Developer Tools for NVIDIA DGX Spark

Motivation

A template for Isaac Sim/Isaac Lab projects on NVIDIA DGX Spark that builds the relevant libraries from source and creates a virtual environment that includes the Isaac Sim/Isaac Lab packages as well as the relevant environment configuration.

The Python interpreter can then be invoked directly in the activated venv without further manual configuration. Project-specific packages are installed in the venv rather than the Isaac Sim bundled Python environment.

(dev-dgx-spark) chris@spark:~/dev-dgx-spark$ python experiment.py

Install

The install script:

• Checks pre-conditions
• Configures the system
  • fs.inotify limits
• Installs system dependencies
  • alternatives system
• Initializes the repository
• Builds vendor SDKs
  • Build Isaac Sim
  • Install Isaac Lab in Isaac Sim setup
  • Log Python environment
• Creates a Python venv

NOTE: There are a number of files that are intended only for development on this template rather than for inclusion in a concrete project. Use git archive to create a template for a concrete project.

./install/install.sh

Run Scripts

# Run Python scripts in the proper environment
source activate
./run.sh [SCRIPT]
deactivate

Test

source activate
./test.sh
deactivate

Licenses

This repository is available under the MIT License.

Submodules are subject to their respective licenses:

• NVIDIA Isaac Lab: see sdks/vendor/isaaclab/LICENSE, sdks/vendor/isaaclab/LICENSE-mimic
• NVIDIA Isaac Sim: see sdks/vendor/isaacsim/LICENSE

Python modules are subject to their respective licenses (uv run pip-licenses).