> This page is for version Release 2.3.
> For other versions, use one of these documentation indexes:
> - Release 3.0 (default): https://docs.nvidia.com/isaaclab/3.0/llms.txt
> - Release 2.3: https://docs.nvidia.com/isaaclab/2.3/llms.txt
> - Release 2.2: https://docs.nvidia.com/isaaclab/2.2/llms.txt
> - Release 2.1: https://docs.nvidia.com/isaaclab/2.1/llms.txt

> For clean Markdown of any page, append .md to the page URL.
> For a complete documentation index, see https://docs.nvidia.com/isaaclab/llms.txt.
> For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.nvidia.com/isaaclab/_mcp/server.

# Installation

Installing the Newton physics integration branch requires three things:

1. Isaac sim 5.0
2. The `feature/newton` branch of Isaac Lab
3. Ubuntu 22.04 or 24.04 (Windows will be supported soon)

To begin, verify the version of Isaac Sim by checking the title of the window created when launching the simulation app.  Alternatively, you can
find more explicit version information under the `Help -> About` menu within the app.
If your version is less than 5.0, you must first [update or reinstall Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html) before
you can proceed further.

Next, navigate to the root directory of your local copy of the Isaac Lab repository and open a terminal.

Make sure we are on the `feature/newton` branch by running the following command:

```bash
git checkout feature/newton
```

Below, we provide instructions for installing Isaac Sim through pip or binary.

## Pip Installation

We recommend using conda for managing your python environments. Conda can be downloaded and installed from [here](https://docs.conda.io/en/latest/miniconda.html).

Create a new conda environment:

```bash
conda create -n env_isaaclab python=3.11
```

Activate the environment:

```bash
conda activate env_isaaclab
```

Install the correct version of torch and torchvision:

```bash
pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
```

Install Isaac Sim 5.0:

```bash
pip install "isaacsim[all,extscache]==5.0.0" --extra-index-url https://pypi.nvidia.com
```

Install Isaac Lab extensions and dependencies:

```bash
./isaaclab.sh -i
```

## Binary Installation

Follow the Isaac Sim [documentation](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html) to install Isaac Sim 5.0 binaries.

Enter the Isaac Lab directory:

```bash
cd IsaacLab
```

Add a symbolic link to the Isaac Sim installation:

```bash
ln -s path_to_isaac_sim _isaac_sim
```

Install Isaac Lab extensions and dependencies:

```bash
./isaaclab.sh -i
```

## Testing the Installation

To verify that the installation was successful, run the following command from the root directory of your Isaac Lab repository:

```bash
./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128
```