Isaac Lab¶

Installation¶

Info

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 ¹

Isaac Sim¶

Livestream¶

download webrtc client in windows or linux here

append --livestream 2 to enable webrtc in isaaclab ² and make sure UDP port 47998 TCP port 49100 port are open³

Warnings¶

2025-12-08T02:37:14Z [822ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.

enable performance mode

Disable Ros2¶

find .venv -name "isaacsim.exp.full.kit"

-> .venv/lib/python3.11/site-packages/isaacsim/apps/isaacsim.exp.full.kit

code .venv/lib/python3.11/site-packages/isaacsim/apps/isaacsim.exp.full.kit

Find the line isaac.startup.ros_bridge_extension = "isaacsim.ros2.bridge".
Change it to isaac.startup.ros_bridge_extension = "" to disable the ROS 2 bridge.
Save and close the file. ⁴

compatibility_check¶

isaacsim isaacsim.exp.compatibility_check

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Bugs¶

No `libXt.so` and `libGLU.so`¶

TO fix(gemini 3 pro thinking):

libXt.so: cannot open shared object file
libGLU.so: cannot open shared object file

python  scripts/reinforcement_learning/skrl/train.py --task=Isaac-Ant-v0 --headless
[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /root/Devspace/IsaacLab-uv/isaaclab/apps/isaaclab.python.headless.kit
Loading user config located at: '/root/Devspace/IsaacLab-uv/.venv/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
[Info] [carb] Logging to file: /root/Devspace/IsaacLab-uv/.venv/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20251210_103032.log
2025-12-10T02:30:32Z [88ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2025-12-10T02:30:32Z [129ms] [Error] [omni.ext.plugin] Could not load the dynamic library from /root/Devspace/IsaacLab-uv/.venv/lib/python3.11/site-packages/isaacsim/extscache/omni.usd.libs-1.0.1+69cbf6ad.lx64.r.cp311/bin/libMaterialXRenderHw.so. Error: libXt.so: cannot open shared object file: No such file or directory (note that this may be caused by a dependent library)
2025-12-10T02:30:33Z [135ms] [Error] [omni.ext.plugin] Could not load the dynamic library from /root/Devspace/IsaacLab-uv/.venv/lib/python3.11/site-packages/isaacsim/extscache/omni.usd.libs-1.0.1+69cbf6ad.lx64.r.cp311/bin/libMaterialXRenderGlsl.so. Error: libXt.so: cannot open shared object file: No such file or directory (note that this may be caused by a dependent library)
2025-12-10T02:30:33Z [140ms] [Error] [omni.ext.plugin] Could not load the dynamic library from /root/Devspace/IsaacLab-uv/.venv/lib/python3.11/site-packages/isaacsim/extscache/omni.usd.libs-1.0.1+69cbf6ad.lx64.r.cp311/bin/libusd_usdBakeMtlx.so. Error: libXt.so: cannot open shared object file: No such file or directory (note that this may be caused by a dependent library)
2025-12-10T02:30:33Z [200ms] [Error] [omni.ext.plugin] Could not load the dynamic library from /root/Devspace/IsaacLab-uv/.venv/lib/python3.11/site-packages/isaacsim/extscache/omni.iray.libs-0.0.0+69cbf6ad.lx64.r/bin/iray/libneuray.so. Error: libGLU.so: cannot open shared object file: No such file or directory (note that this may be caused by a dependent library)

apt-get update
apt-get install -y libxt6 libglu1-mesa libgl1-mesa-glx

VkResult: ERROR_INCOMPATIBLE_DRIVER¶

2025-12-10T02:48:39Z [4,250ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2025-12-10T02:48:39Z [4,250ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2025-12-10T02:48:39Z [4,250ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2025-12-10T02:48:39Z [4,423ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.

check autodl document

Vulkan is a GPU driver interface standard ⁶

OMNI_KIT_ALLOW_ROOT¶

isaacsim isaacsim.exp.compatibility_check
Omniverse Kit cannot be run as the root user without the --allow-root flag or envvar OMNI_KIT_ALLOW_ROOT set to 1.
Running as root should not be necessary under most circumstances.
Doing this may cause kit to encounter errors when running as a normal user again.
[1]    20169 segmentation fault (core dumped)  isaacsim isaacsim.exp.compatibility_check

echo 'export OMNI_KIT_ALLOW_ROOT=1' >> ~/.zshrc
source ~/.zshrc

`pylance` Failed to Recognize Isaaclab as Packages¶

add extraPaths in .vscode/settings.json

{
  "python.analysis.extraPaths": [
    "${workspaceFolder}/isaaclab/source/isaaclab",
    "${workspaceFolder}/isaaclab/source/isaaclab_assets",
    "${workspaceFolder}/isaaclab/source/isaaclab_mimic",
    "${workspaceFolder}/isaaclab/source/isaaclab_rl",
    "${workspaceFolder}/isaaclab/source/isaaclab_tasks"
  ],
  "python.autoComplete.extraPaths": [
    "${workspaceFolder}/isaaclab/source/isaaclab",
    "${workspaceFolder}/isaaclab/source/isaaclab_assets",
    "${workspaceFolder}/isaaclab/source/isaaclab_mimic",
    "${workspaceFolder}/isaaclab/source/isaaclab_rl",
    "${workspaceFolder}/isaaclab/source/isaaclab_tasks"
  ]
}

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Training¶

Logger¶

uv add --upgrade wandb
wandb login --cloud

extra args forrsl_rl

python scripts/reinforcement_learning/rsl_rl/train.py \
  --task=Isaac-Velocity-Rough-Unitree-Go2-v0\
  --headless \
  --logger wandb \
  --run_name Velocity-Rough\
  --log_project_name isaaclab-unitree-go2

the final run name is date+--run_name more options in isaaclab/scripts/reinforcement_learning/rsl_rl/cli_args.py