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 [email protected]: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 error about rsl-rl-lib, try the following commands:
Replace line 46 of IsaacLab/source/extensions/omni.isaac.lab_tasks/setup.py with
"rsl-rl": ["rsl-rl-lib@git+https://github.com/leggedrobotics/rsl_rl.git"],
(Just add the -lib in the repository name)
Then retry the installation.
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
If pip check
doesn’t report any issues, you should be good to go.
Run the Isaac Sim GUI for testing (optional)
cd third_party/IsaacLab
./isaaclab.sh -s
Install MetaSim dependencies
pip install torch==2.4.0 torchvision==0.19.0 --index-url https://download.pytorch.org/whl/cu118
pip install opencv-python "numpy<2" "imageio[ffmpeg]" dm_control gymnasium==0.29.0
pip install rootutils loguru rich tyro tqdm huggingface-hub dill
Install optional dependencies
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 fake-bpy-module-4.2 # Optional: for Blender code linting