IsaacLab Guide

This document covers how to install, run, and debug IsaacLab on a cluster, plus common pitfalls.

What is IsaacLab?

IsaacLab (formerly Isaac Gym) is NVIDIA's GPU-accelerated robotics simulation platform built on Omniverse. It runs thousands of parallel environments on a single GPU, giving orders-of-magnitude higher throughput than CPU-based simulators like MuJoCo/DMControl.

Docker image: nvcr.io/nvidia/isaac-lab:2.3.0
Python env: Inside the Docker image at /workspace/isaaclab/isaaclab.sh
Docs: https://isaac-sim.github.io/IsaacLab/v2.3.0/

Critical: Import Order

The single most important thing to know: IsaacLab's AppLauncher MUST be initialized BEFORE importing torch.

# CORRECT -- AppLauncher first, then torch
from isaaclab.app import AppLauncher
import argparse

parser = argparse.ArgumentParser()
AppLauncher.add_app_launcher_args(parser)
args_cli, _ = parser.parse_known_args(["--headless"])
AppLauncher(args_cli)

# NOW safe to import torch
import torch

# WRONG -- will cause mysterious errors or crashes
import torch
from isaaclab.app import AppLauncher  # too late!

Key Properties of IsaacLab Environments

Pre-vectorized

IsaacLab environments are already batched internally. A single gym.make("Isaac-Ant-v0") creates ~4096 parallel environments running on the GPU. There is no need to wrap with ParallelEnv.

env = gym.make("Isaac-Ant-v0")
print(env.num_envs)  # 4096

GPU-native

All computation happens on cuda:0. The environment does NOT support CPU execution.

State-based observations

Standard IsaacLab environments use vector observations, not pixels. The observation key is "policy" (not "observation" or "pixels").

Some environments (e.g., Isaac-Cartpole-RGB-v0) support pixel observations, but these require --enable_cameras and are not the default.

Auto-reset

IsaacLab environments auto-reset individual sub-environments when they reach a terminal state. Done can be reported immediately after reset.

In-place tensor modification

IsaacLab modifies terminated and truncated tensors in-place. Downstream code should clone these tensors to prevent data corruption.

Pixel-Based Observations (TiledCamera)

IsaacLab's default ManagerBased environments only provide state vectors. For pixel-based RL you need to add a TiledCamera sensor.

How It Works

TiledCamera renders all environments in a single batched pass on the GPU, producing [num_envs, H, W, C] uint8 tensors efficiently.

Setup Steps

Enable cameras: Pass --enable_cameras to AppLauncher. Without this, rendering APIs are not initialised.

Add TiledCameraCfg to the scene config before calling gym.make:

from isaaclab.sensors import TiledCameraCfg
import isaaclab.sim as sim_utils

env_cfg.scene.tiled_camera = TiledCameraCfg(
    prim_path="{ENV_REGEX_NS}/Camera",
    offset=TiledCameraCfg.OffsetCfg(
        pos=(-3.0, 0.0, 2.0),  # behind and above the robot
        rot=(0.9945, 0.0, 0.1045, 0.0),
        convention="world",
    ),
    data_types=["rgb"],
    spawn=sim_utils.PinholeCameraCfg(
        focal_length=24.0, focus_distance=400.0,
        horizontal_aperture=20.955, clipping_range=(0.1, 20.0),
    ),
    width=64, height=64,
)

Read camera data: After each env.step(), read from scene["tiled_camera"].data.output["rgb"].
Reduce num_envs: Rendering is expensive. 256 envs is a safe starting point for 64×64 images on A100/H100.
Increase env_spacing: Set env_cfg.scene.env_spacing = 8.0 or higher to prevent the camera from seeing neighbouring environments.

Camera Position for ANYmal-C

The offset.pos is in world coordinates relative to the environment origin. For the ANYmal-C quadruped (base at ~0.5m height):

Rear-elevated: pos=(-3.0, 0.0, 2.0) – sees the full body from behind
Side view: pos=(0.0, -3.0, 1.5) – captures gait from the side
Top-down: pos=(0.0, 0.0, 5.0) – overhead view

The rotation quaternion (w, x, y, z) = (0.9945, 0.0, 0.1045, 0.0) applies a slight downward pitch (≈12°).

Available Environments

List environments by running (inside the Isaac container):

./isaaclab.sh -p scripts/environments/list_envs.py

Classic (MuJoCo-style)

Isaac-Ant-v0 -- Ant locomotion (good for validation, tested in CI)
Isaac-Humanoid-v0 -- Humanoid locomotion
Isaac-Cartpole-v0 -- Cart-pole balance

Locomotion (quadruped/biped)

Isaac-Velocity-Flat-Anymal-C-v0 -- Anymal-C on flat terrain
Isaac-Velocity-Rough-Anymal-C-v0 -- Anymal-C on rough terrain
Isaac-Velocity-Flat-Unitree-Go2-v0 -- Unitree Go2 on flat terrain
Isaac-Velocity-Flat-H1-v0 -- Unitree H1 humanoid

Manipulation

Isaac-Reach-Franka-v0 -- Franka reach
Isaac-Lift-Cube-Franka-v0 -- Franka lift cube
Isaac-Open-Drawer-Franka-v0 -- Franka open drawer
Isaac-Repose-Cube-Allegro-v0 -- Allegro hand in-hand manipulation

Running on Steve

1) Create a job with Isaac Docker image

JOBID=$(steve job \
    --partition h200-high \
    --gpus-per-task 1 \
    --ntasks 1 \
    --time 24:00:00 \
    --job-name "dreamer-isaac" \
    --container-image nvcr.io/nvidia/isaac-lab:2.3.0 \
    --jobid-only)

2) Copy and run setup

steve cp "$JOBID" ./setup-and-run.sh :/root/setup-and-run.sh
steve step "$JOBID" 'bash /root/setup-and-run.sh --build-only'

3) Run training (detached)

steve step -d "$JOBID" 'WANDB_MODE=online bash /root/setup-and-run.sh'

4) Override the task

steve step -d "$JOBID" 'WANDB_MODE=online bash /root/setup-and-run.sh env.name=Isaac-Ant-v0'

Environment Variables

Variable	Value	Purpose
`OMNI_KIT_ACCEPT_EULA`	`yes`	Accept IsaacLab EULA (required)
`ACCEPT_EULA`	`Y`	Accept NVIDIA container / Omniverse EULA in non-interactive jobs
`PRIVACY_CONSENT`	`Y`	Avoid privacy consent prompts in Isaac Sim / Omniverse startup
`OMNI_KIT_DISABLE_CUP`	`1`	Disable Customer Usage Profile prompts
`OMNI_KIT_ALLOW_ROOT`	`1`	Allow Kit to run as root in containerized jobs
`PYTHONNOUSERSITE`	`1`	Avoid user-site packages conflicting
`WANDB_MODE`	`online`	Weights & Biases logging mode

Pip-Based IsaacLab Flow on Cluster Jobs

Prefer the IsaacLab container when possible. If the job starts from a generic CUDA container, a pip-based flow can work, but the order matters.

Use `uv venv` when `ensurepip` is missing

Some cluster images ship Python without ensurepip, so python -m venv creates an unusable environment. Use uv venv directly:

VENV_DIR=/root/.venv/rl-isaac
uv venv "$VENV_DIR"
source "$VENV_DIR/bin/activate"

Run installs from /root (or another directory without a restrictive pyproject.toml) and clear inherited uv resolution pins:

cd /root
unset UV_EXCLUDE_NEWER UV_EXCLUDE_NEWER_PACKAGE

Install Isaac Sim before IsaacLab

Install Isaac Sim from NVIDIA's package index, then install IsaacLab from source:

uv pip install "isaacsim[all,extscache]==6.0.0" \
    --extra-index-url https://pypi.nvidia.com \
    --index-strategy unsafe-best-match \
    --prerelease=allow

git clone https://github.com/isaac-sim/IsaacLab.git /root/IsaacLab
cd /root/IsaacLab
./isaaclab.sh --install || true

The || true is intentional for non-interactive setup scripts: the package installation can succeed, then the VSCode / Kit bootstrap step can still ask for the EULA and exit with EOF. The runtime job must set the EULA variables listed above.

Check package presence without importing Isaac

Do not use python -c "import isaacsim" or python -c "import isaaclab" as an installation check in setup scripts. Importing can initialize Kit or trigger EULA prompts. Check package presence with importlib.util.find_spec instead:

python -c "import importlib.util; raise SystemExit(importlib.util.find_spec('isaacsim') is None)"
python -c "import importlib.util; raise SystemExit(importlib.util.find_spec('isaaclab') is None)"

Reinstall the target torch after IsaacLab

IsaacLab's installer may install its preferred torch build, for example a cu128 wheel. If the experiment needs a torch nightly, reinstall it after IsaacLab:

uv pip install --upgrade --pre torch torchvision \
    --index-url https://download.pytorch.org/whl/nightly/cu130

For cu130 nightlies, also reinstall the cu13 NCCL wheel after any IsaacLab or cu12/cu128 torch install. nvidia-nccl-cu12 and nvidia-nccl-cu13 write to the same site-packages/nvidia/nccl/lib path; the cu12 package can overwrite libnccl.so.2 and make import torch fail with:

ImportError: .../libtorch_cuda.so: undefined symbol: ncclCommResume

The fix is to force reinstall the matching cu13 NCCL wheel and make the venv's NVIDIA libraries first on LD_LIBRARY_PATH:

uv pip install --force-reinstall "nvidia-nccl-cu13==2.30.4" \
    --index-url https://download.pytorch.org/whl/nightly/cu130

SITE_PKGS="$(python -c 'import site; print(site.getsitepackages()[0])')"
NVIDIA_LIBS="$SITE_PKGS/nvidia/nccl/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cublas/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cuda_runtime/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cudnn/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cufft/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/curand/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cusolver/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cusparse/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/cuda_nvrtc/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/nvjitlink/lib"
NVIDIA_LIBS="$NVIDIA_LIBS:$SITE_PKGS/nvidia/nvtx/lib"
export LD_LIBRARY_PATH="$NVIDIA_LIBS:${LD_LIBRARY_PATH:-}"
python -c "import torch; print(torch.__version__, torch.version.cuda)"

Install TorchRL and TensorDict without dependencies

After torch is correct, install local TorchRL and TensorDict with --no-deps so pip does not replace the torch runtime:

uv pip install -e /root/tensordict --no-deps
uv pip install -e /root/rl-isaac --no-deps

If TensorDict and TorchRL are being tested across stacked PRs, make sure the TensorDict branch contains the compatibility hooks expected by the TorchRL branch. A stale TensorDict checkout can fail during import torchrl even when torch itself imports correctly.

TorchRL Recurrent PPO Flow

For IsaacLab PPO with an RNN policy, keep the dataflow explicitly on-policy:

Build the collector policy with policy_factory, not by manually injecting recurrent reset keys into the env.
On TorchRL branches where auto_register_policy_transforms still defaults to None, pass auto_register_policy_transforms=True so the collector adds InitTracker and recurrent state TensorDictPrimer transforms.
Use separate devices for large runs when possible: one GPU for Isaac collection/inference, one GPU for learner updates.
Collect one rollout window, freeze it, and run GAE over the full window once per PPO epoch.
For each epoch, empty/fill a training replay buffer from that processed window, sample random slices for minibatches, then discard the buffer before the next collection.
After training, sync learner weights back to the collector before collecting the next window.

In the current collector fallback path, the robust weight sync form is:

from tensordict import TensorDict

collector.update_policy_weights_(weights=TensorDict.from_module(actor).data)

With compact rollout data, prefer shifted="compact" value estimation so the PPO batch does not need ("next", "policy") rehydration. If a backend requires canonical strides, td.contiguous() and td.clone() may not be enough for size-1 dimensions; torch.empty_like(td).update_(td) is the stronger materialization pattern, and RNN backends should ideally handle this internally.

Gotchas and Pitfalls

Import order: AppLauncher MUST be initialized before import torch. This cannot be stressed enough.
Single simulation per process: Don't try to create two IsaacLab environments in the same process.
EULA acceptance: Set OMNI_KIT_ACCEPT_EULA=yes or the simulation won't start.
--headless flag: Always pass --headless for server/cluster training (no display).
Zombie processes: IsaacLab can leave orphan processes. Always pkill -9 python before relaunching.
TERM environment variable: The Isaac container may not have TERM set, causing isaaclab.sh to print '': unknown terminal type. Fix: export TERM="${TERM:-xterm}".
rsync not installed: The IsaacLab container does not ship with rsync. Install with apt-get install -y rsync if needed.

gym.make requires cfg argument: IsaacLab environments require an explicit configuration object. Resolve it dynamically:

spec = gymnasium.spec(env_name)
entry = spec.kwargs["env_cfg_entry_point"]
module_path, class_name = entry.rsplit(":", 1)
env_cfg = getattr(importlib.import_module(module_path), class_name)()
env = gymnasium.make(env_name, cfg=env_cfg)

from_pixels ignored for IsaacLab: The from_pixels parameter in GymEnv does NOT add pixel observations. You must add a TiledCamera sensor to the scene config manually.
Camera data is NOT in the observation manager: ManagerBased envs don't include camera data in their observation groups. The camera data must be read separately from scene["tiled_camera"].data.output[...].
Memory: Pixel replay buffers are large. 500K frames at 64×64×3 float32 ≈ 24 GB on disk (memmap).
Installing torchrl in Isaac container: Use --no-build-isolation --no-deps to avoid conflicts with Isaac's pre-installed torch/numpy.
Pip IsaacLab can downgrade torch: Always verify python -c "import torch; print(torch.__version__, torch.version.cuda)" after IsaacLab installation, then reinstall the desired torch build if needed.
cu12 and cu13 NVIDIA wheels share runtime paths: If a cu130 nightly fails with ncclCommResume, force reinstall nvidia-nccl-cu13 after all cu12/cu128 installs and prepend the venv NVIDIA library paths to LD_LIBRARY_PATH.
Non-interactive setup checks should not import Isaac: Use importlib.util.find_spec for install checks; save real Isaac imports for the final runtime after EULA variables are exported.
RNN collector transforms: For recurrent policies, use policy_factory and collector auto-registration for InitTracker and recurrent state primers. On branches where the default is still transitional, passing auto_register_policy_transforms=True is required.
On-policy buffers: Do not let a continuously filled replay buffer drive PPO updates. Fill one training window, compute GAE over the whole window, train for the configured epochs, empty the buffer, sync weights, then collect again.

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IsaacLab Guide

What is IsaacLab?

Critical: Import Order

Key Properties of IsaacLab Environments

Pre-vectorized

GPU-native

State-based observations

Auto-reset

In-place tensor modification

Pixel-Based Observations (TiledCamera)

How It Works

Setup Steps

Camera Position for ANYmal-C

Available Environments

Classic (MuJoCo-style)

Locomotion (quadruped/biped)

Manipulation

Running on Steve

1) Create a job with Isaac Docker image

2) Copy and run setup

3) Run training (detached)

4) Override the task

Environment Variables

Pip-Based IsaacLab Flow on Cluster Jobs

Use `uv venv` when `ensurepip` is missing

Install Isaac Sim before IsaacLab

Check package presence without importing Isaac

Reinstall the target torch after IsaacLab

Install TorchRL and TensorDict without dependencies

TorchRL Recurrent PPO Flow

Gotchas and Pitfalls

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IsaacLab Guide

What is IsaacLab?

Critical: Import Order

Key Properties of IsaacLab Environments

Pre-vectorized

GPU-native

State-based observations

Auto-reset

In-place tensor modification

Pixel-Based Observations (TiledCamera)

How It Works

Setup Steps

Camera Position for ANYmal-C

Available Environments

Classic (MuJoCo-style)

Locomotion (quadruped/biped)

Manipulation

Running on Steve

1) Create a job with Isaac Docker image

2) Copy and run setup

3) Run training (detached)

4) Override the task

Environment Variables

Pip-Based IsaacLab Flow on Cluster Jobs

Use uv venv when ensurepip is missing

Install Isaac Sim before IsaacLab

Check package presence without importing Isaac

Reinstall the target torch after IsaacLab

Install TorchRL and TensorDict without dependencies

TorchRL Recurrent PPO Flow

Gotchas and Pitfalls

Use `uv venv` when `ensurepip` is missing