Testing Platform:

• CPU: Ryzen 5 5600X

• GPU: RTX 3060 Asus Phoenix V2

• RAM: 32 GB DDR4 3600MhZ

• SSD: 2TB Gen 4 NVMe

• OS: Pop_OS! 22.04 LTS

Find the Official Documentation here:

Python Environment Setup:

For this tutorial I'm using mamba (or conda) , venv is also an option but I prefer working with mamba. If you haven't installed it before, you can follow the previous tutorial here.

Create a new python environment for Isaac Sim:

Using Conda:

Using Mamba:

Install Pytorch and CUDA related packages:

Pytorch 2.5.1 With CUDA 12

Pytorch 2.5.1 With CUDA 11

Installing Issac Sim 4.5.0

Ensure that pip is upgraded to the latest available version using:

and finally install Isaac Sim using:

ROS2 Humble:

It is recommended to have ROS2 Sourced before Isaac Sim is executed , so that you see less of the red warnings, and there's also the benefit of using the ROS2 bridge.

For Now there is only Humble is supported in the ROS2 Family and I have small tutorial to help you install it.

and source ROS2 Humble using:

Install Validation:

Enter the Virtual Environment

If you have successfully completed the previous steps then, all you have to do is to enter the python environment that you have created using:

Using Mamba:

Using Conda:

Run Isaac Sim:

The following command runs the full simulator and is usually the recommended way of running the platform.

As per the documentation, it is also possible to run a specific experience file using:

During the first run, you would be presented with the following prompt for the Software License Agreement, well you would give the obvious answer of Yes