IsaacLab Installation

This instruction is tested on Ubuntu 22.04LTS. For other system versions, please refer to the official guide.

Clone the repository

git clone https://github.com/RoboVerseOrg/RoboVerse
git submodule update --init --recursive
cd RoboVerse

Create a new conda environment

conda create -n isaaclab python=3.10
conda activate isaaclab

Install Isaac Sim

pip install --upgrade pip
pip install torch==2.4.0 torchvision==0.19.0 --index-url https://download.pytorch.org/whl/cu118
pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com
pip install isaacsim-rl==4.2.0.2 isaacsim-replicator==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-app==4.2.0.2 --extra-index-url https://pypi.nvidia.com

Install Isaac Lab

cd third_party
git clone git@github.com:isaac-sim/IsaacLab.git
cd IsaacLab
git checkout 4d9914702  # Ensure reproducibility
sudo apt install cmake build-essential
./isaaclab.sh --install
ln -s ${CONDA_ROOT}/envs/isaaclab/lib/python3.10/site-packages/isaacsim _isaac_sim  # Optional: for linting

If you encounter any version conflicts when running ./isaaclab.sh --install, try the following commands to fix it:

cd ../..  # go back to the root directory
pip install -r requirements.txt --no-deps

Run the Isaac Sim GUI for testing (optional)

cd third_party/IsaacLab
./isaaclab.sh -s

Install MetaSim dependencies

pip install opencv-python numpy==1.26.4  # compatible with pickle files
pip install rootutils loguru rich tyro tqdm huggingface-hub

Install other optional dependencies

pip install dill  # Optional: load humanoid policy
pip install numpy-quaternion  # Optional: for arnold
pip install https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu118_pyt201/pytorch3d-0.7.4-cp310-cp310-linux_x86_64.whl # Optional: retargeting, multi-embodiment support
pip install types-usd  # Optional: for OpenUSD development
pip install dm_control  # Optional: for humanoid policy reward calculation