system requirements

# Official compatibility Checker
bash scripts/compatibility_check.sh

Note

GUI checker -> Isaac Sim Compatibility Checker

sudo apt install cmake build-essential

Clone

git clone --recurse-submodules [email protected]:AtticusZeller/IsaacLab-uv.git

install from pyproject.toml

uv sync --dev

# install all Rl frameworks
uv sync --dev --all-extras

install manually

install isaacsim

# isaacsim
uv add "isaacsim[all,extscache]==5.0.0"

install isaaclab

# clone
git submodule add https://github.com/isaac-sim/IsaacLab.git isaaclab

# install packages
find -L ./isaaclab/source -mindepth 1 -maxdepth 1 -type d -exec bash -c 'if [ -f "$1/setup.py" ]; then echo "Installing: $1"; uv add --editable "$1"; fi' _ {} \;

# install the learning frameworks specified
uv add --editable "./isaaclab/source/isaaclab_rl[all]"  --optional rl
uv add --editable "./isaaclab/source/isaaclab_mimic[all]" --optional rl

Test

test isaac sim

isaacsim

headless for GPU server

isaacsim --no-window

test isaaclab

disable IOMMU

• Editing your GRUB configuration file:

sudo nano /etc/default/grub

• Adding iommu=off or intel_iommu=off (for Intel systems) or amd_iommu=off (for AMD systems) to the GRUB_CMDLINE_LINUX_DEFAULT line.

• Updating GRUB and rebooting:

sudo update-grub
sudo reboot

Note

Disabling IOMMU may improve performance for applications like Isaac Sim but could reduce system security and break certain virtualization features. Consider your specific requirements before making this change.

Demos

Note

it takes a while to load the first time you run it.

quadrupeds

python  isaaclab/scripts/demos/quadrupeds.py

unitree H1

python isaaclab/scripts/demos/h1_locomotion.py