README

!Isaac Sim

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 Isaac Sim







NVIDIA Isaac Sim™ is a simulation platform built on NVIDIA Omniverse, designed to develop, test, train, and deploy AI-powered robots in realistic virtual environments. It supports importing robotic systems from common formats such as URDF, MJCF, and CAD. The simulator leverages high-fidelity, GPU-accelerated physics engines to simulate accurate dynamics and support multi-sensor RTX rendering at scale. It comes equipped with end-to-end workflows including synthetic data generation, reinforcement learning, ROS integration, and digital twin simulation. Isaac Sim provides the infrastructure needed to support robotics development at any stage.

 Key Features

- Asset Import & Export: Importing and exporting robots and environments from and to non-USD format.
- Robot Tuning: Optimize robot for physics accuracy, computation efficiency, or photorealism
- Robot Simulation: Tools for moving robots, such as controllers, motion generation and kinematics solvers, and policy integration.
- Sensors: RTX and physics-based sensors

 Key Applications

- Isaac Lab: GPU-accelerated framework built for reinforcement learning, imitation learning, and motion planning.
- ROS Bridge: Integration with Robot Operating System (ROS).
- Synthetic Data Generation: Collection of SDG tools

 Documentation

For the latest Isaac Sim documentation, see Isaac Sim Documentation.
Follow these links to get started:

- Tutorials
- Assets


 Prerequisites and Environment Setup

Ensure your system is set up with the following before building Isaac Sim:

- Operating System: Windows 11 or Linux (Ubuntu 22.04/24.04)

   (Linux) Ubuntu 24.04
   Building with Ubuntu 24.04 requires GCC/G++ 11 to be installed, GCC/G++ 12+ is not supported.

- GPU: For additional information on GPU features and requirements, see NVIDIA GPU Requirements

   Local Workstation

  | Min | Recommended | Best |
  |-----|-------------|------|
  | RTX 4080 | RTX 5080 | RTX PRO 6000 Blackwell Workstation |
  |  | RTX 5880 Ada | RTX PRO 5000 Blackwell Workstation |

   Datacenter

  | Min | Recommended | Best |
  |-----|-------------|------|
  | A40 | L40S | RTX PRO 6000 Blackwell Server |
  |  | L20 | |

- Driver: See NVIDIA Driver Requirements

- Internet Access: Required for downloading the Omniverse Kit SDK, extensions, and tools. Allow outbound HTTPS
  access to ovextensionsprod.blob.core.windows.net so the build can resolve public Kit and Isaac Sim extensions.



 Required Software Dependencies

- Git: For version control and repository management

- Git LFS: For managing large files within the repository

- (Windows - C++ Only) Microsoft Visual Studio 2022:

- Install Visual Studio 2022, Windows SDK, and MSVC using Winget by running the following command in PowerShell:

  powershell
  winget install --id=Microsoft.VisualStudio.2022.Community -e --override "--add Microsoft.VisualStudio.Workload.NativeDesktop --includeRecommended"
  
  
  Additional information on Windows development