| .. _isaaclab-installation-root: |
|
|
| Local Installation |
| ================== |
|
|
| .. image:: https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg |
| :target: https://developer.nvidia.com/isaac-sim |
| :alt: IsaacSim 5.1.0 |
|
|
| .. image:: https://img.shields.io/badge/python-3.11-blue.svg |
| :target: https://www.python.org/downloads/release/python-31013/ |
| :alt: Python 3.11 |
|
|
| .. image:: https://img.shields.io/badge/platform-linux--64-orange.svg |
| :target: https://releases.ubuntu.com/22.04/ |
| :alt: Ubuntu 22.04 |
|
|
| .. 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 installation is available for Windows and Linux. Since it is built on top of Isaac Sim, |
| it is required to install Isaac Sim before installing Isaac Lab. This guide explains the |
| recommended installation methods for both Isaac Sim and Isaac Lab. |
|
|
| .. caution:: |
|
|
| We have dropped support for Isaac Sim versions 4.2.0 and below. We recommend using the latest |
| Isaac Sim 5.1.0 release to benefit from the latest features and improvements. |
|
|
| For more information, please refer to the |
| `Isaac Sim release notes <https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#>`__. |
|
|
|
|
| System Requirements |
| ------------------- |
|
|
| General Requirements |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| For detailed requirements, please see the |
| `Isaac Sim system requirements <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html>`_. |
| The basic requirements are: |
|
|
| - **OS:** Ubuntu 22.04 (Linux x64) or Windows 11 (x64) |
| - **RAM:** 32 GB or more |
| - **GPU VRAM:** 16 GB or more (additional VRAM may be required for rendering workflows) |
|
|
| **Isaac Sim is built against a specific Python version**, making |
| it essential to use the same Python version when installing Isaac Lab. |
| The required Python version is as follows: |
|
|
| - For Isaac Sim 5.X, the required Python version is 3.11. |
| - For Isaac Sim 4.X, the required Python version is 3.10. |
|
|
|
|
| Driver Requirements |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Drivers other than those recommended on `Omniverse Technical Requirements <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`_ |
| may work but have not been validated against all Omniverse tests. |
|
|
| - Use the **latest NVIDIA production branch driver**. |
| - On Linux, version ``580.65.06`` or later is recommended, especially when upgrading to |
| **Ubuntu 22.04.5 with kernel 6.8.0-48-generic** or newer. |
| - On Spark, version ``580.95.05`` is recommended. |
| - On Windows, version ``580.88`` is recommended. |
| - If you are using a new GPU or encounter driver issues, install the latest production branch |
| driver from the `Unix Driver Archive <https://www.nvidia.com/en-us/drivers/unix/>`_ |
| using the ``.run`` installer. |
|
|
| DGX Spark: details and limitations |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| The DGX spark is a standalone machine learning device with aarch64 architecture. As a consequence, some |
| features of Isaac Lab are not currently supported on the DGX spark. The most noteworthy is that the architecture *requires* CUDA ≥ 13, and thus the cu13 build of PyTorch or newer. |
| Other notable limitations with respect to Isaac Lab include... |
|
|
| #. `SkillGen <https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/skillgen.html>`_ is not supported out of the box. This |
| is because cuRobo builds native CUDA/C++ extensions that requires specific tooling and library versions which are not validated for use with DGX spark. |
|
|
| #. Extended reality teleoperation tools such as `OpenXR <https://isaac-sim.github.io/IsaacLab/v2.3.2/source/api/lab/isaaclab.devices.html#openxr>`_ is not supported. This is due |
| to encoding performance limitations that have not yet been fully investigated. |
|
|
| #. SKRL training with `JAX <https://docs.jax.dev/en/latest/notebooks/thinking_in_jax.html>`_ has not been explicitly validated or tested in Isaac Lab on the DGX Spark. |
| JAX provides pre-built CUDA wheels only for Linux on x86_64, so on aarch64 systems (e.g., DGX Spark) it runs on CPU only by default. |
| GPU support requires building JAX from source, which has not been validated in Isaac Lab. |
|
|
| #. Livestream and Hub Workstation Cache are not supported on the DGX spark. |
|
|
| #. :ref:`Running Cosmos Transfer1 <running-cosmos>` is not currently supported on the DGX Spark. |
|
|
| Troubleshooting |
| ~~~~~~~~~~~~~~~ |
|
|
| Please refer to the `Linux Troubleshooting <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`_ |
| to resolve installation issues in Linux. |
|
|
| You can use `Isaac Sim Compatibility Checker <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html#isaac-sim-compatibility-checker>`_ |
| to automatically check if the above requirements are met for running Isaac Sim on your system. |
|
|
| Quick Start (Recommended) |
| ------------------------- |
|
|
| For most users, the simplest and fastest way to install Isaac Lab is by following the |
| :doc:`pip_installation` guide. |
|
|
| This method will install Isaac Sim via pip and Isaac Lab through its source code. |
| If you are new to Isaac Lab, start here. |
|
|
|
|
| Choosing an Installation Method |
| ------------------------------- |
|
|
| Different workflows require different installation methods. |
| Use this table to decide: |
|
|
| +-------------------+------------------------------+------------------------------+---------------------------+------------+ |
| | Method | Isaac Sim | Isaac Lab | Best For | Difficulty | |
| +===================+==============================+==============================+===========================+============+ |
| | **Recommended** | |:package:| pip install | |:floppy_disk:| source (git) | Beginners, standard use | Easy | |
| +-------------------+------------------------------+------------------------------+---------------------------+------------+ |
| | Binary + Source | |:inbox_tray:| binary | |:floppy_disk:| source (git) | Users preferring binary | Easy | |
| | | download | | install of Isaac Sim | | |
| +-------------------+------------------------------+------------------------------+---------------------------+------------+ |
| | Full Source Build | |:floppy_disk:| source (git) | |:floppy_disk:| source (git) | Developers modifying both | Advanced | |
| +-------------------+------------------------------+------------------------------+---------------------------+------------+ |
| | Pip Only | |:package:| pip install | |:package:| pip install | External extensions only | Special | |
| | | | | (no training/examples) | case | |
| +-------------------+------------------------------+------------------------------+---------------------------+------------+ |
| | Docker | |:whale:| Docker | |:floppy_disk:| source (git) | Docker users | Advanced | |
| +-------------------+------------------------------+------------------------------+---------------------------+------------+ |
|
|
| Next Steps |
| ---------- |
|
|
| Once you've reviewed the installation methods, continue with the guide that matches your workflow: |
|
|
| - |:smiley:| :doc:`pip_installation` |
|
|
| - Install Isaac Sim via pip and Isaac Lab from source. |
| - Best for beginners and most users. |
|
|
| - :doc:`binaries_installation` |
|
|
| - Install Isaac Sim from its binary package (website download). |
| - Install Isaac Lab from its source code. |
| - Choose this if you prefer not to use pip for Isaac Sim (for instance, on Ubuntu 20.04). |
|
|
| - :doc:`source_installation` |
|
|
| - Build Isaac Sim from source. |
| - Install Isaac Lab from its source code. |
| - Recommended only if you plan to modify Isaac Sim itself. |
|
|
| - :doc:`isaaclab_pip_installation` |
|
|
| - Install Isaac Sim and Isaac Lab as pip packages. |
| - Best for advanced users building **external extensions** with custom runner scripts. |
| - Note: This does **not** include training or example scripts. |
|
|
| - :ref:`container-deployment` |
|
|
| - Install Isaac Sim and Isaac Lab in a Docker container. |
| - Best for users who want to use Isaac Lab in a containerized environment. |
|
|
|
|
| Asset Caching |
| ------------- |
|
|
| Isaac Lab assets are hosted on **AWS S3 cloud storage**. Loading times can vary |
| depending on your **network connection** and **geographical location**, and in some cases, |
| assets may take several minutes to load for each run. To improve performance or support |
| **offline workflows**, we recommend enabling **asset caching**. |
|
|
| - Cached assets are stored locally, reducing repeated downloads. |
| - This is especially useful if you have a slow or intermittent internet connection, |
| or if your deployment environment is offline. |
|
|
| Please follow the steps :doc:`asset_caching` to enable asset caching and speed up your workflow. |
|
|
|
|
| .. toctree:: |
| :maxdepth: 1 |
| :hidden: |
|
|
| pip_installation |
| binaries_installation |
| source_installation |
| isaaclab_pip_installation |
| asset_caching |
|
|
