Isaac Sim App Template

📝 Feature Branch Information

This repository is based on a Feature Branch of the Omniverse Kit SDK. Feature Branches are regularly updated and best suited for testing and prototyping. For stable, production-oriented development, please use the Production Branch of the Kit SDK on NVIDIA GPU Cloud (NGC).

Omniverse Release Information

Overview

This repository provides Isaac Sim applications pre-built and ready to use. These applications mirror the .kit configs provided alongside Isaac Sim binary release packages.

• For most users its recommended to use these prebuilt applications.
• For more advanced users that want to customize their experience continue to the Create and Configure New Application From Template section

Pre Built Isaac Sim Applications

Applications that contain base are minimal Isaac Sim applications that do not contain all of the GUI utilities. Applications that contain full enable a more complete set of extensions by default.

Kit experience app file	Description
isaacsim.exp.base.kit	Base .kit file contains most of the extensions and settings used by other .kit files
isaacsim.exp.base.xr.vr.kit	Base + VR extensions
isaacsim.exp.base.zero_delay.kit	Base + settings to force zero delay between rendering and simulation at a cost of reduced performance.
isaacsim.exp.full.kit	Full Isaac Sim application, mirrors isaac-sim.sh from Isaac Sim binary installs
isaacsim.exp.full.fabric.kit	Full + Fabric enabled for simulation, in certain cases this will improve performance at the cost of disabling updates from simulation to USD
isaacsim.exp.full.streaming.kit	Full + Streaming enabled
isaacsim.exp.action_and_event_data_generation.base.kit	Base + Action and Event SDG headless extensions
isaacsim.exp.action_and_event_data_generation.full.kit	Base + Action and Event SDG GUI extensions + other SDG utilities

These applications should be used as a quick way for users to start using Isaac Sim, If you are interested in building your own applications continue to the next section.

Quick Start

This section guides you through creating your first Kit SDK-based Application using the isaacsim-app-template repository. For a more comprehensive explanation of functionality previewed here, reference the following Tutorial for an in-depth exploration.

Prerequisites and Environment Setup

Please see Kit App Template: Prerequisites and Environment Setup for more information on recommended software and system specifications.

1. Clone the Repository

Begin by cloning the isaacsim-app-template to your local workspace:

1a. Clone

git clone https://github.com/isaac-sim/isaacsim-app-template.git

1b. Navigate to Cloned Directory

cd isaacsim-app-template

2. Use prebuilt IsaacSim applications

Several default IsaacSim applications are provided and can be built using the following command.

Linux:

./repo.sh build

Windows:

.\repo.bat build

These applications can be launched by going into the build directly and running the associated .sh. For example:

Linux:

./_build/linux-x86_64/release/isaacsim.exp.full.kit.sh

Windows:

.\_build\windows-x86_64\release\isaacsim.exp.full.kit.bat

3. Using Standalone Python

Standalone python scripts are also supported by default and can be executed like so

Linux:

./_build/linux-x86_64/release/python.sh _build/linux-x86_64/release/standalone_examples/hello_world.py

Windows:

.\_build\windows-x86_64\release\python.bat _build\windows-x86_64\release\standalone_examples\hello_world.py

4. Creating Templates

Creating additional templates is not required to run the default applications. You can stop here and run IsaacSim using the generated .sh files or continue to learn how to make your own applications.

Create and Configure New Application From Template

Details about the Isaac Sim templates provided and how to create, build and launch can be found here:

• IsaacSim: App definitions for isaac sim workflows. Two templates are provided: a base/minimal template and a full template with all isaac sim extensions enabled.

For a more in depth introduction to the kit-app-template system please see kit-app-template and Kit App Template: Deeper Understanding. In contrast This repository focuses on getting up and running with the isaac sim app templates and does not cover some of the finer details about the kit-app-template system

Extension Templates

Enhance Omniverse capabilities with extension templates to create new extensions that can be added to your application:

• Basic Python: The minimal definition of an Omniverse Python Extension.

• Python UI: An extension that provides an easily extendable Python-based user interface.

• Basic C++: The minimal definition of an Omniverse C++ Extension.

• Basic C++ w/ Python Bindings: The minimal definition of an Omniverse C++ Extension that also exposes a Python interface via Pybind11.

  Note for Windows C++ Developers : This template requires "platform:windows-x86_64".enabled and link_host_toolchain within the repo.toml file be set to true. For additional C++ configuration information see here.

Application Streaming

The Omniverse Platform supports streaming Kit-based applications directly to a web browser. You can either manage your own deployment or use an NVIDIA-managed service:

Self-Managed

• Omniverse Kit App Streaming : A reference implementation on GPU-enabled Kubernetes clusters for complete control over infrastructure and scalability.

NVIDIA-Managed

• Omniverse Cloud (OVC): Offloads hardware, streaming, and network complexities for secure, large scale deployments.

• Graphics Delivery Network (GDN): Streams high-fidelity 3D content worldwide with just a shared URL.

Configuring and packaging streaming-ready Kit applications

Additional Resources

• Additional Included Tools

• Kit App Template Companion Tutorial

• Usage and Troubleshooting

• Developer Bundle Extensions

• Omniverse Kit SDK Manual

• NVIDIA Isaac Sim Documentation

Troubleshooting

• If you are seeing errors when building the app template, please try cleaning the repository using git clean -fdx and building/creating a new template. Commit any work you want to preserve before doing this.

• If you are seeing errors when running either a pre-built application or a template based app, please use the --reset-user launch argument.

  Linux:

  ./repo.sh launch -- --reset-user

  Windows:

  .\repo.bat launch -- --reset-user

  Or if launching an app via the .sh/.bat directly appent --reset-user directly

Governing Terms

The software and materials are governed by the NVIDIA Software License Agreement and the Product-Specific Terms for NVIDIA Omniverse.

Data Collection

The Omniverse Kit SDK collects anonymous usage data to help improve software performance and aid in diagnostic purposes. Rest assured, no personal information such as user email, name or any other field is collected.

To learn more about what data is collected, how we use it and how you can change the data collection setting see details page.

Contributing

We provide this source code as-is and are currently not accepting outside contributions.