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Improve uv environment support in isaaclab.sh #4269

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61 changes: 51 additions & 10 deletions isaaclab.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
# Exits if error occurs
set -e

# Set tab-spaces
tabs 4
# Set tab-spaces (ignore errors in non-interactive terminals)
tabs 4 2>/dev/null || true

# get source directory
export ISAACLAB_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
Expand Down Expand Up @@ -232,8 +232,8 @@ extract_isaacsim_exe() {

# find pip command based on virtualization
extract_pip_command() {
# detect if we're in a uv environment
if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -q "uv" "${VIRTUAL_ENV}/pyvenv.cfg"; then
# detect if we're in a uv environment - use precise pattern matching
if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -qE '^uv\s*=' "${VIRTUAL_ENV}/pyvenv.cfg"; then
pip_command="uv pip install"
else
# retrieve the python executable
Expand All @@ -245,8 +245,8 @@ extract_pip_command() {
}

extract_pip_uninstall_command() {
# detect if we're in a uv environment
if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -q "uv" "${VIRTUAL_ENV}/pyvenv.cfg"; then
# detect if we're in a uv environment - use precise pattern matching
if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -qE '^uv\s*=' "${VIRTUAL_ENV}/pyvenv.cfg"; then
pip_uninstall_command="uv pip uninstall"
else
# retrieve the python executable
Expand Down Expand Up @@ -453,6 +453,14 @@ setup_uv_env() {
local env_name="$1"
local python_path="$2"

# check if already in a uv environment - use precise pattern matching
if [ -n "${VIRTUAL_ENV}" ] && [ -f "${VIRTUAL_ENV}/pyvenv.cfg" ] && grep -qE '^uv\s*=' "${VIRTUAL_ENV}/pyvenv.cfg"; then
echo "[INFO] Detected active uv environment at: ${VIRTUAL_ENV}"
echo "[INFO] You can directly install Isaac Lab using: ./isaaclab.sh -i"
echo "[INFO] If you want to create a new environment instead, deactivate the current one first."
return 0
fi

# check uv is installed
if ! command -v uv &>/dev/null; then
echo "[ERROR] uv could not be found. Please install uv and try again."
Expand Down Expand Up @@ -529,7 +537,8 @@ print_help () {
echo -e "\nusage: $(basename "$0") [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-n] [-c] [-u] -- Utility to manage Isaac Lab."
echo -e "\noptional arguments:"
echo -e "\t-h, --help Display the help content."
echo -e "\t-i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'."
echo -e "\t-i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies."
echo -e "\t Can be used in any active conda/uv environment. Default is 'all'."
echo -e "\t-f, --format Run pre-commit to format the code and check lints."
echo -e "\t-p, --python Run the python executable provided by Isaac Sim or virtual environment (if active)."
echo -e "\t-s, --sim Run the simulator executable (isaac-sim.sh) provided by Isaac Sim."
Expand All @@ -538,8 +547,16 @@ print_help () {
echo -e "\t-v, --vscode Generate the VSCode settings file from template."
echo -e "\t-d, --docs Build the documentation from source using sphinx."
echo -e "\t-n, --new Create a new external project or internal task from template."
echo -e "\t-c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'."
echo -e "\t-u, --uv [NAME] Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'."
echo -e "\t-c, --conda [NAME] Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'."
echo -e "\t-u, --uv [NAME] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'."
echo -e "\nExamples:"
echo -e "\t# Install in an existing uv environment:"
echo -e "\t source /path/to/your/env/bin/activate"
echo -e "\t ./isaaclab.sh -i"
echo -e "\n\t# Create and setup a new uv environment:"
echo -e "\t ./isaaclab.sh -u my_env"
echo -e "\t source my_env/bin/activate"
echo -e "\t ./isaaclab.sh -i"
echo -e "\n" >&2
}

Expand Down Expand Up @@ -567,6 +584,16 @@ while [[ $# -gt 0 ]]; do
python_exe=$(extract_python_exe)
pip_command=$(extract_pip_command)
pip_uninstall_command=$(extract_pip_uninstall_command)

# show which environment is being used
if [ -n "${VIRTUAL_ENV}" ]; then
echo "[INFO] Using uv/venv environment: ${VIRTUAL_ENV}"
elif [ -n "${CONDA_PREFIX}" ]; then
echo "[INFO] Using conda environment: ${CONDA_PREFIX}"
else
echo "[INFO] Using Isaac Sim Python or system Python"
fi
echo "[INFO] Python executable: ${python_exe}"

# if on ARM arch, temporarily clear LD_PRELOAD
# LD_PRELOAD is restored below, after installation
Expand Down Expand Up @@ -649,8 +676,22 @@ while [[ $# -gt 0 ]]; do
uv_env_name=$2
shift # past argument
fi
# determine python version based on Isaac Sim version with fallback
if is_isaacsim_version_4_5 2>/dev/null; then
python_version="3.10"
echo "[INFO] Detected Isaac Sim 4.5 → Using Python version: ${python_version}"
else
python_version="3.11"
# Check if we can detect Isaac Sim 5.0+
if command -v python &>/dev/null && python -c "import isaacsim" 2>/dev/null; then
echo "[INFO] Detected Isaac Sim 5.0+ → Using Python version: ${python_version}"
else
echo "[INFO] Isaac Sim not detected. Defaulting to Python version: ${python_version}"
echo "[INFO] Note: Python 3.11 works with Isaac Sim 5.0+. Use Python 3.10 for Isaac Sim 4.5."
fi
fi
# setup the uv environment for Isaac Lab
setup_uv_env ${uv_env_name}
setup_uv_env ${uv_env_name} ${python_version}
shift # past argument
;;
-f|--format)
Expand Down