Skip to content

Commit 852d2fd

Browse files
kellyguo11kellyguo11
authored
Updates documentation for spark installation (#4733)
# Description imgui doesn't provide prebuilt packages for ARM, so we need to install additional libraries to build it during installation. Also updates some outdated links in docs. ## Type of change - Documentation update ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com>
1 parent 6ffc311 commit 852d2fd

File tree

8 files changed

+51
-6
lines changed

8 files changed

+51
-6
lines changed

‎.github/workflows/license-exceptions.json‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -463,5 +463,9 @@
463463
"package": "typing_extensions",
464464
"license": "PSF-2.0",
465465
"comment": "PSF-2.0 / OSRB"
466+
},
467+
{
468+
"package": "cuda-bindings",
469+
"license": "LicenseRef-NVIDIA-SOFTWARE-LICENSE"
466470
}
467471
]

‎apps/isaaclab.python.kit‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
##
44

55
[package]
6-
title = "Isaac Lab Python"
6+
title = "Isaac Lab"
77
description = "An app for running Isaac Lab"
88
version = "3.0.0"
99

@@ -183,7 +183,7 @@ asyncRenderingLowLatency = false
183183

184184
[settings.app.window]
185185
iconPath = "${isaacsim.simulation_app}/data/omni.isaac.sim.png"
186-
title = "Isaac Sim"
186+
title = "Isaac Lab"
187187

188188
[settings.app.python]
189189
# These disable the kit app from also printing out python output, which gets confusing

‎docs/source/experimental-features/newton-physics-integration/index.rst‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
Newton Physics Integration
22
===========================
33

4-
`Newton <https://newton-physics.github.io/newton/guide/overview.html>`_ is a GPU-accelerated, extensible, and differentiable physics simulation engine designed for robotics, research,
4+
`Newton <https://newton-physics.github.io/newton/latest/guide/overview.html>`_ is a GPU-accelerated, extensible, and differentiable physics simulation engine designed for robotics, research,
55
and advanced simulation workflows. Built on top of `NVIDIA Warp <https://nvidia.github.io/warp/>`_ and integrating MuJoCo Warp, Newton provides high-performance
66
simulation, modern Python APIs, and a flexible architecture for both users and developers.
77

@@ -19,7 +19,7 @@ a good lens through which to understand how Newton integration works in Isaac La
1919
We have validated Newton simulation against PhysX by transferring learned policies from Newton to PhysX and vice versa
2020
Furthermore, we have also successfully deployed a Newton-trained locomotion policy to a G1 robot. Please see :ref:`here <sim2real>` for more information.
2121

22-
Newton can support `multiple solvers <https://newton-physics.github.io/newton/api/newton_solvers.html>`_ for handling different types of physics simulation, but for the moment, the Isaac
22+
Newton can support `multiple solvers <https://newton-physics.github.io/newton/latest/api/newton_solvers.html>`_ for handling different types of physics simulation, but for the moment, the Isaac
2323
Lab integration focuses primarily on the MuJoCo-Warp solver.
2424

2525
Future updates of this branch and Newton should include both ongoing improvements in performance as well as integration

‎docs/source/refs/release_notes.rst‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1975,7 +1975,7 @@ Migration Guide
19751975

19761976
Please find detailed migration guides as follows:
19771977

1978-
* `From Orbit to IsaacLab <https://isaac-sim.github.io/IsaacLab/main/source/migration/migrating_from_orbit.html>`_
1979-
* `From OmniIsaacGymEnvs to IsaacLab <https://isaac-sim.github.io/IsaacLab/main/source/migration/migrating_from_omniisaacgymenvs.html>`_
1978+
* :doc:`From Orbit to IsaacLab <../migration/migrating_from_orbit>`
1979+
* :doc:`From OmniIsaacGymEnvs to IsaacLab <../migration/migrating_from_omniisaacgymenvs>`
19801980

19811981
.. _simple script: https://gist.github.com/kellyguo11/3e8f73f739b1c013b1069ad372277a85

‎docs/source/setup/installation/include/src_build_isaaclab.rst‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -8,6 +8,14 @@ Installation
88
# these dependency are needed by robomimic which is not available on Windows
99
sudo apt install cmake build-essential
1010
11+
On **aarch64** systems (e.g., DGX Spark), OpenGL and X11 development packages are also required.
12+
The ``imgui-bundle`` dependency does not provide a pre-built wheel for aarch64 and must be
13+
compiled from source, which needs these headers and libraries:
14+
15+
.. code:: bash
16+
17+
sudo apt install libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
18+
1119
- Run the install command that iterates over all the extensions in ``source`` directory and installs them
1220
using pip (with ``--editable`` flag):
1321

‎docs/source/setup/installation/index.rst‎

Lines changed: 13 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -93,6 +93,19 @@ Other notable limitations with respect to Isaac Lab include...
9393

9494
#. :ref:`Running Cosmos Transfer1 <running-cosmos>` is not currently supported on the DGX Spark.
9595

96+
.. note::
97+
98+
**Build prerequisites on aarch64:** Some Python packages (notably ``imgui-bundle``) do not ship
99+
pre-built wheels for aarch64 and are compiled from source during installation. This requires
100+
OpenGL and X11 development headers to be installed on the system:
101+
102+
.. code-block:: bash
103+
104+
sudo apt install libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
105+
106+
Without these packages, the build will fail with a CMake error about missing ``OPENGL_opengl_LIBRARY``,
107+
``OPENGL_glx_LIBRARY``, and ``OPENGL_INCLUDE_DIR``.
108+
96109
Troubleshooting
97110
~~~~~~~~~~~~~~~
98111

‎docs/source/setup/installation/isaaclab_pip_installation.rst‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -57,6 +57,16 @@ Installing dependencies
5757
5858
pip install -U torch==2.10.0 torchvision==0.25.0 --index-url https://download.pytorch.org/whl/cu130
5959
60+
.. note::
61+
62+
On aarch64 (e.g., DGX Spark), ``imgui-bundle`` must be compiled from source because no
63+
pre-built wheel is available. Install the required OpenGL and X11 development packages
64+
**before** installing Isaac Lab:
65+
66+
.. code-block:: bash
67+
68+
sudo apt install libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
69+
6070
.. note::
6171

6272
After installing Isaac Lab on aarch64, you may encounter warnings such as:

‎docs/source/setup/installation/pip_installation.rst‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -74,6 +74,16 @@ Installing dependencies
7474
7575
pip install -U torch==2.10.0 torchvision==0.25.0 --index-url https://download.pytorch.org/whl/cu130
7676
77+
.. note::
78+
79+
On aarch64 (e.g., DGX Spark), ``imgui-bundle`` must be compiled from source because no
80+
pre-built wheel is available. Install the required OpenGL and X11 development packages
81+
**before** installing Isaac Lab:
82+
83+
.. code-block:: bash
84+
85+
sudo apt install libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
86+
7787
.. note::
7888

7989
After installing Isaac Lab on aarch64, you may encounter warnings such as:

0 commit comments

Comments
 (0)