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Feature/3438 uv windows support #4007

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17ab89b
Add support to uv in Windows
fbeltrao Nov 12, 2025
1093463
Update CONTRIBUTORS.md
fbeltrao Nov 12, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ Guidelines for modifications:
* Fabian Jenelten
* Felipe Mohr
* Felix Yu
* Francisco Beltrao
* Gary Lvov
* Giulio Romualdi
* Haoran Zhou
Expand Down
176 changes: 164 additions & 12 deletions isaaclab.bat
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Original file line number Diff line number Diff line change
Expand Up @@ -47,18 +47,22 @@ set "TV_VER=0.22.0"
set "CUDA_TAG=cu128"
set "PYTORCH_INDEX=https://download.pytorch.org/whl/%CUDA_TAG%"

rem Get pip command
call :extract_pip_command
call :extract_pip_uninstall_command

rem Do we already have torch?
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!"
call !pip_command! "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!"
call !pip_uninstall_command! torch torchvision torchaudio >nul 2>&1
call !pip_command! "torch==!TORCH_VER!" "torchvision==!TV_VER!" --index-url "!PYTORCH_INDEX!"
) else (
echo [INFO] PyTorch !TORCH_VER!+!CUDA_TAG! already installed.
)
Expand Down Expand Up @@ -98,6 +102,9 @@ rem check if using conda
if not "%CONDA_PREFIX%"=="" (
rem use conda python
set python_exe=%CONDA_PREFIX%\python.exe
) else if not "%VIRTUAL_ENV%"=="" (
rem use uv virtual environment python
set python_exe=%VIRTUAL_ENV%\python.exe
) else (
rem use kit python
set python_exe=%ISAACLAB_PATH%\_isaac_sim\python.bat
Expand All @@ -117,7 +124,7 @@ if not exist "%python_exe%" (
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%1. Conda or uv 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
)
Expand Down Expand Up @@ -145,16 +152,130 @@ if not exist "%isaacsim_exe%" (
goto :eof


rem find pip command based on virtualization
:extract_pip_command
rem detect if we're in a uv environment
if not "%VIRTUAL_ENV%"=="" (
if exist "%VIRTUAL_ENV%\pyvenv.cfg" (
findstr /C:"uv" "%VIRTUAL_ENV%\pyvenv.cfg" >nul
if !ERRORLEVEL! EQU 0 (
set pip_command=uv pip install
goto :eof
)
)
)
rem retrieve the python executable
call :extract_python_exe
set pip_command=!python_exe! -m pip install
goto :eof

:extract_pip_uninstall_command
rem detect if we're in a uv environment
if not "%VIRTUAL_ENV%"=="" (
if exist "%VIRTUAL_ENV%\pyvenv.cfg" (
findstr /C:"uv" "%VIRTUAL_ENV%\pyvenv.cfg" >nul
if !ERRORLEVEL! EQU 0 (
set pip_uninstall_command=uv pip uninstall
goto :eof
)
)
)
rem retrieve the python executable
call :extract_python_exe
set pip_uninstall_command=!python_exe! -m pip uninstall -y
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 retrieve pip command
call :extract_pip_command
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%
call !pip_command! --editable %ext_folder%
)
goto :eof


rem setup uv environment for Isaac Lab
:setup_uv_env
rem get environment name from input
set env_name=%uv_env_name%
rem check uv is installed
where uv >nul 2>nul
if errorlevel 1 (
echo [ERROR] uv could not be found. Please install uv and try again.
echo [ERROR] uv can be installed here:
echo [ERROR] https://docs.astral.sh/uv/getting-started/installation/
exit /b 1
)

rem check if _isaac_sim symlink exists and isaacsim-rl is not installed via pip
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 uv environment.
)
)

rem check if the environment exists
set env_path=%ISAACLAB_PATH%\%env_name%
if not exist "%env_path%" (
echo [INFO] Creating uv environment named '%env_name%'...
call uv venv --clear "%env_path%"
) else (
echo [INFO] uv environment '%env_name%' already exists.
)

rem cache current paths for later
set "cache_pythonpath=%PYTHONPATH%"
set "cache_ld_library_path=%LD_LIBRARY_PATH%"

rem ensure activate file exists
if not exist "%env_path%\Scripts\activate.bat" (
echo [ERROR] Failed to create uv environment activation script
exit /b 1
)

rem add variables to environment during activation
(
echo.
echo rem for Isaac Lab
echo set "ISAACLAB_PATH=%ISAACLAB_PATH%"
echo doskey isaaclab=%ISAACLAB_PATH%\isaaclab.bat $*
echo set "RESOURCE_NAME=IsaacSim"
echo.
) >> "%env_path%\Scripts\activate.bat"

rem obtain isaacsim path if available
call :extract_isaacsim_path 2>nul
if exist "%isaac_path%" (
rem add Isaac Sim variables to activation script
(
echo rem for Isaac Sim
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.
) >> "%env_path%\Scripts\activate.bat"
)

rem add information to the user about alias
echo [INFO] Added 'isaaclab' alias to uv environment for 'isaaclab.bat' script.
echo [INFO] Created uv environment named '%env_name%'.
echo.
echo 1. To activate the environment, run: %env_path%\Scripts\activate.bat
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: deactivate
echo.
goto :eof


Expand Down Expand Up @@ -322,7 +443,7 @@ goto :eof
rem Print the usage description
:print_help
echo.
echo usage: %~nx0 [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-n] [-c] -- Utility to manage extensions in Isaac Lab.
echo usage: %~nx0 [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-n] [-c] [-u] -- Utility to manage extensions in Isaac Lab.
echo.
echo optional arguments:
echo -h, --help Display the help content.
Expand All @@ -335,6 +456,7 @@ 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 -u, --uv [NAME] Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'.
echo.
goto :eof

Expand Down Expand Up @@ -382,7 +504,8 @@ if "%arg%"=="-i" (
shift
)
rem install the rl-frameworks specified
call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\isaaclab_rl[!framework_name!]
call :extract_pip_command
call !pip_command! -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
Expand Down Expand Up @@ -418,7 +541,8 @@ if "%arg%"=="-i" (
shift
)
rem install the rl-frameworks specified
call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\isaaclab_rl[!framework_name!]
call :extract_pip_command
call !pip_command! -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
Expand Down Expand Up @@ -450,6 +574,30 @@ if "%arg%"=="-i" (
)
call :setup_conda_env %conda_env_name%
shift
) else if "%arg%"=="-u" (
rem use default name if not provided
if not "%~2"=="" (
echo [INFO] Using uv environment name: %2
set uv_env_name=%2
shift
) else (
echo [INFO] Using default uv environment name: env_isaaclab
set uv_env_name=env_isaaclab
)
call :setup_uv_env %uv_env_name%
shift
) else if "%arg%"=="--uv" (
rem use default name if not provided
if not "%~2"=="" (
echo [INFO] Using uv environment name: %2
set uv_env_name=%2
shift
) else (
echo [INFO] Using default uv environment name: env_isaaclab
set uv_env_name=env_isaaclab
)
call :setup_uv_env %uv_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
Expand Down Expand Up @@ -569,7 +717,8 @@ if "%arg%"=="-i" (
)
)
echo [INFO] Installing template dependencies...
call !python_exe! -m pip install -q -r tools\template\requirements.txt
call :extract_pip_command
call !pip_command! -q -r tools\template\requirements.txt
echo.
echo [INFO] Running template generator...
echo.
Expand All @@ -588,7 +737,8 @@ if "%arg%"=="-i" (
)
)
echo [INFO] Installing template dependencies...
call !python_exe! -m pip install -q -r tools\template\requirements.txt
call :extract_pip_command
call !pip_command! -q -r tools\template\requirements.txt
echo.
echo [INFO] Running template generator...
echo.
Expand Down Expand Up @@ -637,7 +787,8 @@ if "%arg%"=="-i" (
echo [INFO] Building documentation...
call :extract_python_exe
pushd %ISAACLAB_PATH%\docs
call !python_exe! -m pip install -r requirements.txt >nul
call :extract_pip_command
call !pip_command! -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"
Expand All @@ -649,7 +800,8 @@ if "%arg%"=="-i" (
echo [INFO] Building documentation...
call :extract_python_exe
pushd %ISAACLAB_PATH%\docs
call !python_exe! -m pip install -r requirements.txt >nul
call :extract_pip_command
call !pip_command! -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"
Expand Down