Nix flake support

[urban-prah]

Native installation on nixos can be a little tricky. Current workaround is using the offically provided container installation instructions (docker), however it would be nice to add support for declarative developer environments based on nix flakes.

I managed to run isaacsim/lab using the following configuration:

• nixGL overlay for nvidia and vulkan support

packages = [
    libGL
    libGLU
    xorg.libX11
    xorg.libXt
    xorg.libxcb
    libxml2
    zlib
    glib
    glibc
    openssl
    nixgl.auto.nixVulkanNvidia
];

• pip installation with uv and pyproject.toml:

[project]
name = "isaaclab_env"
version = "2.2.0"
description = "NVIDIA's RL framework based on IsaacSim"
requires-python = ">=3.11"
dependencies = [
  # IsaacLab
  "opencv-python>=4.11.0.86",
  "torch==2.7.0",
  "torchvision==0.22.0",
  "isaaclab[isaacsim,all]==2.2.0",
  "rl-games",
]

[[tool.uv.index]]
url = "https://pypi.nvidia.com/"

[tool.uv.sources]
rl-games = { git = "https://github.com/isaac-sim/rl_games.git", rev = "python3.11" }

• launch command with ROS2 bridge within the shell:

PYTHONPATH=./venv/lib/python3.11/site-packages/isaacsim/exts/isaacsim.ros2.bridge/${rosDistro}/rclpy:$PYTHONPATH nixVulkanNvidia-${nvidiaDriverVersion} isaacsim

---

For isaac lab I ended up just cloning the repo to nix store and setting up an environmental variable export ISAACLAB_ROOT="${isaaclab}" to access the examples:

isaaclab = pkgs.fetchFromGitHub {
  owner = "isaac-sim";
  repo = "IsaacLab";
  rev = "v2.2.1";
  hash = "sha256-VKUTxIOa3ZJ13ZkGnIzdQf5NoR13nKljo5H+TEmBpmU=";
  fetchSubmodules = true;
};

After some testing it seems to work pretty well, apart from using the external cache and downloading assets from the hub. This prevents us from using the default example:

isaaclab.sh -p $ISAACLAB_ROOT/scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0

Console log:

[6.382s] Simulation App Starting
2025-10-22T11:34:21Z [6,530ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
2025-10-22T11:34:21Z [6,559ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9

2025-10-22T11:34:21Z [6,646ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
[6.747s] app ready
2025-10-22T11:34:23Z [8,291ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-10-22T11:34:23Z [8,291ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-10-22T11:34:23Z [8,292ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
2025-10-22T11:34:23Z [8,366ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
2025-10-22T11:34:23Z [8,366ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
[8.753s] Simulation App Startup Complete
[INFO]: Parsing configuration from: isaaclab_tasks.manager_based.classic.ant.ant_env_cfg:AntEnvCfg
[INFO]: Parsing configuration from: isaaclab_tasks.manager_based.classic.ant.agents.rsl_rl_ppo_cfg:AntPPORunnerCfg
[INFO] Logging experiment in directory: logs/rsl_rl/ant
Exact experiment name requested from command line: 2025-10-22_13-34-24
Setting seed: 42
[9.482s] [ext: omni.physx.fabric-107.3.18] startup
[2025-10-22 13:34:24,429][ogn_registration][INFO] - Looking for Python nodes to register in omni.physx.fabric-107.3.18
[2025-10-22 13:34:24,429][ogn_registration][INFO] -  -> Registered nodes from module omni.physxfabric at .devenv/state/venv/lib/python3.11/site-packages/isaacsim/extscache/omni.physx.fabric-107.3.18+107.3.1.lx64.r.cp311.u353
[2025-10-22 13:34:24,429][ogn_registration][INFO] - Registering nodes in .devenv/state/venv/lib/python3.11/site-packages/isaacsim/extscache/omni.physx.fabric-107.3.18+107.3.1.lx64.r.cp311.u353 imported as omni.physxfabric with AutoNode config {}
[2025-10-22 13:34:24,429][ogn_registration][INFO] - Registering Python Node Types from omni.physxfabric at .devenv/state/venv/lib/python3.11/site-packages/isaacsim/extscache/omni.physx.fabric-107.3.18+107.3.1.lx64.r.cp311.u353 in omni.physx.fabric
[2025-10-22 13:34:24,429][ogn_registration][INFO] - ========================================================================================================================
[2025-10-22 13:34:24,430][ogn_registration][INFO] - No dependency on omni.graph, therefore no nodes to register in omni.physx.fabric
[2025-10-22 13:34:24,430][ogn_registration][INFO] - ...None found, no registration to do
[2025-10-22 13:34:24,430][ogn_registration][INFO] - ...Skipping: No OmniGraph presence in the module omni.physxfabric - No nodes in this module, do not remember it
[2025-10-22 13:34:24,430][ogn_registration][INFO] - Destroying registration record for omni.physx.fabric
[2025-10-22 13:34:24,430][ogn_registration][INFO] - OGN register omni.physx.fabric-107.3.18 took 1094885.000000
[INFO]: Base environment:
	Environment device    : cuda:0
	Environment seed      : 42
	Physics step-size     : 0.008333333333333333
	Rendering step-size   : 0.016666666666666666
	Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 62.857701 seconds
Error executing job with overrides: []
Traceback (most recent call last):
  File ".devenv/state/venv/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 734, in make
    env = env_creator(**env_spec_kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 82, in __init__
    super().__init__(cfg=cfg)
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 135, in __init__
    self.scene = InteractiveScene(self.cfg.scene)
                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/scene/interactive_scene.py", line 179, in __init__
    self._add_entities_from_cfg()
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/scene/interactive_scene.py", line 736, in _add_entities_from_cfg
    self._terrain = asset_cfg.class_type(asset_cfg)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/terrains/terrain_importer.py", line 104, in __init__
    self.import_ground_plane("terrain")
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/terrains/terrain_importer.py", line 218, in import_ground_plane
    ground_plane_cfg.func(prim_path, ground_plane_cfg)
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py", line 169, in spawn_ground_plane
    bind_physics_material(collision_prim_path, f"{prim_path}/physicsMaterial")
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab/isaaclab/sim/utils.py", line 177, in wrapper
    prim: Usd.Prim = stage.GetPrimAtPath(prim_path)
                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Boost.Python.ArgumentError: Python argument types in
    Stage.GetPrimAtPath(Stage, NoneType)
did not match C++ signature:
    GetPrimAtPath(pxrInternal_v0_24__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved__::SdfPath path)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File ".devenv/state/venv/lib/python3.11/site-packages/isaaclab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/nix/store/sf6asjjl1hjwprxmwwf0vrd81gc6xlz6-source/scripts/reinforcement_learning/rsl_rl/train.py", line 155, in main
    env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".devenv/state/venv/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 746, in make
    raise type(e)(
Boost.Python.ArgumentError: Python argument types in
    Stage.GetPrimAtPath(Stage, NoneType)
did not match C++ signature:
    GetPrimAtPath(pxrInternal_v0_24__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved__::SdfPath path) was raised from the environment creator for Isaac-Ant-v0 with kwargs ({'env_cfg_entry_point': 'isaaclab_tasks.manager_based.classic.ant.ant_env_cfg:AntEnvCfg', 'rsl_rl_cfg_entry_point': 'isaaclab_tasks.manager_based.classic.ant.agents.rsl_rl_ppo_cfg:AntPPORunnerCfg', 'rl_games_cfg_entry_point': 'isaaclab_tasks.manager_based.classic.ant.agents:rl_games_ppo_cfg.yaml', 'skrl_cfg_entry_point': 'isaaclab_tasks.manager_based.classic.ant.agents:skrl_ppo_cfg.yaml', 'sb3_cfg_entry_point': 'isaaclab_tasks.manager_based.classic.ant.agents:sb3_ppo_cfg.yaml', 'cfg': AntEnvCfg(viewer=ViewerCfg(eye=(7.5, 7.5, 7.5), lookat=(0.0, 0.0, 0.0), cam_prim_path='/OmniverseKit_Persp', resolution=(1280, 720), origin_type='world', env_index=0, asset_name=None, body_name=None), sim=SimulationCfg(physics_prim_path='/physicsScene', device='cuda:0', dt=0.008333333333333333, render_interval=2, gravity=(0.0, 0.0, -9.81), enable_scene_query_support=True, use_fabric=True, physx=PhysxCfg(solver_type=1, min_position_iteration_count=1, max_position_iteration_count=255, min_velocity_iteration_count=0, max_velocity_iteration_count=255, enable_ccd=False, enable_stabilization=False, enable_enhanced_determinism=False, bounce_threshold_velocity=0.2, friction_offset_threshold=0.04, friction_correlation_distance=0.025, gpu_max_rigid_contact_count=8388608, gpu_max_rigid_patch_count=163840, gpu_found_lost_pairs_capacity=2097152, gpu_found_lost_aggregate_pairs_capacity=33554432, gpu_total_aggregate_pairs_capacity=2097152, gpu_collision_stack_size=67108864, gpu_heap_capacity=67108864, gpu_temp_buffer_capacity=16777216, gpu_max_num_partitions=8, gpu_max_soft_body_contacts=1048576, gpu_max_particle_contacts=1048576), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x7fd68b2d2f20>, static_friction=1.0, dynamic_friction=1.0, restitution=0.0, friction_combine_mode='average', restitution_combine_mode='average', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), render=RenderCfg(enable_translucency=None, enable_reflections=None, enable_global_illumination=None, antialiasing_mode=None, enable_dlssg=None, enable_dl_denoiser=None, dlss_mode=None, enable_direct_lighting=None, samples_per_pixel=None, enable_shadows=None, enable_ambient_occlusion=None, carb_settings=None, rendering_mode=None), create_stage_in_memory=False), ui_window_class_type=<class 'isaaclab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow'>, seed=42, decimation=2, scene=MySceneCfg(num_envs=4096, env_spacing=5.0, lazy_sensor_update=True, replicate_physics=True, filter_collisions=True, clone_in_fabric=True, terrain=TerrainImporterCfg(class_type=<class 'isaaclab.terrains.terrain_importer.TerrainImporter'>, collision_group=-1, prim_path='/World/ground', num_envs=4096, terrain_type='plane', terrain_generator=None, usd_path=None, env_spacing=5.0, visual_material=PreviewSurfaceCfg(func=<function spawn_preview_surface at 0x7fd68b2f8720>, diffuse_color=(0.0, 0.0, 0.0), emissive_color=(0.0, 0.0, 0.0), roughness=0.5, metallic=0.0, opacity=1.0), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x7fd68b2d2f20>, static_friction=1.0, dynamic_friction=1.0, restitution=0.0, friction_combine_mode='average', restitution_combine_mode='average', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), max_init_terrain_level=None, debug_vis=False), robot=ArticulationCfg(class_type=<class 'isaaclab.assets.articulation.articulation.Articulation'>, prim_path='{ENV_REGEX_NS}/Robot', spawn=UsdFileCfg(func=<function spawn_from_usd at 0x7fd68b2d2480>, visible=True, semantic_tags=None, copy_from_source=False, mass_props=None, deformable_props=None, rigid_props=RigidBodyPropertiesCfg(rigid_body_enabled=None, kinematic_enabled=None, disable_gravity=False, linear_damping=None, angular_damping=None, max_linear_velocity=None, max_angular_velocity=None, max_depenetration_velocity=10.0, max_contact_impulse=None, enable_gyroscopic_forces=True, retain_accelerations=None, solver_position_iteration_count=None, solver_velocity_iteration_count=None, sleep_threshold=None, stabilization_threshold=None), collision_props=None, activate_contact_sensors=False, scale=None, articulation_props=ArticulationRootPropertiesCfg(articulation_enabled=None, enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0, sleep_threshold=0.005, stabilization_threshold=0.001, fix_root_link=None), fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None, usd_path='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/IsaacSim/Ant/ant_instanceable.usd', variants=None), init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 0.5), rot=(1.0, 0.0, 0.0, 0.0), lin_vel=(0.0, 0.0, 0.0), ang_vel=(0.0, 0.0, 0.0), joint_pos={'.*_leg': 0.0, 'front_left_foot': 0.785398, 'front_right_foot': -0.785398, 'left_back_foot': -0.785398, 'right_back_foot': 0.785398}, joint_vel={'.*': 0.0}), collision_group=0, debug_vis=False, articulation_root_prim_path=None, soft_joint_pos_limit_factor=1.0, actuators={'body': ImplicitActuatorCfg(class_type=<class 'isaaclab.actuators.actuator_pd.ImplicitActuator'>, joint_names_expr=['.*'], effort_limit=None, velocity_limit=None, effort_limit_sim=None, velocity_limit_sim=None, stiffness=0.0, damping=0.0, armature=None, friction=None, dynamic_friction=None, viscous_friction=None)}, actuator_value_resolution_debug_print=False), light=AssetBaseCfg(class_type=None, prim_path='/World/light', spawn=DistantLightCfg(func=<function spawn_light at 0x7fd68b31ccc0>, visible=True, semantic_tags=None, copy_from_source=True, prim_type='DistantLight', color=(0.75, 0.75, 0.75), enable_color_temperature=False, color_temperature=6500.0, normalize=False, exposure=0.0, intensity=3000.0, angle=0.53), init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), collision_group=0, debug_vis=False)), recorders=RecorderManagerBaseCfg(dataset_file_handler_class_type=<class 'isaaclab.utils.datasets.hdf5_dataset_file_handler.HDF5DatasetFileHandler'>, dataset_export_dir_path='/tmp/isaaclab/logs', dataset_filename='dataset', dataset_export_mode=<DatasetExportMode.EXPORT_ALL: 1>, export_in_record_pre_reset=True), observations=ObservationsCfg(policy=ObservationsCfg.PolicyCfg(concatenate_terms=True, concatenate_dim=-1, enable_corruption=False, history_length=None, flatten_history_dim=True, base_height=ObservationTermCfg(func=<function base_pos_z at 0x7fd68a5bce00>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), base_lin_vel=ObservationTermCfg(func=<function base_lin_vel at 0x7fd68a5bcea0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), base_ang_vel=ObservationTermCfg(func=<function base_ang_vel at 0x7fd68a5bcf40>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), base_yaw_roll=ObservationTermCfg(func=<function base_yaw_roll at 0x7fd8ede84040>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), base_angle_to_target=ObservationTermCfg(func=<function base_angle_to_target at 0x7fd8ede83f60>, params={'target_pos': (1000.0, 0.0, 0.0)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), base_up_proj=ObservationTermCfg(func=<function base_up_proj at 0x7fd8ede844a0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), base_heading_proj=ObservationTermCfg(func=<function base_heading_proj at 0x7fd8ede83740>, params={'target_pos': (1000.0, 0.0, 0.0)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), joint_pos_norm=ObservationTermCfg(func=<function joint_pos_limit_normalized at 0x7fd68a5bd580>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), joint_vel_rel=ObservationTermCfg(func=<function joint_vel_rel at 0x7fd68a5bd6c0>, params={}, modifiers=None, noise=None, clip=None, scale=0.2, history_length=0, flatten_history_dim=True), feet_body_forces=ObservationTermCfg(func=<function body_incoming_wrench at 0x7fd68a5bd8a0>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=0.1, history_length=0, flatten_history_dim=True), actions=ObservationTermCfg(func=<function last_action at 0x7fd68a5bdc60>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True))), actions=ActionsCfg(joint_effort=JointEffortActionCfg(class_type=<class 'isaaclab.envs.mdp.actions.joint_actions.JointEffortAction'>, asset_name='robot', debug_vis=False, clip=None, joint_names=['.*'], scale=7.5, offset=0.0, preserve_order=False)), events=EventCfg(reset_base=EventTermCfg(func=<function reset_root_state_uniform at 0x7fd68a5bc360>, params={'pose_range': {}, 'velocity_range': {}}, mode='reset', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), reset_robot_joints=EventTermCfg(func=<function reset_joints_by_offset at 0x7fd68a5bc5e0>, params={'position_range': (-0.2, 0.2), 'velocity_range': (-0.1, 0.1)}, mode='reset', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0)), rerender_on_reset=False, wait_for_textures=True, xr=None, teleop_devices=DevicesCfg(devices={}), is_finite_horizon=False, episode_length_s=16.0, rewards=RewardsCfg(progress=RewardTermCfg(func=<class 'isaaclab_tasks.manager_based.classic.humanoid.mdp.rewards.progress_reward'>, params={'target_pos': (1000.0, 0.0, 0.0)}, weight=1.0), alive=RewardTermCfg(func=<function is_alive at 0x7fd68a5e40e0>, params={}, weight=0.5), upright=RewardTermCfg(func=<function upright_posture_bonus at 0x7fd8ede85580>, params={'threshold': 0.93}, weight=0.1), move_to_target=RewardTermCfg(func=<function move_to_target_bonus at 0x7fd8ede83ec0>, params={'threshold': 0.8, 'target_pos': (1000.0, 0.0, 0.0)}, weight=0.5), action_l2=RewardTermCfg(func=<function action_l2 at 0x7fd68a5e4cc0>, params={}, weight=-0.005), energy=RewardTermCfg(func=<class 'isaaclab_tasks.manager_based.classic.humanoid.mdp.rewards.power_consumption'>, params={'gear_ratio': {'.*': 15.0}}, weight=-0.05), joint_pos_limits=RewardTermCfg(func=<class 'isaaclab_tasks.manager_based.classic.humanoid.mdp.rewards.joint_pos_limits_penalty_ratio'>, params={'threshold': 0.99, 'gear_ratio': {'.*': 15.0}}, weight=-0.1)), terminations=TerminationsCfg(time_out=TerminationTermCfg(func=<function time_out at 0x7fd68a5e5080>, params={}, time_out=True), torso_height=TerminationTermCfg(func=<function root_height_below_minimum at 0x7fd68a5e5260>, params={'minimum_height': 0.31}, time_out=False)), curriculum=None, commands=None), 'render_mode': None})

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
2025-10-22T11:35:27Z [72,887ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-10-22T11:35:27Z [72,888ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-10-22T11:35:27Z [72,890ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
2025-10-22T11:35:27Z [72,891ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
2025-10-22T11:35:27Z [72,894ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-10-22T11:35:27Z [72,896ms] [Warning] [carb.audio.context] 1 contexts were leaked
2025-10-22T11:35:27Z [72,969ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

The issue relates to how nix handles dynamically linked libraries. I managed to get the hub to work by patching it like so:

patchelf --set-interpreter ${pkgs.glibc}/lib/ld-linux-x86-64.so.2 ~/.local/share/ov/pkg/hub-1.0.2/target/release/hub

I'll investigate further and look into:

• my environment configuration (LD_LIBRARY_PATH, PYTHONPATH, etc.)
• https://github.com/nix-community/nix-ld

[urban-prah]

I managed to get external cache working by providing openssl to LD_LIBRARY_PATH and installing cacert:

export SSL_CERT_FILE=${pkgs.cacert}/etc/ssl/certs/ca-bundle.crt
export CURL_CA_BUNDLE=${pkgs.cacert}/etc/ssl/certs/ca-bundle.crt

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DEVENV_ROOT/.devenv/state/venv/lib/python3.11/site-packages:${pkgs.stdenv.cc.cc.lib}/lib:${pkgs.libyaml}/lib:${pkgs.spdlog}/lib:${pkgs.openssl}/lib

IsaacSim log didn't provide any logs/warnings as to why it wasn't able to connect so I just got lucky I guess...

I also extended my flake with ROS2 jazzy using nix-ros-overlay to create a fully working development environment.

[vick-yu]

Thanks for sharing your detailed setup and findings! This is a great contribution for others exploring Nix-based development with Isaac Sim and Isaac Lab. Your approach to using nixGL, nix-ros-overlay, and custom library path configuration provides a strong reference for reproducible, declarative dev environments.

[vick-yu]

We’ve created an internal feature request for Nix flake support based on this discussion for our team’s review. Thanks for sharing your setup and ideas!