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Local Environment

This page describes the software environment used for local validation work. The exact package versions, upstream commit hashes, and CUDA state are recorded per-validation in manifests/; this page does not duplicate those values.

Environment overview

The local environment is a conda environment named env_isaaclab_src running Python 3.11 on Ubuntu 22.04 with an NVIDIA RTX 4060 Laptop GPU. Isaac Lab is installed from source rather than from a binary distribution, which is why the environment name carries the _src suffix.

The active conda environment is activated with:

source "$HOME/miniforge3/etc/profile.d/conda.sh"
conda activate env_isaaclab_src
export OMNI_KIT_ACCEPT_EULA=YES

The OMNI_KIT_ACCEPT_EULA export is required before launching Isaac Sim. It is not optional, and it is not persisted across shell sessions; it must be set before each set of runs (or sourced from a setup script).

The local hardware specifications are documented separately under Hardware and System Specs.

Canonical state

Each validation run produces a manifest file under manifests/ capturing the exact state at the moment of validation: conda env, Python interpreter path, upstream commit hashes for the three submodules, the working command, package versions for the scientific stack (mbrl, rsl-rl-lib, isaaclab, isaaclab_rl, isaaclab_tasks, isaacsim, torch), CUDA availability, and known caveats observed during the run.

Manifests are the source of truth for "what was running when X was validated." This page describes what the environment is; manifests describe what the environment was at a specific successful validation. When in doubt, trust the manifest.

The structure of the manifest format is documented in Repository Structure.

Expected startup warnings

Isaac Sim and Warp emit several startup warnings on this machine that are non-blocking. The two with identifiable causes:

  • Warp CUDA cuDeviceGetUuid: a driver compatibility warning. Training proceeds normally; Isaac Lab uses cuda:0.
  • Intel iGPU skipped: expected on a laptop with hybrid graphics. Isaac Sim selects the discrete NVIDIA GPU and ignores the Intel one.

Other warnings appear during Isaac Sim startup (deprecated omni.isaac.dynamic_control, FabricManager mismatched-prototype messages, modules-loaded-before-SimulationApp messages). These are tracked but have not blocked any validated run.

If a warning category appears that is not in the above list and the run does not reach the expected validation marker, treat it as a real failure rather than noise.

Local scope

The local environment is sized for setup validation, code reading, reduced-scale execution checks, and documentation work. Full-scale RWM pretraining and imagination-based finetuning are deferred to lab hardware. The reasoning is documented under Hardware and System Specs.