Details installation section in documentation (#3442)

# Description It was getting confusing with the table of content on which installation instruction to follow when. This MR takes a stab at writing clearer documentation for users. I hope this helps with new users coming to Isaac Lab. ## Type of change - Documentation update ## Screenshots <img width="553" height="865" alt="image" src="https://github.com/user-attachments/assets/b2b8c71c-8aa4-4911-8efb-25bc894e3a00" /> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

Details installation section in documentation (#3442)
# Description It was getting confusing with the table of content on which installation instruction to follow when. This MR takes a stab at writing clearer documentation for users. I hope this helps with new users coming to Isaac Lab. ## Type of change - Documentation update ## Screenshots <img width="553" height="865" alt="image" src="https://github.com/user-attachments/assets/b2b8c71c-8aa4-4911-8efb-25bc894e3a00" /> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
8b590c1a · Mayank Mittal · GitHub · 137106d3 · 8b590c1a · 8b590c1a
Unverified Commit 8b590c1a authored Sep 17, 2025 by Mayank Mittal Committed by GitHub Sep 17, 2025
8 changed files
--- a/README.md
+++ b/README.md
@@ -37,92 +37,6 @@ Isaac Lab offers a comprehensive set of tools and environments designed to facil
 ## Getting Started
-### Getting Started with Open-Source Isaac Sim
-Isaac Sim is now open source and available on GitHub!
-For detailed Isaac Sim installation instructions, please refer to
-[Isaac Sim README](https://github.com/isaac-sim/IsaacSim?tab=readme-ov-file#quick-start).
-1. Clone Isaac Sim
-    ```
-    git clone https://github.com/isaac-sim/IsaacSim.git
-    ```
-2. Build Isaac Sim
-    ```
-    cd IsaacSim
-    ./build.sh
-    ```
-    On Windows, please use `build.bat` instead.
-3. Clone Isaac Lab
-    ```
-    cd ..
-    git clone https://github.com/isaac-sim/IsaacLab.git
-    cd isaaclab
-    ```
-4. Set up symlink in Isaac Lab
-    Linux:
-    ```
-    ln -s ../IsaacSim/_build/linux-x86_64/release _isaac_sim
-    ```
-    Windows:
-    ```
-    mklink /D _isaac_sim ..\IsaacSim\_build\windows-x86_64\release
-    ```
-5. Install Isaac Lab
-    Linux:
-    ```
-    ./isaaclab.sh -i
-    ```
-    Windows:
-    ```
-    isaaclab.bat -i
-    ```
-6. [Optional] Set up a virtual python environment (e.g. for Conda)
-    Linux:
-    ```
-    source _isaac_sim/setup_conda_env.sh
-    ```
-    Windows:
-    ```
-    _isaac_sim\setup_python_env.bat
-    ```
-7. Train!
-    Linux:
-    ```
-    ./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Ant-v0 --headless
-    ```
-    Windows:
-    ```
-    isaaclab.bat -p scripts\reinforcement_learning\skrl\train.py --task Isaac-Ant-v0 --headless
-    ```
 ### Documentation
 Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including

--- a/docs/conf.py
+++ b/docs/conf.py
@@ -96,6 +96,8 @@ nitpick_ignore_regex = [
    (r"py:.*", r"trimesh.*"),  # we don't have intersphinx mapping for trimesh
 ]
+# emoji style
+sphinxemoji_style = "twemoji"  # options: "twemoji" or "unicode"
 # put type hints inside the signature instead of the description (easier to maintain)
 autodoc_typehints = "signature"
 # autodoc_typehints_format = "fully-qualified"

--- a/docs/source/setup/installation/asset_caching.rst
+++ b/docs/source/setup/installation/asset_caching.rst
@@ -8,7 +8,7 @@ In some cases, it is possible that asset loading times can be long when assets a
 If you run into cases where assets take a few minutes to load for each run,
 we recommend enabling asset caching following the below steps.
-First, launch the Isaac Sim app:
+First, launch the Isaac Sim application:
 .. tab-set::
   :sync-group: os
@@ -27,25 +27,32 @@ First, launch the Isaac Sim app:
         isaaclab.bat -s
-On the top right of the Isaac Sim app, there will be an icon labelled ``CACHE:``.
+On the top right of the Isaac Lab or Isaac Sim app, look for the icon labeled ``CACHE:``.
-There may be a message indicating ``HUB NOT DETECTED`` or ``NEW VERSION DETECTED``.
+You may see a message such as ``HUB NOT DETECTED`` or ``NEW VERSION DETECTED``.
+Click the message to enable `Hub <https://docs.omniverse.nvidia.com/utilities/latest/cache/hub-workstation.html>`_.
+Hub automatically manages local caching for Isaac Lab assets, so subsequent runs will use cached files instead of
+downloading from AWS each time.
 .. figure:: ../../_static/setup/asset_caching.jpg
    :align: center
    :figwidth: 100%
    :alt: Simulator with cache messaging.
-Click on the message, which will enable `Hub <https://docs.omniverse.nvidia.com/utilities/latest/cache/hub-workstation.html>`_
+Hub provides better control and management of cached assets, making workflows faster and more reliable, especially
-for asset caching. Once enabled, Hub will run automatically each time an Isaac Lab or Isaac Sim instance is run.
+in environments with limited or intermittent internet access.
-Note that for the first run, assets will still need to be pulled from the cloud, which could lead to longer loading times.
+.. note::
-However, subsequent runs that use the same assets will be able to use the cached files from Hub.
+   The first time you run Isaac Lab, assets will still need to be pulled from the cloud, which could lead
-Hub will provide better control for caching of assets used in Isaac Lab.
+   to longer loading times.  Once cached, loading times will be significantly reduced on subsequent runs.
 Nucleus
 -------
-Prior to Isaac Sim 4.5, assets were accessible from the Omniverse Nucleus server and through setting up a local Nucleus server.
-Although from Isaac Sim 4.5, we have deprecated the use of Omniverse Nucleus and the Omniverse Launcher, any existing instances
+Before Isaac Sim 4.5, assets were accessed via the Omniverse Nucleus server, including setups with local Nucleus instances.
-or setups of local Nucleus instances should still work. We recommend keeping existing setups if a local Nucleus server
-was previously already set up.
+.. warning::
+   Starting with Isaac Sim 4.5, the Omniverse Nucleus server and Omniverse Launcher are deprecated.
+   Existing Nucleus setups will continue to work, so if you have a local Nucleus server already configured,
+   you may continue to use it.
--- a/docs/source/setup/installation/binaries_installation.rst
+++ b/docs/source/setup/installation/binaries_installation.rst
@@ -3,7 +3,7 @@
 Installation using Isaac Sim Binaries
 =====================================
-Isaac Lab requires Isaac Sim. This tutorial installs Isaac Sim first from binaries, then Isaac Lab from source code.
+Isaac Lab requires Isaac Sim. This tutorial installs Isaac Sim first from its binaries, then Isaac Lab from source code.
 Installing Isaac Sim
 --------------------
@@ -15,7 +15,8 @@ Please follow the Isaac Sim
 `documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html>`__
 to install the latest Isaac Sim release.
-From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html#download-isaac-sim-short>`_ directly as a zip file.
+From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html#download-isaac-sim-short>`_
+directly as a zip file.
 To check the minimum system requirements, refer to the documentation
 `here <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html>`__.
@@ -485,7 +486,7 @@ and ``source _isaac_sim/setup_conda_env.sh`` has been executed (for uv as well).
 Train a robot!
-~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~
 You can now use Isaac Lab to train a robot through Reinforcement Learning! The quickest way to use Isaac Lab is through the predefined workflows using one of our **Batteries-included** robot tasks. Execute the following command to quickly train an ant to walk!
 We recommend adding ``--headless`` for faster training.

--- a/docs/source/setup/installation/index.rst
+++ b/docs/source/setup/installation/index.rst
@@ -19,6 +19,11 @@ Local Installation
   :target: https://www.microsoft.com/en-ca/windows/windows-11
   :alt: Windows 11
+Isaac Lab installation is available for Windows and Linux. Since it is built on top of Isaac Sim,
+it is required to install Isaac Sim before installing Isaac Lab. This guide explains the
+recommended installation methods for both Isaac Sim and Isaac Lab.
 .. caution::
   We have dropped support for Isaac Sim versions 4.2.0 and below. We recommend using the latest
@@ -27,44 +32,121 @@ Local Installation
   For more information, please refer to the
   `Isaac Sim release notes <https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#>`__.
-.. note::
-    We recommend system requirements with at least 32GB RAM and 16GB VRAM for Isaac Lab.
+System Requirements
-    For workflows with rendering enabled, additional VRAM may be required.
+-------------------
-    For the full list of system requirements for Isaac Sim, please refer to the
-    `Isaac Sim system requirements <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html#system-requirements>`_.
+General Requirements
+~~~~~~~~~~~~~~~~~~~~
+- **RAM:** 32 GB or more
+- **GPU VRAM:** 16 GB or more (additional VRAM may be required for rendering workflows)
+- **OS:** Ubuntu 22.04 (Linux x64) or Windows 11 (x64)
+For detailed requirements, see the
+`Isaac Sim system requirements <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html#system-requirements>`_.
+Driver Requirements
+~~~~~~~~~~~~~~~~~~~
+Drivers other than those recommended on `Omniverse Technical Requirements <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`_
+may work but have not been validated against all Omniverse tests.
+- Use the **latest NVIDIA production branch driver**.
+- On Linux, version ``535.216.01`` or later is recommended, especially when upgrading to
+  **Ubuntu 22.04.5 with kernel 6.8.0-48-generic** or newer.
+- If you are using a new GPU or encounter driver issues, install the latest production branch
+  driver from the `Unix Driver Archive <https://www.nvidia.com/en-us/drivers/unix/>`_
+  using the ``.run`` installer.
+Troubleshooting
+~~~~~~~~~~~~~~~
+Please refer to the `Linux Troubleshooting <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`_
+to resolve installation issues in Linux.
+Quick Start (Recommended)
+-------------------------
+For most users, the simplest and fastest way to install Isaac Lab is by following the
+:doc:`pip_installation` guide.
+This method will install Isaac Sim via pip and Isaac Lab through its source code.
+If you are new to Isaac Lab, start here.
+Choosing an Installation Method
+-------------------------------
+Different workflows require different installation methods.
+Use this table to decide:
+-------------------+------------------------------+------------------------------+---------------------------+------------+
+| Method            | Isaac Sim                    | Isaac Lab                    | Best For                  | Difficulty |
+===================+==============================+==============================+===========================+============+
+| **Recommended**   | |:package:| pip install      | |:floppy_disk:| source (git) | Beginners, standard use   | Easy       |
+-------------------+------------------------------+------------------------------+---------------------------+------------+
+| Binary + Source   | |:inbox_tray:| binary        | |:floppy_disk:| source (git) | Users preferring binary   | Easy       |
+|                   | download                     |                              | install of Isaac Sim      |            |
+-------------------+------------------------------+------------------------------+---------------------------+------------+
+| Full Source Build | |:floppy_disk:| source (git) | |:floppy_disk:| source (git) | Developers modifying both | Advanced   |
+-------------------+------------------------------+------------------------------+---------------------------+------------+
+| Pip Only          | |:package:| pip install      | |:package:| pip install      | External extensions only  | Special    |
+|                   |                              |                              | (no training/examples)    | case       |
+-------------------+------------------------------+------------------------------+---------------------------+------------+
+Next Steps
+----------
+Once you've reviewed the installation methods, continue with the guide that matches your workflow:
+- |:smiley:| :doc:`pip_installation`
+  - Install Isaac Sim via pip and Isaac Lab from source.
+  - Best for beginners and most users.
+- :doc:`binaries_installation`
+  - Install Isaac Sim from its binary package (website download).
+  - Install Isaac Lab from its source code.
+  - Choose this if you prefer not to use pip for Isaac Sim (for instance, on Ubuntu 20.04).
-    For details on driver requirements, please see the `Technical Requirements <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`_ guide
+- :doc:`source_installation`
-    * See `Linux Troubleshooting <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`_ to resolve driver installation issues in linux
+  - Build Isaac Sim from source.
-    * If you are on a new GPU or are experiencing issues with the current drivers, we recommend installing the **latest production branch version** drivers from the `Unix Driver Archive <https://www.nvidia.com/en-us/drivers/unix/>`_ using the ``.run`` installer on Linux.
+  - Install Isaac Lab from its source code.
-    * NVIDIA driver version ``535.216.01`` or later is recommended when upgrading to **Ubuntu 22.04.5 kernel 6.8.0-48-generic** or later
+  - Recommended only if you plan to modify Isaac Sim itself.
+- :doc:`isaaclab_pip_installation`
-Isaac Lab is built on top of the Isaac Sim platform. Therefore, it is required to first install Isaac Sim
+  - Install Isaac Sim and Isaac Lab as pip packages.
-before using Isaac Lab.
+  - Best for advanced users building **external extensions** with custom runner scripts.
+  - Note: This does **not** include training or example scripts.
-Both Isaac Sim and Isaac Lab provide two ways of installation:
-either through binary download/source file, or through Python's package installer ``pip``.
-The method of installation may depend on the use case and the level of customization desired from users.
+Asset Caching
-For example, installing Isaac Sim from pip will be a simpler process than installing it from binaries,
+-------------
-but the source code will then only be accessible through the installed source package and not through the direct binary download.
-Similarly, installing Isaac Lab through pip is only recommended for workflows that use external launch scripts outside of Isaac Lab.
+Isaac Lab assets are hosted on **AWS S3 cloud storage**. Loading times can vary
-The Isaac Lab pip packages only provide the core framework extensions for Isaac Lab and does not include any of the
+depending on your **network connection** and **geographical location**, and in some cases,
-standalone training, inferencing, and example scripts. Therefore, this workflow is recommended for projects that are
+assets may take several minutes to load for each run. To improve performance or support
-built as external extensions outside of Isaac Lab, which utilizes user-defined runner scripts.
+**offline workflows**, we recommend enabling **asset caching**.
-We recommend using Isaac Sim pip installation for a simplified installation experience.
+- Cached assets are stored locally, reducing repeated downloads.
+- This is especially useful if you have a slow or intermittent internet connection,
+  or if your deployment environment is offline.
-For users getting started with Isaac Lab, we recommend installing Isaac Lab by cloning the repo.
+Please follow the steps :doc:`asset_caching` to enable asset caching and speed up your workflow.
 .. toctree::
    :maxdepth: 2
+    :hidden:
-    Pip installation (recommended) <pip_installation>
+    pip_installation
-    Binary installation <binaries_installation>
+    binaries_installation
-    Advanced installation (Isaac Lab pip) <isaaclab_pip_installation>
+    source_installation
-    Asset caching <asset_caching>
+    isaaclab_pip_installation
+    asset_caching
--- a/docs/source/setup/installation/isaaclab_pip_installation.rst
+++ b/docs/source/setup/installation/isaaclab_pip_installation.rst
@@ -187,14 +187,17 @@ To run a user-defined script for Isaac Lab, simply run
 Generating VS Code Settings
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Due to the structure resulting from the installation, VS Code IntelliSense (code completion, parameter info and member lists, etc.) will not work by default.
+Due to the structure resulting from the installation, VS Code IntelliSense (code completion, parameter info
-To set it up (define the search paths for import resolution, the path to the default Python interpreter, and other settings), for a given workspace folder, run the following command:
+and member lists, etc.) will not work by default. To set it up (define the search paths for import resolution,
+the path to the default Python interpreter, and other settings), for a given workspace folder,
+run the following command:
-    .. code-block:: bash
+.. code-block:: bash
-        python -m isaaclab --generate-vscode-settings
+   python -m isaaclab --generate-vscode-settings
-    .. warning::
-        The command will generate a ``.vscode/settings.json`` file in the workspace folder.
+.. warning::
-        If the file already exists, it will be overwritten (a confirmation prompt will be shown first).
+   The command will generate a ``.vscode/settings.json`` file in the workspace folder.
+   If the file already exists, it will be overwritten (a confirmation prompt will be shown first).
--- a/docs/source/setup/installation/pip_installation.rst
+++ b/docs/source/setup/installation/pip_installation.rst
 .. _isaaclab-pip-installation:
-Installation using Isaac Sim pip
+Installation using Isaac Sim Pip
 ================================
 Isaac Lab requires Isaac Sim. This tutorial first installs Isaac Sim from pip, then Isaac Lab from source code.
@@ -371,7 +371,7 @@ On Windows machines, please terminate the process from Command Prompt using
 If you see this, then the installation was successful! |:tada:|
 Train a robot!
-~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~
 You can now use Isaac Lab to train a robot through Reinforcement Learning! The quickest way to use Isaac Lab is through the predefined workflows using one of our **Batteries-included** robot tasks. Execute the following command to quickly train an ant to walk!
 We recommend adding ``--headless`` for faster training.

--- a/docs/source/setup/installation/source_installation.rst
+++ b/docs/source/setup/installation/source_installation.rst
+.. _isaaclab-source-installation:
+Installation using Isaac Sim Source
+===================================
+Isaac Lab requires Isaac Sim. This tutorial first installs Isaac Sim from source, then Isaac Lab from source code.
+.. note::
+   This is a more advanced installation method and is not recommended for most users. Only follow this method
+   if you wish to modify the source code of Isaac Sim as well.
+Installing Isaac Sim
+--------------------
+From Isaac Sim 5.0 release, it is possible to build Isaac Sim from its source code.
+This approach is meant for users who wish to modify the source code of Isaac Sim as well,
+or want to test Isaac Lab with the nightly version of Isaac Sim.
+The following instructions are adapted from the `Isaac Sim documentation <https://github.com/isaac-sim/IsaacSim?tab=readme-ov-file#quick-start>`_
+for the convenience of users.
+.. attention::
+   Building Isaac Sim from source requires Ubuntu 22.04 LTS or higher.
+.. attention::
+   For details on driver requirements, please see the `Technical Requirements <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`_ guide!
+   On Windows, it may be necessary to `enable long path support <https://learn.microsoft.com/en-us/windows/win32/fileio/maximum-file-path-limitation?tabs=registry#enable-long-paths-in-windows-10-version-1607-and-later>`_ to avoid installation errors due to OS limitations.
+- Clone the Isaac Sim repository into your workspace:
+  .. code:: bash
+     git clone https://github.com/isaac-sim/IsaacSim.git
+- Build Isaac Sim from source:
+  .. tab-set::
+     :sync-group: os
+     .. tab-item:: :icon:`fa-brands fa-linux` Linux
+        :sync: linux
+        .. code:: bash
+           cd IsaacSim
+           ./build.sh
+     .. tab-item:: :icon:`fa-brands fa-windows` Windows
+        :sync: windows
+        .. code:: bash
+           cd IsaacSim
+           build.bat
+Verifying the Isaac Sim installation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+To avoid the overhead of finding and locating the Isaac Sim installation
+directory every time, we recommend exporting the following environment
+variables to your terminal for the remaining of the installation instructions:
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         # Isaac Sim root directory
+         export ISAACSIM_PATH="${pwd}/_build/linux-x86_64/release"
+         # Isaac Sim python executable
+         export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         :: Isaac Sim root directory
+         set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release"
+         :: Isaac Sim python executable
+         set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
+-  Check that the simulator runs as expected:
+   .. tab-set::
+      :sync-group: os
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+         .. code:: bash
+            # note: you can pass the argument "--help" to see all arguments possible.
+            ${ISAACSIM_PATH}/isaac-sim.sh
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+         .. code:: batch
+            :: note: you can pass the argument "--help" to see all arguments possible.
+            %ISAACSIM_PATH%\isaac-sim.bat
+-  Check that the simulator runs from a standalone python script:
+   .. tab-set::
+      :sync-group: os
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+         .. code:: bash
+            # checks that python path is set correctly
+            ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
+            # checks that Isaac Sim can be launched from python
+            ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.api/add_cubes.py
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+         .. code:: batch
+            :: checks that python path is set correctly
+            %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
+            :: checks that Isaac Sim can be launched from python
+            %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.api\add_cubes.py
+.. caution::
+   If you have been using a previous version of Isaac Sim, you need to run the following command for the *first*
+   time after installation to remove all the old user data and cached variables:
+   .. tab-set::
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      	.. code:: bash
+      		${ISAACSIM_PATH}/isaac-sim.sh --reset-user
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         .. code:: batch
+            %ISAACSIM_PATH%\isaac-sim.bat --reset-user
+If the simulator does not run or crashes while following the above
+instructions, it means that something is incorrectly configured. To
+debug and troubleshoot, please check Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`__
+and the
+`forums <https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_sim_forums.html>`__.
+Installing Isaac Lab
+--------------------
+Cloning Isaac Lab
+~~~~~~~~~~~~~~~~~
+.. note::
+   We recommend making a `fork <https://github.com/isaac-sim/IsaacLab/fork>`_ of the Isaac Lab repository to contribute
+   to the project but this is not mandatory to use the framework. If you
+   make a fork, please replace ``isaac-sim`` with your username
+   in the following instructions.
+Clone the Isaac Lab repository into your **workspace**. Please note that the location of the Isaac Lab repository
+should be outside of the Isaac Sim repository. For example, if you cloned Isaac Sim into ``~/IsaacSim``,
+then you should clone Isaac Lab into ``~/IsaacLab``.
+.. tab-set::
+   .. tab-item:: SSH
+      .. code:: bash
+         git clone git@github.com:isaac-sim/IsaacLab.git
+   .. tab-item:: HTTPS
+      .. code:: bash
+         git clone https://github.com/isaac-sim/IsaacLab.git
+.. note::
+   We provide a helper executable `isaaclab.sh <https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh>`_ that provides
+   utilities to manage extensions:
+   .. tab-set::
+      :sync-group: os
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+         .. code:: text
+            ./isaaclab.sh --help
+            usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-n] [-c] -- Utility to manage Isaac Lab.
+            optional arguments:
+               -h, --help           Display the help content.
+               -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
+               -f, --format         Run pre-commit to format the code and check lints.
+               -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+               -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+               -t, --test           Run all python pytest tests.
+               -o, --docker         Run the docker container helper script (docker/container.sh).
+               -v, --vscode         Generate the VSCode settings file from template.
+               -d, --docs           Build the documentation from source using sphinx.
+               -n, --new            Create a new external project or internal task from template.
+               -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'.
+               -u, --uv [NAME]      Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'.
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+         .. code:: text
+            isaaclab.bat --help
+            usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-n] [-c] -- Utility to manage Isaac Lab.
+            optional arguments:
+               -h, --help           Display the help content.
+               -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
+               -f, --format         Run pre-commit to format the code and check lints.
+               -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+               -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
+               -t, --test           Run all python pytest tests.
+               -v, --vscode         Generate the VSCode settings file from template.
+               -d, --docs           Build the documentation from source using sphinx.
+               -n, --new            Create a new external project or internal task from template.
+               -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'.
+               -u, --uv [NAME]      Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'.
+Creating the Isaac Sim Symbolic Link
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Set up a symbolic link between the installed Isaac Sim root folder
+and ``_isaac_sim`` in the Isaac Lab directory. This makes it convenient
+to index the python modules and look for extensions shipped with Isaac Sim.
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         # enter the cloned repository
+         cd IsaacLab
+         # create a symbolic link
+         ln -s ${ISAACSIM_PATH} _isaac_sim
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         :: enter the cloned repository
+         cd IsaacLab
+         :: create a symbolic link - requires launching Command Prompt with Administrator access
+         mklink /D _isaac_sim ${ISAACSIM_PATH}
+Setting up the uv environment (optional)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. attention::
+   This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step.
+The executable ``isaaclab.sh`` automatically fetches the python bundled with Isaac
+Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable
+behaves like a python executable, and can be used to run any python script or
+module with the simulator. For more information, please refer to the
+`documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/python_scripting/manual_standalone_python.html>`__.
+To install ``uv``, please follow the instructions `here <https://docs.astral.sh/uv/getting-started/installation/>`__.
+You can create the Isaac Lab environment using the following commands.
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         # Option 1: Default name for uv environment is 'env_isaaclab'
+         ./isaaclab.sh --uv  # or "./isaaclab.sh -u"
+         # Option 2: Custom name for uv environment
+         ./isaaclab.sh --uv my_env  # or "./isaaclab.sh -u my_env"
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         :: Option 1: Default name for uv environment is 'env_isaaclab'
+         isaaclab.bat --uv  :: or "isaaclab.bat -u"
+         :: Option 2: Custom name for uv environment
+         isaaclab.bat --uv my_env  :: or "isaaclab.bat -u my_env"
+Once created, be sure to activate the environment before proceeding!
+.. code:: bash
+   source ./env_isaaclab/bin/activate  # or "source ./my_env/bin/activate"
+Once you are in the virtual environment, you do not need to use ``./isaaclab.sh -p`` / ``isaaclab.bat -p``
+to run python scripts. You can use the default python executable in your environment
+by running ``python`` or ``python3``. However, for the rest of the documentation,
+we will assume that you are using ``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python scripts. This command
+is equivalent to running ``python`` or ``python3`` in your virtual environment.
+Setting up the conda environment (optional)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. attention::
+   This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step.
+.. note::
+   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
+The executable ``isaaclab.sh`` automatically fetches the python bundled with Isaac
+Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable
+behaves like a python executable, and can be used to run any python script or
+module with the simulator. For more information, please refer to the
+`documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/python_scripting/manual_standalone_python.html>`__.
+To install ``conda``, please follow the instructions `here <https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html>`__.
+You can create the Isaac Lab environment using the following commands.
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         # Option 1: Default name for conda environment is 'env_isaaclab'
+         ./isaaclab.sh --conda  # or "./isaaclab.sh -c"
+         # Option 2: Custom name for conda environment
+         ./isaaclab.sh --conda my_env  # or "./isaaclab.sh -c my_env"
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         :: Option 1: Default name for conda environment is 'env_isaaclab'
+         isaaclab.bat --conda  :: or "isaaclab.bat -c"
+         :: Option 2: Custom name for conda environment
+         isaaclab.bat --conda my_env  :: or "isaaclab.bat -c my_env"
+Once created, be sure to activate the environment before proceeding!
+.. code:: bash
+   conda activate env_isaaclab  # or "conda activate my_env"
+Once you are in the virtual environment, you do not need to use ``./isaaclab.sh -p`` / ``isaaclab.bat -p``
+to run python scripts. You can use the default python executable in your environment
+by running ``python`` or ``python3``. However, for the rest of the documentation,
+we will assume that you are using ``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python scripts. This command
+is equivalent to running ``python`` or ``python3`` in your virtual environment.
+Installation
+~~~~~~~~~~~~
+-  Install dependencies using ``apt`` (on Ubuntu):
+   .. code:: bash
+      sudo apt install cmake build-essential
+- Run the install command that iterates over all the extensions in ``source`` directory and installs them
+  using pip (with ``--editable`` flag):
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         ./isaaclab.sh --install # or "./isaaclab.sh -i"
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: bash
+         isaaclab.bat --install :: or "isaaclab.bat -i"
+.. note::
+   By default, this will install all the learning frameworks. If you want to install only a specific framework, you can
+   pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run
+   .. tab-set::
+      :sync-group: os
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+         .. code:: bash
+            ./isaaclab.sh --install rl_games  # or "./isaaclab.sh -i rl_games"
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+         .. code:: bash
+            isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
+   The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.
+Verifying the Isaac Lab installation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+To verify that the installation was successful, run the following command from the
+top of the repository:
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         # Option 1: Using the isaaclab.sh executable
+         # note: this works for both the bundled python and the virtual environment
+         ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py
+         # Option 2: Using python in your virtual environment
+         python scripts/tutorials/00_sim/create_empty.py
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         :: Option 1: Using the isaaclab.bat executable
+         :: note: this works for both the bundled python and the virtual environment
+         isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py
+         :: Option 2: Using python in your virtual environment
+         python scripts\tutorials\00_sim\create_empty.py
+The above command should launch the simulator and display a window with a black
+viewport as shown below. You can exit the script by pressing ``Ctrl+C`` on your terminal.
+On Windows machines, please terminate the process from Command Prompt using
+``Ctrl+Break`` or ``Ctrl+fn+B``.
+.. figure:: ../../_static/setup/verify_install.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: Simulator with a black window.
+If you see this, then the installation was successful! |:tada:|
+Train a robot!
+~~~~~~~~~~~~~~
+You can now use Isaac Lab to train a robot through Reinforcement Learning! The quickest way to use Isaac Lab is through the predefined workflows using one of our **Batteries-included** robot tasks. Execute the following command to quickly train an ant to walk!
+We recommend adding ``--headless`` for faster training.
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         isaaclab.bat -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
+... Or a robot dog!
+.. tab-set::
+   :sync-group: os
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+      .. code:: bash
+         ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 --headless
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+      .. code:: batch
+         isaaclab.bat -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 --headless
+Isaac Lab provides the tools you'll need to create your own **Tasks** and **Workflows** for whatever your project needs may be. Take a look at our :ref:`how-to` guides like `Adding your own learning Library <source/how-to/add_own_library>`_ or `Wrapping Environments <source/how-to/wrap_rl_env>`_ for details.
+.. figure:: ../../_static/setup/isaac_ants_example.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: Idle hands...