> For clean Markdown of any page, append .md to the page URL.
> For a complete documentation index, see https://docs.nvidia.com/isaaclab/3.0/isaac-lab/installation/llms.txt.
> For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.nvidia.com/isaaclab/_mcp/server.

# Installation

![Isaac Sim 6.2.0](https://img.shields.io/badge/IsaacSim-6.2.0-silver.svg)![Python 3.12](https://img.shields.io/badge/python-3.12-blue.svg)![Ubuntu 24.04](https://img.shields.io/badge/platform-linux--64-orange.svg)![Windows 11](https://img.shields.io/badge/platform-windows--64-orange.svg)

**Isaac Lab installs Newton by default.** The standard installation runs without Isaac Sim;
add Isaac Sim or other optional backends when your workflow needs them. Start with the automatic
`uv` setup, or choose another installation method below.

## Choose an installation path

#### [\*\*Automatic setup with uv\*\*](/isaaclab/3.0/isaac-lab/installation#automatic-setup-with-uv-recommended)

Run with Newton from the Isaac Lab checkout while `uv` manages the environment.
**Recommended for most users.**

#### [\*\*isaaclab.sh installer (legacy)\*\*](/isaaclab/3.0/isaac-lab/installation#isaaclab-sh-installer-legacy)

Use the legacy installer script to select packages in a virtual environment.

#### [\*\*Python environment with Isaac Sim\*\*](/isaaclab/3.0/isaac-lab/installation#python-environment-with-isaac-sim)

Manage a uv, venv, or conda environment and install Isaac Sim with pip.

#### [\*\*Isaac Lab Python package\*\*](/isaaclab/3.0/isaac-lab/installation#isaac-lab-python-package)

Install the released Isaac Lab package as a dependency of your own project.

#### [\*\*Downloaded Isaac Sim package\*\*](/isaaclab/3.0/isaac-lab/installation)

Download Isaac Sim and use the Python interpreter included with it.

#### [\*\*Build Isaac Sim from source\*\*](/isaaclab/3.0/isaac-lab/installation)

Build or modify Isaac Sim itself. This is an advanced workflow.

#### [\*\*Docker containers\*\*](/isaaclab/3.0/isaac-lab/installation)

Build or run a container with the physics and rendering stack you need.

#### [\*\*Cloud workstations\*\*](/isaaclab/3.0/isaac-lab/installation#cloud-workstations)

Provision a remote GPU workstation on a supported cloud provider.

## System requirements

Isaac Lab installs Newton by default, using **NVIDIA Warp** for simulation. The requirements below
cover the default Newton and PyTorch training environment; Isaac Sim is an optional addition.

| Component     | Requirement                                                                                                                                                                          |
| ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Python        | Python 3.12. The automatic `uv` setup manages the environment.                                                                                                                       |
| Platform      | Ubuntu 22.04+ on x86_64, Linux aarch64 (including DGX Spark), or Windows 11 on x86_64.                                                                                               |
| GPU training  | A CUDA-capable NVIDIA GPU supported by the selected Newton solver and PyTorch. The default CUDA 13 stack requires Turing or newer (compute capability 7.5+).                         |
| NVIDIA driver | `580.65.06` or newer on Linux; `580.88` or newer on Windows. Use a current production driver for your GPU.                                                                           |
| Memory        | RAM and VRAM needs depend on the task, number of parallel environments, and camera workload. Isaac Sim's workstation memory requirements do not apply to a Newton-only installation. |

This release uses Warp 1.17. Its prebuilt wheels include the CUDA components needed by Warp,
so a separate CUDA Toolkit installation is not needed for standard wheel-based use. See
[Warp installation](https://nvidia.github.io/warp/v1.17/user_guide/installation.html) and
[compatibility](https://nvidia.github.io/warp/v1.17/user_guide/compatibility.html) for its
platform and GPU requirements.

> **Tip**
>
> The default environment also installs **PyTorch with CUDA 13.0**, which sets the driver
> minimum above. Warp 1.17's CUDA 12 wheels alone can run with older drivers; meeting only
> Warp's minimum is not enough for the default GPU training environment. See the
> [PyTorch CUDA 13.0 requirements](https://pytorch.org/blog/pytorch-2-12-release-blog/).

### Optional Isaac Sim and rendering

* **Isaac Sim:** Install the `isaacsim` extra for Isaac Sim 6.2 / PhysX workflows. On Linux,
  its wheels require GLIBC 2.35+. For x86_64 workstations, plan for at least 32 GB RAM,
  16 GB VRAM, and a supported RTX GPU; training and rendering may need more. Check the
  [Isaac Sim requirements](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html)
  for supported GPUs, tested drivers, and DGX Spark support. Isaac Sim 5.1 and older are unsupported.
* **Rendering:** Headless Newton simulation does not require RTX hardware. Add the requirements
  of your chosen [renderer ](/isaaclab/3.0/concepts/renderers) or
  [visualizer ](https://isaac-sim.github.io/IsaacLab/release/3.0.0/source/concepts/visualization.html) when you need camera images or an interactive
  view. RTX rendering has its own
  [GPU and driver requirements](https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html).

#### Linux aarch64 and DGX Spark requirements

DGX Spark requires CUDA 13 or newer and the corresponding PyTorch build. Install the build
prerequisites before installing Isaac Lab:

```bash
sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev \
   libxi-dev libxinerama-dev libxrandr-dev
```

SkillGen, XR teleoperation, livestream, Hub Workstation Cache, Cosmos Transfer1, and RLinf are
not currently supported or validated on DGX Spark. SkillGen depends on native CUDA/C++
extensions whose toolchain has not been validated on DGX Spark, while XR remains limited by
unvalidated encoding performance.

## Automatic setup with uv (recommended)

Use this path for the fastest setup from an Isaac Lab checkout. `uv` resolves the
project environment on each invocation, so you do not need to create or activate an environment manually.

Install `uv`, clone Isaac Lab, and start a workflow:

#### Linux x86_64

```bash
curl -LsSf https://astral.sh/uv/install.sh | sh
```

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

```bash
# Newton backend without Isaac Sim
uv run isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=newton_mjwarp

# OV PhysX backend
uv run --extra ovphysx isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=ovphysx

# Full Isaac Sim support
uv run --extra isaacsim isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=isaacsim_physx

# Play a policy
uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton_gl
```

#### Linux aarch64 (DGX Spark)

```bash
curl -LsSf https://astral.sh/uv/install.sh | sh
```

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

```bash
# Newton backend
uv run isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=newton_mjwarp

# OV PhysX backend
uv run --extra ovphysx isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=ovphysx

# Full Isaac Sim support
uv run --extra isaacsim isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=isaacsim_physx

# Play a policy
uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton_gl
```

> **Note**
>
> For direct Python commands that import Isaac Sim on aarch64, prefix the
> command with `LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1`.

#### Windows

Enable Windows long-path support before cloning. In an elevated PowerShell window, run:

```powershell
New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name LongPathsEnabled -Value 1 -PropertyType DWORD -Force
```

Then open a new Command Prompt window and run:

```batch
powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"
```

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

```batch
:: Newton backend without Isaac Sim
uv run isaaclab train --rl_library rsl_rl ^
   --task Isaac-Cartpole-Direct physics=newton_mjwarp

:: OV PhysX backend
uv run --extra ovphysx isaaclab train --rl_library rsl_rl ^
   --task Isaac-Cartpole-Direct physics=ovphysx

:: Full Isaac Sim support
uv run --extra isaacsim isaaclab train --rl_library rsl_rl ^
   --task Isaac-Cartpole-Direct physics=isaacsim_physx

:: Play a policy
uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton_gl
```

`uv run` installs the core dependencies automatically. The `--extra <name>`
option includes the selected optional integration in the command's environment. Place it
before `isaaclab`; for example, `--extra ov` installs both ovphysx and ovrtx
backends. Pass a comma-separated list or repeat `--extra`. No extras conflict, so
any combination resolves into one environment. The `--extra all` shortcut installs the
curated `ov`, `rl-games`, `sb3`, `skrl`, `rsl-rl`, `rerun`, and `viser` extras.
It does not include Isaac Sim or the specialized `skrl-jax`, `rlinf`, `mimic`, `teleop`,
`tetrahedralization`, `video`, and `leapp` extras; request them by name:

```bash
uv run --extra all isaaclab train --rl_library rsl_rl \
   --task Isaac-Cartpole-Direct physics=ovphysx
```

See [Optional extras](/isaaclab/3.0/isaac-lab/installation#optional-extras) for the available extras.

`uv run --extra <name> <command>` syncs the selected extra into the project environment
and then runs the command.

The source checkout selects PyTorch's CUDA 13.0 build on Linux x86_64, Linux aarch64, and Windows.
No additional command flags are needed.
The aggregate wheel pins the PyTorch versions using registry-compatible metadata. Its published-wheel
commands select the CUDA 13.0 build at install time. The wheel supports Python 3.12, matching the source
checkout.

Head over to the [/source/isaaclab/quickstart](/isaaclab/3.0/isaac-lab/quickstart), which starts with your first task and
introduces the available commands, RL libraries, backends, and visualizers.

`isaaclab.sh` installer (legacy)

## `isaaclab.sh` installer (legacy)

Kit-less installation uses a Python 3.12 environment and does not install Isaac Sim. Clone Isaac
Lab, create and activate an environment, then install the default source packages and dependencies.
Install [uv](https://docs.astral.sh/uv/getting-started/installation/) or
[conda](https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html) before starting:

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### uv environment (recommended)

#### Linux

```bash
uv venv --python 3.12 --seed env_isaaclab
source env_isaaclab/bin/activate
uv pip install --upgrade pip
./isaaclab.sh -i
```

#### Windows

```batch
uv venv --python 3.12 --seed env_isaaclab
env_isaaclab\Scripts\activate
uv pip install --upgrade pip
isaaclab.bat -i
```

#### conda environment

#### Linux

```bash
conda create -n env_isaaclab python=3.12
conda activate env_isaaclab
python -m pip install --upgrade pip
./isaaclab.sh -i
```

#### Windows

```batch
conda create -n env_isaaclab python=3.12
conda activate env_isaaclab
python -m pip install --upgrade pip
isaaclab.bat -i
```

`-i` always installs the core source packages. With no value, it also installs the optional
`mimic` and `teleop` submodules plus the default Newton, RL, and visualizer dependencies.
It does not install `tetrahedralization`, `contrib`, `ov`, or Isaac Sim;
request those explicitly when needed.

Use `-i core` for core packages only. Otherwise, pass a comma-separated list of selectors:

| Selector                | Installs                                                                  |
| ----------------------- | ------------------------------------------------------------------------- |
| `mimic`                 | Imitation-learning tools.                                                 |
| `teleop`                | Teleoperation tools (Linux x86_64).                                       |
| `newton`                | Newton interactive-viewer dependencies.                                   |
| `rl[<framework>]`       | RL framework dependencies. Select `rsl-rl`, `skrl`, `sb3`, or `rl-games`. |
| `visualizer[<backend>]` | Visualizer dependencies. Select `rerun`, `viser`, `newton`, or `kit`.     |
| `tetrahedralization`    | Dependencies for automatic tetrahedral mesh generation.                   |
| `contrib[rlinf]`        | Contrib runtime dependencies for RLinF.                                   |
| `ov[<runtime>]`         | OV runtime wheels. Select `ovrtx`, `ovphysx`, or `all`.                   |
| `isaacsim`              | The Isaac Sim pip package.                                                |

For example:

#### Linux

```bash
# Core packages only
./isaaclab.sh -i core

# Newton, RSL-RL, and the Newton visualizer
./isaaclab.sh -i 'newton,rl[rsl-rl],visualizer[newton]'

# OVRTX runtime dependencies
./isaaclab.sh -i 'ov[ovrtx]'
```

#### Windows

```batch
:: Core packages only
isaaclab.bat -i core

:: Newton, RSL-RL, and the Newton visualizer
isaaclab.bat -i "newton,rl[rsl-rl],visualizer[newton]"

:: OVRTX runtime dependencies
isaaclab.bat -i "ov[ovrtx]"
```

## Python environment with Isaac Sim

Use this path when you want an editable Isaac Lab checkout with full Isaac Sim support and a
Python environment you manage yourself. Create and activate the environment before installing
Isaac Sim or Isaac Lab. Isaac Sim's pip packages require GLIBC 2.35 or newer on Linux. Enable
[Windows long-path support](https://learn.microsoft.com/en-us/windows/win32/fileio/maximum-file-path-limitation?tabs=registry#enable-long-paths-in-windows-10-version-1607-and-later)
before installing on Windows.

> **Note**
>
> If you plan to [set up Visual Studio Code](/isaaclab/3.0/developer-tools/editor-setup), use the
> [downloaded Isaac Sim package](/isaaclab/3.0/isaac-lab/installation) instead.

Create and activate a Python 3.12 environment:

#### uv environment (recommended)

#### Linux

```bash
uv venv --python 3.12 --seed env_isaaclab
source env_isaaclab/bin/activate
```

#### Windows

```batch
uv venv --python 3.12 --seed env_isaaclab
env_isaaclab\Scripts\activate
```

#### conda environment

```bash
conda create -n env_isaaclab python=3.12
conda activate env_isaaclab
```

Install Isaac Sim and the CUDA 13.0 PyTorch build for your platform:

#### uv environment (recommended)

```bash
uv pip install "isaacsim[all,extscache]==6.2.0.0" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
```

#### conda environment

```bash
uv pip install "isaacsim[all,extscache]==6.2.0.0" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
```

#### Linux (x86_64)

#### uv environment (recommended)

```bash
uv pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### conda environment

```bash
pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### Windows (x86_64)

#### uv environment (recommended)

```bash
uv pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### conda environment

```bash
pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### Linux (aarch64)

> **Note**
>
> On aarch64 systems such as DGX Spark, install the required development packages before
> installing Isaac Sim:
>
> ```bash
> sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \
>    libxinerama-dev libxrandr-dev
> ```

#### uv environment (recommended)

```bash
uv pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### conda environment

```bash
pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

> **Note**
>
> If the system and PyTorch GNU OpenMP libraries are both preloaded, Isaac Sim can emit
> `libgomp` warnings. Use the system OpenMP library:
>
> ```bash
> unset LD_PRELOAD
> export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1
> ```

> **Note**
>
> If importing `omni.client` or `torch` fails because `libcarb.so` cannot allocate a
> static TLS block, preload `libcarb.so` before launching Python:
>
> ```bash
> export LD_PRELOAD=$(python -c "import sys,os;[print(os.path.join(p,'omni','client','libcarb.so')) for p in sys.path if os.path.isfile(os.path.join(p,'omni','client','libcarb.so'))]" 2>/dev/null | head -1)${LD_PRELOAD:+:$LD_PRELOAD}
> ```
>
> `./isaaclab.sh -p` configures this automatically, as does the conda activation hook.

The first launch asks you to accept the NVIDIA Omniverse EULA. For non-interactive environments,
set `OMNI_KIT_ACCEPT_EULA=yes`. Verify Isaac Sim with `isaacsim`.

With the environment still active, clone, install, and verify Isaac Lab:

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### Linux

```bash
sudo apt install cmake build-essential
./isaaclab.sh -i
./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit
```

#### Windows

```batch
isaaclab.bat -i
isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit
```

The verification command should open a black simulator viewport. The initial launch can take over
ten minutes while Isaac Sim downloads extensions.

## Isaac Lab Python package

Use this path when Isaac Lab is a dependency of an external Python project. The released
`isaaclab` package includes the unified `train`, `play`, `zero_agent`, `random_agent`,
`benchmark`, `train_multigpu`, `demo`, and `example` commands.
Downstream projects can register their task package through the `isaaclab.tasks` Python package
entry-point group; projects created by the template generator configure this automatically.

To create a project built on Isaac Lab, see [Build your own project or task](/isaaclab/3.0/developer-tools/build-your-own-project-or-task).

> **Note**
>
> Isaac Lab wheels are published for major releases, not every patch release.

### Installing an unreleased Git revision

The aggregate package can also be built directly from an Isaac Lab Git revision. Point uv at the
`tools/wheel_builder` subdirectory so it uses the same dependency metadata and packaged runtime
resources as a released wheel:

```toml
[project]
dependencies = ["isaaclab"]

[tool.uv.sources]
isaaclab = { git = "https://github.com/isaac-sim/IsaacLab.git", rev = "<git-revision>", subdirectory = "tools/wheel_builder" }
```

Use a commit hash or release tag for reproducible environments. A branch name is accepted, but
updating the lockfile can then select a newer Isaac Lab revision and dependency set.

### Installing the published wheel

Use NVIDIA's package index for the |isaaclab_wheel_version| release. Do not point Isaac Lab at
the Git source from the previous workflow when installing the published wheel.

Run the published package directly or install it into a persistent environment. All workflows start
with the base `isaaclab` package; add optional capabilities only when your project needs them.

#### Direct uvx command

```bash
uvx --python 3.12 --index https://pypi.nvidia.com \
   --torch-backend cu130 \
   --from "isaaclab==3.0.0" \
   isaaclab demo zoo
```

This resolves the published wheel from the package index into an isolated environment. It does
not require a source checkout, wheel download, or project file.

#### uv project dependency

```bash
uv init --python 3.12 my_isaaclab_project
cd my_isaaclab_project
uv add \
   --index-strategy unsafe-best-match \
   --index pytorch-cu130=https://download.pytorch.org/whl/cu130 \
   torch==2.11.0 torchvision==0.26.0
uv add \
   --index-strategy unsafe-best-match \
   --index nvidia=https://pypi.nvidia.com \
   isaaclab==3.0.0
```

#### Standalone uv environment

#### Linux (x86_64)

```bash
uv venv --python 3.12 env_isaaclab
source env_isaaclab/bin/activate
uv pip install isaaclab==3.0.0 \
   --index https://pypi.nvidia.com \
   --torch-backend cu130
```

#### Windows (x86_64)

```batch
uv venv --python 3.12 env_isaaclab
env_isaaclab\Scripts\activate
uv pip install isaaclab==3.0.0 ^
   --index https://pypi.nvidia.com ^
   --torch-backend cu130
```

#### Linux (aarch64)

```bash
uv venv --python 3.12 env_isaaclab
source env_isaaclab/bin/activate
uv pip install isaaclab==3.0.0 \
   --index https://pypi.nvidia.com \
   --torch-backend cu130
```

The project workflow records the dependencies, package indexes, and lockfile for an application you
maintain; the commands make those project-file changes, so no manual editing is required. Use `uvx`
for one-off commands or a standalone environment for exploratory work that needs an activated Python
environment. Pass the same index strategy when adding or upgrading dependencies in the project.

### Optional extras

Add extras only when your project needs them. Most extras work with
`uv pip install "isaaclab[<extra>]"` in a standalone environment or
`uv add "isaaclab[<extra>]"` in a uv project. The `importers` and `isaacsim` extras
have dedicated commands below.

| Extra                                           | What it installs                                                                                       |
| ----------------------------------------------- | ------------------------------------------------------------------------------------------------------ |
| `isaacsim`                                      | Isaac Sim (`isaacsim[all,extscache]` version 6.2.0.0) from [pypi.nvidia.com](https://pypi.nvidia.com). |
| `ov`                                            | Both OV backends: OV PhysX and OV RTX.                                                                 |
| `ovphysx` / `ovrtx`                             | OV PhysX only / OV RTX only.                                                                           |
| `sb3` / `skrl` / `rsl-rl` / `rlinf` / `torchrl` | The corresponding RL framework.                                                                        |
| `skrl-jax`                                      | skrl with CUDA-enabled JAX.                                                                            |
| `rerun` / `viser`                               | The corresponding visualizer.                                                                          |
| `mimic` / `teleop`                              | Isaac Lab Mimic / XR teleoperation. The wheel's `mimic` extra does not include Robomimic.              |
| `tetrahedralization` / `video`                  | Mesh tetrahedralization / video recording.                                                             |
| `leapp`                                         | LEAP model export support.                                                                             |
| `importers`                                     | Standalone URDF and MJCF conversion without Isaac Sim.                                                 |
| `all`                                           | The curated `ov`, `sb3`, `skrl`, `rsl-rl`, `rerun`, and `viser` extras. Isaac Sim is not included.     |
| `test`                                          | Developer test and documentation tooling.                                                              |

Use `all` for the curated list above. Isaac Sim, standalone importers, specialized extras
(`skrl-jax`, `rlinf`, `mimic`, `teleop`, `tetrahedralization`, `video`, `leapp`), and
the developer `test` tooling remain opt-in.

> **Note**
>
> RL-Games and Robomimic are not included in the published wheel metadata because the versions
> used by Isaac Lab are installed from Git and do not provide package-index wheels. To use either
> integration, install Isaac Lab from a source checkout and select the `rl-games` or `mimic`
> extra there.

> **Note**
>
> On Linux, the `mimic` extra may build its `egl-probe` dependency from source. Install
> CMake and a C++ compiler first with `sudo apt install cmake build-essential`.

Installing the `importers` extra

### Installing the `importers` extra

Install this extra to convert URDF and MJCF files without Isaac Sim.

> **Warning**
>
> Use the full command below. Without the overrides, the importer extra can downgrade packages
> used by the base Isaac Lab install. The overrides keep Isaac Lab's tested versions.

```bash
uv pip install "isaaclab[importers]==3.0.0" \
  --overrides "https://raw.githubusercontent.com/isaac-sim/IsaacLab/v3.0.0/tools/wheel_builder/uv-overrides.txt" \
  --index https://pypi.nvidia.com \
  --torch-backend cu130 \
  --index-strategy unsafe-best-match
```

Installing the `isaacsim` extra

### Installing the `isaacsim` extra

Isaac Sim 6.2 pins dependencies that conflict with Isaac Lab. Install the `isaacsim` extra with
the tested overrides:

```bash
uv pip install "isaaclab[isaacsim]==3.0.0" \
  --overrides "https://raw.githubusercontent.com/isaac-sim/IsaacLab/v3.0.0/tools/wheel_builder/uv-overrides.txt" \
  --extra-index-url https://pypi.nvidia.com \
  --torch-backend cu130 \
  --index-strategy unsafe-best-match
```

Add other extras inside the brackets when needed; for example, use
`isaaclab[isaacsim,all]` to include the curated `all` list.

### Installing CUDA-enabled PyTorch

The published-wheel commands above select the CUDA 13.0 PyTorch build during dependency
resolution. To update an existing standalone environment that was installed without the CUDA
index, use the command for your platform:

#### Linux (x86_64)

```bash
uv pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### Windows (x86_64)

```bash
uv pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

#### Linux (aarch64)

> **Note**
>
> Install the required Python, OpenGL, and X11 development packages before installing
> Isaac Lab:
>
> ```bash
> sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \
>    libxinerama-dev libxrandr-dev
> ```

```bash
uv pip install -U torch==2.11.0 torchvision==0.26.0 --index-url https://download.pytorch.org/whl/cu130
```

> **Note**
>
> If Isaac Sim reports OpenMP preload warnings, use the system GNU OpenMP library:
>
> ```bash
> unset LD_PRELOAD
> export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1
> ```

> **Note**
>
> If importing `omni.client` or `torch` fails because `libcarb.so` cannot allocate a
> static TLS block, preload `libcarb.so` before launching Python:
>
> ```bash
> export LD_PRELOAD=$(python -c "import sys,os;[print(os.path.join(p,'omni','client','libcarb.so')) for p in sys.path if os.path.isfile(os.path.join(p,'omni','client','libcarb.so'))]" 2>/dev/null | head -1)${LD_PRELOAD:+:$LD_PRELOAD}
> ```

If you installed the `isaacsim` extra, verify it before running your project:

```bash
isaacsim
```

The first launch downloads Isaac Sim extensions and can take more than ten minutes. It also asks
you to accept the NVIDIA Omniverse EULA; set `OMNI_KIT_ACCEPT_EULA=yes` for a non-interactive
environment. Run a project script with `python my_script.py`.

Generate VS Code or Cursor settings for the current workspace with:

```bash
uv run isaaclab --editor
```

> **Warning**
>
> This command generates `.vscode/settings.json` and `pyrightconfig.json` in the workspace.
> The Pyright configuration inherits an existing `[tool.pyright]` table and adds paths discovered
> from the active Python environment.

## Downloaded Isaac Sim package

Use this path when you prefer a downloaded Isaac Sim package instead of pip. Download and extract
the [Isaac Sim pre-built package](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html). Binary installs
must use Isaac Sim's bundled Python; combining them with conda, `uv`, or `venv` is unsupported.
If you need a dedicated Python environment, use [Python environment with Isaac Sim](/isaaclab/3.0/isaac-lab/installation#python-environment-with-isaac-sim) instead.

The commands below assume the package was extracted to `${HOME}/isaacsim` on Linux or
`C:\isaacsim` on Windows. Set the installation paths and verify the simulator:

#### Linux

```bash
export ISAACSIM_PATH="${HOME}/isaacsim"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
${ISAACSIM_PATH}/isaac-sim.sh
${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py
```

#### Windows

```batch
set ISAACSIM_PATH="C:\isaacsim"
set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
%ISAACSIM_PATH%\isaac-sim.bat
%ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
%ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py
```

> **Warning**
>
> If you used an earlier Isaac Sim version, reset its user data and cached variables before the
> first launch: `${ISAACSIM_PATH}/isaac-sim.sh --reset-user` on Linux or
> `%ISAACSIM_PATH%\isaac-sim.bat --reset-user` on Windows.

Clone Isaac Lab, create the `_isaac_sim` link, install, and verify:

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### Linux

```bash
cd IsaacLab
ln -s ${ISAACSIM_PATH} _isaac_sim
sudo apt install cmake build-essential
./isaaclab.sh -i
./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit
```

#### Windows

```batch
cd IsaacLab
mklink /D _isaac_sim %ISAACSIM_PATH%
isaaclab.bat -i
isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit
```

The tutorial command should open a black simulator viewport. If either verification command fails,
consult the [Isaac Sim Linux troubleshooting guide](https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html) or the
[Isaac Sim forums](https://docs.isaacsim.omniverse.nvidia.com/latest/common/feedback.html).

## Build Isaac Sim from source

Build Isaac Sim from source only when you need to modify it or test a nightly revision. Building
requires Ubuntu 22.04 or newer on Linux. For driver requirements, see the [technical requirements](https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html).
On Windows, enable [long-path support](https://learn.microsoft.com/en-us/windows/win32/fileio/maximum-file-path-limitation?tabs=registry#enable-long-paths-in-windows-10-version-1607-and-later)
before building.

Choose how to connect the Isaac Sim source build to Isaac Lab:

#### uv (Recommended)

Clone Isaac Sim next to the Isaac Lab checkout. From the Isaac Lab root, run the source-build
command. It incrementally builds Isaac Sim and links the live release tree as `_isaac_sim`:

```text
git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim
uv run isaaclab --isaacsim_source ../IsaacSim
```

Isaac Lab runs the active `uv` environment through Isaac Sim's generated Python launcher.
This loads Kit and extensions directly from the source build without creating wheels or
changing `pyproject.toml` and `uv.lock`. Run Isaac Lab against the source build with:

```text
uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx
```

After changing Isaac Sim source, run the same `--isaacsim_source` command again. The native
build is incremental, and the link continues to expose the updated build immediately; no
wheel packaging or dependency resolution step is required.

#### isaaclab.sh / isaaclab.bat

Build and verify Isaac Sim for your platform:

#### Linux (x86_64)

```bash
git clone https://github.com/isaac-sim/IsaacSim.git
cd IsaacSim
./build.sh
export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
${ISAACSIM_PATH}/isaac-sim.sh
${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py
```

#### Linux (aarch64)

```bash
git clone https://github.com/isaac-sim/IsaacSim.git
cd IsaacSim
./build.sh
export ISAACSIM_PATH="${PWD}/_build/linux-aarch64/release"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
${ISAACSIM_PATH}/isaac-sim.sh
${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py
```

#### Windows (x86_64)

```batch
git clone https://github.com/isaac-sim/IsaacSim.git
cd IsaacSim
build.bat
set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release"
set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
%ISAACSIM_PATH%\isaac-sim.bat
%ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
%ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py
```

Return to the workspace containing the `IsaacSim` checkout, then clone Isaac Lab:

```text
cd ..
```

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

Link Isaac Lab to the source build, install, and verify:

#### Linux (x86_64)

```bash
cd IsaacLab
ln -s ${ISAACSIM_PATH} _isaac_sim
sudo apt install cmake build-essential
./isaaclab.sh -i
./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit
```

#### Linux (aarch64)

```bash
cd IsaacLab
ln -s ${ISAACSIM_PATH} _isaac_sim
sudo apt install cmake build-essential python3.12-dev libgl1-mesa-dev libx11-dev \
   libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
./isaaclab.sh -i
./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit
```

#### Windows (x86_64)

```batch
cd IsaacLab
mklink /D _isaac_sim %ISAACSIM_PATH%
isaaclab.bat -i
isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit
```

The tutorial command should open a black simulator viewport. Use the binary-installation
troubleshooting links above if the source build does not launch.

## Docker containers

Docker packages Isaac Lab and its dependencies into a reusable environment.
`docker/container.py` is the main entry point for running Isaac Lab in a container. It wraps
`docker compose` so that you do not have to remember which Dockerfile, environment files, and
volume mounts belong together -- you name a *profile*, and the script assembles the rest.

For remote execution, see [Running on HPC Clusters](/isaaclab/3.0/features/running-on-hpc-clusters) and [Cloud Deployment](/isaaclab/3.0/features/cloud-deployment).

Clone Isaac Lab before running the container commands below:

#### SSH

```bash
git clone git@github.com:isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

#### HTTPS

```bash
git clone https://github.com/isaac-sim/IsaacLab.git --branch release/3.0.0
cd IsaacLab
```

> **Warning**
>
> The standard Isaac Lab container depends on the Isaac Sim Docker image. By running that container, you are
> implicitly agreeing to the [NVIDIA Software License Agreement](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-software-license-agreement). If you do not agree to the EULA, do not run
> that container. The `kitless` image contains neither Isaac Sim nor Kit.

### Prerequisites

Install [Docker Engine](https://docs.docker.com/engine/install/), [Docker Compose](https://docs.docker.com/compose/install/), and the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html).
The container is tested with Docker Engine 26.0.0 and Docker Compose 2.25.0; use these versions or
newer. Follow the [post-installation steps](https://docs.docker.com/engine/install/linux-postinstall/) so that Docker runs without `sudo`.

The Isaac Sim documentation on [container installation](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html) covers the same prerequisites in more
detail, including how to obtain access to the Isaac Sim image.

> **Note**
>
> Due to limitations with [snap](https://snapcraft.io/docs/home-outside-home), please make sure
> the Isaac Lab directory is placed under the `/home` directory tree when using docker.

### Container profiles

A profile is a [Docker Compose profile](https://docs.docker.com/compose/how-tos/profiles/):
`docker-compose.yaml` tags each service with one, and Compose starts only the services whose
profile is active. Naming a profile therefore selects a matched set -- one service, one Dockerfile,
one set of environment files, and one image name:

| Profile   | Compose service     | Dockerfile           | Environment files         | Built on top of                     |
| --------- | ------------------- | -------------------- | ------------------------- | ----------------------------------- |
| `base`    | `isaac-lab-base`    | `Dockerfile.base`    | `.env.base`               | the Isaac Sim image                 |
| `ros2`    | `isaac-lab-ros2`    | `Dockerfile.ros2`    | `.env.base` + `.env.ros2` | the `base` image, built first       |
| `kitless` | `isaac-lab-kitless` | `Dockerfile.kitless` | `.env.kitless`            | nothing -- standalone, no Isaac Sim |

Every command below takes the profile as its first positional argument and defaults to `base`.
Only one profile applies at a time, and the resulting image and container are both named
`isaac-lab-<profile>`. Pass `--suffix` to append a name suffix when you want several variants of
the same profile side by side. Do not use `--suffix` with cluster deployments, whose export
commands expect the unsuffixed image name.

For what each image actually contains and how to choose between them, see [Container images](/isaaclab/3.0/isaac-lab/installation#container-images).

### Start, run, and retrieve results

From the repository root on the host, build and start the default `base` container,
then open a shell in it. Append a profile to target a different image:

```bash
./docker/container.py start
./docker/container.py enter
```

Inside the container, run the logging example without a visualizer:

```bash
uv run isaaclab -p scripts/tutorials/00_sim/log_time.py --viz none
```

The script writes simulation time at each step to
`/workspace/isaaclab/logs/docker_tutorial/log.txt`. Stop the script with `Ctrl+C`
and type `exit` to return to the host shell. Retrieve the results before stopping
the container:

```bash
./docker/container.py copy
./docker/container.py stop
```

The log is now at `docker/artifacts/logs/docker_tutorial/log.txt` on the host.
The `stop` command removes the container and its Compose-managed volumes, including logs
and caches; copy out anything you need first. The image remains. To remove it after stopping, run `docker image rm isaac-lab-base`; the next `start` rebuilds it. See
[Docker pruning](https://docs.docker.com/engine/manage-resources/pruning/) for other cleanup options.

#### Code for log_time.py

```python
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
This script demonstrates how to generate log outputs while the simulation plays.
It accompanies the tutorial on docker usage.

.. code-block:: bash

    # Usage
    uv run python scripts/tutorials/00_sim/log_time.py

"""

"""Parse the command-line arguments first."""

import argparse
import os

from isaaclab.app import add_launcher_args, launch_simulation

# create argparser
parser = argparse.ArgumentParser(description="Tutorial on creating logs from within the docker container.")
# append simulation launcher cli args
add_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()

"""Rest everything follows."""

from isaaclab.sim import SimulationCfg, SimulationContext

def main():
    """Main function."""
    # Specify that the logs must be in logs/docker_tutorial
    log_dir_path = os.path.join("logs")
    if not os.path.isdir(log_dir_path):
        os.mkdir(log_dir_path)
    # In the container, the absolute path will be
    # /workspace/isaaclab/logs/docker_tutorial, because
    # all Python execution is done through the uv-managed workspace
    # and the calling process' path will be /workspace/isaaclab
    log_dir_path = os.path.abspath(os.path.join(log_dir_path, "docker_tutorial"))
    if not os.path.isdir(log_dir_path):
        os.mkdir(log_dir_path)
    print(f"[INFO] Logging experiment to directory: {log_dir_path}")

    # Configure the simulation
    sim_cfg = SimulationCfg(dt=0.01, device=args_cli.device)
    # Launch the simulator runtime that the configuration needs
    with launch_simulation(sim_cfg, args_cli):
        # Initialize the simulation context
        sim = SimulationContext(sim_cfg)
        # Set main camera
        sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

        # Play the simulator
        sim.reset()
        # Now we are ready!
        print("[INFO]: Setup complete...")

        # Prepare to count sim_time
        sim_dt = sim.get_physics_dt()
        sim_time = 0.0

        # Open logging file
        with open(os.path.join(log_dir_path, "log.txt"), "w") as log_file:
            # Simulate physics
            while sim.is_running():
                log_file.write(f"{sim_time}" + "\n")
                # perform step
                sim.step()
                sim_time += sim_dt

if __name__ == "__main__":
    # run the main function
    main()
```

> **Note**
>
> The image copies the repository to `/workspace/isaaclab` at build time, so edits made after the
> build are not picked up automatically. To keep the development loop fast, the compose file
> bind-mounts `source`, `scripts`, `docs`, and `tools` from the host, so changes to those
> directories appear inside the container immediately. Everything else requires a rebuild.

`container.py` command reference

### `container.py` command reference

Run `./docker/container.py --help` to list commands and
`./docker/container.py <command> --help` for that command's arguments.

| Command  | Description                                                                                       |
| -------- | ------------------------------------------------------------------------------------------------- |
| `build`  | Build the image without creating a container.                                                     |
| `start`  | Build the image and start the container in the background.                                        |
| `enter`  | Open a Bash shell in the running container.                                                       |
| `config` | Print the merged Compose configuration. Use `--output-yaml <path>` to write it to a file instead. |
| `copy`   | Copy logs, data, and built documentation to `docker/artifacts` on the host.                       |
| `stop`   | Stop and remove the container and its Compose-managed volumes.                                    |

Every command accepts the following arguments:

| Argument                 | Description                                                                             |
| ------------------------ | --------------------------------------------------------------------------------------- |
| `profile`                | Optional profile name; defaults to `base`. Other profiles are `ros2` and `kitless`.     |
| `--files [FILE ...]`     | Merge additional Compose YAML files after `docker-compose.yaml`, in the supplied order. |
| `--env-files [FILE ...]` | Merge additional environment files after the profile defaults, in the supplied order.   |
| `--suffix [SUFFIX]`      | Append `-SUFFIX` to the image and container names. Omit it for unsuffixed names.        |
| `--info`                 | Print the resolved container interface configuration instead of running the command.    |
| `-h`, `--help`           | Show help and exit.                                                                     |

### Extending the Compose configuration

`--files` and `--env-files` merge extra Compose and environment files into the generated
configuration, which is how optional components are layered on without editing the checked-in files.
Streaming to XR devices is the worked example -- it adds the CloudXR Runtime service alongside
`base`:

```bash
./docker/container.py start --files docker-compose.cloudxr-runtime.patch.yaml --env-files .env.cloudxr-runtime
```

Stop it with the same arguments. The teleoperation setup, firewall rules, and client connection
steps are covered in [Setting up Isaac Capture with CloudXR](/isaaclab/3.0/isaac-lab/installation/setting-up-isaac-capture-with-cloud-xr). Use `./docker/container.py config` to print the
merged result when a combination does not behave as expected.

### What persists between runs

The compose file declares named volumes for Isaac Sim caches, logs, and your own data. They
remain available while reusing a container, but `container.py stop` runs ``docker compose down --volumes` and removes them. Run `container.py copy` before `stop`` to preserve your results
on the host.

`container.py copy` extracts the three volumes you are most likely to want on the host --
`logs`, `data_storage`, and `docs/_build` -- into `docker/artifacts`. For anything else, use
`docker cp`, for example `docker cp isaac-lab-base:/workspace/isaaclab/logs .`.

If you are upgrading from an Isaac Lab image that ran as `root`, the existing volumes still hold
root-owned files that the current uid/gid 1000 runtime user cannot write. Copy out anything worth
keeping, then recreate them from the `docker` directory:

```bash
docker compose --file docker-compose.yaml --profile base --env-file .env.base down --volumes
```

#### All named volumes and their container paths

| Volume Name         | Description                                                                | Container Path                    |
| ------------------- | -------------------------------------------------------------------------- | --------------------------------- |
| isaac-cache-kit     | Stores cached Kit resources                                                | /isaac-sim/kit/cache              |
| isaac-data-kit      | Stores Kit data                                                            | /isaac-sim/kit/data               |
| isaac-cache-ov      | Stores cached OV resources                                                 | /root/.cache/ov                   |
| isaac-cache-pip     | Stores cached pip resources                                                | /root/.cache/pip                  |
| isaac-cache-gl      | Stores cached GLCache resources                                            | /root/.cache/nvidia/GLCache       |
| isaac-cache-compute | Stores cached compute resources                                            | /root/.nv/ComputeCache            |
| isaac-cache-uv      | Stores uv downloads for the kit-less profile                               | /home/isaaclab/.cache/uv          |
| isaac-cache-warp    | Stores Warp kernels for the kit-less profile                               | /home/isaaclab/.cache/warp        |
| isaac-logs          | Stores logs generated by Omniverse                                         | /root/.nvidia-omniverse/logs      |
| isaac-carb-logs     | Stores logs generated by carb                                              | /isaac-sim/kit/logs/Kit/Isaac-Sim |
| isaac-data          | Stores data generated by Omniverse                                         | /root/.local/share/ov/data        |
| isaac-docs          | Stores documents generated by Omniverse                                    | /root/Documents                   |
| isaac-lab-docs      | Stores documentation of Isaac Lab when built inside the container          | /workspace/isaaclab/docs/\_build  |
| isaac-lab-logs      | Stores logs generated by Isaac Lab workflows when run inside the container | /workspace/isaaclab/logs          |
| isaac-lab-data      | Stores whatever data users may want to preserve between container runs     | /workspace/isaaclab/data_storage  |

Run `docker volume ls` on the host to find the actual names, which include the Compose project
prefix, then use `docker volume inspect <volume-name>`. The `kitless` profile
uses the uv and Warp caches and shares the documentation, logs, and data volumes with the others.

### Display forwarding with X11

X11 forwarding lets GUI applications started inside the container display on the host. The first
`start` asks whether to enable it and records the answer in `docker/.container.cfg`. To change it
later, set `X11_FORWARDING_ENABLED` to `0` or `1` in that file and run `start` again -- the
rebuild is what applies the change.

### Container images

Each [profile](/isaaclab/3.0/isaac-lab/installation) builds a different image. They differ in what simulation and
rendering stack they carry, which decides how large they are and what they can run. This section
describes the images themselves; to build or run one, name its profile in the
[container lifecycle](/isaaclab/3.0/isaac-lab/installation).

#### Choosing an image

| Profile   | Contains                                                                                  | Use it when                                                                                        |
| --------- | ----------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- |
| `base`    | Isaac Lab on the NVIDIA Isaac Sim image, with Kit and RTX rendering                       | You want the default environment, GUI rendering, or anything that needs Isaac Sim                  |
| `ros2`    | The `base` image plus ROS 2 Humble                                                        | You are bridging Isaac Lab to ROS 2 nodes                                                          |
| `kitless` | Ubuntu 24.04, Python 3.12, Newton and OVPhysX physics, OVRTX rendering, four RL libraries | You are training with Newton and want the smallest image; also the only one with no Isaac Sim EULA |

#### Building an image

Every image builds with the same command; only the profile name changes. From the repository root,
build the image for a profile from the table above, for example `kitless`:

```bash
./docker/container.py build kitless
```

`./docker/container.py start kitless` also builds the image before starting the container. Without
Compose, build the profile's Dockerfile directly; it uses the same default paths:

```bash
docker build --pull --file docker/Dockerfile.kitless --tag isaac-lab-kitless .
```

Release images are also published pre-built, so building is optional; see [Pre-built image from NGC](/isaaclab/3.0/isaac-lab/installation#pre-built-image-from-ngc).

#### Base image

`Dockerfile.base` overlays Isaac Lab's dependencies onto the Isaac Sim container, so it inherits
Kit, RTX rendering, and the Isaac Sim asset pipeline. The Isaac Sim version it builds against is set
by `ISAACSIM_VERSION` in `.env.base`; the other variables in that file control paths inside the
container.

#### ROS 2 image

`Dockerfile.ros2` installs ROS 2 Humble from an [apt package](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#install-ros-2-packages) and sources it in the runtime
user's `.bashrc`. `ROS2_APT_PACKAGE` in `.env.ros2` selects the package set, defaulting to
`ros-base`. The image defaults to the `FastRTPS` middleware; `CycloneDDS` is also supported, and
both can be [tuned](https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html) through their `.xml` files under `docker/.ros`. See [various middleware](https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html)
for the trade-offs.

#### Parameters in .env.ros2

```bash
###
# ROS2 specific settings
###
# Set the version of the ROS2 apt package to install (ros-base, desktop, desktop-full)
ROS2_APT_PACKAGE=ros-base
# Set ROS2 middleware implementation to use (e.g. rmw_fastrtps_cpp, rmw_cyclonedds_cpp)
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# Path to fastdds.xml file to use (only needed when using fastdds)
FASTRTPS_DEFAULT_PROFILES_FILE=${DOCKER_USER_HOME}/.ros/fastdds.xml
# Path to cyclonedds.xml file to use (only needed when using cyclonedds)
CYCLONEDDS_URI=${DOCKER_USER_HOME}/.ros/cyclonedds.xml
# Docker image and container name suffix (default "", set by the container_interface.py script)
# Example: "-custom"
DOCKER_NAME_SUFFIX=""
```

#### Kit-less image

The kit-less image drops Isaac Sim entirely and builds on Ubuntu 24.04 with Python 3.12. It carries
Newton physics, OVPhysX physics, OVRTX rendering, and the four core RL frameworks: RL Games, RSL-RL,
Stable-Baselines3, and SKRL. The `newton_gl`, `newton_rtx`, `viser`, and `rerun` visualizers are
included. Use `--viz newton_gl` for local visualization with a display available in the container.
`--viz newton_gl` selects the OpenGL rasterizer; `--viz newton_rtx` selects the OVRTX
path tracer. Both can render offscreen without Isaac Sim. To open their windows from a direct
`docker run`, run `xhost +local:` on the host and add `-e DISPLAY` and
`-v /tmp/.X11-unix:/tmp/.X11-unix:rw` to the command below. The deprecated `--viz newton` alias
selects GL; it does not choose between GL and RTX automatically.

Rendering needs NVIDIA graphics driver capabilities in addition to compute. For direct
`docker run` commands, pass `--gpus all -e NVIDIA_DRIVER_CAPABILITIES=all`. The NVIDIA
Container Toolkit exposes the host driver; avoid mounting a second copy of its Vulkan ICD.
If multiple drivers are discovered, select the NVIDIA ICD available inside the container
with `VK_DRIVER_FILES` (for example, `/etc/vulkan/icd.d/nvidia_icd.json`).

No visualizer is selected by default, so
training runs headless unless you ask for one. The `kit` visualizer is the exception: it comes from
Omniverse Kit, which this image does not contain.

Unlike the other two, it bind-mounts `apps` in addition to `source`, `scripts`, `tools`, and
`docs`, and it keeps a uv cache and a Warp cache of its own.

You do not have to build it locally. It is published alongside each Isaac Lab release in the same
registry repository, distinguished by a `-kitless` tag suffix:

```bash
docker pull nvcr.io/nvidia/isaac-lab:3.0.0-kitless
```

Running it directly, outside the Compose workflow, is a convenient way to verify the image and your
NVIDIA Container Toolkit setup. `--interactive` and `--tty` keep the container's shell alive so
that several commands can share it. The `isaac-lab-kitless-logs` named volume keeps checkpoints
after the container is removed:

```bash
docker run --name isaac-lab-kitless --detach --interactive --tty --gpus all --network host \
    -e NVIDIA_DRIVER_CAPABILITIES=all \
    -v isaac-lab-kitless-logs:/workspace/isaaclab/logs \
    nvcr.io/nvidia/isaac-lab:3.0.0-kitless

docker exec isaac-lab-kitless \
    isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct \
    --num_envs 16 presets=newton_mjwarp --max_iterations 5
```

Replay in a browser with:

```bash
docker exec --interactive --tty isaac-lab-kitless \
    isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct \
    --num_envs 16 presets=newton_mjwarp --checkpoint latest --viz viser
```

Viser is reachable through the host network without forwarding a desktop display. Stop playback
with `Ctrl+C` without stopping the container. Copy the logs to the host with
`docker cp isaac-lab-kitless:/workspace/isaaclab/logs ./logs`.

Check which architectures a tag publishes with `docker buildx imagetools inspect <image:tag>`
before choosing a host.

#### Pre-built image from NGC

A minimal pre-built container carries a small set of Isaac Sim and Omniverse dependencies with Isaac
Lab already built in, under `/workspace/isaaclab`. The example below runs without a
forwarded desktop display. Choose the image profile for the physics and rendering stack
you need, and configure graphics access separately when rendering.

> **Note**
>
> Use an explicit published version tag for reproducible runs. The examples below use
> `3.0.0`; the corresponding kit-less image uses `3.0.0-kitless`.

> **Warning**
>
> Images from 3.0.0-beta2 onward run as a **non-root** user, so those bind-mount directories must be
> writable by uid/gid 1000. Docker creates any missing one as `root`, which the runtime user cannot
> write to, producing errors such as
> `PermissionError: [Errno 13] Permission denied: '/root/.local/share/ov/data/exts'`.
> Create them first:
>
> ```bash
> mkdir -p ~/docker/isaac-sim/{cache/kit,cache/ov,cache/pip,cache/glcache,cache/computecache,logs,data,documents}
> sudo chown -R 1000:1000 ~/docker/isaac-sim
> ```

Because it is run outside Compose, the Isaac Sim cache directories have to be mounted by hand,
otherwise every start recompiles shaders:

```bash
docker run --name isaac-lab --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
   -e "PRIVACY_CONSENT=Y" \
   -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
   -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
   -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
   -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
   -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
   -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
   -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
   -v ~/docker/isaac-sim/documents:/root/Documents:rw \
   nvcr.io/nvidia/isaac-lab:3.0.0
```

The command above opens no windows: without a display, `--viz kit`, `--viz newton_gl`, and
`--viz newton_rtx` run headless. The `viser` and `rerun` visualizers serve a web page instead
and need no display. To enable rendering through X11 forwarding, let local clients use the host X
server and pass the display into the container:

```bash
xhost +local:
docker run --name isaac-lab --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
   -e "PRIVACY_CONSENT=Y" \
   -e DISPLAY \
   -e MUJOCO_GL=disable \
   -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
   -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
   -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
   -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
   -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
   -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
   -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
   -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
   -v ~/docker/isaac-sim/documents:/root/Documents:rw \
   nvcr.io/nvidia/isaac-lab:3.0.0
```

`xhost +local:` lets every local client use your display, not only the container; run
`xhost -local:` on the host to revoke it when you are done.
`MUJOCO_GL=disable` is needed by the Newton viewers in images released before it was set in the
image: those inherit `MUJOCO_GL=egl`, which fails the windowed viewer with
`Attempt to retrieve context when no valid context`. The Compose workflow sets up X11 forwarding
for you; see [Installation](/isaaclab/3.0/isaac-lab/installation). Follow the graphics-driver requirements above for GL or RTX.

#### Runtime user

The base, ROS 2, cuRobo, and kit-less images all run as a non-root user with uid/gid 1000. When
running one of these images directly with `docker run`, keep that default user instead of passing
`--user`, so that the runtime home and cache directories stay writable. Named volumes inherit the
image's ownership; make host bind mounts writable with `sudo chown -R 1000:1000 <directory>`.

#### Python interpreter

Every image installs from `uv.lock` into a Python 3.12 virtual environment at
`/opt/isaaclab-venv`. On the Isaac Sim-based images the environment is built on Isaac Sim's own
interpreter, and Isaac Sim itself stays outside it, reached through the `_isaac_sim` symlink;
`isaaclab.sh` puts it on the path. In either case `python` on the container's `PATH` resolves
to the right one, so scripts are run the same way regardless of image.

## Cloud workstations

Isaac Automator provisions GPU workstations on AWS, GCP, Azure, and Alibaba Cloud. Install Docker,
then clone and build Isaac Automator:

```bash
git clone https://github.com/isaac-sim/IsaacAutomator.git
cd IsaacAutomator
./build
./run ./deploy-aws
```

Replace `deploy-aws` with `deploy-gcp`, `deploy-azure`, or `deploy-alicloud`. Use
`--isaaclab` and `--isaacsim` to select Git revisions. Connection details for SSH, noVNC, and
NoMachine are stored in `state/<deployment-name>/info.txt`.

Manage the workstation from the Automator container:

```bash
./stop <deployment-name>
./start <deployment-name>
./upload <deployment-name>
./download <deployment-name>
./destroy <deployment-name>
```

Preserve the `state` directory because it contains the deployment metadata.

See [Cloud Deployment](/isaaclab/3.0/features/cloud-deployment) for credentials, provider options, connection methods, data transfer,
and the complete workstation lifecycle.

## Next steps

Continue with the [quickstart ](/isaaclab/3.0/isaac-lab/quickstart) to run a task and train a policy.
For asset caching, Nucleus migration, and regional asset services, see
[/source/how-to/manage_asset_downloads](/isaaclab/3.0/isaac-lab/installation/manage-asset-downloads). For setup, launch, and performance problems, use the
[troubleshooting reference ](/isaaclab/3.0/references/tricks-and-troubleshooting).