Installation#
Prepare python environment#
Please refer to the official guide.
Install Isaac Sim
conda create -n isaaclab python=3.10
conda activate isaaclab
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 isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
Install Isaac Lab
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 ~/miniforge3/envs/isaaclab/lib/python3.10/site-packages/isaacsim _isaac_sim # Optional: for linting
Run the Isaac Sim GUI:
./isaaclab.sh -s
Install other dependencies
conda install opencv numpy==1.26.4 # compatible with pickle files
pip install rootutils loguru rich tyro tqdm
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
For developers, please install pre-commit hooks:
sudo apt install pre-commit
pre-commit install
And do install the black and isort vscode extension.
The .vscode/settings.json is configured aligning with the pre-commit hooks. Whenever you save the file, it will be formatted automatically.