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Quickstart
==========
Isaac Lab is a GPU-accelerated framework for robot learning built on vectorized simulation.
Environments run thousands of parallel copies on the GPU, and a modular manager design lets you
swap robots, sensors, and controllers without rewriting task logic.
This page gets you installed and running a first training job in minutes. For deeper topics
(configurations, project scaffolding, standalone apps, preset catalogs), see
:doc:`quickstart_details`.
Install
-------
Clone Isaac Lab, create a Python 3.12 environment, and install. Choose the path that matches
your workflow:
.. tab-set::
.. tab-item:: Kit-less (no Isaac Sim)
Fastest start — Newton physics only, no Isaac Sim download required.
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. isaaclab-quickstart-install::
:kitless:
:platform: linux
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. isaaclab-quickstart-install::
:kitless:
:platform: windows
See :ref:`installation-selective-install` for install tokens and
:doc:`/source/setup/installation/kitless_installation` for feature
availability without Isaac Sim.
.. tab-item:: With Isaac Sim (full features)
Recommended for PhysX, RTX rendering, ROS, URDF/MJCF importers, and the Kit visualizer.
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. isaaclab-quickstart-install::
:isaacsim:
:platform: linux
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. isaaclab-quickstart-install::
:isaacsim:
:platform: windows
On Linux aarch64 (DGX Spark), use ``cu130`` for PyTorch and see
:ref:`isaaclab-installation-root` for additional setup notes.
For conda, binary installs, Docker, and troubleshooting, see
:ref:`isaaclab-installation-root`.
Run Training
------------
Use the reinforcement learning training command with a **task name** and
``physics=``, ``renderer=``, and ``presets=`` to select backends and task-specific options:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code-block:: bash
# Kit-less: Newton MJWarp physics + Newton visualizer
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=16 --max_iterations=10 \
physics=newton_mjwarp --visualizer newton
# With Isaac Sim: PhysX physics (default renderer)
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=4096 \
physics=physx
# Camera task: typed physics + renderer + domain preset
./isaaclab.sh train --rl_library rl_games \
--task=Isaac-Cartpole-RGB-Camera-Direct-v0 \
physics=newton_mjwarp renderer=newton_renderer presets=rgb
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code-block:: batch
isaaclab.bat train --rl_library rsl_rl ^
--task=Isaac-Cartpole-Direct-v0 ^
--num_envs=16 --max_iterations=10 ^
physics=newton_mjwarp --visualizer newton
isaaclab.bat train --rl_library rsl_rl ^
--task=Isaac-Cartpole-Direct-v0 ^
--num_envs=4096 ^
physics=physx
Use ``--help`` on any script to see task-specific ``physics=``, ``renderer=``, and ``presets=`` options.
.. seealso::
- :doc:`/source/features/hydra` — preset system and Hydra overrides
- :doc:`quickstart_details` — preset catalog, environments, project generator, and more
Next Steps
----------
- List registered environments: ``python scripts/environments/list_envs.py``
- Scaffold a new project: ``./isaaclab.sh --new`` (Linux) or ``isaaclab.bat --new`` (Windows)
- Walk through tutorials: :doc:`/source/tutorials/index`
- Browse all environments: :doc:`/source/overview/environments`
.. toctree::
:maxdepth: 1
:hidden:
quickstart_details
|