Installation

Installing the Newton physics integration branch requires three things:

1. Isaac sim 5.0

2. The feature/newton branch of Isaac Lab

3. Ubuntu 22.04 or 24.04 (Windows will be supported soon)

To begin, verify the version of Isaac Sim by checking the title of the window created when launching the simulation app. Alternatively, you can find more explicit version information under the Help -> About menu within the app. If your version is less than 5.0, you must first update or reinstall Isaac Sim before you can proceed further.

Next, navigate to the root directory of your local copy of the Isaac Lab repository and open a terminal.

Make sure we are on the feature/newton branch by running the following command:

git checkout feature/newton

Below, we provide instructions for installing Isaac Sim through pip or binary.

Pip Installation

We recommend using conda for managing your python environments. Conda can be downloaded and installed from here.

Create a new conda environment:

conda create -n env_isaaclab python=3.11

Activate the environment:

conda activate env_isaaclab

Install the correct version of torch and torchvision:

pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128

Install Isaac Sim 5.0:

pip install "isaacsim[all,extscache]==5.0.0" --extra-index-url https://pypi.nvidia.com

Install Isaac Lab extensions and dependencies:

./isaaclab.sh -i

Binary Installation

Follow the Isaac Sim documentation to install Isaac Sim 5.0 binaries.

Enter the Isaac Lab directory:

cd IsaacLab

Add a symbolic link to the Isaac Sim installation:

ln -s path_to_isaac_sim _isaac_sim

Install Isaac Lab extensions and dependencies:

./isaaclab.sh -i

Testing the Installation

To verify that the installation was successful, run the following command from the root directory of your Isaac Lab repository:

./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128