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isaaclab.bat
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@echo off
setlocal EnableExtensions EnableDelayedExpansion
rem Copyright (c) 2022-2024, The Isaac Lab Project Developers.
rem All rights reserved.
rem
rem SPDX-License-Identifier: BSD-3-Clause
rem Configurations
set "ISAACLAB_PATH=%~dp0"
goto main
rem Helper functions
rem extract Isaac Sim directory
:extract_isaacsim_path
rem Use the sym-link path to Isaac Sim directory
set isaac_path=%ISAACLAB_PATH%\_isaac_sim
rem Check if directory exists
if not exist "%isaac_path%" (
rem Find the Python executable
call :extract_python_exe
rem retrieve the isaacsim path from the installed package
set "isaac_path="
for /f "delims=" %%i in ('!python_exe! -c "import isaacsim; import os; print(os.environ['ISAAC_PATH'])"') do (
if not defined isaac_path (
set "isaac_path=%%i"
)
)
)
rem Check if the directory exists
if not exist "%isaac_path%" (
echo [ERROR] Unable to find the Isaac Sim directory: %isaac_path%
echo %tab%This could be due to the following reasons:
echo %tab%1. Conda environment with Isaac Sim pip package is not activated.
echo %tab%2. Isaac Sim directory is not available at the default path: %ISAACLAB_PATH%\_isaac_sim
exit /b 1
)
goto :eof
rem extract the python from isaacsim
:extract_python_exe
rem check if using conda
if not "%CONDA_PREFIX%"=="" (
rem use conda python
set python_exe=%CONDA_PREFIX%\python.exe
) else (
rem use kit python
set python_exe=%ISAACLAB_PATH%\_isaac_sim\python.bat
)
rem check for if isaac sim was installed to system python
if not exist "%python_exe%" (
set "python_exe="
python -m pip show isaacsim-rl > nul 2>&1
if %ERRORLEVEL% equ 0 (
for /f "delims=" %%i in ('where python') do (
if not defined python_exe (
set "python_exe=%%i"
)
)
)
)
if not exist "%python_exe%" (
echo [ERROR] Unable to find any Python executable at path: %python_exe%
echo %tab%This could be due to the following reasons:
echo %tab%1. Conda environment is not activated.
echo %tab%2. Python executable is not available at the default path: %ISAACLAB_PATH%\_isaac_sim\python.bat
exit /b 1
)
goto :eof
rem extract the simulator exe from isaacsim
:extract_isaacsim_exe
call :extract_python_exe
call !python_exe! -m pip show isaacsim-rl > nul 2>&1
if errorlevel 1 (
rem obtain isaacsim path
call :extract_isaacsim_path
rem python executable to use
set isaacsim_exe=!isaac_path!\isaac-sim.bat
) else (
rem if isaac sim installed from pip
set isaacsim_exe=isaacsim omni.isaac.sim
)
rem check if there is a python path available
if not exist "%isaacsim_exe%" (
echo [ERROR] No isaac-sim executable found at path: %isaacsim_exe%
exit /b 1
)
goto :eof
rem check if input directory is a python extension and install the module
:install_isaaclab_extension
echo %ext_folder%
rem retrieve the python executable
call :extract_python_exe
rem if the directory contains setup.py then install the python module
if exist "%ext_folder%\setup.py" (
echo module: %ext_folder%
call !python_exe! -m pip install --editable %ext_folder%
)
goto :eof
rem setup anaconda environment for Isaac Lab
:setup_conda_env
rem get environment name from input
set env_name=%conda_env_name%
rem check if conda is installed
where conda >nul 2>nul
if errorlevel 1 (
echo [ERROR] Conda could not be found. Please install conda and try again.
exit /b 1
)
rem check if the environment exists
call conda env list | findstr /c:"%env_name%" >nul
if %errorlevel% equ 0 (
echo [INFO] Conda environment named '%env_name%' already exists.
) else (
echo [INFO] Creating conda environment named '%env_name%'...
call conda create -y --name %env_name% python=3.10
)
rem cache current paths for later
set "cache_pythonpath=%PYTHONPATH%"
set "cache_ld_library_path=%LD_LIBRARY_PATH%"
rem clear any existing files
echo %CONDA_PREFIX%
del "%CONDA_PREFIX%\etc\conda\activate.d\setenv.bat" 2>nul
del "%CONDA_PREFIX%\etc\conda\deactivate.d\unsetenv.bat" 2>nul
rem activate the environment
call conda activate %env_name%
rem setup directories to load isaac-sim variables
mkdir "%CONDA_PREFIX%\etc\conda\activate.d" 2>nul
mkdir "%CONDA_PREFIX%\etc\conda\deactivate.d" 2>nul
rem obtain isaacsim path
call :extract_isaacsim_path
if exist "%isaac_path%" (
rem add variables to environment during activation
(
echo @echo off
echo rem for isaac-sim
echo set "RESOURCE_NAME=IsaacSim"
echo set CARB_APP_PATH=!isaac_path!\kit
echo set EXP_PATH=!isaac_path!\apps
echo set ISAAC_PATH=!isaac_path!
echo set PYTHONPATH=%PYTHONPATH%;!isaac_path!\site
echo.
echo rem for isaac-lab
echo doskey isaaclab=isaaclab.bat $*
) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.bat"
(
echo $env:CARB_APP_PATH="!isaac_path!\kit"
echo $env:EXP_PATH="!isaac_path!\apps"
echo $env:ISAAC_PATH="!isaac_path!"
echo $env:PYTHONPATH="%PYTHONPATH%;!isaac_path!\site"
echo $env:RESOURCE_NAME="IsaacSim"
) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.ps1"
) else (
rem assume isaac sim will be installed from pip
rem add variables to environment during activation
(
echo @echo off
echo rem for isaac-sim
echo set "RESOURCE_NAME=IsaacSim"
echo.
echo rem for isaac-lab
echo doskey isaaclab=isaaclab.bat $*
) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.bat"
(
echo $env:RESOURCE_NAME="IsaacSim"
) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.ps1"
)
rem reactivate the environment to load the variables
call conda activate %env_name%
rem remove variables from environment during deactivation
(
echo @echo off
echo rem for isaac-sim
echo set "CARB_APP_PATH="
echo set "EXP_PATH="
echo set "ISAAC_PATH="
echo set "RESOURCE_NAME="
echo.
echo rem for isaac-lab
echo doskey isaaclab =
echo.
echo rem restore paths
echo set "PYTHONPATH=%cache_pythonpath%"
echo set "LD_LIBRARY_PATH=%cache_ld_library_path%"
) > "%CONDA_PREFIX%\etc\conda\deactivate.d\unsetenv_vars.bat"
(
echo $env:RESOURCE_NAME=""
echo $env:PYTHONPATH="%cache_pythonpath%"
echo $env:LD_LIBRARY_PATH="%cache_pythonpath%"
) > "%CONDA_PREFIX%\etc\conda\deactivate.d\unsetenv_vars.ps1"
rem install some extra dependencies
echo [INFO] Installing extra dependencies (this might take a few minutes)...
call conda install -c conda-forge -y importlib_metadata >nul 2>&1
rem deactivate the environment
call conda deactivate
rem add information to the user about alias
echo [INFO] Added 'isaaclab' alias to conda environment for 'isaaclab.bat' script.
echo [INFO] Created conda environment named '%env_name%'.
echo.
echo 1. To activate the environment, run: conda activate %env_name%
echo 2. To install Isaac Lab extensions, run: isaaclab -i
echo 3. To perform formatting, run: isaaclab -f
echo 4. To deactivate the environment, run: conda deactivate
echo.
goto :eof
rem Update the vscode settings from template and Isaac Sim settings
:update_vscode_settings
echo [INFO] Setting up vscode settings...
rem Retrieve the python executable
call :extract_python_exe
rem Path to setup_vscode.py
set "setup_vscode_script=%ISAACLAB_PATH%\.vscode\tools\setup_vscode.py"
rem Check if the file exists before attempting to run it
if exist "%setup_vscode_script%" (
call !python_exe! "%setup_vscode_script%"
) else (
echo [WARNING] setup_vscode.py not found. Aborting vscode settings setup.
)
goto :eof
rem Print the usage description
:print_help
echo.
echo usage: %~nx0 [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.
echo.
echo optional arguments:
echo -h, --help Display the help content.
echo -i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'.
echo -f, --format Run pre-commit to format the code and check lints.
echo -p, --python Run the python executable (python.bat) provided by Isaac Sim.
echo -s, --sim Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
echo -t, --test Run all python unittest tests.
echo -v, --vscode Generate the VSCode settings file from template.
echo -d, --docs Build the documentation from source using sphinx.
echo -c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
echo.
goto :eof
rem Main
:main
rem check argument provided
if "%~1"=="" (
echo [Error] No arguments provided.
call :print_help
exit /b 1
)
rem pass the arguments
:loop
if "%~1"=="" goto :end
set "arg=%~1"
rem read the key
if "%arg%"=="-i" (
rem install the python packages in omni.isaac.rl/source directory
echo [INFO] Installing extensions inside the Isaac Lab repository...
call :extract_python_exe
for /d %%d in ("%ISAACLAB_PATH%\source\extensions\*") do (
set ext_folder="%%d"
call :install_isaaclab_extension
)
rem install the python packages for supported reinforcement learning frameworks
echo [INFO] Installing extra requirements such as learning frameworks...
if "%~2"=="" (
echo [INFO] Installing all rl-frameworks.
set framework_name=all
) else if "%~2"=="none" (
echo [INFO] No rl-framework will be installed.
set framework_name=none
shift
) else (
echo [INFO] Installing rl-framework: %2.
set framework_name=%2
shift
)
rem install the rl-frameworks specified
call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\extensions\omni.isaac.lab_tasks[!framework_name!]
shift
) else if "%arg%"=="--install" (
rem install the python packages in omni.isaac.rl/source directory
echo [INFO] Installing extensions inside the Isaac Lab repository...
call :extract_python_exe
for /d %%d in ("%ISAACLAB_PATH%\source\extensions\*") do (
set ext_folder="%%d"
call :install_isaaclab_extension
)
rem install the python packages for supported reinforcement learning frameworks
echo [INFO] Installing extra requirements such as learning frameworks...
if "%~2"=="" (
echo [INFO] Installing all rl-frameworks.
set framework_name=all
) else if "%~2"=="none" (
echo [INFO] No rl-framework will be installed.
set framework_name=none
shift
) else (
echo [INFO] Installing rl-framework: %2.
set framework_name=%2
shift
)
rem install the rl-frameworks specified
call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\extensions\omni.isaac.lab_tasks[!framework_name!]
rem update the vscode settings
rem once we have a docker container, we need to disable vscode settings
call :update_vscode_settings
shift
) else if "%arg%"=="-c" (
rem use default name if not provided
if not "%~2"=="" (
echo [INFO] Using conda environment name: %2
set conda_env_name=%2
shift
) else (
echo [INFO] Using default conda environment name: isaaclab
set conda_env_name=isaaclab
)
call :setup_conda_env %conda_env_name%
shift
) else if "%arg%"=="--conda" (
rem use default name if not provided
if not "%~2"=="" (
echo [INFO] Using conda environment name: %2
set conda_env_name=%2
shift
) else (
echo [INFO] Using default conda environment name: isaaclab
set conda_env_name=isaaclab
)
call :setup_conda_env %conda_env_name%
shift
) else if "%arg%"=="-f" (
rem reset the python path to avoid conflicts with pre-commit
rem this is needed because the pre-commit hooks are installed in a separate virtual environment
rem and it uses the system python to run the hooks
if not "%CONDA_DEFAULT_ENV%"=="" (
set cache_pythonpath=%PYTHONPATH%
set PYTHONPATH=
)
rem run the formatter over the repository
rem check if pre-commit is installed
pip show pre-commit > nul 2>&1
if errorlevel 1 (
echo [INFO] Installing pre-commit...
pip install pre-commit
)
rem always execute inside the Isaac Lab directory
echo [INFO] Formatting the repository...
pushd %ISAACLAB_PATH%
call python -m pre_commit run --all-files
popd >nul
rem set the python path back to the original value
if not "%CONDA_DEFAULT_ENV%"=="" (
set PYTHONPATH=%cache_pythonpath%
)
goto :end
) else if "%arg%"=="--format" (
rem reset the python path to avoid conflicts with pre-commit
rem this is needed because the pre-commit hooks are installed in a separate virtual environment
rem and it uses the system python to run the hooks
if not "%CONDA_DEFAULT_ENV%"=="" (
set cache_pythonpath=%PYTHONPATH%
set PYTHONPATH=
)
rem run the formatter over the repository
rem check if pre-commit is installed
pip show pre-commit > nul 2>&1
if errorlevel 1 (
echo [INFO] Installing pre-commit...
pip install pre-commit
)
rem always execute inside the Isaac Lab directory
echo [INFO] Formatting the repository...
pushd %ISAACLAB_PATH%
call python -m pre_commit run --all-files
popd >nul
rem set the python path back to the original value
if not "%CONDA_DEFAULT_ENV%"=="" (
set PYTHONPATH=%cache_pythonpath%
)
goto :end
) else if "%arg%"=="-p" (
rem run the python provided by Isaac Sim
call :extract_python_exe
echo [INFO] Using python from: !python_exe!
REM Loop through all arguments - mimic shift
set "allArgs="
for %%a in (%*) do (
REM Append each argument to the variable, skip the first one
if defined skip (
set "allArgs=!allArgs! %%a"
) else (
set "skip=1"
)
)
!python_exe! !allArgs!
goto :end
) else if "%arg%"=="--python" (
rem run the python provided by Isaac Sim
call :extract_python_exe
echo [INFO] Using python from: !python_exe!
REM Loop through all arguments - mimic shift
set "allArgs="
for %%a in (%*) do (
REM Append each argument to the variable, skip the first one
if defined skip (
set "allArgs=!allArgs! %%a"
) else (
set "skip=1"
)
)
!python_exe! !allArgs!
goto :end
) else if "%arg%"=="-s" (
rem run the simulator exe provided by isaacsim
call :extract_isaacsim_exe
echo [INFO] Running isaac-sim from: !isaacsim_exe!
set "allArgs="
for %%a in (%*) do (
REM Append each argument to the variable, skip the first one
if defined skip (
set "allArgs=!allArgs! %%a"
) else (
set "skip=1"
)
)
!isaacsim_exe! --ext-folder %ISAACLAB_PATH%\source\extensions !allArgs1
goto :end
) else if "%arg%"=="--sim" (
rem run the simulator exe provided by Isaac Sim
call :extract_isaacsim_exe
echo [INFO] Running isaac-sim from: !isaacsim_exe!
set "allArgs="
for %%a in (%*) do (
REM Append each argument to the variable, skip the first one
if defined skip (
set "allArgs=!allArgs! %%a"
) else (
set "skip=1"
)
)
!isaacsim_exe! --ext-folder %ISAACLAB_PATH%\source\extensions !allArgs1
goto :end
) else if "%arg%"=="-t" (
rem run the python provided by Isaac Sim
call :extract_python_exe
set "allArgs="
for %%a in (%*) do (
REM Append each argument to the variable, skip the first one
if defined skip (
set "allArgs=!allArgs! %%a"
) else (
set "skip=1"
)
)
!python_exe! tools\run_all_tests.py !allArgs!
goto :end
) else if "%arg%"=="--test" (
rem run the python provided by Isaac Sim
call :extract_python_exe
set "allArgs="
for %%a in (%*) do (
REM Append each argument to the variable, skip the first one
if defined skip (
set "allArgs=!allArgs! %%a"
) else (
set "skip=1"
)
)
!python_exe! tools\run_all_tests.py !allArgs!
goto :end
) else if "%arg%"=="-v" (
rem update the vscode settings
call :update_vscode_settings
shift
goto :end
) else if "%arg%"=="--vscode" (
rem update the vscode settings
call :update_vscode_settings
shift
goto :end
) else if "%arg%"=="-d" (
rem build the documentation
echo [INFO] Building documentation...
call :extract_python_exe
pushd %ISAACLAB_PATH%\docs
call !python_exe! -m pip install -r requirements.txt >nul
call !python_exe! -m sphinx -b html -d _build\doctrees . _build\html
echo [INFO] To open documentation on default browser, run:
echo xdg-open "%ISAACLAB_PATH%\docs\_build\html\index.html"
popd >nul
shift
goto :end
) else if "%arg%"=="--docs" (
rem build the documentation
echo [INFO] Building documentation...
call :extract_python_exe
pushd %ISAACLAB_PATH%\docs
call !python_exe! -m pip install -r requirements.txt >nul
call !python_exe! -m sphinx -b html -d _build\doctrees . _build\current
echo [INFO] To open documentation on default browser, run:
echo xdg-open "%ISAACLAB_PATH%\docs\_build\current\index.html"
popd >nul
shift
goto :end
) else if "%arg%"=="-h" (
call :print_help
goto :end
) else if "%arg%"=="--help" (
call :print_help
goto :end
) else (
echo Invalid argument provided: %arg%
call :print_help
exit /b 1
)
goto loop
:end
exit /b 0