.. _isaaclab-installation-root: Installation ============ .. image:: https://img.shields.io/badge/IsaacSim-6.2.0-silver.svg :target: https://developer.nvidia.com/isaac-sim :alt: Isaac Sim 6.2.0 .. image:: https://img.shields.io/badge/python-3.12-blue.svg :target: https://www.python.org/downloads/release/python-3120/ :alt: Python 3.12 .. image:: https://img.shields.io/badge/platform-linux--64-orange.svg :target: https://releases.ubuntu.com/24.04/ :alt: Ubuntu 24.04 .. image:: https://img.shields.io/badge/platform-windows--64-orange.svg :target: https://www.microsoft.com/en-ca/windows/windows-11 :alt: Windows 11 **Isaac Lab installs Newton by default.** The standard installation runs without Isaac Sim; add Isaac Sim or other optional backends when your workflow needs them. Start with the automatic ``uv`` setup, or choose another installation method below. Choose an installation path --------------------------- .. grid:: 1 1 2 2 :gutter: 2 .. grid-item-card:: **Automatic setup with uv** :link: installation-method-uv :link-type: ref Run with Newton from the Isaac Lab checkout while ``uv`` manages the environment. **Recommended for most users.** .. grid-item-card:: **isaaclab.sh installer (legacy)** :link: installation-legacy-installer :link-type: ref Use the legacy installer script to select packages in a virtual environment. .. grid-item-card:: **Python environment with Isaac Sim** :link: installation-method-python-env :link-type: ref Manage a uv, venv, or conda environment and install Isaac Sim with pip. .. grid-item-card:: **Isaac Lab Python package** :link: installation-method-wheel :link-type: ref Install the released Isaac Lab package as a dependency of your own project. .. grid-item-card:: **Downloaded Isaac Sim package** :link: installation-method-binary :link-type: ref Download Isaac Sim and use the Python interpreter included with it. .. grid-item-card:: **Build Isaac Sim from source** :link: installation-method-source :link-type: ref Build or modify Isaac Sim itself. This is an advanced workflow. .. grid-item-card:: **Docker containers** :link: installation-method-container :link-type: ref Build or run a container with the physics and rendering stack you need. .. grid-item-card:: **Cloud workstations** :link: installation-method-cloud :link-type: ref Provision a remote GPU workstation on a supported cloud provider. .. _installation-system-requirements: System requirements ------------------- Isaac Lab installs Newton by default, using **NVIDIA Warp** for simulation. The requirements below cover the default Newton and PyTorch training environment; Isaac Sim is an optional addition. .. list-table:: :widths: 24 76 :header-rows: 1 * - Component - Requirement * - Python - Python 3.12. The automatic ``uv`` setup manages the environment. * - Platform - Ubuntu 22.04+ on x86_64, Linux aarch64 (including DGX Spark), or Windows 11 on x86_64. * - GPU training - A CUDA-capable NVIDIA GPU supported by the selected Newton solver and PyTorch. The default CUDA 13 stack requires Turing or newer (compute capability 7.5+). * - NVIDIA driver - ``580.65.06`` or newer on Linux; ``580.88`` or newer on Windows. Use a current production driver for your GPU. * - Memory - RAM and VRAM needs depend on the task, number of parallel environments, and camera workload. Isaac Sim's workstation memory requirements do not apply to a Newton-only installation. This release uses Warp 1.17. Its prebuilt wheels include the CUDA components needed by Warp, so a separate CUDA Toolkit installation is not needed for standard wheel-based use. See `Warp installation `__ and `compatibility `__ for its platform and GPU requirements. .. hint:: The default environment also installs **PyTorch with CUDA 13.0**, which sets the driver minimum above. Warp 1.17's CUDA 12 wheels alone can run with older drivers; meeting only Warp's minimum is not enough for the default GPU training environment. See the `PyTorch CUDA 13.0 requirements `__. Optional Isaac Sim and rendering ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * **Isaac Sim:** Install the ``isaacsim`` extra for Isaac Sim 6.2 / PhysX workflows. On Linux, its wheels require GLIBC 2.35+. For x86_64 workstations, plan for at least 32 GB RAM, 16 GB VRAM, and a supported RTX GPU; training and rendering may need more. Check the `Isaac Sim requirements `__ for supported GPUs, tested drivers, and DGX Spark support. Isaac Sim 5.1 and older are unsupported. * **Rendering:** Headless Newton simulation does not require RTX hardware. Add the requirements of your chosen :doc:`renderer ` or :doc:`visualizer ` when you need camera images or an interactive view. RTX rendering has its own `GPU and driver requirements `__. .. dropdown:: Linux aarch64 and DGX Spark requirements DGX Spark requires CUDA 13 or newer and the corresponding PyTorch build. Install the build prerequisites before installing Isaac Lab: .. code-block:: bash sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev \ libxi-dev libxinerama-dev libxrandr-dev SkillGen, XR teleoperation, livestream, Hub Workstation Cache, Cosmos Transfer1, and RLinf are not currently supported or validated on DGX Spark. SkillGen depends on native CUDA/C++ extensions whose toolchain has not been validated on DGX Spark, while XR remains limited by unvalidated encoding performance. .. _installation-method-uv: Automatic setup with uv (recommended) ------------------------------------- Use this path for the fastest setup from an Isaac Lab checkout. ``uv`` resolves the project environment on each invocation, so you do not need to create or activate an environment manually. Install ``uv``, clone Isaac Lab, and start a workflow: .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64 :sync: linux-x86_64 .. code-block:: bash curl -LsSf https://astral.sh/uv/install.sh | sh .. isaaclab-clone-commands:: .. code-block:: bash # Newton backend without Isaac Sim uv run isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=newton_mjwarp # OV PhysX backend uv run --extra ovphysx isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=ovphysx # Full Isaac Sim support uv run --extra isaacsim isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=isaacsim_physx # Play a policy uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton_gl .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark) :sync: linux-aarch64 .. code-block:: bash curl -LsSf https://astral.sh/uv/install.sh | sh .. isaaclab-clone-commands:: .. code-block:: bash # Newton backend uv run isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=newton_mjwarp # OV PhysX backend uv run --extra ovphysx isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=ovphysx # Full Isaac Sim support uv run --extra isaacsim isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=isaacsim_physx # Play a policy uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton_gl .. note:: For direct Python commands that import Isaac Sim on aarch64, prefix the command with ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1``. .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows Enable Windows long-path support before cloning. In an elevated PowerShell window, run: .. code-block:: powershell New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name LongPathsEnabled -Value 1 -PropertyType DWORD -Force Then open a new Command Prompt window and run: .. code-block:: batch powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex" .. isaaclab-clone-commands:: .. code-block:: batch :: Newton backend without Isaac Sim uv run isaaclab train --rl_library rsl_rl ^ --task Isaac-Cartpole-Direct physics=newton_mjwarp :: OV PhysX backend uv run --extra ovphysx isaaclab train --rl_library rsl_rl ^ --task Isaac-Cartpole-Direct physics=ovphysx :: Full Isaac Sim support uv run --extra isaacsim isaaclab train --rl_library rsl_rl ^ --task Isaac-Cartpole-Direct physics=isaacsim_physx :: Play a policy uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton_gl ``uv run`` installs the core dependencies automatically. The ``--extra `` option includes the selected optional integration in the command's environment. Place it before ``isaaclab``; for example, ``--extra ov`` installs both ovphysx and ovrtx backends. Pass a comma-separated list or repeat ``--extra``. No extras conflict, so any combination resolves into one environment. The ``--extra all`` shortcut installs the curated ``ov``, ``rl-games``, ``sb3``, ``skrl``, ``rsl-rl``, ``rerun``, and ``viser`` extras. It does not include Isaac Sim or the specialized ``skrl-jax``, ``rlinf``, ``mimic``, ``teleop``, ``tetrahedralization``, ``video``, and ``leapp`` extras; request them by name: .. code-block:: bash uv run --extra all isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=ovphysx See :ref:`installation-optional-extras` for the available extras. ``uv run --extra `` syncs the selected extra into the project environment and then runs the command. The source checkout selects PyTorch's CUDA 13.0 build on Linux x86_64, Linux aarch64, and Windows. No additional command flags are needed. The aggregate wheel pins the PyTorch versions using registry-compatible metadata. Its published-wheel commands select the CUDA 13.0 build at install time. The wheel supports Python 3.12, matching the source checkout. Head over to the :doc:`/source/isaaclab/quickstart`, which starts with your first task and introduces the available commands, RL libraries, backends, and visualizers. .. _installation-legacy-installer: ``isaaclab.sh`` installer (legacy) ---------------------------------- Kit-less installation uses a Python 3.12 environment and does not install Isaac Sim. Clone Isaac Lab, create and activate an environment, then install the default source packages and dependencies. Install `uv `__ or `conda `__ before starting: .. isaaclab-clone-commands:: .. tab-set:: .. tab-item:: uv environment (recommended) .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash uv venv --python 3.12 --seed env_isaaclab source env_isaaclab/bin/activate uv pip install --upgrade pip ./isaaclab.sh -i .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch uv venv --python 3.12 --seed env_isaaclab env_isaaclab\Scripts\activate uv pip install --upgrade pip isaaclab.bat -i .. tab-item:: conda environment .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash conda create -n env_isaaclab python=3.12 conda activate env_isaaclab python -m pip install --upgrade pip ./isaaclab.sh -i .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch conda create -n env_isaaclab python=3.12 conda activate env_isaaclab python -m pip install --upgrade pip isaaclab.bat -i .. _installation-selective-install: ``-i`` always installs the core source packages. With no value, it also installs the optional ``mimic`` and ``teleop`` submodules plus the default Newton, RL, and visualizer dependencies. It does not install ``tetrahedralization``, ``contrib``, ``ov``, or Isaac Sim; request those explicitly when needed. Use ``-i core`` for core packages only. Otherwise, pass a comma-separated list of selectors: .. list-table:: :header-rows: 1 * - Selector - Installs * - ``mimic`` - Imitation-learning tools. * - ``teleop`` - Teleoperation tools (Linux x86_64). * - ``newton`` - Newton interactive-viewer dependencies. * - ``rl[]`` - RL framework dependencies. Select ``rsl-rl``, ``skrl``, ``sb3``, or ``rl-games``. * - ``visualizer[]`` - Visualizer dependencies. Select ``rerun``, ``viser``, ``newton``, or ``kit``. * - ``tetrahedralization`` - Dependencies for automatic tetrahedral mesh generation. * - ``contrib[rlinf]`` - Contrib runtime dependencies for RLinF. * - ``ov[]`` - OV runtime wheels. Select ``ovrtx``, ``ovphysx``, or ``all``. * - ``isaacsim`` - The Isaac Sim pip package. For example: .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash # Core packages only ./isaaclab.sh -i core # Newton, RSL-RL, and the Newton visualizer ./isaaclab.sh -i 'newton,rl[rsl-rl],visualizer[newton]' # OVRTX runtime dependencies ./isaaclab.sh -i 'ov[ovrtx]' .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch :: Core packages only isaaclab.bat -i core :: Newton, RSL-RL, and the Newton visualizer isaaclab.bat -i "newton,rl[rsl-rl],visualizer[newton]" :: OVRTX runtime dependencies isaaclab.bat -i "ov[ovrtx]" .. _installation-method-python-env: Python environment with Isaac Sim --------------------------------- Use this path when you want an editable Isaac Lab checkout with full Isaac Sim support and a Python environment you manage yourself. Create and activate the environment before installing Isaac Sim or Isaac Lab. Isaac Sim's pip packages require GLIBC 2.35 or newer on Linux. Enable `Windows long-path support `__ before installing on Windows. .. note:: If you plan to :ref:`set up Visual Studio Code `, use the :ref:`downloaded Isaac Sim package ` instead. Create and activate a Python 3.12 environment: .. tab-set:: :sync-group: python-environment .. tab-item:: uv environment (recommended) :sync: uv .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash uv venv --python 3.12 --seed env_isaaclab source env_isaaclab/bin/activate .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch uv venv --python 3.12 --seed env_isaaclab env_isaaclab\Scripts\activate .. tab-item:: conda environment :sync: conda .. code-block:: bash conda create -n env_isaaclab python=3.12 conda activate env_isaaclab Install Isaac Sim and the CUDA 13.0 PyTorch build for your platform: .. tab-set:: :sync-group: python-environment .. tab-item:: uv environment (recommended) :sync: uv .. isaaclab-isaacsim-install:: .. tab-item:: conda environment :sync: conda .. isaaclab-isaacsim-install:: pip .. tab-set:: :sync-group: pip-platform .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) :sync: linux-x86_64 .. tab-set:: :sync-group: python-environment .. tab-item:: uv environment (recommended) :sync: uv .. isaaclab-torch-install:: cu130 .. tab-item:: conda environment :sync: conda .. isaaclab-torch-install:: cu130 pip .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) :sync: windows-x86_64 .. tab-set:: :sync-group: python-environment .. tab-item:: uv environment (recommended) :sync: uv .. isaaclab-torch-install:: cu130 .. tab-item:: conda environment :sync: conda .. isaaclab-torch-install:: cu130 pip .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) :sync: linux-aarch64 .. note:: On aarch64 systems such as DGX Spark, install the required development packages before installing Isaac Sim: .. code-block:: bash sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \ libxinerama-dev libxrandr-dev .. tab-set:: :sync-group: python-environment .. tab-item:: uv environment (recommended) :sync: uv .. isaaclab-torch-install:: cu130 .. tab-item:: conda environment :sync: conda .. isaaclab-torch-install:: cu130 pip .. note:: If the system and PyTorch GNU OpenMP libraries are both preloaded, Isaac Sim can emit ``libgomp`` warnings. Use the system OpenMP library: .. code-block:: bash unset LD_PRELOAD export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 .. note:: If importing ``omni.client`` or ``torch`` fails because ``libcarb.so`` cannot allocate a static TLS block, preload ``libcarb.so`` before launching Python: .. code-block:: bash export LD_PRELOAD=$(python -c "import sys,os;[print(os.path.join(p,'omni','client','libcarb.so')) for p in sys.path if os.path.isfile(os.path.join(p,'omni','client','libcarb.so'))]" 2>/dev/null | head -1)${LD_PRELOAD:+:$LD_PRELOAD} ``./isaaclab.sh -p`` configures this automatically, as does the conda activation hook. The first launch asks you to accept the NVIDIA Omniverse EULA. For non-interactive environments, set ``OMNI_KIT_ACCEPT_EULA=yes``. Verify Isaac Sim with ``isaacsim``. With the environment still active, clone, install, and verify Isaac Lab: .. isaaclab-clone-commands:: .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash sudo apt install cmake build-essential ./isaaclab.sh -i ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch isaaclab.bat -i isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit The verification command should open a black simulator viewport. The initial launch can take over ten minutes while Isaac Sim downloads extensions. .. _installation-method-wheel: Isaac Lab Python package ------------------------ Use this path when Isaac Lab is a dependency of an external Python project. The released ``isaaclab`` package includes the unified ``train``, ``play``, ``zero_agent``, ``random_agent``, ``benchmark``, ``train_multigpu``, ``demo``, and ``example`` commands. Downstream projects can register their task package through the ``isaaclab.tasks`` Python package entry-point group; projects created by the template generator configure this automatically. To create a project built on Isaac Lab, see :ref:`template-generator`. .. note:: Isaac Lab wheels are published for major releases, not every patch release. Installing an unreleased Git revision ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The aggregate package can also be built directly from an Isaac Lab Git revision. Point uv at the ``tools/wheel_builder`` subdirectory so it uses the same dependency metadata and packaged runtime resources as a released wheel: .. code-block:: toml [project] dependencies = ["isaaclab"] [tool.uv.sources] isaaclab = { git = "https://github.com/isaac-sim/IsaacLab.git", rev = "", subdirectory = "tools/wheel_builder" } Use a commit hash or release tag for reproducible environments. A branch name is accepted, but updating the lockfile can then select a newer Isaac Lab revision and dependency set. Installing the published wheel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Use NVIDIA's package index for the |isaaclab_wheel_version| release. Do not point Isaac Lab at the Git source from the previous workflow when installing the published wheel. Run the published package directly or install it into a persistent environment. All workflows start with the base ``isaaclab`` package; add optional capabilities only when your project needs them. .. tab-set:: .. tab-item:: Direct uvx command .. code-block:: bash uvx --index https://pypi.nvidia.com \ --torch-backend cu130 \ --from "isaaclab==3.0.0" \ isaaclab demo zoo This resolves the published wheel from the package index into an isolated environment. It does not require a source checkout, wheel download, or project file. .. tab-item:: uv project dependency .. code-block:: bash uv init --python 3.12 my_isaaclab_project cd my_isaaclab_project uv add \ --index-strategy unsafe-best-match \ --index pytorch-cu130=https://download.pytorch.org/whl/cu130 \ torch==2.11.0 torchvision==0.26.0 uv add \ --index-strategy unsafe-best-match \ --index nvidia=https://pypi.nvidia.com \ isaaclab==3.0.0 .. tab-item:: Standalone uv environment .. tab-set:: :sync-group: pip-platform .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) :sync: linux-x86_64 .. code-block:: bash uv venv --python 3.12 env_isaaclab source env_isaaclab/bin/activate uv pip install isaaclab==3.0.0 \ --index https://pypi.nvidia.com \ --torch-backend cu130 .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) :sync: windows-x86_64 .. code-block:: batch uv venv --python 3.12 env_isaaclab env_isaaclab\Scripts\activate uv pip install isaaclab==3.0.0 ^ --index https://pypi.nvidia.com ^ --torch-backend cu130 .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) :sync: linux-aarch64 .. code-block:: bash uv venv --python 3.12 env_isaaclab source env_isaaclab/bin/activate uv pip install isaaclab==3.0.0 \ --index https://pypi.nvidia.com \ --torch-backend cu130 The project workflow records the dependencies, package indexes, and lockfile for an application you maintain; the commands make those project-file changes, so no manual editing is required. Use ``uvx`` for one-off commands or a standalone environment for exploratory work that needs an activated Python environment. Pass the same index strategy when adding or upgrading dependencies in the project. .. _installation-optional-extras: Optional extras ~~~~~~~~~~~~~~~ Add extras only when your project needs them. Most extras work with ``uv pip install "isaaclab[]"`` in a standalone environment or ``uv add "isaaclab[]"`` in a uv project. The ``importers`` and ``isaacsim`` extras have dedicated commands below. .. list-table:: :header-rows: 1 :widths: 18 52 * - Extra - What it installs * - ``isaacsim`` - Isaac Sim (``isaacsim[all,extscache]`` version |isaacsim_version|) from `pypi.nvidia.com `__. * - ``ov`` - Both OV backends: OV PhysX and OV RTX. * - ``ovphysx`` / ``ovrtx`` - OV PhysX only / OV RTX only. * - ``sb3`` / ``skrl`` / ``rsl-rl`` / ``rlinf`` / ``torchrl`` - The corresponding RL framework. * - ``skrl-jax`` - skrl with CUDA-enabled JAX. * - ``rerun`` / ``viser`` - The corresponding visualizer. * - ``mimic`` / ``teleop`` - Isaac Lab Mimic / XR teleoperation. The wheel's ``mimic`` extra does not include Robomimic. * - ``tetrahedralization`` / ``video`` - Mesh tetrahedralization / video recording. * - ``leapp`` - LEAP model export support. * - ``importers`` - Standalone URDF and MJCF conversion without Isaac Sim. * - ``all`` - The curated ``ov``, ``sb3``, ``skrl``, ``rsl-rl``, ``rerun``, and ``viser`` extras. Isaac Sim is not included. * - ``test`` - Developer test and documentation tooling. Use ``all`` for the curated list above. Isaac Sim, standalone importers, specialized extras (``skrl-jax``, ``rlinf``, ``mimic``, ``teleop``, ``tetrahedralization``, ``video``, ``leapp``), and the developer ``test`` tooling remain opt-in. .. note:: RL-Games and Robomimic are not included in the published wheel metadata because the versions used by Isaac Lab are installed from Git and do not provide package-index wheels. To use either integration, install Isaac Lab from a source checkout and select the ``rl-games`` or ``mimic`` extra there. .. note:: On Linux, the ``mimic`` extra may build its ``egl-probe`` dependency from source. Install CMake and a C++ compiler first with ``sudo apt install cmake build-essential``. .. _installation-importers-extra: Installing the ``importers`` extra ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Install this extra to convert URDF and MJCF files without Isaac Sim. .. warning:: Use the full command below. Without the overrides, the importer extra can downgrade packages used by the base Isaac Lab install. The overrides keep Isaac Lab's tested versions. .. isaaclab-uv-importers-wheel-install:: Installing the ``isaacsim`` extra ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Isaac Sim 6.2 pins dependencies that conflict with Isaac Lab. Install the ``isaacsim`` extra with the tested overrides: .. isaaclab-uv-isaacsim-wheel-install:: Add other extras inside the brackets when needed; for example, use ``isaaclab[isaacsim,all]`` to include the curated ``all`` list. Installing CUDA-enabled PyTorch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The published-wheel commands above select the CUDA 13.0 PyTorch build during dependency resolution. To update an existing standalone environment that was installed without the CUDA index, use the command for your platform: .. tab-set:: :sync-group: pip-platform .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) :sync: linux-x86_64 .. isaaclab-torch-install:: cu130 .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) :sync: windows-x86_64 .. isaaclab-torch-install:: cu130 .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) :sync: linux-aarch64 .. note:: Install the required Python, OpenGL, and X11 development packages before installing Isaac Lab: .. code-block:: bash sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \ libxinerama-dev libxrandr-dev .. isaaclab-torch-install:: cu130 .. note:: If Isaac Sim reports OpenMP preload warnings, use the system GNU OpenMP library: .. code-block:: bash unset LD_PRELOAD export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 .. note:: If importing ``omni.client`` or ``torch`` fails because ``libcarb.so`` cannot allocate a static TLS block, preload ``libcarb.so`` before launching Python: .. code-block:: bash export LD_PRELOAD=$(python -c "import sys,os;[print(os.path.join(p,'omni','client','libcarb.so')) for p in sys.path if os.path.isfile(os.path.join(p,'omni','client','libcarb.so'))]" 2>/dev/null | head -1)${LD_PRELOAD:+:$LD_PRELOAD} If you installed the ``isaacsim`` extra, verify it before running your project: .. code-block:: bash isaacsim The first launch downloads Isaac Sim extensions and can take more than ten minutes. It also asks you to accept the NVIDIA Omniverse EULA; set ``OMNI_KIT_ACCEPT_EULA=yes`` for a non-interactive environment. Run a project script with ``python my_script.py``. Generate VS Code or Cursor settings for the current workspace with: .. code-block:: bash uv run isaaclab --editor .. warning:: This command generates ``.vscode/settings.json`` and ``pyrightconfig.json`` in the workspace. The Pyright configuration inherits an existing ``[tool.pyright]`` table and adds paths discovered from the active Python environment. .. _installation-method-binary: .. _isaaclab-binaries-installation: Downloaded Isaac Sim package ---------------------------- Use this path when you prefer a downloaded Isaac Sim package instead of pip. Download and extract the `Isaac Sim pre-built package `__. Binary installs must use Isaac Sim's bundled Python; combining them with conda, ``uv``, or ``venv`` is unsupported. If you need a dedicated Python environment, use :ref:`installation-method-python-env` instead. The commands below assume the package was extracted to ``${HOME}/isaacsim`` on Linux or ``C:\isaacsim`` on Windows. Set the installation paths and verify the simulator: .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash export ISAACSIM_PATH="${HOME}/isaacsim" export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" ${ISAACSIM_PATH}/isaac-sim.sh ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch set ISAACSIM_PATH="C:\isaacsim" set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat" %ISAACSIM_PATH%\isaac-sim.bat %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')" %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py .. caution:: If you used an earlier Isaac Sim version, reset its user data and cached variables before the first launch: ``${ISAACSIM_PATH}/isaac-sim.sh --reset-user`` on Linux or ``%ISAACSIM_PATH%\isaac-sim.bat --reset-user`` on Windows. Clone Isaac Lab, create the ``_isaac_sim`` link, install, and verify: .. isaaclab-clone-commands:: .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux :sync: linux .. code-block:: bash cd IsaacLab ln -s ${ISAACSIM_PATH} _isaac_sim sudo apt install cmake build-essential ./isaaclab.sh -i ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code-block:: batch cd IsaacLab mklink /D _isaac_sim %ISAACSIM_PATH% isaaclab.bat -i isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit The tutorial command should open a black simulator viewport. If either verification command fails, consult the `Isaac Sim Linux troubleshooting guide `__ or the `Isaac Sim forums `__. .. _installation-method-source: .. _isaaclab-source-installation: Build Isaac Sim from source --------------------------- Build Isaac Sim from source only when you need to modify it or test a nightly revision. Building requires Ubuntu 22.04 or newer on Linux. For driver requirements, see the `technical requirements `__. On Windows, enable `long-path support `__ before building. Choose how to connect the Isaac Sim source build to Isaac Lab: .. tab-set:: :sync-group: isaacsim-source-installation-method .. tab-item:: uv (Recommended) :sync: uv Clone Isaac Sim next to the Isaac Lab checkout. From the Isaac Lab root, run the source-build command. It incrementally builds Isaac Sim and links the live release tree as ``_isaac_sim``: .. code-block:: text git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim uv run isaaclab --isaacsim_source ../IsaacSim Isaac Lab runs the active ``uv`` environment through Isaac Sim's generated Python launcher. This loads Kit and extensions directly from the source build without creating wheels or changing ``pyproject.toml`` and ``uv.lock``. Run Isaac Lab against the source build with: .. code-block:: text uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx After changing Isaac Sim source, run the same ``--isaacsim_source`` command again. The native build is incremental, and the link continues to expose the updated build immediately; no wheel packaging or dependency resolution step is required. .. tab-item:: isaaclab.sh / isaaclab.bat :sync: isaaclab-script Build and verify Isaac Sim for your platform: .. tab-set:: :sync-group: installation-platform .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) :sync: linux-x86_64 .. code-block:: bash git clone https://github.com/isaac-sim/IsaacSim.git cd IsaacSim ./build.sh export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release" export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" ${ISAACSIM_PATH}/isaac-sim.sh ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) :sync: linux-aarch64 .. code-block:: bash git clone https://github.com/isaac-sim/IsaacSim.git cd IsaacSim ./build.sh export ISAACSIM_PATH="${PWD}/_build/linux-aarch64/release" export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" ${ISAACSIM_PATH}/isaac-sim.sh ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) :sync: windows-x86_64 .. code-block:: batch git clone https://github.com/isaac-sim/IsaacSim.git cd IsaacSim build.bat set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release" set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat" %ISAACSIM_PATH%\isaac-sim.bat %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')" %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py Return to the workspace containing the ``IsaacSim`` checkout, then clone Isaac Lab: .. code-block:: text cd .. .. isaaclab-clone-commands:: Link Isaac Lab to the source build, install, and verify: .. tab-set:: :sync-group: installation-platform .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) :sync: linux-x86_64 .. code-block:: bash cd IsaacLab ln -s ${ISAACSIM_PATH} _isaac_sim sudo apt install cmake build-essential ./isaaclab.sh -i ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) :sync: linux-aarch64 .. code-block:: bash cd IsaacLab ln -s ${ISAACSIM_PATH} _isaac_sim sudo apt install cmake build-essential python3.12-dev libgl1-mesa-dev libx11-dev \ libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev ./isaaclab.sh -i ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) :sync: windows-x86_64 .. code-block:: batch cd IsaacLab mklink /D _isaac_sim %ISAACSIM_PATH% isaaclab.bat -i isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit The tutorial command should open a black simulator viewport. Use the binary-installation troubleshooting links above if the source build does not launch. .. _installation-method-container: .. _workflows: .. _docker-cloud: .. _deployment-docker: .. _docker-guide: Docker containers ----------------- Docker packages Isaac Lab and its dependencies into a reusable environment. ``docker/container.py`` is the main entry point for running Isaac Lab in a container. It wraps ``docker compose`` so that you do not have to remember which Dockerfile, environment files, and volume mounts belong together -- you name a *profile*, and the script assembles the rest. For remote execution, see :ref:`deployment-cluster` and :ref:`docker-cloud-cloud`. Clone Isaac Lab before running the container commands below: .. isaaclab-clone-commands:: .. caution:: The standard Isaac Lab container depends on the Isaac Sim Docker image. By running that container, you are implicitly agreeing to the `NVIDIA Software License Agreement`_. If you do not agree to the EULA, do not run that container. The ``kitless`` image contains neither Isaac Sim nor Kit. Prerequisites ~~~~~~~~~~~~~ Install `Docker Engine `__, `Docker Compose `__, and the `NVIDIA Container Toolkit `__. The container is tested with Docker Engine 26.0.0 and Docker Compose 2.25.0; use these versions or newer. Follow the `post-installation steps`_ so that Docker runs without ``sudo``. The Isaac Sim documentation on `container installation`_ covers the same prerequisites in more detail, including how to obtain access to the Isaac Sim image. .. note:: Due to limitations with `snap `_, please make sure the Isaac Lab directory is placed under the ``/home`` directory tree when using docker. Container profiles ~~~~~~~~~~~~~~~~~~ A profile is a `Docker Compose profile `__: ``docker-compose.yaml`` tags each service with one, and Compose starts only the services whose profile is active. Naming a profile therefore selects a matched set -- one service, one Dockerfile, one set of environment files, and one image name: .. list-table:: :header-rows: 1 :widths: 12 20 20 24 24 * - Profile - Compose service - Dockerfile - Environment files - Built on top of * - ``base`` - ``isaac-lab-base`` - ``Dockerfile.base`` - ``.env.base`` - the Isaac Sim image * - ``ros2`` - ``isaac-lab-ros2`` - ``Dockerfile.ros2`` - ``.env.base`` + ``.env.ros2`` - the ``base`` image, built first * - ``kitless`` - ``isaac-lab-kitless`` - ``Dockerfile.kitless`` - ``.env.kitless`` - nothing -- standalone, no Isaac Sim Every command below takes the profile as its first positional argument and defaults to ``base``. Only one profile applies at a time, and the resulting image and container are both named ``isaac-lab-``. Pass ``--suffix`` to append a name suffix when you want several variants of the same profile side by side. Do not use ``--suffix`` with cluster deployments, whose export commands expect the unsuffixed image name. For what each image actually contains and how to choose between them, see :ref:`docker-images`. .. _container-lifecycle: .. _docker-example: .. _worked-docker-example: Start, run, and retrieve results ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ From the repository root on the host, build and start the default ``base`` container, then open a shell in it. Append a profile to target a different image: .. code-block:: bash ./docker/container.py start ./docker/container.py enter Inside the container, run the logging example without a visualizer: .. code-block:: bash uv run isaaclab -p scripts/tutorials/00_sim/log_time.py --viz none The script writes simulation time at each step to ``/workspace/isaaclab/logs/docker_tutorial/log.txt``. Stop the script with ``Ctrl+C`` and type ``exit`` to return to the host shell. Retrieve the results before stopping the container: .. code-block:: bash ./docker/container.py copy ./docker/container.py stop The log is now at ``docker/artifacts/logs/docker_tutorial/log.txt`` on the host. The ``stop`` command removes the container and its Compose-managed volumes, including logs and caches; copy out anything you need first. The image remains. To remove it after stopping, run ``docker image rm isaac-lab-base``; the next ``start`` rebuilds it. See `Docker pruning `__ for other cleanup options. .. dropdown:: Code for log_time.py :icon: code .. literalinclude:: ../../../scripts/tutorials/00_sim/log_time.py :language: python :linenos: .. note:: The image copies the repository to ``/workspace/isaaclab`` at build time, so edits made after the build are not picked up automatically. To keep the development loop fast, the compose file bind-mounts ``source``, ``scripts``, ``docs``, and ``tools`` from the host, so changes to those directories appear inside the container immediately. Everything else requires a rebuild. ``container.py`` command reference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Run ``./docker/container.py --help`` to list commands and ``./docker/container.py --help`` for that command's arguments. .. list-table:: :header-rows: 1 :widths: 20 80 * - Command - Description * - ``build`` - Build the image without creating a container. * - ``start`` - Build the image and start the container in the background. * - ``enter`` - Open a Bash shell in the running container. * - ``config`` - Print the merged Compose configuration. Use ``--output-yaml `` to write it to a file instead. * - ``copy`` - Copy logs, data, and built documentation to ``docker/artifacts`` on the host. * - ``stop`` - Stop and remove the container and its Compose-managed volumes. Every command accepts the following arguments: .. list-table:: :header-rows: 1 :widths: 25 75 * - Argument - Description * - ``profile`` - Optional profile name; defaults to ``base``. Other profiles are ``ros2`` and ``kitless``. * - ``--files [FILE ...]`` - Merge additional Compose YAML files after ``docker-compose.yaml``, in the supplied order. * - ``--env-files [FILE ...]`` - Merge additional environment files after the profile defaults, in the supplied order. * - ``--suffix [SUFFIX]`` - Append ``-SUFFIX`` to the image and container names. Omit it for unsuffixed names. * - ``--info`` - Print the resolved container interface configuration instead of running the command. * - ``-h``, ``--help`` - Show help and exit. Extending the Compose configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ``--files`` and ``--env-files`` merge extra Compose and environment files into the generated configuration, which is how optional components are layered on without editing the checked-in files. Streaming to XR devices is the worked example -- it adds the CloudXR Runtime service alongside ``base``: .. code:: bash ./docker/container.py start --files docker-compose.cloudxr-runtime.patch.yaml --env-files .env.cloudxr-runtime Stop it with the same arguments. The teleoperation setup, firewall rules, and client connection steps are covered in :ref:`cloudxr-teleoperation`. Use ``./docker/container.py config`` to print the merged result when a combination does not behave as expected. What persists between runs ~~~~~~~~~~~~~~~~~~~~~~~~~~ The compose file declares named volumes for Isaac Sim caches, logs, and your own data. They remain available while reusing a container, but ``container.py stop`` runs ``docker compose down --volumes`` and removes them. Run ``container.py copy`` before ``stop`` to preserve your results on the host. ``container.py copy`` extracts the three volumes you are most likely to want on the host -- ``logs``, ``data_storage``, and ``docs/_build`` -- into ``docker/artifacts``. For anything else, use ``docker cp``, for example ``docker cp isaac-lab-base:/workspace/isaaclab/logs .``. If you are upgrading from an Isaac Lab image that ran as ``root``, the existing volumes still hold root-owned files that the current uid/gid 1000 runtime user cannot write. Copy out anything worth keeping, then recreate them from the ``docker`` directory: .. code:: bash docker compose --file docker-compose.yaml --profile base --env-file .env.base down --volumes .. dropdown:: All named volumes and their container paths :icon: file-directory .. list-table:: :header-rows: 1 :widths: 23 45 32 * - Volume Name - Description - Container Path * - isaac-cache-kit - Stores cached Kit resources - /isaac-sim/kit/cache * - isaac-data-kit - Stores Kit data - /isaac-sim/kit/data * - isaac-cache-ov - Stores cached OV resources - /root/.cache/ov * - isaac-cache-pip - Stores cached pip resources - /root/.cache/pip * - isaac-cache-gl - Stores cached GLCache resources - /root/.cache/nvidia/GLCache * - isaac-cache-compute - Stores cached compute resources - /root/.nv/ComputeCache * - isaac-cache-uv - Stores uv downloads for the kit-less profile - /home/isaaclab/.cache/uv * - isaac-cache-warp - Stores Warp kernels for the kit-less profile - /home/isaaclab/.cache/warp * - isaac-logs - Stores logs generated by Omniverse - /root/.nvidia-omniverse/logs * - isaac-carb-logs - Stores logs generated by carb - /isaac-sim/kit/logs/Kit/Isaac-Sim * - isaac-data - Stores data generated by Omniverse - /root/.local/share/ov/data * - isaac-docs - Stores documents generated by Omniverse - /root/Documents * - isaac-lab-docs - Stores documentation of Isaac Lab when built inside the container - /workspace/isaaclab/docs/_build * - isaac-lab-logs - Stores logs generated by Isaac Lab workflows when run inside the container - /workspace/isaaclab/logs * - isaac-lab-data - Stores whatever data users may want to preserve between container runs - /workspace/isaaclab/data_storage Run ``docker volume ls`` on the host to find the actual names, which include the Compose project prefix, then use ``docker volume inspect ``. The ``kitless`` profile uses the uv and Warp caches and shares the documentation, logs, and data volumes with the others. Display forwarding with X11 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ X11 forwarding lets GUI applications started inside the container display on the host. The first ``start`` asks whether to enable it and records the answer in ``docker/.container.cfg``. To change it later, set ``X11_FORWARDING_ENABLED`` to ``0`` or ``1`` in that file and run ``start`` again -- the rebuild is what applies the change. .. _`NVIDIA Software License Agreement`: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-software-license-agreement .. _`container installation`: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html .. _`post-installation steps`: https://docs.docker.com/engine/install/linux-postinstall/ .. _docker-images: Container images ~~~~~~~~~~~~~~~~ Each :ref:`profile ` builds a different image. They differ in what simulation and rendering stack they carry, which decides how large they are and what they can run. This section describes the images themselves; to build or run one, name its profile in the :ref:`container lifecycle `. Choosing an image ^^^^^^^^^^^^^^^^^ .. list-table:: :header-rows: 1 :widths: 12 40 48 * - Profile - Contains - Use it when * - ``base`` - Isaac Lab on the NVIDIA Isaac Sim image, with Kit and RTX rendering - You want the default environment, GUI rendering, or anything that needs Isaac Sim * - ``ros2`` - The ``base`` image plus ROS 2 Humble - You are bridging Isaac Lab to ROS 2 nodes * - ``kitless`` - Ubuntu 24.04, Python 3.12, Newton and OVPhysX physics, OVRTX rendering, four RL libraries - You are training with Newton and want the smallest image; also the only one with no Isaac Sim EULA Building an image ^^^^^^^^^^^^^^^^^ Every image builds with the same command; only the profile name changes. From the repository root, build the image for a profile from the table above, for example ``kitless``: .. code:: bash ./docker/container.py build kitless ``./docker/container.py start kitless`` also builds the image before starting the container. Without Compose, build the profile's Dockerfile directly; it uses the same default paths: .. code:: bash docker build --pull --file docker/Dockerfile.kitless --tag isaac-lab-kitless . Release images are also published pre-built, so building is optional; see :ref:`docker-ngc-images`. Base image ^^^^^^^^^^ ``Dockerfile.base`` overlays Isaac Lab's dependencies onto the Isaac Sim container, so it inherits Kit, RTX rendering, and the Isaac Sim asset pipeline. The Isaac Sim version it builds against is set by ``ISAACSIM_VERSION`` in ``.env.base``; the other variables in that file control paths inside the container. ROS 2 image ^^^^^^^^^^^ ``Dockerfile.ros2`` installs ROS 2 Humble from an `apt package`_ and sources it in the runtime user's ``.bashrc``. ``ROS2_APT_PACKAGE`` in ``.env.ros2`` selects the package set, defaulting to ``ros-base``. The image defaults to the ``FastRTPS`` middleware; ``CycloneDDS`` is also supported, and both can be `tuned`_ through their ``.xml`` files under ``docker/.ros``. See `various middleware`_ for the trade-offs. .. dropdown:: Parameters in .env.ros2 :icon: code .. literalinclude:: ../../../docker/.env.ros2 :language: bash Kit-less image ^^^^^^^^^^^^^^ The kit-less image drops Isaac Sim entirely and builds on Ubuntu 24.04 with Python 3.12. It carries Newton physics, OVPhysX physics, OVRTX rendering, and the four core RL frameworks: RL Games, RSL-RL, Stable-Baselines3, and SKRL. The ``newton_gl``, ``newton_rtx``, ``viser``, and ``rerun`` visualizers are included. Use ``--viz newton_gl`` for local visualization with a display available in the container. ``--viz newton_gl`` selects the OpenGL rasterizer; ``--viz newton_rtx`` selects the OVRTX path tracer. Both can render offscreen without Isaac Sim. To open their windows from a direct ``docker run``, run ``xhost +local:`` on the host and add ``-e DISPLAY`` and ``-v /tmp/.X11-unix:/tmp/.X11-unix:rw`` to the command below. The deprecated ``--viz newton`` alias selects GL; it does not choose between GL and RTX automatically. Rendering needs NVIDIA graphics driver capabilities in addition to compute. For direct ``docker run`` commands, pass ``--gpus all -e NVIDIA_DRIVER_CAPABILITIES=all``. The NVIDIA Container Toolkit exposes the host driver; avoid mounting a second copy of its Vulkan ICD. If multiple drivers are discovered, select the NVIDIA ICD available inside the container with ``VK_DRIVER_FILES`` (for example, ``/etc/vulkan/icd.d/nvidia_icd.json``). No visualizer is selected by default, so training runs headless unless you ask for one. The ``kit`` visualizer is the exception: it comes from Omniverse Kit, which this image does not contain. Unlike the other two, it bind-mounts ``apps`` in addition to ``source``, ``scripts``, ``tools``, and ``docs``, and it keeps a uv cache and a Warp cache of its own. You do not have to build it locally. It is published alongside each Isaac Lab release in the same registry repository, distinguished by a ``-kitless`` tag suffix: .. code:: bash docker pull nvcr.io/nvidia/isaac-lab:3.0.0-kitless Running it directly, outside the Compose workflow, is a convenient way to verify the image and your NVIDIA Container Toolkit setup. ``--interactive`` and ``--tty`` keep the container's shell alive so that several commands can share it. The ``isaac-lab-kitless-logs`` named volume keeps checkpoints after the container is removed: .. code:: bash docker run --name isaac-lab-kitless --detach --interactive --tty --gpus all --network host \ -e NVIDIA_DRIVER_CAPABILITIES=all \ -v isaac-lab-kitless-logs:/workspace/isaaclab/logs \ nvcr.io/nvidia/isaac-lab:3.0.0-kitless docker exec isaac-lab-kitless \ isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct \ --num_envs 16 presets=newton_mjwarp --max_iterations 5 Replay in a browser with: .. code:: bash docker exec --interactive --tty isaac-lab-kitless \ isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct \ --num_envs 16 presets=newton_mjwarp --checkpoint latest --viz viser Viser is reachable through the host network without forwarding a desktop display. Stop playback with ``Ctrl+C`` without stopping the container. Copy the logs to the host with ``docker cp isaac-lab-kitless:/workspace/isaaclab/logs ./logs``. Check which architectures a tag publishes with ``docker buildx imagetools inspect `` before choosing a host. .. _docker-ngc-images: Pre-built image from NGC ^^^^^^^^^^^^^^^^^^^^^^^^ A minimal pre-built container carries a small set of Isaac Sim and Omniverse dependencies with Isaac Lab already built in, under ``/workspace/isaaclab``. The example below runs without a forwarded desktop display. Choose the image profile for the physics and rendering stack you need, and configure graphics access separately when rendering. .. note:: Use an explicit published version tag for reproducible runs. The examples below use ``3.0.0``; the corresponding kit-less image uses ``3.0.0-kitless``. .. attention:: Images from 3.0.0-beta2 onward run as a **non-root** user, so those bind-mount directories must be writable by uid/gid 1000. Docker creates any missing one as ``root``, which the runtime user cannot write to, producing errors such as ``PermissionError: [Errno 13] Permission denied: '/root/.local/share/ov/data/exts'``. Create them first: .. code:: bash mkdir -p ~/docker/isaac-sim/{cache/kit,cache/ov,cache/pip,cache/glcache,cache/computecache,logs,data,documents} sudo chown -R 1000:1000 ~/docker/isaac-sim Because it is run outside Compose, the Isaac Sim cache directories have to be mounted by hand, otherwise every start recompiles shaders: .. code:: bash docker run --name isaac-lab --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ -e "PRIVACY_CONSENT=Y" \ -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ -v ~/docker/isaac-sim/documents:/root/Documents:rw \ nvcr.io/nvidia/isaac-lab:3.0.0 The command above opens no windows: without a display, ``--viz kit``, ``--viz newton_gl``, and ``--viz newton_rtx`` run headless. The ``viser`` and ``rerun`` visualizers serve a web page instead and need no display. To enable rendering through X11 forwarding, let local clients use the host X server and pass the display into the container: .. code:: bash xhost +local: docker run --name isaac-lab --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ -e "PRIVACY_CONSENT=Y" \ -e DISPLAY \ -e MUJOCO_GL=disable \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ -v ~/docker/isaac-sim/documents:/root/Documents:rw \ nvcr.io/nvidia/isaac-lab:3.0.0 ``xhost +local:`` lets every local client use your display, not only the container; run ``xhost -local:`` on the host to revoke it when you are done. ``MUJOCO_GL=disable`` is needed by the Newton viewers in images released before it was set in the image: those inherit ``MUJOCO_GL=egl``, which fails the windowed viewer with ``Attempt to retrieve context when no valid context``. The Compose workflow sets up X11 forwarding for you; see :ref:`deployment-docker`. Follow the graphics-driver requirements above for GL or RTX. Runtime user ^^^^^^^^^^^^ The base, ROS 2, cuRobo, and kit-less images all run as a non-root user with uid/gid 1000. When running one of these images directly with ``docker run``, keep that default user instead of passing ``--user``, so that the runtime home and cache directories stay writable. Named volumes inherit the image's ownership; make host bind mounts writable with ``sudo chown -R 1000:1000 ``. Python interpreter ^^^^^^^^^^^^^^^^^^ Every image installs from ``uv.lock`` into a Python 3.12 virtual environment at ``/opt/isaaclab-venv``. On the Isaac Sim-based images the environment is built on Isaac Sim's own interpreter, and Isaac Sim itself stays outside it, reached through the ``_isaac_sim`` symlink; ``isaaclab.sh`` puts it on the path. In either case ``python`` on the container's ``PATH`` resolves to the right one, so scripts are run the same way regardless of image. .. _`apt package`: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#install-ros-2-packages .. _`various middleware`: https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html .. _`tuned`: https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html .. _installation-method-cloud: Cloud workstations ------------------ Isaac Automator provisions GPU workstations on AWS, GCP, Azure, and Alibaba Cloud. Install Docker, then clone and build Isaac Automator: .. code-block:: bash git clone https://github.com/isaac-sim/IsaacAutomator.git cd IsaacAutomator ./build ./run ./deploy-aws Replace ``deploy-aws`` with ``deploy-gcp``, ``deploy-azure``, or ``deploy-alicloud``. Use ``--isaaclab`` and ``--isaacsim`` to select Git revisions. Connection details for SSH, noVNC, and NoMachine are stored in ``state//info.txt``. Manage the workstation from the Automator container: .. code-block:: bash ./stop ./start ./upload ./download ./destroy Preserve the ``state`` directory because it contains the deployment metadata. See :ref:`docker-cloud-cloud` for credentials, provider options, connection methods, data transfer, and the complete workstation lifecycle. Next steps ---------- Continue with the :doc:`quickstart ` to run a task and train a policy. For asset caching, Nucleus migration, and regional asset services, see :doc:`/source/how-to/manage_asset_downloads`. For setup, launch, and performance problems, use the :doc:`troubleshooting reference `.