Installation using Isaac Sim pip

Installation using Isaac Sim pip#

Installing Isaac Sim#

Note

Installing Isaac Sim from pip is currently an experimental feature. If errors occur, please report them to the Isaac Sim Forums and install Isaac Sim from pre-built binaries.

Note

Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility. To check the GLIBC version on your system, use command ldd --version.

  • 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 conda environment named isaaclab with python3.10
python3.10 -m venv isaaclab
# activate the conda 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 2.2.2 build based on the CUDA version available on your system.

    pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu118

    pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu121

  • 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

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.

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