Setup#

Prerequisites#

Hardware Requirements#

Please refer to the Isaac Sim hardware requirements.

Software Requirements#

  • Ubuntu 22.04

  • ROS 2 Humble - install instructions here

  • Download and install Isaac Sim 5.0, 5.1, or build the open-source repository.

    • This course assumes it’s located at ~/isaacsim. If it’s somewhere else on your machine, just adapt these paths.

Isaac Sim ROS Workspaces#

Download and install the Isaac Sim ROS Workspaces project. This course assumes this repo has been cloned into ~/IsaacSim-ros_workspaces.

Steps to configure Isaac Sim ROS Workspaces are here.

PyTorch#

Install the correct version of PyTorch for your respective OS and CUDA version - Run nvidia-smi to determine your CUDA version - Use the selector tool at https://pytorch.org/ to identify the correct version of PyTorch to install based on OS and CUDA version, then run that command. - Example: sh     # For CUDA 12.8:      pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu128    

Gathering Course Assets#

Download the course assets here.

Important

Throughout this course, when launching Isaac Sim, do not source the system ROS in that terminal.