install-isaaclab

# Install Isaac Lab **Repo:** https://github.com/isaac-sim/IsaacLab.git **Modes:** Isaac Sim-backed full install, or Isaac Lab 3.0+ kit-less/Newton install. ## Choose Install Mode - **Full Isaac Sim-backed install:** use for PhysX, ROS, URDF/MJCF importers, Omniverse visualization, and most benchmarking/profiling work. This requires Isaac Sim first. - **Kit-less/Newton install (Isaac Lab 3.0+):** use only when the user explicitly wants core Isaac Lab/Newton workflows that do not require Isaac Sim features. If the user does not specify, default to the full Isaac Sim-backed install for performance benchmarking. ## Kit-less / Newton Quick Install (Isaac Lab 3.0+) Use this path only when Isaac Sim features are not needed. ```bash git clone https://github.com/isaac-sim/IsaacLab.git cd IsaacLab git checkout develop # or a specific commit/tag # Installs core Isaac Lab packages plus the Newton backend. ./isaaclab.sh -i ``` Do not use this mode for PhysX, ROS, URDF/MJCF importers, or Omniverse visualizers. ## Full Isaac Sim-Backed Install ### Step 1: Install Isaac Sim See the `install-isaacsim` skill. You need a working Isaac Sim before proceeding. ### Step 2: Install an Environment Manager (if not present) Conda is the most common path; uv is also supported by recent Isaac Lab versions. ```bash # Prefer an existing environment manager. command -v conda >/dev/null && echo "CONDA OK" || echo "CONDA MISSING" command -v uv >/dev/null && echo "UV OK" || echo "UV MISSING (needed for ./isaaclab.sh -u)" ``` If neither `conda` nor `uv` is available, ask before installing one. Do not run `conda init` from this skill; it mutates user shell startup files. If the user approves a local Miniconda install, use a non-mutating activation path: ```bash wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /tmp/miniconda.sh bash /tmp/miniconda.sh -b -p "$HOME/miniconda3" source "$HOME/miniconda3/etc/profile.d/conda.sh" conda --version ``` ### Step 3: Clone Isaac Lab ```bash git clone https://github.com/isaac-sim/IsaacLab.git cd IsaacLab git checkout develop # or a specific commit/tag ``` ### Step 4: Link Isaac Sim ```bash # If Isaac Sim was source-built: ln -s /path/to/IsaacSim/_build/linux-x86_64/release _isaac_sim # If Isaac Sim was pip-installed, the link may not be needed — # isaaclab.sh should detect the pip installation automatically. # Check: ./isaaclab.sh -p -c "import isaacsim; print('OK')" ``` ### Step 5: Create Environment ```bash # Choose one. Default environment name is env_isaaclab if omitted. # Conda: ./isaaclab.sh -c env_isaaclab # uv on supported versions: ./isaaclab.sh -u env_isaaclab ``` This creates an environment with the correct Python version and base dependencies. The default name (if you omit the argument) is `env_isaaclab`. > **Note:** You may need to accept conda channel TOS first if this is a fresh install: > ```bash > conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/main > conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/r > ``` ### Step 6: Install Dependencies ```bash # Conda source "$(conda info --base)/etc/profile.d/conda.sh" conda activate env_isaaclab # Or uv # source env_isaaclab/bin/activate ./isaaclab.sh -i ``` > **Important:** Make sure to run these commands in `bash` (not `sh`). The `source` builtin > and `conda activate` require bash. ## Verify ```bash source "$(conda info --base)/etc/profile.d/conda.sh" conda activate env_isaaclab cd IsaacLab # Quick import check ./isaaclab.sh -p -c "import isaaclab; print('OK')" # Run a minimal benchmark (few frames) ./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py \ --task=Isaac-Cartpole-Direct-v0 --viz none --num_frames 10 --num_envs=16 ``` > **Note:** `--headless` is deprecated in recent versions. Omit `--viz` for headless mode, > or use `--viz none` to force headless when visualizers are configured. ## Day-to-Day Activation ```bash source "$(conda info --base)/etc/profile.d/conda.sh" conda activate env_isaaclab cd IsaacLab ``` ## Common Issues ### `./isaaclab.sh -i` fails finding Isaac Sim Make sure the `_isaac_sim` symlink points to a valid Isaac Sim build/install: ```bash ls -la _isaac_sim/ # Should show Isaac Sim files (python.sh, kit/, exts/, etc.) ``` ### Conda env already exists ```bash conda env remove -n env_isaaclab ./isaaclab.sh -c env_isaaclab ``` ### GPU not found / CUDA errors Verify NVIDIA driver and CUDA: ```bash nvidia-smi python -c "import torch; print(torch.cuda.is_available())" ``` ---