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

YES, you need an RTX enabled GPU, and I don't think it will work in AMD and Intel GPUs and definitely not on Integrated GPUS and Macs

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:

Use any one of the following methods conda/mamba`

Using Conda:

conda create -n env_isaaclab python=3.10
conda activate env_isaaclab

Using Mamba:

mamba create -n env_isaaclab python=3.10
mamba activate env_isaaclab

Install Pytorch and CUDA related packages:

Make sure you are inside the env_isaaclab python environment

Use any one of the Following methods and not both

Pytorch 2.5.1 With CUDA 12

pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu121

Pytorch 2.5.1 With CUDA 11

pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu118

Installing Issac Sim 4.5.0

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

pip install --upgrade pip

and finally install Isaac Sim using:

pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com

DO NOT PANIC if it takes an eternity....its a massive package

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:

source /opt/ros/humble/setup.bash

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:

mamba activate env_isaaclab

Using Conda:

conda activate env_isaaclab

Run Isaac Sim:

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

isaacsim

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

isaacsim isaacsim.exp.full.kit

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

By installing or using Isaac Sim, I agree to the terms of NVIDIA SOFTWARE LICENSE AGREEMENT (EULA)
in https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-software-license-agreement

Do you accept the EULA? (Yes/No): Yes

The loading might be a bit slow in the first run, or maybe its just me, so go ahead and make sore coffee for yourself.