Adds uv support as an alternative to conda in isaaclab.sh (#3172)

# Description

This PR adds support for uv as an alternative to conda or venv for
managing virtual environments and adds corresponding support for uv pip
for managing python dependencies. uv and uv pip is significantly faster
than conda and has many useful tools.

If users wish to use the uv workflow they will need to have uv
installed, but otherwise no additional dependencies are added.

Docs should be updated to describe this option. There may need to be
more work done to clean when deactivating the environment. Uv does not
support pre and post activation hooks like conda so cleaning up the
environment variables is slightly more tricky. I would greatly
appreciate feedback to improve this workflow!

Fixes #3408

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update


## Checklist

- [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

---------
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

docs/licenses/dependencies/uv-license.txt

+MIT License
+
+Copyright (c) 2025 Astral Software Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

docs/source/overview/developer-guide/vs_code.rst

@@ -69,7 +69,7 @@ python executable provided by Omniverse. This is specified in the
       "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
    }
 
-If you want to use a different python interpreter (for instance, from your conda environment),
+If you want to use a different python interpreter (for instance, from your conda or uv environment),
 you need to change the python interpreter used by selecting and activating the python interpreter
 of your choice in the bottom left corner of VSCode, or opening the command palette (``Ctrl+Shift+P``)
 and selecting ``Python: Select Interpreter``.

docs/source/overview/own-project/template.rst

@@ -33,7 +33,7 @@ Running the template generator
 ------------------------------
 
 Install Isaac Lab by following the `installation guide <../../setup/installation/index.html>`_.
-We recommend using conda installation as it simplifies calling Python scripts from the terminal.
+We recommend using conda or uv installation as it simplifies calling Python scripts from the terminal.
 
 Then, run the following command to generate a new external project or internal task:
 

docs/source/setup/installation/binaries_installation.rst

@@ -213,6 +213,7 @@ Clone the Isaac Lab repository into your workspace:
                -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
@@ -234,6 +235,7 @@ Clone the Isaac Lab repository into your workspace:
                -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
@@ -268,6 +270,57 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          mklink /D _isaac_sim path_to_isaac_sim
          :: For example: mklink /D _isaac_sim C:/isaacsim
 
+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)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -427,8 +480,8 @@ On Windows machines, please terminate the process from Command Prompt using
 
 If you see this, then the installation was successful! |:tada:|
 
-If you see an error ``ModuleNotFoundError: No module named 'isaacsim'``, ensure that the conda environment is activated
-and ``source _isaac_sim/setup_conda_env.sh`` has been executed.
+If you see an error ``ModuleNotFoundError: No module named 'isaacsim'``, ensure that the conda or uv environment is activated
+and ``source _isaac_sim/setup_conda_env.sh`` has been executed (for uv as well).
 
 
 Train a robot!

docs/source/setup/installation/isaaclab_pip_installation.rst

@@ -25,6 +25,31 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
             conda create -n env_isaaclab python=3.11
             conda activate env_isaaclab
 
+      .. tab-item:: uv environment
+
+         .. tab-set::
+            :sync-group: os
+
+            .. tab-item:: :icon:`fa-brands fa-linux` Linux
+               :sync: linux
+
+               .. code-block:: bash
+
+                  # create a virtual environment named env_isaaclab with python3.11
+                  uv venv --python 3.11 env_isaaclab
+                  # activate the virtual environment
+                  source env_isaaclab/bin/activate
+
+            .. tab-item:: :icon:`fa-brands fa-windows` Windows
+               :sync: windows
+
+               .. code-block:: batch
+
+                  # create a virtual environment named env_isaaclab with python3.11
+                  uv venv --python 3.11 env_isaaclab
+                  # activate the virtual environment
+                  env_isaaclab\Scripts\activate
+
       .. tab-item:: venv environment
 
          .. tab-set::
@@ -70,6 +95,10 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
 
             python -m pip install --upgrade pip
 
+.. note::
+
+   If you use uv, replace ``pip`` with ``uv pip``.
+
 
 -  Next, install a CUDA-enabled PyTorch 2.7.0 build for CUDA 12.8.
 

docs/source/setup/installation/pip_installation.rst

@@ -49,6 +49,31 @@ If you encounter any issues, please report them to the
             conda create -n env_isaaclab python=3.11
             conda activate env_isaaclab
 
+      .. tab-item:: uv environment
+
+         .. tab-set::
+            :sync-group: os
+
+            .. tab-item:: :icon:`fa-brands fa-linux` Linux
+               :sync: linux
+
+               .. code-block:: bash
+
+                  # create a virtual environment named env_isaaclab with python3.11
+                  uv venv --python 3.11 env_isaaclab
+                  # activate the virtual environment
+                  source env_isaaclab/bin/activate
+
+            .. tab-item:: :icon:`fa-brands fa-windows` Windows
+               :sync: windows
+
+               .. code-block:: batch
+
+                  # create a virtual environment named env_isaaclab with python3.11
+                  uv venv --python 3.11 env_isaaclab
+                  # activate the virtual environment
+                  env_isaaclab\Scripts\activate
+
       .. tab-item:: venv environment
 
          .. tab-set::
@@ -94,6 +119,9 @@ If you encounter any issues, please report them to the
 
             python -m pip install --upgrade pip
 
+.. note::
+
+   If you use uv, replace ``pip`` with ``uv pip``.
 
 -  Next, install a CUDA-enabled PyTorch 2.7.0 build.
 
@@ -216,6 +244,7 @@ Clone the Isaac Lab repository into your workspace:
                -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
@@ -237,6 +266,7 @@ Clone the Isaac Lab repository into your workspace:
                -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'.
 
 Installation
 ~~~~~~~~~~~~

docs/source/setup/quickstart.rst

@@ -29,13 +29,41 @@ pip install route using virtual environments.
 
 To begin, we first define our virtual environment.
 
+.. tab-set::
 
-.. code-block:: bash
+   .. tab-item:: conda
+
+      .. code-block:: bash
+
+         # create a virtual environment named env_isaaclab with python3.11
+         conda create -n env_isaaclab python=3.11
+         # activate the virtual environment
+         conda activate env_isaaclab
+
+   .. tab-item:: uv
+
+      .. tab-set::
+         :sync-group: os
+
+         .. tab-item:: :icon:`fa-brands fa-linux` Linux
+            :sync: linux
+
+            .. code-block:: bash
+
+               # create a virtual environment named env_isaaclab with python3.11
+               uv venv --python 3.11 env_isaaclab
+               # activate the virtual environment
+               source env_isaaclab/bin/activate
+
+         .. tab-item:: :icon:`fa-brands fa-windows` Windows
+            :sync: windows
+
+            .. code-block:: batch
 
-    # create a virtual environment named env_isaaclab with python3.11
-    conda create -n env_isaaclab python=3.11
-    # activate the virtual environment
-    conda activate env_isaaclab
+               # create a virtual environment named env_isaaclab with python3.11
+               uv venv --python 3.11 env_isaaclab
+               # activate the virtual environment
+               env_isaaclab\Scripts\activate
 
 
 Next, install a CUDA-enabled PyTorch 2.7.0 build.

isaaclab.sh

@@ -97,26 +97,27 @@ is_docker() {
 }
 
 ensure_cuda_torch() {
-  local py="$1"
+  local pip_command=$(extract_pip_command)
+  local pip_uninstall_command=$(extract_pip_uninstall_command)
   local -r TORCH_VER="2.7.0"
   local -r TV_VER="0.22.0"
   local -r CUDA_TAG="cu128"
   local -r PYTORCH_INDEX="https://download.pytorch.org/whl/${CUDA_TAG}"
   local torch_ver
 
-  if "$py" -m pip show torch >/dev/null 2>&1; then
-    torch_ver="$("$py" -m pip show torch 2>/dev/null | awk -F': ' '/^Version/{print $2}')"
+  if "$pip_command" show torch >/dev/null 2>&1; then
+    torch_ver="$("$pip_command" show torch 2>/dev/null | awk -F': ' '/^Version/{print $2}')"
     echo "[INFO] Found PyTorch version ${torch_ver}."
     if [[ "$torch_ver" != "${TORCH_VER}+${CUDA_TAG}" ]]; then
       echo "[INFO] Replacing PyTorch ${torch_ver} → ${TORCH_VER}+${CUDA_TAG}..."
-      "$py" -m pip uninstall -y torch torchvision torchaudio >/dev/null 2>&1 || true
-      "$py" -m pip install "torch==${TORCH_VER}" "torchvision==${TV_VER}" --index-url "${PYTORCH_INDEX}"
+      "$pip_uninstall_command" torch torchvision torchaudio >/dev/null 2>&1 || true
+      "$pip_command" "torch==${TORCH_VER}" "torchvision==${TV_VER}" --index-url "${PYTORCH_INDEX}"
     else
       echo "[INFO] PyTorch ${TORCH_VER}+${CUDA_TAG} already installed."
     fi
   else
     echo "[INFO] Installing PyTorch ${TORCH_VER}+${CUDA_TAG}..."
-    "$py" -m pip install "torch==${TORCH_VER}" "torchvision==${TV_VER}" --index-url "${PYTORCH_INDEX}"
+    ${pip_command} "torch==${TORCH_VER}" "torchvision==${TV_VER}" --index-url "${PYTORCH_INDEX}"
   fi
 }
 
@@ -154,6 +155,9 @@ extract_python_exe() {
     if ! [[ -z "${CONDA_PREFIX}" ]]; then
         # use conda python
         local python_exe=${CONDA_PREFIX}/bin/python
+    elif ! [[ -z "${VIRTUAL_ENV}" ]]; then
+        # use uv virtual environment python
+        local python_exe=${VIRTUAL_ENV}/bin/python
     else
         # use kit python
         local python_exe=${ISAACLAB_PATH}/_isaac_sim/python.sh
@@ -171,7 +175,7 @@ extract_python_exe() {
     if [ ! -f "${python_exe}" ]; then
         echo -e "[ERROR] Unable to find any Python executable at path: '${python_exe}'" >&2
         echo -e "\tThis could be due to the following reasons:" >&2
-        echo -e "\t1. Conda environment is not activated." >&2
+        echo -e "\t1. Conda or uv environment is not activated." >&2
         echo -e "\t2. Isaac Sim pip package 'isaacsim-rl' is not installed." >&2
         echo -e "\t3. Python executable is not available at the default path: ${ISAACLAB_PATH}/_isaac_sim/python.sh" >&2
         exit 1
@@ -203,14 +207,43 @@ extract_isaacsim_exe() {
     echo ${isaacsim_exe}
 }
 
+# find pip command based on virtualization
+extract_pip_command() {
+    # detect if we're in a uv environment
+    if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -q "uv" "${VIRTUAL_ENV}/pyvenv.cfg"; then
+        pip_command="uv pip install"
+    else
+        # retrieve the python executable
+        python_exe=$(extract_python_exe)
+        pip_command="${python_exe} -m pip install"
+    fi
+
+    echo ${pip_command}
+}
+
+extract_pip_uninstall_command() {
+    # detect if we're in a uv environment
+    if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -q "uv" "${VIRTUAL_ENV}/pyvenv.cfg"; then
+        pip_uninstall_command="uv pip uninstall"
+    else
+        # retrieve the python executable
+        python_exe=$(extract_python_exe)
+        pip_uninstall_command="${python_exe} -m pip uninstall -y"
+    fi
+
+    echo ${pip_uninstall_command}
+}
+
 # check if input directory is a python extension and install the module
 install_isaaclab_extension() {
     # retrieve the python executable
     python_exe=$(extract_python_exe)
+    pip_command=$(extract_pip_command)
+
     # if the directory contains setup.py then install the python module
     if [ -f "$1/setup.py" ]; then
         echo -e "\t module: $1"
-        ${python_exe} -m pip install --editable $1
+        $pip_command --editable "$1"
     fi
 }
 
@@ -331,6 +364,68 @@ setup_conda_env() {
     echo -e "\n"
 }
 
+# setup uv environment for Isaac Lab
+setup_uv_env() {
+    # get environment name from input
+    local env_name="$1"
+    local python_path="$2"
+
+    # check uv is installed
+    if ! command -v uv &>/dev/null; then
+        echo "[ERROR] uv could not be found. Please install uv and try again."
+        echo "[ERROR] uv can be installed here:"
+        echo "[ERROR] https://docs.astral.sh/uv/getting-started/installation/"
+        exit 1
+    fi
+
+    # check if _isaac_sim symlink exists and isaacsim-rl is not installed via pip
+    if [ ! -L "${ISAACLAB_PATH}/_isaac_sim" ] && ! python -m pip list | grep -q 'isaacsim-rl'; then
+        echo -e "[WARNING] _isaac_sim symlink not found at ${ISAACLAB_PATH}/_isaac_sim"
+        echo -e "\tThis warning can be ignored if you plan to install Isaac Sim via pip."
+        echo -e "\tIf you are using a binary installation of Isaac Sim, please ensure the symlink is created before setting up the conda environment."
+    fi
+
+    # check if the environment exists
+    local env_path="${ISAACLAB_PATH}/${env_name}"
+    if [ ! -d "${env_path}" ]; then
+        echo -e "[INFO] Creating uv environment named '${env_name}'..."
+        uv venv --clear --python "${python_path}" "${env_path}"
+    else
+        echo "[INFO] uv environment '${env_name}' already exists."
+    fi
+
+    # define root path for activation hooks
+    local isaaclab_root="${ISAACLAB_PATH}"
+
+    # cache current paths for later
+    cache_pythonpath=$PYTHONPATH
+    cache_ld_library_path=$LD_LIBRARY_PATH
+
+    # ensure activate file exists
+    touch "${env_path}/bin/activate"
+
+     # add variables to environment during activation
+    cat >> "${env_path}/bin/activate" <<EOF
+export ISAACLAB_PATH="${ISAACLAB_PATH}"
+alias isaaclab="${ISAACLAB_PATH}/isaaclab.sh"
+export RESOURCE_NAME="IsaacSim"
+
+if [ -f "${ISAACLAB_PATH}/_isaac_sim/setup_conda_env.sh" ]; then
+    . "${ISAACLAB_PATH}/_isaac_sim/setup_conda_env.sh"
+fi
+EOF
+
+    # add information to the user about alias
+    echo -e "[INFO] Added 'isaaclab' alias to uv environment for 'isaaclab.sh' script."
+    echo -e "[INFO] Created uv environment named '${env_name}'.\n"
+    echo -e "\t\t1. To activate the environment, run:                source ${env_name}/bin/activate."
+    echo -e "\t\t2. To install Isaac Lab extensions, run:            isaaclab -i"
+    echo -e "\t\t3. To perform formatting, run:                      isaaclab -f"
+    echo -e "\t\t4. To deactivate the environment, run:              deactivate"
+    echo -e "\n"
+}
+
+
 # update the vscode settings from template and isaac sim settings
 update_vscode_settings() {
     echo "[INFO] Setting up vscode settings..."
@@ -348,7 +443,7 @@ update_vscode_settings() {
 
 # print the usage description
 print_help () {
-    echo -e "\nusage: $(basename "$0") [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-n] [-c] -- Utility to manage Isaac Lab."
+    echo -e "\nusage: $(basename "$0") [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-n] [-c] [-u] -- Utility to manage Isaac Lab."
     echo -e "\noptional arguments:"
     echo -e "\t-h, --help           Display the help content."
     echo -e "\t-i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'."
@@ -361,6 +456,7 @@ print_help () {
     echo -e "\t-d, --docs           Build the documentation from source using sphinx."
     echo -e "\t-n, --new            Create a new external project or internal task from template."
     echo -e "\t-c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'."
+    echo -e "\t-u, --uv [NAME]      Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'."
     echo -e "\n" >&2
 }
 
@@ -386,12 +482,17 @@ while [[ $# -gt 0 ]]; do
             # install the python packages in IsaacLab/source directory
             echo "[INFO] Installing extensions inside the Isaac Lab repository..."
             python_exe=$(extract_python_exe)
+            pip_command=$(extract_pip_command)
+            pip_uninstall_command=$(extract_pip_uninstall_command)
+
             # check if pytorch is installed and its version
             # install pytorch with cuda 12.8 for blackwell support
-            ensure_cuda_torch ${python_exe}
+            ensure_cuda_torch
             # recursively look into directories and install them
             # this does not check dependencies between extensions
             export -f extract_python_exe
+            export -f extract_pip_command
+            export -f extract_pip_uninstall_command
             export -f install_isaaclab_extension
             # source directory
             find -L "${ISAACLAB_PATH}/source" -mindepth 1 -maxdepth 1 -type d -exec bash -c 'install_isaaclab_extension "{}"' \;
@@ -411,12 +512,12 @@ while [[ $# -gt 0 ]]; do
                 shift # past argument
             fi
             # install the learning frameworks specified
-            ${python_exe} -m pip install -e ${ISAACLAB_PATH}/source/isaaclab_rl["${framework_name}"]
-            ${python_exe} -m pip install -e ${ISAACLAB_PATH}/source/isaaclab_mimic["${framework_name}"]
+            ${pip_command} -e "${ISAACLAB_PATH}/source/isaaclab_rl[${framework_name}]"
+            ${pip_command} -e "${ISAACLAB_PATH}/source/isaaclab_mimic[${framework_name}]"
 
             # in some rare cases, torch might not be installed properly by setup.py, add one more check here
             # can prevent that from happening
-            ensure_cuda_torch ${python_exe}
+            ensure_cuda_torch
             # check if we are inside a docker container or are building a docker image
             # in that case don't setup VSCode since it asks for EULA agreement which triggers user interaction
             if is_docker; then
@@ -427,8 +528,10 @@ while [[ $# -gt 0 ]]; do
                 update_vscode_settings
             fi
 
-            # unset local variables
+             # unset local variables
             unset extract_python_exe
+            unset extract_pip_command
+            unset extract_pip_uninstall_command
             unset install_isaaclab_extension
             shift # past argument
             ;;
@@ -446,11 +549,25 @@ while [[ $# -gt 0 ]]; do
             setup_conda_env ${conda_env_name}
             shift # past argument
             ;;
+        -u|--uv)
+            # use default name if not provided
+            if [ -z "$2" ]; then
+                echo "[INFO] Using default uv environment name: env_isaaclab"
+                uv_env_name="env_isaaclab"
+            else
+                echo "[INFO] Using uv environment name: $2"
+                uv_env_name=$2
+                shift # past argument
+            fi
+            # setup the uv environment for Isaac Lab
+            setup_uv_env ${uv_env_name}
+            shift # past argument
+            ;;
         -f|--format)
             # reset the python path to avoid conflicts with pre-commit
             # this is needed because the pre-commit hooks are installed in a separate virtual environment
             # and it uses the system python to run the hooks
-            if [ -n "${CONDA_DEFAULT_ENV}" ]; then
+            if [ -n "${CONDA_DEFAULT_ENV}" ] || [ -n "${VIRTUAL_ENV}" ]; then
                 cache_pythonpath=${PYTHONPATH}
                 export PYTHONPATH=""
             fi
@@ -458,7 +575,8 @@ while [[ $# -gt 0 ]]; do
             # check if pre-commit is installed
             if ! command -v pre-commit &>/dev/null; then
                 echo "[INFO] Installing pre-commit..."
-                pip install pre-commit
+                pip_command=$(extract_pip_command)
+                ${pip_command} pre-commit
                 sudo apt-get install -y pre-commit
             fi
             # always execute inside the Isaac Lab directory
@@ -467,7 +585,7 @@ while [[ $# -gt 0 ]]; do
             pre-commit run --all-files
             cd - > /dev/null
             # set the python path back to the original value
-            if [ -n "${CONDA_DEFAULT_ENV}" ]; then
+            if [ -n "${CONDA_DEFAULT_ENV}" ] || [ -n "${VIRTUAL_ENV}" ]; then
                 export PYTHONPATH=${cache_pythonpath}
             fi
             shift # past argument
@@ -495,9 +613,10 @@ while [[ $# -gt 0 ]]; do
         -n|--new)
             # run the template generator script
             python_exe=$(extract_python_exe)
+            pip_command=$(extract_pip_command)
             shift # past argument
             echo "[INFO] Installing template dependencies..."
-            ${python_exe} -m pip install -q -r ${ISAACLAB_PATH}/tools/template/requirements.txt
+            ${pip_command} -q -r ${ISAACLAB_PATH}/tools/template/requirements.txt
             echo -e "\n[INFO] Running template generator...\n"
             ${python_exe} ${ISAACLAB_PATH}/tools/template/cli.py $@
             # exit neatly
@@ -532,9 +651,10 @@ while [[ $# -gt 0 ]]; do
             echo "[INFO] Building documentation..."
             # retrieve the python executable
             python_exe=$(extract_python_exe)
+            pip_command=$(extract_pip_command)
             # install pip packages
             cd ${ISAACLAB_PATH}/docs
-            ${python_exe} -m pip install -r requirements.txt > /dev/null
+            ${pip_command} -r requirements.txt > /dev/null
             # build the documentation
             ${python_exe} -m sphinx -b html -d _build/doctrees . _build/current
             # open the documentation

tools/template/templates/external/README.md

@@ -15,7 +15,7 @@ It allows you to develop in an isolated environment, outside of the core Isaac L
 ## Installation
 
 - Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
-  We recommend using the conda installation as it simplifies calling Python scripts from the terminal.
+  We recommend using the conda or uv installation as it simplifies calling Python scripts from the terminal.
 
 - Clone or copy this project/repository separately from the Isaac Lab installation (i.e. outside the `IsaacLab` directory):