| .. _isaac-lab-quickstart: |
|
|
| 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: |
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| .. tab-set:: |
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| .. tab-item:: Kit-less (no Isaac Sim) |
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| Fastest start — Newton physics only, no Isaac Sim download required. |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. isaaclab-quickstart-install:: |
| :kitless: |
| :platform: linux |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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|
| .. 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 |
|
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| .. 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 |
|
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code-block:: bash |
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| |
| ./isaaclab.sh train --rl_library rsl_rl \ |
| --task=Isaac-Cartpole-Direct-v0 \ |
| --num_envs=16 --max_iterations=10 \ |
| physics=newton_mjwarp --visualizer newton |
|
|
| |
| ./isaaclab.sh train --rl_library rsl_rl \ |
| --task=Isaac-Cartpole-Direct-v0 \ |
| --num_envs=4096 \ |
| physics=physx |
|
|
| |
| ./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 |
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| .. 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 |
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|
