Cloning Isaac Lab
Note
We recommend making a fork of the Isaac Lab repository to contribute
to the project but this is not mandatory to use the framework. If you
make a fork, please replace isaac-sim with your username
in the following instructions.
Clone the Isaac Lab repository into your project's workspace:
.. isaaclab-clone-commands::
We provide helper executables at the repository root — ./isaaclab.sh (Linux) and
isaaclab.bat (Windows) — that provide utilities to manage extensions.
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: text
./isaaclab.sh --help
usage: isaaclab.sh [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]] [--isaacsim_source PATH]
Isaac Lab CLI
options:
-h, --help show this help message and exit
-i [INSTALL], --install [INSTALL]
Install Isaac Lab submodules and RL frameworks.
Accepts a comma-separated list of submodule names, one of the RL frameworks, or a special value.
Isaac Lab Submodules: assets, physx, contrib, mimic, newton, ov, rl, tasks, teleop, visualizers.
Any submodule accepts an editable selector, e.g. visualizers[all|kit|newton|rerun|viser], rl[rsl_rl|skrl].
RL frameworks: rl_games, rsl_rl, sb3, skrl, robomimic.
Passing an RL framework name installs all Isaac Lab submodules + that framework.
Special values:
- all - Install all Isaac Lab submodules + all RL frameworks (default).
- none - Install only the core 'isaaclab' package.
- <empty> (-i or --install without value) - Install all Isaac Lab submodules + all RL frameworks.
-f, --format Run pre-commit to format the code and check lints.
-p ..., --python ... Run the python executable provided by Isaac Sim or virtual environment (if active).
-s ..., --sim ... Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
-t ..., --test ... Run all python pytest tests.
-o ..., --docker ... Run the docker container helper script (docker/container.sh).
-v, --vscode Generate the VSCode settings file from template.
-d, --docs Build the documentation from source using sphinx.
-n ..., --new ... Create a new external project or internal task from template.
-c [CONDA], --conda [CONDA]
Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'.
-u [UV], --uv [UV] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'.
--isaacsim_source PATH
Build Isaac Sim from the source checkout at PATH, package it as wheels, and link
them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'.
Runs the normal incremental build on every invocation.
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: text
isaaclab.bat --help
usage: isaaclab.bat [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]] [--isaacsim_source PATH]
Isaac Lab CLI
options:
-h, --help show this help message and exit
-i [INSTALL], --install [INSTALL]
Install Isaac Lab submodules and RL frameworks.
Accepts a comma-separated list of submodule names, one of the RL frameworks, or a special value.
Isaac Lab Submodules: assets, physx, contrib, mimic, newton, ov, rl, tasks, teleop, visualizers.
Any submodule accepts an editable selector, e.g. visualizers[all|kit|newton|rerun|viser], rl[rsl_rl|skrl].
RL frameworks: rl_games, rsl_rl, sb3, skrl, robomimic.
Passing an RL framework name installs all Isaac Lab submodules + that framework.
Special values:
- all - Install all Isaac Lab submodules + all RL frameworks (default).
- none - Install only the core 'isaaclab' package.
- <empty> (-i or --install without value) - Install all Isaac Lab submodules + all RL frameworks.
-f, --format Run pre-commit to format the code and check lints.
-p ..., --python ... Run the python executable provided by Isaac Sim or virtual environment (if active).
-s ..., --sim ... Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
-t ..., --test ... Run all python pytest tests.
-o ..., --docker ... Run the docker container helper script (docker/container.sh).
-v, --vscode Generate the VSCode settings file from template.
-d, --docs Build the documentation from source using sphinx.
-n ..., --new ... Create a new external project or internal task from template.
-c [CONDA], --conda [CONDA]
Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'.
-u [UV], --uv [UV] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'.
--isaacsim_source PATH
Build Isaac Sim from the source checkout at PATH, package it as wheels, and link
them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'.
Runs the normal incremental build on every invocation.