🤖 nvidia-open-source-robot-lab

A repository with examples for running NVIDIA Isaac Sim, Isaac Lab, and ROS using containers. 🧪🧠🐳

Humanoid Policy Demo	Franka Lift Cube (RL Training)
Isaac Sim Full App Windows → Examples → Robotics Example → Policy → Humanoid [LOAD]	Training Command ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Lift-Cube-Franka-v0

🛠️ Requirements

• 🐧 Ubuntu > 🔗
• 🐋 Docker > 🔗
• 🎮 NVIDIA Drivers and Container Toolkit > 🔗

🏗️ Build and run with bash scripts

🐳 Build and Run Docker image

bash isaac-docker.sh --version 5.1.0 --ros-distro Humble build
bash isaac-docker.sh --version 5.1.0 --ros-distro Humble run
docker system prune -f --volumes

• sample output for docker images

REPOSITORY       TAG            IMAGE ID       CREATED             SIZE
isaac_sim_ros2   5.0.0-Humble   a74b6685718f   About an hour ago   19.1GB

🐳 Running Pre-Built Isaac Lab Container

Instructions to run pre-built isaac lab with container registry ref. See official tag releases of isaac-lab

bash isaac-docker.sh --lab-version 2.3.2 pull-lab

• sample output for docker images

REPOSITORY                 TAG       IMAGE ID       CREATED       SIZE
nvcr.io/nvidia/isaac-lab   2.3.2     <id>           8 weeks ago   17.6GB

• Run isaac lab with some examples

bash isaac-docker.sh --lab-version 2.3.2 launch-lab

• Run examples within the container

#reinforcement_learning
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --help
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Flat-H1-v0 --num_envs 5 --max_iterations 10 #--headless
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Humanoid-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Lift-Cube-Franka-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Flat-H1-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-H1-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Flat-G1-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-G1-v0
#TRAIN and PLAY with Isaac-Ant-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Ant-v0 --num_envs 10 --max_iterations 100
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Ant-v0 --num_envs 10 --checkpoint logs/rsl_rl/ant/2026-02-10_00-33-56/model_99.pt 
#TRAIN and PLAY with Isaac-Cartpole-Direct-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-Direct-v0 --num_envs 10 --max_iterations 100
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --checkpoint logs/rsl_rl/cartpole_direct/
#TRAIN and PLAY with Isaac-Humanoid-v0
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Humanoid-v0 --num_envs 128 --max_iterations 100
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Humanoid-v0 --num_envs 128 --max_iterations 2000 --headless
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Humanoid-v0 --num_envs 1000 --checkpoint logs/rsl_rl/humanoid
#
#Demos
./isaaclab.sh -p scripts/demos/arms.py
./isaaclab.sh -p scripts/demos/h1_locomotion.py
./isaaclab.sh -p scripts/demos/bipeds.py
#The list of environments available registered with OpenAI Gym can be found by running:
./isaaclab.sh -p scripts/environments/list_envs.py

Links

• References
• See other Environment IDs > https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html

📥 Clone repository

git clone git@github.com:mxochicale/nvidia-open-source-robot-lab.git