@echo off

setlocal EnableExtensions EnableDelayedExpansion

set "ISAACLAB_PATH=%~dp0"

goto main

:extract_isaacsim_path

set isaac_path=%ISAACLAB_PATH%\_isaac_sim

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"

)

)

)

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

:ensure_cuda_torch

setlocal EnableExtensions EnableDelayedExpansion

set "TORCH_VER=2.7.0"

set "TV_VER=0.22.0"

set "CUDA_TAG=cu128"

set "PYTORCH_INDEX=https://download.pytorch.org/whl/%CUDA_TAG%"

call "!python_exe!" -m pip show torch >nul 2>&1

if errorlevel 1 (

echo [INFO] Installing PyTorch !TORCH_VER! with CUDA !CUDA_TAG!...

call "!python_exe!" -m pip install "torch==!TORCH_VER!" "torchvision==!TV_VER!" --index-url "!PYTORCH_INDEX!"

) else (

for /f "tokens=2" %%V in ('"!python_exe!" -m pip show torch ^| findstr /B /C:"Version:"') do set "TORCH_CUR=%%V"

echo [INFO] Found PyTorch version !TORCH_CUR!.

if /I not "!TORCH_CUR!"=="!TORCH_VER!+!CUDA_TAG!" (

echo [INFO] Replacing PyTorch !TORCH_CUR! -> !TORCH_VER!+!CUDA_TAG!...

call "!python_exe!" -m pip uninstall -y torch torchvision torchaudio >nul 2>&1

call "!python_exe!" -m pip install "torch==!TORCH_VER!" "torchvision==!TV_VER!" --index-url "!PYTORCH_INDEX!"

) else (

echo [INFO] PyTorch !TORCH_VER!+!CUDA_TAG! already installed.

)

)

endlocal & exit /b 0

:is_isaacsim_version_4_5

rem make sure we have %python_exe%

call :extract_python_exe

rem 1) try to locate the VERSION file via the kit install

for /f "delims=" %%V in ('!python_exe! -c "import isaacsim,os;print(os.path.abspath(os.path.join(os.path.dirname(isaacsim.__file__), os.pardir, os.pardir, 'VERSION')))"') do set "VERSION_PATH=%%V"

if exist "!VERSION_PATH!" (

for /f "usebackq delims=" %%L in ("!VERSION_PATH!") do set "ISAACSIM_VER=%%L"

) else (

rem 2) fallback to importlib.metadata if no VERSION file

for /f "delims=" %%L in ('!python_exe! -c "from importlib.metadata import version;print(version(''isaacsim''))"') do set "ISAACSIM_VER=%%L"

)

rem Clean up the version string (remove any trailing whitespace or newlines)

set "ISAACSIM_VER=!ISAACSIM_VER: =!"

rem Use string comparison instead of findstr for more reliable matching

if "!ISAACSIM_VER:~0,3!"=="4.5" (

exit /b 0

) else (

exit /b 1

)

goto :eof

:extract_python_exe

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

)

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

: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 isaacsim.exp.full

)

if not exist "%isaacsim_exe%" (

echo [ERROR] No isaac-sim executable found at path: %isaacsim_exe%

exit /b 1

)

goto :eof

:install_isaaclab_extension

echo %ext_folder%

call :extract_python_exe

if exist "%ext_folder%\setup.py" (

echo module: %ext_folder%

call !python_exe! -m pip install --editable %ext_folder%

)

goto :eof

:setup_conda_env

set env_name=%conda_env_name%

where conda >nul 2>nul

if errorlevel 1 (

echo [ERROR] Conda could not be found. Please install conda and try again.

exit /b 1

)

if not exist "%ISAACLAB_PATH%\_isaac_sim" (

python -m pip list | findstr /C:"isaacsim-rl" >nul

if errorlevel 1 (

echo [WARNING] _isaac_sim symlink not found at %ISAACLAB_PATH%\_isaac_sim

echo This warning can be ignored if you plan to install Isaac Sim via pip.

echo If you are using a binary installation of Isaac Sim, please ensure the symlink is created before setting up the conda environment.

)

)

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%'...

echo [INFO] Installing dependencies from %ISAACLAB_PATH%\environment.yml

rem ————————————————————————————————

rem patch Python version if needed, but back up first

rem ————————————————————————————————

copy "%ISAACLAB_PATH%environment.yml" "%ISAACLAB_PATH%environment.yml.bak" >nul

call :is_isaacsim_version_4_5

if !ERRORLEVEL! EQU 0 (

echo [INFO] Detected Isaac Sim 4.5 --^> forcing python=3.10

rem Use findstr to replace the python version line

(

for /f "delims=" %%L in ('type "%ISAACLAB_PATH%environment.yml"') do (

set "line=%%L"

set "line=!line: =!"

if "!line:~0,15!"=="-python=3.11" (

echo - python=3.10

) else (

echo %%L

)

)

) > "%ISAACLAB_PATH%environment.yml.tmp"

rem Replace the original file with the modified version

move /y "%ISAACLAB_PATH%environment.yml.tmp" "%ISAACLAB_PATH%environment.yml" >nul

) else (

echo [INFO] Isaac Sim ^>=5.0, installing python=3.11

)

call conda env create -y --file %ISAACLAB_PATH%\environment.yml -n %env_name%

)

set "cache_pythonpath=%PYTHONPATH%"

set "cache_ld_library_path=%LD_LIBRARY_PATH%"

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

call conda activate %env_name%

mkdir "%CONDA_PREFIX%\etc\conda\activate.d" 2>nul

mkdir "%CONDA_PREFIX%\etc\conda\deactivate.d" 2>nul

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"

)

call conda activate %env_name%

(

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"

call conda deactivate

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

:update_vscode_settings

echo [INFO] Setting up vscode settings...

call :extract_python_exe

set "setup_vscode_script=%ISAACLAB_PATH%\.vscode\tools\setup_vscode.py"

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

:print_help

echo.

echo usage: %~nx0 [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-n] [-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 pytest tests.

echo -v, --vscode Generate the VSCode settings file from template.

echo -d, --docs Build the documentation from source using sphinx.

echo -n, --new Create a new external project or internal task from template.

echo -c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'.

echo.

goto :eof

:main

if "%~1"=="" (

echo [Error] No arguments provided.

call :print_help

exit /b 1

)

:loop

if "%~1"=="" goto :end

set "arg=%~1"

if "%arg%"=="-i" (

rem install the python packages in isaaclab/source directory

echo [INFO] Installing extensions inside the Isaac Lab repository...

call :extract_python_exe

rem check if pytorch is installed and its version

rem install pytorch with cuda 12.8 for blackwell support

call :ensure_cuda_torch

for /d %%d in ("%ISAACLAB_PATH%\source\*") 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\isaaclab_rl[!framework_name!]

rem in rare case if some packages or flaky setup override default torch installation, ensure right torch is

rem installed again

call :ensure_cuda_torch

rem update the vscode settings

rem once we have a docker container, we need to disable vscode settings

call :update_vscode_settings

shift

shift

) else if "%arg%"=="--install" (

rem install the python packages in source directory

echo [INFO] Installing extensions inside the Isaac Lab repository...

call :extract_python_exe

rem check if pytorch is installed and its version

rem install pytorch with cuda 12.8 for blackwell support

call :ensure_cuda_torch

for /d %%d in ("%ISAACLAB_PATH%\source\*") 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\isaaclab_rl[!framework_name!]

rem in rare case if some packages or flaky setup override default torch installation, ensure right torch is

rem installed again

call :ensure_cuda_torch

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: env_isaaclab

set conda_env_name=env_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: env_isaaclab

set conda_env_name=env_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

for /f "tokens=1,* delims= " %%a in ("%*") do (

set "allArgs=%%b"

)

call !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

for /f "tokens=1,* delims= " %%a in ("%*") do (

set "allArgs=%%b"

)

call !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 !allArgs!

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 !allArgs!

goto :end

) else if "%arg%"=="-n" (

rem run the template generator script

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"

)

)

echo [INFO] Installing template dependencies...

call !python_exe! -m pip install -q -r tools\template\requirements.txt

echo.

echo [INFO] Running template generator...

echo.

call !python_exe! tools\template\cli.py !allArgs!

goto :end

) else if "%arg%"=="--new" (

rem run the template generator script

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"

)

)

echo [INFO] Installing template dependencies...

call !python_exe! -m pip install -q -r tools\template\requirements.txt

echo.

echo [INFO] Running template generator...

echo.

call !python_exe! tools\template\cli.py !allArgs!

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"

)

)

call !python_exe! -m pytest tools !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"

)

)

call !python_exe! -m pytest tools !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