⚠️ PRE-RELEASE SOFTWARE NOTICE This is pre-release, currently in development. You may encounter bugs, incomplete features, and other issues that will be addressed in future releases. Please report any issues you encounter. This will be finalized into a stable release in the future.

NVIDIA Isaac Sim™ is a simulation platform built on NVIDIA Omniverse, designed to develop, test, train, and deploy AI-powered robots in realistic virtual environments. It supports importing robotic systems from common formats such as URDF, MJCF, and CAD. The simulator leverages high-fidelity, GPU-accelerated physics engines to simulate accurate dynamics and support multi-sensor RTX rendering at scale. It comes equipped with end-to-end workflows including synthetic data generation, reinforcement learning, ROS integration, and digital twin simulation. Isaac Sim provides the infrastructure needed to support robotics development at any stage.

• Asset Import & Export: Importing and exporting robots and environments from and to non-USD format.
• Robot Tuning: Optimize robot for physics accuracy, computation efficiency, or photorealism
• Robot Simulation: Tools for moving robots, such as controllers, motion generation and kinematics solvers, and policy integration.
• Sensors: RTX and physics-based sensors

• Isaac Lab: GPU-accelerated framework built for reinforcement learning, imitation learning, and motion planning.
• ROS Bridge: Integration with Robot Operating System (ROS).
• Synthetic Data Generation: Collection of SDG tools

For the latest Isaac Sim documentation, see Isaac Sim Documentation. Follow these links to get started:

• Tutorials
• Assets

Ensure your system is set up with the following before building Isaac Sim:

• Operating System: Windows 10/11 or Linux (Ubuntu 22.04)

  (Linux) Ubuntu 24.04 Building with Ubuntu 24.04 requires GCC/G++ 11 to be installed, GCC/G++ 12+ is not supported.

• GPU: For additional information on GPU features and requirements, see NVIDIA GPU Requirements

  Local Workstation

  Min	Recommended	Best
  RTX 4080	RTX 5080	RTX PRO 6000 Blackwell Workstation
  	RTX 5880 Ada	RTX PRO 5000 Blackwell Workstation

  Datacenter

  Min	Recommended	Best
  A40	L40S	RTX PRO 6000 Blackwell Server
  	L20

• Driver: See NVIDIA Driver Requirements

• Internet Access: Required for downloading the Omniverse Kit SDK, extensions, and tools.

• Git: For version control and repository management

• Git LFS: For managing large files within the repository

• (Windows - C++ Only) Microsoft Visual Studio 2022 or 2026:

• Install Visual Studio 2026, Windows SDK, MSVC using Winget by running the following command in PowerShell:

  winget install --id=Microsoft.VisualStudio.Community -e --override "--add Microsoft.VisualStudio.Workload.NativeDesktop --includeRecommended"

  Additional information on Windows development configuration

• (Linux) build-essentials: A package that includes make and other essential tools for building applications. For Ubuntu, install with:

  sudo apt-get install build-essential

  (Linux) ⚠️ Please use GCC/G++ 11, higher versions are not supported yet. To install GCC/G++ 11, run the following commands:

  sudo apt-get install gcc-11 g++-11
  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 200
  sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 200

  (Linux aarch64) ⚠️ On aarch64 hosts (e.g. DGX Spark), X11 development headers are required to build Python packages that lack pre-built wheels:

  sudo apt-get install -y libx11-dev xorg-dev

  Compiler Version Check ⚠️ We have added a version checker to our build process. If you do not have the default versions you are still able to execute a build, add --skip-compiler-version-check to build.[sh/bat] when building. Proceed at your own risk, unsupported build environments may encounter build and runtime issues.

• (Linux) Docker: For containerized development and deployment. Ensure non-root users have Docker permissions.

• (Linux) NVIDIA Container Toolkit: For GPU-accelerated containerized development and deployment. Installation and Configuring Docker steps are required.

• VSCode (or your preferred IDE): For code editing and development

This section guides you through building Isaac Sim from source code.

git clone -b develop https://github.com/isaac-sim/IsaacSim.git isaacsim
cd isaacsim
git lfs install
git lfs pull

Run the following command to initiate the configuration wizard:

Linux:

Confirm that GCC/G++ 11 is being used before building using the following commands:

gcc --version
g++ --version

./build.sh

Windows:

⚠️ Windows Path Length Limitation Windows has a path length limitation of 260 characters. If you encounter errors related missing files or other build errors, try moving the repository to a shorter path.

build.bat

⚠️ Startup Time The first time loading Isaac Sim may take up to several minutes as Extensions and Shader are loaded and cached. The subsequent startup time should be in the ranges of 10-30 seconds depending on hardware configuration.

Navigate to the corresponding binary directory for your platform and run the executable.

Linux (x86_64):

cd _build/linux-x86_64/release
./isaac-sim.sh

Linux (aarch64):

cd _build/linux-aarch64/release
./isaac-sim.sh

Windows:

cd _build/windows-x86_64/release
isaac-sim.bat

NOTE: If this is your first time building Isaac Sim, you will be prompted to accept the Omniverse Licensing Terms.

Isaac Sim uses a custom build system with the following key options:

• -c, --clean: Clean the repository and exit
• -x, --rebuild: Clean the repository before building (full rebuild)
• -h, --help: Show all available build options

• --config [debug|release]: Specify build configuration (default: both)
• -d, --debug: Build only debug configuration
• -r, --release: Build only release configuration

• -j NUM_CORES, --jobs NUM_CORES: Limit the number of parallel compilation jobs
• -v, --verbose: Enable verbose build output
• -q, --quiet: Suppress build output

• --fetch-only: Only fetch dependencies and stop
• -g, --generate: Generate projects, stage files and stop
• -s, --stage: Stage files, skip generation step
• -b, --build-only: Only perform building step, skip others
• --post-build-only: Only perform post-build step

Congratulations on installing Isaac Sim! To get started with using Isaac Sim, follow these Quick Tutorials. For more information, visit our full documentation.

Beyond building and running from source (see Quick Start), Isaac Sim can also be packaged as a standalone binary archive or deployed as a Docker container.

Build a standalone redistributable binary package from source. A successful build is required before packaging.

Linux:

./repo.sh package --config release -m isaac-sim-standalone

Note: The same command works on both x86_64 and aarch64 hosts. The build system detects the platform automatically.

Windows:

.\repo.bat package --config release -m isaac-sim-standalone

The packaged archive is written to the _build/packages/ directory.

For building a Docker image, running with Docker Compose, and web-based streaming, see tools/docker/README.md.

• Please see the FAQ, Troubleshooting, and Known Issues for common questions, fixes, and workarounds.

• On Linux, if you encounter network connectivity issues when building (such as corporate firewalls), run the following commands:

  export http_proxy="http://{Your IP address}:7890"
  export https_proxy="http://{Your IP address}:7890"

  • Note: The above command should be used only if you have enabled a proxy software or behind a corporate firewall. Port 7890 should be replaced with the proxy port set by the proxy software.

• Please use GitHub Discussions for discussing ideas, asking questions, and requests for new features.
• Github Issues should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.

Have a project or resource you'd like to share more widely? We'd love to hear from you! Reach out to the NVIDIA Omniverse Community team at [email protected] to discuss potential opportunities for broader dissemination of your work.

Licensing terms can be found in the License File.

To cite Isaac Sim, click on "Cite this repository" in the right sidebar of the Isaac Sim GitHub repository landing page and select one of the listed citation entries.

We do not support direct community contributions at the moment.