| | .. _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/release/2.3.0/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 |
| |
|
