Setup

Use the following information and procedures to set up Isaac Sim.

Machine Configuration

Isaac Sim runs on an Ubuntu 18.04 Linux system with the following minimum requirements:

  • CPU: Intel i7-6800K

  • GPU: Nvidia GeForce GTX 1080 (minimum), NVIDIA Titan XP (recommended)

  • Memory: 32 GB

  • Storage: 512 GB

  • OS: Ubuntu 18.04, 64-bit

    For prerequisites required for building Isaac Sim on Linux, see /Engine/Build/BatchFiles/Linux/README.md.

  • CUDA 10.0 and a NVIDIA GPU driver that supports CUDA 10.0. Version 418 is recommended.

Install the Vulkan SDK

  1. Download the latest Vulkan SDK at the following link: https://vulkan.lunarg.com/sdk/home#linux

  2. In the directory containing the archive, run the following commands to install Vulkan:

    mkdir ~/vulkan
    mv vulkansdk-linux-x86_64-1.1.101.0.tar.gz ~/vulkan
    cd ~/vulkan
    tar -xvf vulkansdk-linux-x86_64-1.1.101.0.tar.gz
    echo "source ~/vulkan/1.1.101.0/setup-env.sh" >> ~/.bashrc
    
  3. In a new terminal window, verify the Vulkan installation with the following commands:

export | grep VK_LAYER_PATH

It should print out a string similar to this:

declare -x VK_LAYER_PATH="/home/USERNAME/vulkan/1.1.101.0/x86_64/etc/explicit_layer.d"

Note

For more information see the Vulkan SDK documentation.

Use the following procedures to obtain Isaac Sim and build it for use with Isaac SDK.

Installing Isaac Sim

Get Isaac Sim from GitHub

Use the following procedures to obtain Isaac Sim core package from GitHub.

  1. Make sure you have access to the Epic Unreal Engine. Follow this link to create an Epic Games account:

  1. To link your GitHub account, follow the instructions at this website:

  1. Download IsaacSim_1.2 branch or clone and checkout IsaacSim_1.2 branch at the following website:

https://github.com/NvPhysX/UnrealEngine

Your GitHub account must have access to the Epic Unreal Engine to access this link.

The Isaac Sim project on GitHub only contains the core of Isaac Sim. Follow the instructions below to access the full content of Isaac Sim that works with Isaac SDK.

Build Isaac Sim with SDK Components

Follow the instructions below to access the full content of Isaac Sim that works with Isaac SDK:

  1. In Isaac Sim, remove Engine/Build/IsaacSimProject_1.2_Core.gitdeps.xml.

  2. Download Isaac Sim Content XML and extract it to the Engine/Build directory of Isaac Sim:

tar -xvzf IsaacSimProject_1.2.gitdeps.tar.gz -C <ISAAC_SIM_ROOT_PATH>/Engine/Build
  1. Download dependencies and content with the following command:

./Setup.sh

It may be required to run this script with sudo, the first time. When prompted, enter Y when asked if you agree to a license. Enter Y again when asked if you would like to overwrite some files.

  1. Generate Makefiles with the following command:

./GenerateProjectFiles.sh
  1. Generate path.json files with the following command:

./GenerateTestRobotPaths.sh
  1. Build Isaac Sim editor with the following command:

make && make IsaacSimProjectEditor