> 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 using Isaac Lab Pip Packages

From Isaac Lab 2.0, pip packages are provided to install both Isaac Sim and Isaac Lab extensions from pip.
Note that this installation process is only recommended for advanced users working on additional extension projects
that are built on top of Isaac Lab. Isaac Lab pip packages **does not** include any standalone python scripts for
training, inferencing, or running standalone workflows such as demos and examples. Therefore, users are required
to define their own runner scripts when installing Isaac Lab from pip.

To learn about how to set up your own project on top of Isaac Lab, please see [Create new project or task](/source/overview/own-project/template).

> **Note**
>
> Currently, we only provide pip packages for every major release of Isaac Lab.
> For example, we provide the pip package for release 2.1.0 and 2.2.0, but not 2.1.1.
> In the future, we will provide pip packages for every minor release of Isaac Lab.

## Preparing a Python Environment

Creating a dedicated Python environment is **strongly recommended**. It helps:

* **Avoid conflicts with system Python** or other projects installed on your machine.
* **Keep dependencies isolated**, so that package upgrades or experiments in other projects
  do not break Isaac Sim.
* **Easily manage multiple environments** for setups with different versions of dependencies.
* **Simplify reproducibility** — the environment contains only the packages needed for the current project,
  making it easier to share setups with colleagues or run on different machines.

You can choose different package managers to create a virtual environment.

* **UV**: A modern, fast, and secure package manager for Python.
* **Conda**: A cross-platform, language-agnostic package manager for Python.
* **venv**: The standard library for creating virtual environments in Python.

> **Warning**
>
> The Python version of the virtual environment must match the Python version of Isaac Sim.
>
> * For Isaac Sim 5.X, the required Python version is 3.11.
> * For Isaac Sim 4.X, the required Python version is 3.10.
>
> Using a different Python version will result in errors when running Isaac Lab.

The following instructions are for Isaac Sim 5.X, which requires Python 3.11.
If you wish to install Isaac Sim 4.5, please use modify the instructions accordingly to use Python 3.10.

* Create a virtual environment using one of the package managers:

#### UV Environment

To install `uv`, please follow the instructions [here](https://docs.astral.sh/uv/getting-started/installation/).
You can create the Isaac Lab environment using the following commands:

#### \`fa-brands fa-linux\` Linux

```bash
# create a virtual environment named env_isaaclab with python3.11
uv venv --python 3.11 env_isaaclab
# activate the virtual environment
source env_isaaclab/bin/activate
```

#### \`fa-brands fa-windows\` Windows

```batch
:: create a virtual environment named env_isaaclab with python3.11
uv venv --python 3.11 env_isaaclab
:: activate the virtual environment
env_isaaclab\Scripts\activate
```

#### Conda Environment

To install conda, please follow the instructions [here](https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html).
You can create the Isaac Lab environment using the following commands.

We recommend using [Miniconda](https://www.anaconda.com/docs/getting-started/miniconda/main/),
since it is light-weight and resource-efficient environment management system.

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

#### venv Environment

To create a virtual environment using the standard library, you can use the
following commands:

#### \`fa-brands fa-linux\` Linux

```bash
# create a virtual environment named env_isaaclab with python3.11
python3.11 -m venv env_isaaclab
# activate the virtual environment
source env_isaaclab/bin/activate
```

#### \`fa-brands fa-windows\` Windows

```batch
:: create a virtual environment named env_isaaclab with python3.11
python3.11 -m venv env_isaaclab
:: activate the virtual environment
env_isaaclab\Scripts\activate
```

* Ensure the latest pip version is installed. To update pip, run the following command
  from inside the virtual environment:

#### Linux

```bash
pip install --upgrade pip
```

#### Windows

```batch
python -m pip install --upgrade pip
```

## Installing dependencies

> **Note**
>
> In case you used UV to create your virtual environment, please replace `pip` with `uv pip`
> in the following commands.

* Install the Isaac Lab packages along with Isaac Sim:

```none
pip install isaaclab[isaacsim,all]==2.3.1 --extra-index-url https://pypi.nvidia.com
```

* Install a CUDA-enabled PyTorch build that matches your system architecture:

#### Linux (x86_64)

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

#### Windows (x86_64)

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

#### Linux (aarch64)

```bash
pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130
```

> **Note**
>
> After installing Isaac Lab on aarch64, you may encounter warnings such as:
>
> ```none
> ERROR: ld.so: object '...torch.libs/libgomp-XXXX.so.1.0.0' cannot be preloaded: ignored.
> ```
>
> This occurs when both the system and PyTorch `libgomp` (GNU OpenMP) libraries are preloaded.
> Isaac Sim expects the **system** OpenMP runtime, while PyTorch sometimes bundles its own.
>
> To fix this, unset any existing `LD_PRELOAD` and set it to use the system library only:
>
> ```bash
> unset LD_PRELOAD
> export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1"
> ```
>
> This ensures the correct `libgomp` library is preloaded for both Isaac Sim and Isaac Lab,
> removing the preload warnings during runtime.

* If you want to use `rl_games` for training and inferencing, install
  its Python 3.11 enabled fork:

```none
pip install git+https://github.com/isaac-sim/rl_games.git@python3.11
```

## Verifying the Isaac Sim installation

* Make sure that your virtual environment is activated (if applicable)

* Check that the simulator runs as expected:

```bash
# note: you can pass the argument "--help" to see all arguments possible.
isaacsim
```

* It's also possible to run with a specific experience file, run:

```bash
# experience files can be absolute path, or relative path searched in isaacsim/apps or omni/apps
isaacsim isaacsim.exp.full.kit
```

> **Note**
>
> When running Isaac Sim for the first time, all dependent extensions will be pulled from the registry.
> This process can take upwards of 10 minutes and is required on the first run of each experience file.
> Once the extensions are pulled, consecutive runs using the same experience file will use the cached extensions.

> **Warning**
>
> The first run will prompt users to accept the Nvidia Omniverse License Agreement.
> To accept the EULA, reply `Yes` when prompted with the below message:
>
> ```bash
> By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
> in https://docs.isaacsim.omniverse.nvidia.com/latest/common/NVIDIA_Omniverse_License_Agreement.html
>
> Do you accept the EULA? (Yes/No): Yes
> ```

If the simulator does not run or crashes while following the above
instructions, it means that something is incorrectly configured. To
debug and troubleshoot, please check Isaac Sim
[documentation](https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html)
and the
[Isaac Sim Forums](https://docs.isaacsim.omniverse.nvidia.com/latest/common/feedback.html).

## Running Isaac Lab Scripts

By following the above scripts, your Python environment should now have access to all of the Isaac Lab extensions.
To run a user-defined script for Isaac Lab, simply run

```bash
python my_awesome_script.py
```

## Generating VS Code Settings

Due to the structure resulting from the installation, VS Code IntelliSense (code completion, parameter info
and member lists, etc.) will not work by default. To set it up (define the search paths for import resolution,
the path to the default Python interpreter, and other settings), for a given workspace folder,
run the following command:

```bash
python -m isaaclab --generate-vscode-settings
```

> **Warning**
>
> The command will generate a `.vscode/settings.json` file in the workspace folder.
> If the file already exists, it will be overwritten (a confirmation prompt will be shown first).