Getting Started with NVIDIA Isaac Lab on Ubuntu 22.04 / 24.04

Installation

The official instruction is pretty straight forward: https://isaac-sim.github.io/IsaacLab/source/setup/installation/pip_installation.html

Prepare build tools

sudo apt install cmake build-essential

Clone repository

git clone [e-mail]:isaac-sim/IsaacLab.git

cd ./IsaacLab/

Create conda environment

conda create -yn isaaclab python=3.10

# alternatively,
# conda create -yp ./.conda-env/ python=3.10

conda activate isaaclab

Install Python packages

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 rsl_rl component

./isaaclab.sh --install rsl_rl

Verify installation

./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py

List Environments

./isaaclab.sh -p source/standalone/environments/list_envs.py

Example Train and Play script

python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-G1-v0 --run_name example_run

Train headless and record video

python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-G1-v0 --video --video_length 100 --video_interval 2000 --headless

python source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Flat-G1-v0 --num_envs 4

./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
# run script for playing with 32 environments
./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
# run script for recording video of a trained agent (requires installing `ffmpeg`)
./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200

Errata

If encounter this error

.isaac.core/omni/isaac/core/robots`: errno=28/No space left on device
2024-08-20 07:19:57 [9,094ms] [Error] [carb] Failed to create change watch for `/home/tk/Desktop/IsaacLab/.conda-env/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.core/omni/isaac/core/simulation_context`: errno=28/No space left on device
2024-08-20 07:19:57 [9,094ms] [Error] [carb] Failed to create change watch for `/home/tk/Desktop/IsaacLab/.conda-env/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.core/omni/isaac/core/objects`: errno=28/No space left on device
2024-08-20 07:19:57 [9,094ms] [Error] [carb] Failed to create change watch for `/home/tk/Desktop/IsaacLab/.conda-env/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.core/omni/isaac/core/scenes`: errno=28/No space left on device
2024-08-20 07:19:57 [9,094ms] [Error] [carb] Failed to create change watch for `/home/tk/Desktop/IsaacLab/.conda-env/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.core/omni/isaac/core/world`: errno=28/No space left on device

solution:

https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html#q11-getting-many-failures-similar-to-failed-to-create-change-watch-for-xxx-errno-28-no-space-left-on-device

Set up in Headless Mode

rm _isaac_sim
(base) chiyufeng@a27:/rscratch/tk/Desktop/G1Workspace/IsaacLab$ ln -s /rscratch/tk/Documents/isaac-sim-4.1.0 _isaac_sim
(base) chiyufeng@a27:/rscratch/tk/Desktop/G1Workspace/IsaacLab$ export ISAACSIM_PATH="/rscratch/tk/Documents/isaac-sim-4.1.0"
(base) chiyufeng@a27:/rscratch/tk/Desktop/G1Workspace/IsaacLab$ export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
(base) chiyufeng@a27:/rscratch/tk/Desktop/G1Workspace/IsaacLab$ ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"