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Isaac Sim

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NVIDIA Isaac Sim™ is a robotics simulation application framework built on NVIDIA Omniverse™.



Latest Tag



September 1, 2023

Compressed Size

6.47 GB

Multinode Support


Multi-Arch Support


2022.2.1 (Latest) Scan Results

Linux / amd64

Isaac Sim

NVIDIA Omniverse™ Isaac Sim, is a scalable robotics simulation application and synthetic data generation tool, built on the NVIDIA Omniverse™ platform. It leverages Omniverse Kit powerful simulation technologies including advanced GPU-enabled physics simulation with PhysX 5 and photorealism with real-time ray tracing.

Isaac Sim is a physically accurate virtual environment to develop, test, and manage AI-based robots, and provides the essential features for building virtual robotics experiments including:

  • Tools for importing and simulating robot models, and simulating sensors such as RGB-D, PhysX-Lidar, RTX-Lidar, Radar, contact and IMU

  • Support for various robotics applications including navigation, manipulation, and AI applications through Python and ROS

  • Extensive tools for AI applications such as Isaac Replicator for synthetic data generation and domain randomization and Isaac Gym for reinforcement learning

  • Extensions for building a warehouse such as sim-ready assets, conveyor tools, peoples and CuOpt for logistics and route optimization

  • Development tools

    • Isaac Core API is a robotics abstraction layer which hides the USD complexity
    • Isaac Orbit provides ready development environment
    • Isaac Cortex for high level decision programing

Current release: 2022.2.1

This release is offered as a container that runs locally or on RTX equipped Amazon Web Services (AWS), Microsoft Azure or Google cloud (GCP) with streaming to the user’s desktop. This cloud-based delivery provides the latest RTX graphics and performance to any desktop system without requiring local NVIDIA RTX GPUs.

What's New in Isaac Sim 2022.2.1


  • Kit SDK 104.2
  • Ubuntu 18.04 is no longer supported.
  • Surface Materials added for RTX Lidar


  • Updated ROS2 MoveIt tutorial
  • Extension Templates for python extensions.
  • Links to writing custom C++ extensions tutorials
  • Custom python/C++ omnigraph nodes
  • Deprecated ROS Migration Tutorial from Sim 2021.2.1 and Isaac Sim 2022.2.0
  • Added vibrating table feature and extra bolts to Franka Nut and Bolt demo

Omniverse Isaac Gym Environments

  • Added Factory Nut/Bolt Pick environment and SAC Ant/Humanoid environments
  • Added support for docker and live stream, along with multi-GPU training
  • Fixed run-time material randomization affecting friction and restitution.
  • Fixed a bug in the contact reporting APIs


  • Reduced steps for setting up characters.
  • New spawn command introduced for characters. Allows a simulation to be tied to only the command file and not a USD.
  • Added a new command text box as an alternative to provide commands from within the App.


  • Support for skrl library for reinforcement learning
  • Added utility to convert URDF to USD using command line arguments
  • Fixed issue with setting camera pose in ROS convention.

Isaac Replicator

  • Simplified SD Recorder code using newer Replicator API functionalities
  • Added a basic UI for Composer to view/preview the generated scenarios


  • Omni.isaac.extension_templates UI to generate Extension templates to download python extension templates locally Extension templates significantly reduce the complexity of building a custom UI application in Isaac Sim.

  • Omni.isaac.ui.element_wrappers Created a set of UI element wrappers in omni.isaac.ui that significantly reduce the complexity of making a UI-based extension in Isaac Sim that aesthetically matches other extensions Available wrappers are shown in the extension template “UI Component Library”


Requirements for local deployment:

Running Isaac Sim


  1. Run the command below to confirm your GPU driver version is 525.60.11 or later.

    $ nvidia-smi
  2. Follow the steps in Generate Your NGC API Key. Use command line to login into NGC to download the Isaac Sim container.

    $ docker login
     Username: $oauthtoken
     WARNING! Your password will be stored unencrypted in /home/username/.docker/config.json.
     Configure a credential helper to remove this warning. See
     Login Succeeded
  3. Pull the Isaac Sim container.

    $ docker pull
  4. Run the Isaac Sim container with an interactive Bash session.

    $ docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
     -v ~/docker/isaac-sim/kit/cache/Kit:/isaac-sim/kit/cache/Kit:rw \
     -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
     -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
     -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
     -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
     -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
     -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
     -v ~/docker/isaac-sim/documents:/root/Documents:rw \
  5. Start Isaac Sim.

    $ ./

This will download and launch the Isaac Sim container in headless mode.

Note: By using the -e "ACCEPT_EULA=Y" flag, you are accepting the NVIDIA Omniverse License Agreement of the image.

Refer to our Isaac Sim User Guide and Isaac Sim Setup FAQ for more information.

Livestreaming Isaac Sim Remotely

See Livestream Clients in our User Guide to connect to Isaac Sim using your desktop. The default livestream client is Omniverse Streaming Client.


By pulling and using the container, you accept the terms and conditions of the NVIDIA Omniverse License Agreement.

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