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Isaac Lab

GitHub code

Isaac Lab git install. The default is 3.0.0-EA. Supported ISAAC_LAB_VERSION values are 2.3.0, 2.3.2, 3.0.0-beta2.patch1, 3.0.0-EA, 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
# 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 first run may spend several minutes compiling shaders even after the startup log appears. If the desktop offers to close an unresponsive Kit window during that time, choose Wait while the process is still active. Later launches use the caches. Isaac Lab 3.0.0-EA also warns that isaaclab.sh will be replaced by uv run isaaclab in a future release.

Train Cartpole:

cd ~/IsaacLab
./isaaclab.sh train --rl_library rl_games --task Isaac-Cartpole
# or
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole
# or
./isaaclab.sh train --rl_library skrl --task Isaac-Cartpole

Known Issues

See official known issues for Isaac Lab.