Isaacsim tutorial

Contributor: Chanyoung Ahn

IsaacSim tutorial is Isaacsim examples for everyone.

Isaac Sim 5.1.0 version

• Please, check main and sim-5.1.0 branch for Isaac Sim 5.1.0 version tutorial!

Installation

0. Make your own virtual environment (optional but recommended)

   pip install --upgrade pip
   
   conda create -n [ENV] python=3.11 -y
   conda activate [ENV]
   pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128

1. Install Isaac Sim 5.1.0 pip package

   pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
   
   # Varifying the Isaac Sim installation
   isaacsim

Install IsaacLab

• Check Official Repo: Isaaclab

# Clone IsaacLab
git clone git@github.com:isaac-sim/IsaacLab.git

# Install Libraries
./isaaclab.sh -i

Varifying the Isaac Lab Installation

# Option 1: Using the isaaclab.sh executable
# note: this works for both the bundled python and the virtual environment
./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py

# Option 2: Using python in your virtual environment
python scripts/tutorials/00_sim/create_empty.py

Test Initial RL Task

./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless

Tutorials

• Add your urdf with Isaac Sim GUI: [Link]

Isaac Sim 4.2.0 version

• Please, check sim-4.2.0 branch for Isaac Sim 4.2.0 version tutorial.
• Supplymentary files: Tutorial_DAY1 (KOR)

Citation

@misc{coldyoung2024isaac-tutorial,
	author = {Chanyoung Ahn},
	title = {Isaacsim_tutorial},
	year = {2024-2026},
}