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Isaac Sim

GitHub code

Isaac Sim 4.5.0 Binary Install.

Depends on:

  • Vulkan Configuration
  • Username

Note that CUDA Toolkit is not required for Isaac Sim.

Compatibility test:

cd ~/isaac-sim-comp-check
./omni.isaac.sim.compatibility_check.sh

Quick test:

cd ~/isaacsim
./python.sh standalone_examples/api/isaacsim.core.api/time_stepping.py
# or
./python.sh standalone_examples/api/isaacsim.core.api/simulation_callbacks.py

Launch GUI:

cd ~/isaacsim
./isaac-sim.sh

On Host:

Quick test using official Docker image:

scripts/docker_run_official_isaac_sim.sh

Importing URDF

File > Import and select the URDF file.

If your URDF file is in the Xacro format, you may need to convert it to the URDF format first:

XACRO_FILE=<XACRO_FILE>.xacro
URDF_FILE=<URDF_FILE>.urdf
xacro $XACRO_FILE > $URDF_FILE

You can also check the URDF hierarchy:

check_urdf $URDF_FILE

Note: URDF files are often not self-contained and may reference additional resources within their ROS package. For successful import, consider downloading/moving the entire package (such as the <ROBOT_NAME>_description directory) along with the URDF file. Otherwise, the import will fail.