrl+fn+B
.
If you see this, then the installation was successful! 🎉