install-isaacsim

# Install Isaac Sim **Public repo:** https://github.com/isaac-sim/IsaacSim **Branch convention:** `develop` (latest), `release/*` (stable), version tags (e.g., `6.0.0`) ## System Requirements - **GPU:** NVIDIA RTX (Ada, Ampere, or newer recommended) - **Driver:** 535+ (check with `nvidia-smi`) - **OS:** Ubuntu 22.04+ (Linux), Windows 10/11 - **Python:** see [Python version matrix](#python-version-matrix) below (version is pinned per Isaac Sim release) - **RAM:** 32 GB+ recommended - **Disk:** ~30 GB for full install with cached assets ## Python version matrix Isaac Sim is built against a single, specific CPython version per release. Using the wrong Python version will cause `pip install` to fail to resolve wheels, or import-time ABI errors for the source build. Match the table exactly — newer or older minor versions are not supported. | Isaac Sim | Python | Notes | |-----------|--------|-------| | 4.0.x – 4.2.x | 3.10 | Linux/Windows | | 4.5.x | 3.10 | Last 3.10 release | | 5.0.x | 3.11 | GLIBC 2.35+ required on Linux | | 5.1.x | 3.11 | | | 6.0.x | 3.12 | Current (Early Developer Release → GA) | Primary sources: - 4.5: <https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/install_python.html> - 5.0: <https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_python.html> - 5.1: <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_python.html> - 6.0: <https://docs.isaacsim.omniverse.nvidia.com/6.0.0/installation/install_python.html> Check your Python: ```bash python3 --version ``` If the required version isn't installed (Ubuntu example): ```bash sudo add-apt-repository -y ppa:deadsnakes/ppa sudo apt-get update sudo apt-get install -y python3.12 python3.12-venv python3.12-dev # adjust version to match the table ``` ## Virtual Environment (Strongly Recommended) Always install Isaac Sim into an isolated Python environment. Installing into the system Python conflicts with distro packages (especially on Ubuntu) and makes upgrades/uninstalls messy. Use one of the options below before running any `pip install` command from this skill. > **Pick the Python version that matches your target Isaac Sim release** — see the [Python version matrix](#python-version-matrix). Examples below use 3.12 for Isaac Sim 6.0.x; substitute 3.11 for 5.x or 3.10 for 4.5.x. ### Option A: `venv` (stdlib, simplest) ```bash # Replace 3.12 with the version required by your Isaac Sim release python3.12 -m venv ~/venvs/isaacsim source ~/venvs/isaacsim/bin/activate python -m pip install --upgrade pip setuptools wheel ``` Deactivate later with `deactivate`. Re-activate in any new shell before running Isaac Sim commands. ### Option B: `uv` (fast, recommended for CI) ```bash # Install uv once: https://docs.astral.sh/uv/ uv venv --python 3.12 ~/venvs/isaacsim # match Python to Isaac Sim release source ~/venvs/isaacsim/bin/activate uv pip install --upgrade pip ``` ### Option C: `conda` / `mamba` ```bash conda create -n isaacsim python=3.12 -y # match Python to Isaac Sim release conda activate isaacsim ``` ### Notes - **Python version is strict.** Each Isaac Sim release is built against one specific CPython minor version — see the [matrix](#python-version-matrix). Mismatches cause wheel resolution failures or import-time ABI errors. - **Method 2 (source build) ships its own Python** via `_build/linux-x86_64/release/python.sh` — you do not need a venv for running the source build, but you still want one for any host-side tooling (tests, scripts, editable installs). - **Editable install (Method 3) needs an active venv** — never `pip install -e .` into system Python. - **Cached assets & shader caches** live under `~/.cache/ov` and `~/.local/share/ov`. These are shared across venvs; deleting the venv does not clear them. - To completely reset: `deactivate && rm -rf ~/venvs/isaacsim ~/.cache/ov ~/.local/share/ov`. ## Method 1: Pip Install (Quickest) > **Note:** As of April 2026, NVIDIA's pip install flow uses PyPI plus the NVIDIA package index, installs PyTorch first, and installs the full Isaac Sim extras plus the extension cache. A bare `pip install isaacsim` installs only the metapackage and can pass an import check while missing app, benchmark, or extension-cache components. Activate your venv first (see [Virtual Environment](#virtual-environment-strongly-recommended)), then: ```bash # Accept the Omniverse EULA non-interactively for scripts/CI. export OMNI_KIT_ACCEPT_EULA=YES # Isaac Sim 6.0 docs use PyTorch 2.10.0; choose the CUDA wheel index for your platform. pip install torch==2.10.0 --index-url https://download.pytorch.org/whl/cu128 # Latest compatible full install for the active Python. pip install 'isaacsim[all,extscache]' --extra-index-url https://pypi.nvidia.com # Or pin to a specific release. Match the Python version matrix above. # Isaac Sim wheels are published in 4-segment form (e.g. 4.5.0.0, 4.2.0.2); # pin all four segments so patch releases like 4.2.0.2 are matched explicitly. pip install 'isaacsim[all,extscache]==4.5.0.0' --extra-index-url https://pypi.nvidia.com # Python 3.10 pip install 'isaacsim[all,extscache]==5.1.0.0' --extra-index-url https://pypi.nvidia.com # Python 3.11 pip install 'isaacsim[all,extscache]==6.0.0.0' --extra-index-url https://pypi.nvidia.com # Python 3.12 ``` Verify: ```bash python -c "import isaacsim; print('OK')" python -c "import isaacsim; from isaacsim.simulation_app import SimulationApp; print('SimulationApp OK')" ``` ## Method 2: Source Build from GitHub Use this when you need to modify code, run tests, or link a custom Kit build. ### Prerequisites **Docker is required by default.** Check and install if missing: ```bash docker ps > /dev/null 2>&1 && echo "DOCKER OK" || echo "NEED INSTALL" # Install Docker (Ubuntu/Debian) sudo apt-get update && sudo apt-get install -y docker.io sudo systemctl start docker && sudo systemctl enable docker sudo usermod -aG docker $USER # Start a new login session, or run this shell-only refresh: newgrp docker # If docker ps still fails, use `sudo docker ...` for the current command # or ask an administrator to fix Docker group/session setup. # Do NOT chmod /var/run/docker.sock: it grants root-equivalent Docker access # to every local user. ``` ### Build ```bash git clone https://github.com/isaac-sim/IsaacSim.git cd IsaacSim git checkout develop # or a specific version tag # With Docker (default, recommended) ./build.sh -xr # Without Docker (fallback — needs extra deps) sudo apt-get install -y libglu1-mesa-dev libegl1-mesa-dev libgles2-mesa-dev patchelf ./build.sh -xr --no-docker ``` Build output: `_build/linux-x86_64/release` ### Verify source build ```bash cd _build/linux-x86_64/release ./python.sh -c "import omni; print('OK')" ``` ## Method 3: Pip Editable Install from Source Activate your venv first (see [Virtual Environment](#virtual-environment-strongly-recommended)), then: ```bash git clone https://github.com/isaac-sim/IsaacSim.git cd IsaacSim git checkout develop pip install -e . ``` ## Nucleus Authentication (Optional) Only needed for benchmarks/scenes that use Nucleus-hosted assets. Many workflows use local assets and skip this. ```bash export OMNI_USER='$omni-api-token' export OMNI_PASS='<YOUR-API-TOKEN>' ``` - `OMNI_USER` is always the literal string `$omni-api-token` (not a shell variable) - Ask the user for their `OMNI_PASS` token if needed - Expired JWT tokens cause silent failures (scenes load but materials are missing — all-black renders) Check token expiry: ```bash echo "$OMNI_PASS" | cut -d. -f2 | base64 -d 2>/dev/null | python3 -c " import json, sys; from datetime import datetime; d = json.load(sys.stdin) print(f'Expires: {datetime.fromtimestamp(d.get(\"exp\", 0))}')" ``` ## Common Issues ### Build fails with Docker permission error ```bash sudo usermod -aG docker $USER newgrp docker # If still fails in this shell: use `sudo docker ps` to verify Docker works, # then start a fresh login session so group membership is applied. ``` ### No DISPLAY / Vulkan init fails Kit needs a display even in headless mode. Set up Xvfb: ```bash sudo apt-get install -y xvfb Xvfb :99 -screen 0 1920x1080x24 & export DISPLAY=:99 ``` ### Shutdown hangs Do not patch installed Isaac Sim files by default. For repeated Tracy shutdown hangs, use the scoped last-resort workaround in the `profiling` skill, and restore the original file afterward. ---