Isaac Lab¶

Isaac Lab git install. The default is 3.0.0-beta2.patch1; supported ISAAC_LAB_VERSION values are 2.3.0, 2.3.2, 3.0.0-beta2.patch1, and develop.

See Last tested for the latest validation status.

Depends on:

Vulkan Configuration
Username
Isaac Sim

Note that CUDA Toolkit is not required for Isaac Lab.

Source build from compose.yaml:

build:
  args:
    ISAAC_LAB_VERSION: "develop"

develop clones https://github.com/isaac-sim/IsaacLab.git at develop into ~/IsaacLab, links the installed Isaac Sim runtime via _isaac_sim, then runs ./isaaclab.sh --install.

Quick test:

cd ~/IsaacLab
./isaaclab.sh -p scripts/tutorials/00_sim/log_time.py --headless
# View the logs and press Ctrl+C to stop
# tail -f ~/IsaacLab/logs/docker_tutorial/log.txt

Deformable object tutorial:

cd ~/IsaacLab
./isaaclab.sh -p scripts/tutorials/01_assets/run_deformable_object.py --viz kit

Use --viz kit for the Kit visualizer. On first launch, let the Kit window finish rendering the scene before judging the viewport; the setup logs may finish before the first visible frame appears.

Train Cartpole:

cd ~/IsaacLab
./isaaclab.sh -p scripts/reinforcement_learning/rl_games/train.py --task=Isaac-Cartpole-v0 --headless
# or
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Cartpole-v0 --headless
# or
./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task=Isaac-Cartpole-v0 --headless

On Host:

Quick test using official Docker image:
scripts/docker_run_official_isaac_lab.sh

Known Issues¶

See official known issues for Isaac Lab.