index.rst

Installation

Choose the path that matches what you want to install and how you want to run it. Start with the automatic uv setup unless you need to manage your own environment, use a downloaded Isaac Sim package, or deploy to Docker or the cloud. Each card jumps to complete instructions on this page.

Choose an installation path

.. grid:: 1 1 2 2
   :gutter: 2

   .. grid-item-card:: **Automatic setup with uv**
      :link: installation-method-uv
      :link-type: ref

      Run from the Isaac Lab checkout while ``uv`` creates and manages the environment.
      **Recommended for most users.**

   .. grid-item-card:: **isaaclab.sh installer (legacy)**
      :link: installation-legacy-installer
      :link-type: ref

      Use the legacy installer script to select packages in a virtual environment.

   .. grid-item-card:: **Python environment with Isaac Sim**
      :link: installation-method-python-env
      :link-type: ref

      Manage a uv, venv, or conda environment and install Isaac Sim with pip.

   .. grid-item-card:: **Isaac Lab Python package**
      :link: installation-method-wheel
      :link-type: ref

      Install the released Isaac Lab package as a dependency of your own project.

   .. grid-item-card:: **Downloaded Isaac Sim package**
      :link: installation-method-binary
      :link-type: ref

      Download Isaac Sim and use the Python interpreter included with it.

   .. grid-item-card:: **Build Isaac Sim from source**
      :link: installation-method-source
      :link-type: ref

      Build or modify Isaac Sim itself. This is an advanced workflow.

   .. grid-item-card:: **Docker and HPC clusters**
      :link: installation-method-container
      :link-type: ref

      Develop in a container or submit containerized jobs to an HPC cluster.

   .. grid-item-card:: **Cloud workstations**
      :link: installation-method-cloud
      :link-type: ref

      Provision a remote GPU workstation on a supported cloud provider.

System requirements

Full Isaac Sim workflows require Python 3.12 on Ubuntu 22.04+ or Windows 11. Use a recent NVIDIA production driver and a workstation with at least 32 GB RAM and 16 GB GPU VRAM. Rendering can require additional VRAM. Confirm your machine against the Isaac Sim system requirements and Omniverse technical requirements.

Isaac Sim 5.1 and older are not supported. Use Isaac Sim 6.0 with Python 3.12.

Use the latest NVIDIA production branch driver. Version 580.95.05 or later is recommended on Linux x86_64 and aarch64, 580.142 on DGX Spark, and 581.42.00 on Windows. If a new GPU or driver issue requires a newer release, use the production driver from the Unix Driver Archive. On Linux, the Isaac Sim Compatibility Checker and Linux troubleshooting guide can identify unsupported host configurations.

.. dropdown:: Linux aarch64 and DGX Spark requirements

   DGX Spark requires CUDA 13 or newer and the corresponding PyTorch build. Install the build
   prerequisites before installing Isaac Lab:

   .. code-block:: bash

      sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev \
         libxi-dev libxinerama-dev libxrandr-dev

   SkillGen, XR teleoperation, livestream, Hub Workstation Cache, Cosmos Transfer1, and RLinf are
   not currently supported or validated on DGX Spark. SkillGen depends on native CUDA/C++
   extensions whose toolchain has not been validated on DGX Spark, while XR remains limited by
   unvalidated encoding performance.

Automatic setup with uv (recommended)

Use this path for the fastest setup from an Isaac Lab checkout. uv resolves the project environment on each invocation, so you do not need to create or activate an environment manually.

Install uv, clone Isaac Lab, and start a workflow:

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64
      :sync: linux-x86_64

      .. code-block:: bash

         curl -LsSf https://astral.sh/uv/install.sh | sh

      .. isaaclab-clone-commands::

      .. code-block:: bash

         # Newton backend without Isaac Sim
         uv run isaaclab train --rl_library rsl_rl \
            --task Isaac-Cartpole-Direct physics=newton_mjwarp

         # OV PhysX backend
         uv run --extra ovphysx isaaclab train --rl_library rsl_rl \
            --task Isaac-Cartpole-Direct physics=ovphysx

         # Full Isaac Sim support
         uv run --extra isaacsim isaaclab train --rl_library rsl_rl \
            --task Isaac-Cartpole-Direct physics=isaacsim_physx

         # Play a policy
         uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton

   .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
      :sync: linux-aarch64

      .. code-block:: bash

         curl -LsSf https://astral.sh/uv/install.sh | sh

      .. isaaclab-clone-commands::

      .. code-block:: bash

         # Newton backend
         uv run isaaclab train --rl_library rsl_rl \
            --task Isaac-Cartpole-Direct physics=newton_mjwarp

         # OV PhysX backend
         uv run --extra ovphysx isaaclab train --rl_library rsl_rl \
            --task Isaac-Cartpole-Direct physics=ovphysx

         # Full Isaac Sim support
         uv run --extra isaacsim isaaclab train --rl_library rsl_rl \
            --task Isaac-Cartpole-Direct physics=isaacsim_physx

         # Play a policy
         uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton

      .. note::

         For direct Python commands that import Isaac Sim on aarch64, prefix the
         command with ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1``.

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      Enable Windows long-path support before cloning. In an elevated PowerShell window, run:

      .. code-block:: powershell

         New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name LongPathsEnabled -Value 1 -PropertyType DWORD -Force

      Then open a new Command Prompt window and run:

      .. code-block:: batch

         powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"

      .. isaaclab-clone-https::
         :platform: windows

      .. code-block:: batch

         :: Newton backend without Isaac Sim
         uv run isaaclab train --rl_library rsl_rl ^
            --task Isaac-Cartpole-Direct physics=newton_mjwarp

         :: OV PhysX backend
         uv run --extra ovphysx isaaclab train --rl_library rsl_rl ^
            --task Isaac-Cartpole-Direct physics=ovphysx

         :: Full Isaac Sim support
         uv run --extra isaacsim isaaclab train --rl_library rsl_rl ^
            --task Isaac-Cartpole-Direct physics=isaacsim_physx

         :: Play a policy
         uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton

uv run installs the core dependencies automatically. The --extra <name> option includes the selected optional integration in the command's environment. Place it before isaaclab; for example, --extra ov installs both ovphysx and ovrtx backends. Pass a comma-separated list or repeat --extra. No extras conflict, so any combination resolves into one environment. The --extra all shortcut installs the curated ov, rl-games, sb3, skrl, rsl-rl, rerun, and viser extras. It does not include Isaac Sim or the specialized rlinf, mimic, teleop, tetrahedralization, video, and leapp extras; request them by name:

uv run --extra all isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=ovphysx

See :ref:`installation-optional-extras` for the available extras.

uv run --extra <name> <command> syncs the selected extra into the project environment and then runs the command.

Head over to the :doc:`/source/setup/quickstart`, which starts with your first task and introduces the available commands, RL libraries, backends, and visualizers.

isaaclab.sh installer (legacy)

Kit-less installation uses a Python 3.12 environment and does not install Isaac Sim. Clone Isaac Lab, create and activate an environment, then install the default source packages and dependencies. Install uv or conda before starting:

.. isaaclab-clone-commands::

.. tab-set::

   .. tab-item:: uv environment (recommended)

      .. tab-set::
         :sync-group: os

         .. tab-item:: :icon:`fa-brands fa-linux` Linux
            :sync: linux

            .. code-block:: bash

               uv venv --python 3.12 --seed env_isaaclab
               source env_isaaclab/bin/activate
               uv pip install --upgrade pip
               ./isaaclab.sh -i

         .. tab-item:: :icon:`fa-brands fa-windows` Windows
            :sync: windows

            .. code-block:: batch

               uv venv --python 3.12 --seed env_isaaclab
               env_isaaclab\Scripts\activate
               uv pip install --upgrade pip
               isaaclab.bat -i

   .. tab-item:: conda environment

      .. tab-set::
         :sync-group: os

         .. tab-item:: :icon:`fa-brands fa-linux` Linux
            :sync: linux

            .. code-block:: bash

               conda create -n env_isaaclab python=3.12
               conda activate env_isaaclab
               python -m pip install --upgrade pip
               ./isaaclab.sh -i

         .. tab-item:: :icon:`fa-brands fa-windows` Windows
            :sync: windows

            .. code-block:: batch

               conda create -n env_isaaclab python=3.12
               conda activate env_isaaclab
               python -m pip install --upgrade pip
               isaaclab.bat -i

-i always installs the core source packages. With no value, it also installs the optional mimic and teleop submodules plus the default Newton, RL, and visualizer dependencies. It does not install tetrahedralization, contrib, ov, or Isaac Sim; request those explicitly when needed.

Use -i core for core packages only. Otherwise, pass a comma-separated list of selectors:

Selector	Installs
mimic	Imitation-learning tools.
teleop	Teleoperation tools (Linux x86_64).
newton	Newton interactive-viewer dependencies.
rl[<framework>]	RL framework dependencies. Select rsl-rl, skrl, sb3, or rl-games.
visualizer[<backend>]	Visualizer dependencies. Select rerun, viser, newton, or kit.
tetrahedralization	Dependencies for automatic tetrahedral mesh generation.
contrib[rlinf]	Contrib runtime dependencies for RLinF.
ov[<runtime>]	OV runtime wheels. Select ovrtx, ovphysx, or all.
isaacsim	The Isaac Sim pip package.

For example:

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux
      :sync: linux

      .. code-block:: bash

         # Core packages only
         ./isaaclab.sh -i core

         # Newton, RSL-RL, and the Newton visualizer
         ./isaaclab.sh -i 'newton,rl[rsl-rl],visualizer[newton]'

         # OVRTX runtime dependencies
         ./isaaclab.sh -i 'ov[ovrtx]'

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      .. code-block:: batch

         :: Core packages only
         isaaclab.bat -i core

         :: Newton, RSL-RL, and the Newton visualizer
         isaaclab.bat -i "newton,rl[rsl-rl],visualizer[newton]"

         :: OVRTX runtime dependencies
         isaaclab.bat -i "ov[ovrtx]"

Python environment with Isaac Sim

Use this path when you want an editable Isaac Lab checkout with full Isaac Sim support and a Python environment you manage yourself. Create and activate the environment before installing Isaac Sim or Isaac Lab. Isaac Sim's pip packages require GLIBC 2.35 or newer on Linux. Enable Windows long-path support before installing on Windows.

Note

If you plan to :ref:`set up Visual Studio Code <setup-vs-code>`, use the :ref:`downloaded Isaac Sim package <installation-method-binary>` instead.

Create and activate a Python 3.12 environment:

.. tab-set::
   :sync-group: python-environment

   .. tab-item:: uv environment (recommended)
      :sync: uv

      .. tab-set::
         :sync-group: os

         .. tab-item:: :icon:`fa-brands fa-linux` Linux
            :sync: linux

            .. code-block:: bash

               uv venv --python 3.12 --seed env_isaaclab
               source env_isaaclab/bin/activate

         .. tab-item:: :icon:`fa-brands fa-windows` Windows
            :sync: windows

            .. code-block:: batch

               uv venv --python 3.12 --seed env_isaaclab
               env_isaaclab\Scripts\activate

   .. tab-item:: conda environment
      :sync: conda

      .. code-block:: bash

         conda create -n env_isaaclab python=3.12
         conda activate env_isaaclab

Install Isaac Sim and the CUDA-enabled PyTorch build for your platform:

.. tab-set::
   :sync-group: python-environment

   .. tab-item:: uv environment (recommended)
      :sync: uv

      .. isaaclab-isaacsim-install::

   .. tab-item:: conda environment
      :sync: conda

      .. isaaclab-isaacsim-install:: pip

.. tab-set::
   :sync-group: pip-platform

   .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64)
      :sync: linux-x86_64

      .. tab-set::
         :sync-group: python-environment

         .. tab-item:: uv environment (recommended)
            :sync: uv

            .. isaaclab-torch-install:: cu128

         .. tab-item:: conda environment
            :sync: conda

            .. isaaclab-torch-install:: cu128 pip

   .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
      :sync: windows-x86_64

      .. tab-set::
         :sync-group: python-environment

         .. tab-item:: uv environment (recommended)
            :sync: uv

            .. isaaclab-torch-install:: cu128

         .. tab-item:: conda environment
            :sync: conda

            .. isaaclab-torch-install:: cu128 pip

   .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
      :sync: linux-aarch64

      .. note::

         On aarch64 systems such as DGX Spark, install the required development packages before
         installing Isaac Sim:

         .. code-block:: bash

            sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \
               libxinerama-dev libxrandr-dev

      .. tab-set::
         :sync-group: python-environment

         .. tab-item:: uv environment (recommended)
            :sync: uv

            .. isaaclab-torch-install:: cu130

         .. tab-item:: conda environment
            :sync: conda

            .. isaaclab-torch-install:: cu130 pip

      .. note::

         If the system and PyTorch GNU OpenMP libraries are both preloaded, Isaac Sim can emit
         ``libgomp`` warnings. Use the system OpenMP library:

         .. code-block:: bash

            unset LD_PRELOAD
            export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1

      .. note::

         If importing ``omni.client`` or ``torch`` fails because ``libcarb.so`` cannot allocate a
         static TLS block, preload ``libcarb.so`` before launching Python:

         .. code-block:: bash

            export LD_PRELOAD=$(python -c "import sys,os;[print(os.path.join(p,'omni','client','libcarb.so')) for p in sys.path if os.path.isfile(os.path.join(p,'omni','client','libcarb.so'))]" 2>/dev/null | head -1)${LD_PRELOAD:+:$LD_PRELOAD}

         ``./isaaclab.sh -p`` configures this automatically, as does the conda activation hook.

The first launch asks you to accept the NVIDIA Omniverse EULA. For non-interactive environments, set OMNI_KIT_ACCEPT_EULA=yes. Verify Isaac Sim with isaacsim.

With the environment still active, clone, install, and verify Isaac Lab:

.. isaaclab-clone-commands::

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux
      :sync: linux

      .. code-block:: bash

         sudo apt install cmake build-essential
         ./isaaclab.sh -i
         ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      .. code-block:: batch

         isaaclab.bat -i
         isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit

The verification command should open a black simulator viewport. The initial launch can take over ten minutes while Isaac Sim downloads extensions.

Isaac Lab Python package

Use this path when Isaac Lab is a dependency of an external Python project. The released isaaclab package includes the unified train, play, zero_agent, random_agent, benchmark, and train_multigpu commands. Repository demos and examples remain source-only. Downstream projects can register their task package through the isaaclab.tasks Python package entry-point group; projects created by the template generator configure this automatically.

To create a project built on Isaac Lab, see :ref:`template-generator`.

Note

Isaac Lab wheels are published for major releases, not every patch release.

Installing an unreleased Git revision

The aggregate package can also be built directly from an Isaac Lab Git revision. Point uv at the tools/wheel_builder subdirectory so it uses the same dependency metadata and packaged runtime resources as a released wheel:

[project]
dependencies = ["isaaclab"]

[tool.uv.sources]
isaaclab = { git = "https://github.com/isaac-sim/IsaacLab.git", rev = "<git-revision>", subdirectory = "tools/wheel_builder" }

Use a commit hash or release tag for reproducible environments. A branch name is accepted, but updating the lockfile can then select a newer Isaac Lab revision and dependency set.

Choose how you want uv to manage the dependency. Both workflows start with the base isaaclab package; add optional capabilities only when your project needs them.

.. tab-set::

   .. tab-item:: uv project dependency

      .. code-block:: bash

         uv init --python 3.12 my_isaaclab_project
         cd my_isaaclab_project
         uv add isaaclab

   .. tab-item:: Standalone uv environment

      .. tab-set::
         :sync-group: pip-platform

         .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64)
            :sync: linux-x86_64

            .. code-block:: bash

               uv venv --python 3.12 env_isaaclab
               source env_isaaclab/bin/activate
               uv pip install isaaclab

         .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
            :sync: windows-x86_64

            .. code-block:: batch

               uv venv --python 3.12 env_isaaclab
               env_isaaclab\Scripts\activate
               uv pip install isaaclab

         .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
            :sync: linux-aarch64

            .. code-block:: bash

               uv venv --python 3.12 env_isaaclab
               source env_isaaclab/bin/activate
               uv pip install isaaclab

The project workflow records the dependency in pyproject.toml and updates uv.lock. Use it when Isaac Lab is part of an application you maintain; use a standalone environment for exploratory or temporary work.

Optional extras

Add extras only when your project needs them. Most extras work with uv pip install "isaaclab[<extra>]" in a standalone environment or uv add "isaaclab[<extra>]" in a uv project. The importers and isaacsim extras have dedicated commands below.

Extra	What it installs
isaacsim	Isaac Sim (isaacsim[all,extscache] version |isaacsim_version|) from pypi.nvidia.com.
ov	Both OV backends: OV PhysX and OV RTX.
ovphysx / ovrtx	OV PhysX only / OV RTX only.
rl-games / sb3 / skrl / rsl-rl / rlinf	The corresponding RL framework.
rerun / viser	The corresponding visualizer.
mimic / teleop	Imitation learning / XR teleoperation.
tetrahedralization / video	Mesh tetrahedralization / video recording.
leapp	LEAP model export support.
importers	Standalone URDF and MJCF conversion without Isaac Sim.
all	The curated ov, rl-games, sb3, skrl, rsl-rl, rerun, and viser extras. Isaac Sim is not included.
test	Developer test and documentation tooling.

Use all for the curated list above. Isaac Sim, standalone importers, specialized extras (rlinf, mimic, teleop, tetrahedralization, video, leapp), and the developer test tooling remain opt-in.

Installing the importers extra

Install this extra to convert URDF and MJCF files without Isaac Sim.

Warning

Use the full command below. Without the overrides, the importer extra can downgrade packages used by the base Isaac Lab install. The overrides keep Isaac Lab's tested versions.

.. isaaclab-uv-importers-wheel-install::

Installing the isaacsim extra

Isaac Sim 6.0 pins dependencies that conflict with Isaac Lab. Install the isaacsim extra with the tested overrides:

.. isaaclab-uv-isaacsim-wheel-install::

Add other extras inside the brackets when needed; for example, use isaaclab[isaacsim,all] to include the curated all list.

Installing CUDA-enabled PyTorch

Install the CUDA-enabled PyTorch build appropriate for your system architecture:

.. tab-set::
   :sync-group: pip-platform

   .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64)
      :sync: linux-x86_64

      .. isaaclab-torch-install:: cu128 pip

   .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
      :sync: windows-x86_64

      .. isaaclab-torch-install:: cu128 pip

   .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
      :sync: linux-aarch64

      .. note::

         Install the required Python, OpenGL, and X11 development packages before installing
         Isaac Lab:

         .. code-block:: bash

            sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \
               libxinerama-dev libxrandr-dev

      .. isaaclab-torch-install:: cu130 pip

      .. note::

         If Isaac Sim reports OpenMP preload warnings, use the system GNU OpenMP library:

         .. code-block:: bash

            unset LD_PRELOAD
            export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1

      .. note::

         If importing ``omni.client`` or ``torch`` fails because ``libcarb.so`` cannot allocate a
         static TLS block, preload ``libcarb.so`` before launching Python:

         .. code-block:: bash

            export LD_PRELOAD=$(python -c "import sys,os;[print(os.path.join(p,'omni','client','libcarb.so')) for p in sys.path if os.path.isfile(os.path.join(p,'omni','client','libcarb.so'))]" 2>/dev/null | head -1)${LD_PRELOAD:+:$LD_PRELOAD}

If you installed the isaacsim extra, verify it before running your project:

isaacsim

The first launch downloads Isaac Sim extensions and can take more than ten minutes. It also asks you to accept the NVIDIA Omniverse EULA; set OMNI_KIT_ACCEPT_EULA=yes for a non-interactive environment. Run a project script with python my_script.py.

Generate VS Code settings for the current workspace with:

python -m isaaclab --generate-vscode-settings

Warning

This command generates .vscode/settings.json in the workspace. If the file already exists, it asks before overwriting it.

Downloaded Isaac Sim package

Use this path when you prefer a downloaded Isaac Sim package instead of pip. Download and extract the Isaac Sim pre-built package. Binary installs must use Isaac Sim's bundled Python; combining them with conda, uv, or venv is unsupported. If you need a dedicated Python environment, use :ref:`installation-method-python-env` instead.

The commands below assume the package was extracted to ${HOME}/isaacsim on Linux or C:\isaacsim on Windows. Set the installation paths and verify the simulator:

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux
      :sync: linux

      .. code-block:: bash

         export ISAACSIM_PATH="${HOME}/isaacsim"
         export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
         ${ISAACSIM_PATH}/isaac-sim.sh
         ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
         ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      .. code-block:: batch

         set ISAACSIM_PATH="C:\isaacsim"
         set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
         %ISAACSIM_PATH%\isaac-sim.bat
         %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
         %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py

Caution!

If you used an earlier Isaac Sim version, reset its user data and cached variables before the first launch: ${ISAACSIM_PATH}/isaac-sim.sh --reset-user on Linux or %ISAACSIM_PATH%\isaac-sim.bat --reset-user on Windows.

Clone Isaac Lab, create the _isaac_sim link, install, and verify:

.. isaaclab-clone-commands::

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux
      :sync: linux

      .. code-block:: bash

         cd IsaacLab
         ln -s ${ISAACSIM_PATH} _isaac_sim
         sudo apt install cmake build-essential
         ./isaaclab.sh -i
         ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      .. code-block:: batch

         cd IsaacLab
         mklink /D _isaac_sim %ISAACSIM_PATH%
         isaaclab.bat -i
         isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit

The tutorial command should open a black simulator viewport. If either verification command fails, consult the Isaac Sim Linux troubleshooting guide or the Isaac Sim forums.

Build Isaac Sim from source

Build Isaac Sim from source only when you need to modify it or test a nightly revision. Building requires Ubuntu 22.04 or newer on Linux. For driver requirements, see the technical requirements. On Windows, enable long-path support before building.

Choose how to connect the Isaac Sim source build to Isaac Lab:

.. tab-set::
   :sync-group: isaacsim-source-installation-method

   .. tab-item:: uv (Recommended)
      :sync: uv

      Clone Isaac Sim next to the Isaac Lab checkout. From the Isaac Lab root, run the source-build
      command. It incrementally builds Isaac Sim and links the live release tree as ``_isaac_sim``:

      .. code-block:: text

         git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim
         uv run isaaclab --isaacsim_source ../IsaacSim

      Isaac Lab runs the active ``uv`` environment through Isaac Sim's generated Python launcher.
      This loads Kit and extensions directly from the source build without creating wheels or
      changing ``pyproject.toml`` and ``uv.lock``. Run Isaac Lab against the source build with:

      .. code-block:: text

         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx

      After changing Isaac Sim source, run the same ``--isaacsim_source`` command again. The native
      build is incremental, and the link continues to expose the updated build immediately; no
      wheel packaging or dependency resolution step is required.

   .. tab-item:: isaaclab.sh / isaaclab.bat
      :sync: isaaclab-script

      Build and verify Isaac Sim for your platform:

      .. tab-set::
         :sync-group: installation-platform

         .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64)
            :sync: linux-x86_64

            .. code-block:: bash

               git clone https://github.com/isaac-sim/IsaacSim.git
               cd IsaacSim
               ./build.sh
               export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release"
               export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
               ${ISAACSIM_PATH}/isaac-sim.sh
               ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
               ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py

         .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
            :sync: linux-aarch64

            .. code-block:: bash

               git clone https://github.com/isaac-sim/IsaacSim.git
               cd IsaacSim
               ./build.sh
               export ISAACSIM_PATH="${PWD}/_build/linux-aarch64/release"
               export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
               ${ISAACSIM_PATH}/isaac-sim.sh
               ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
               ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py

         .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
            :sync: windows-x86_64

            .. code-block:: batch

               git clone https://github.com/isaac-sim/IsaacSim.git
               cd IsaacSim
               build.bat
               set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release"
               set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
               %ISAACSIM_PATH%\isaac-sim.bat
               %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
               %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py

      Return to the workspace containing the ``IsaacSim`` checkout, then clone Isaac Lab:

      .. code-block:: text

         cd ..

      .. isaaclab-clone-commands::

      Link Isaac Lab to the source build, install, and verify:

      .. tab-set::
         :sync-group: installation-platform

         .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64)
            :sync: linux-x86_64

            .. code-block:: bash

               cd IsaacLab
               ln -s ${ISAACSIM_PATH} _isaac_sim
               sudo apt install cmake build-essential
               ./isaaclab.sh -i
               ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit

         .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
            :sync: linux-aarch64

            .. code-block:: bash

               cd IsaacLab
               ln -s ${ISAACSIM_PATH} _isaac_sim
               sudo apt install cmake build-essential python3.12-dev libgl1-mesa-dev libx11-dev \
                  libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
               ./isaaclab.sh -i
               ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit

         .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
            :sync: windows-x86_64

            .. code-block:: batch

               cd IsaacLab
               mklink /D _isaac_sim %ISAACSIM_PATH%
               isaaclab.bat -i
               isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit

      The tutorial command should open a black simulator viewport. Use the binary-installation
      troubleshooting links above if the source build does not launch.

Docker and HPC clusters

Install Docker Engine, Docker Compose, and the NVIDIA Container Toolkit. Place the Isaac Lab checkout under /home when Docker was installed with Snap.

Clone Isaac Lab, then build, start, and enter the development container:

.. isaaclab-clone-commands::

./docker/container.py start
./docker/container.py enter base

The container uses /isaac-sim/python.sh and mounts the repository's source and docs directories for live editing. Use ./docker/container.py stop to stop it and ./docker/container.py copy to retrieve logs, data, and documentation artifacts.

For HPC, build the image on a machine with Docker, convert it to an Apptainer/Singularity image, and submit it with the cluster's SLURM or PBS workflow. Keep cluster-specific paths and scheduler settings outside the base image.

See :ref:`docker-cloud` for volume management, X11, image extensions, pre-built containers, worked examples, and complete cluster instructions.

Cloud workstations

Isaac Automator provisions GPU workstations on AWS, GCP, Azure, and Alibaba Cloud. Install Docker, then clone and build Isaac Automator:

git clone https://github.com/isaac-sim/IsaacAutomator.git
cd IsaacAutomator
./build
./run ./deploy-aws

Replace deploy-aws with deploy-gcp, deploy-azure, or deploy-alicloud. Use --isaaclab and --isaacsim to select Git revisions. Connection details for SSH, noVNC, and NoMachine are stored in state/<deployment-name>/info.txt.

Manage the workstation from the Automator container:

./stop <deployment-name>
./start <deployment-name>
./upload <deployment-name>
./download <deployment-name>
./destroy <deployment-name>

Preserve the state directory because it contains the deployment metadata.

See :ref:`docker-cloud-cloud` for credentials, provider options, connection methods, data transfer, and the complete workstation lifecycle.

Asset caching

Isaac Lab assets are hosted on AWS S3. Enable Hub Workstation Cache when repeated downloads are slow or the workstation has intermittent network access.

Launch Isaac Sim:

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux
      :sync: linux

      .. code-block:: bash

         ./isaaclab.sh -s

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      .. code-block:: batch

         isaaclab.bat -s

Select the CACHE: message in the upper-right corner and enable Hub Workstation Cache. The first load still downloads each asset; later runs use the local cache.

.. dropdown:: Detailed asset caching and Nucleus migration notes

   .. include:: asset_caching_details.inc

Omniverse Nucleus and Omniverse Launcher are deprecated starting with Isaac Sim 4.5. Existing local Nucleus installations continue to work.

Troubleshooting

If Isaac Sim fails to launch, use the Isaac Sim compatibility checker, review the Linux troubleshooting guide, or report the issue through the Isaac Sim forums.

.. seealso::

   Installation docs are the source of truth for the ``isaaclab-setup-troubleshooting`` agent skill
   (`skills/user/setup-troubleshooting/ <../../../../skills/user/setup-troubleshooting/SKILL.md>`__).
   When you change this page, update the skill so agent guidance stays in sync. See
   :doc:`/source/overview/developer-guide/agent_skills`.