Isaac Lab

Three setup routes have different dependencies

The 3.0 installation and migration guides distinguish Newton without Isaac Sim, OV PhysX, and full Isaac Sim support. The full Isaac Sim route targets Isaac Sim 6.1 with Python 3.12; older version pairings in the repository's compatibility table belong to other Isaac Lab releases. Do not carry a 2.x simulator pairing into this release solely because it previously worked. [S001] [S005] [S006]

The recommended setup uses uv run from the checkout. Optional runtime integrations are selected with --extra before the isaaclab command. The guide supplies different Cartpole commands for newton_mjwarp, ovphysx and isaacsim_physx. A backend name and a runtime installation choice therefore need to be selected together. [S005]

The --extra all shortcut does not install everything described by the project. Its documented set excludes Isaac Sim and specialized integrations such as Mimic and teleoperation, which must be requested by name. Similarly, the presence of a backend's Python package does not establish that every optional runtime, sensor or renderer required by a task is installed. [S005] [S006]

For full Isaac Sim workflows, the installation guide names Ubuntu 22.04 or newer or Windows 11, Python 3.12, at least 32 GB system memory and 16 GB GPU memory, plus a recent NVIDIA production driver. Rendering can need additional GPU memory. These are that route's upstream requirements, not measurements here or a universal hardware specification for every backend. The guide separately lists unsupported or unvalidated features on DGX Spark. [S005]

Preserve an existing experiment before changing its APIs

The migration guide recommends a fresh 3.0 checkout and Python 3.12 environment instead of upgrading packages inside a 2.x environment. It then proceeds through backend configuration, task APIs and training/visualization workflows. Follow that sequence while preserving the original experiment's configuration and results; the preservation step is an editorial recommendation for evaluating changes. [S006]

The new architecture separates backend-specific implementations from the core API. Some familiar imports remain, while others move: for example, the SurfaceGripper classes move to isaaclab_physx.assets. More subtly, a familiar class name can have changed meaning. The guide says the old full-state Imu is renamed Pva; the new Imu provides angular velocity and linear acceleration. Code that still imports successfully can therefore require a review of the observations it expects. [S006]

Start with the documented task for the selected backend and learning library, then inspect the migration sections relevant to the custom environment. This is a suggested validation sequence, not a completed test. This publication did not install the framework, train a policy, compare physics backends or measure simulation-to-hardware transfer. [S005] [S006]

Source licensing is package-specific

The root license is BSD-3-Clause. The license guide identifies most packages with those terms and identifies isaaclab_mimic and related scripts under Apache-2.0, with file-level SPDX notices. It also distinguishes dependency and asset licenses. A root license does not establish uniform rights for every robot model, runtime or external asset selected for an experiment. [S003] [S007] [S008]

The installation guide describes separately hosted assets and caching, so preserving the code archive is not evidence that every needed asset has been preserved offline. This profile covers the framework's setup and migration choices without selecting a particular pretrained policy or training dataset. [S005]