NVIDIA Isaac Sim 5.1 Workstation Installation Guide

Version: 5.1 Date: 22.02.2026 Platform: Ubuntu 22.04.5 LTS

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1. Overview

This guide describes the complete installation procedure for NVIDIA Isaac Sim 5.1 (Workstation version) on Ubuntu Linux with a dedicated NVIDIA GPU.

The workstation (standalone ZIP) installation method is recommended when running Isaac Sim as a GUI-based desktop application for robotics simulation and development.

The steps are based on the official NVIDIA documentation and organized for clear installation, configuration and initial validation: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html

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2. Operating System Requirement

Ubuntu 22.04.5 LTS is strongly recommended.

Isaac Sim 5.1 has shown compatibility and stability issues on Ubuntu 24.04 in certain configurations. For this reason, Ubuntu 22.04.5 LTS is used and recommended for this installation.

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3. Isaac Sim Compatibility Check (Recommended Before Installation)

Before downloading Isaac Sim, verify that your system meets the minimum hardware and software requirements.

Official Requirements: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/requirements.html

3.1 Install Compatibility Checker (Minimal Install)

pip install isaacsim[compatibility-check] --extra-index-url https://pypi.nvidia.com

Run the checker:

isaacsim isaacsim.exp.compatibility_check

3.2 Result Indicators

The Compatibility Checker displays system status using color indicators:

• 🟢 Green – Excellent
• 🟢 Light Green – Good
• 🟠 Orange – Sufficient (Higher recommended)
• 🔴 Red – Unsupported / Not sufficient

The tool validates:

• NVIDIA GPU (RTX support, driver version, VRAM)
• CPU (model and core count)
• RAM
• Storage availability
• Operating system
• Display configuration

The Test Kit button launches a minimal headless Kit application to confirm execution capability.

It is strongly recommended to pass this check before proceeding with installation.

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4. Download Isaac Sim 5.1 (Workstation Version)

Download link:

https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.1.0-linux-x86_64.zip

For alternative versions or troubleshooting:

https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/download.html

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5. Workstation Installation Procedure

Step 1 – Create Installation Directory

mkdir ~/isaacsim

Step 2 – Move Downloaded File

Move the downloaded ZIP file into the isaacsim directory.

Step 3 – Extract Package

cd ~/Downloads
unzip isaac-sim-standalone-5.1.0-linux-x86_64.zip -d ~/isaacsim

Step 4 – Navigate to Installation Folder

cd ~/isaacsim

Step 5 – Run Post Install Script

./post_install.sh

This creates symbolic links and prepares example extensions.

Step 6 – Launch App Selector

./isaac-sim.selector.sh

In the popup window:

• Select Isaac Sim Full
• Keep the configuration as shown in the second image.
• Click START

Note: First launch may take 5–10 minutes due to shader cache generation.

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6. Python Environment Setup

For the standalone workstation (ZIP) installation, a built-in Python runtime is already included. Therefore, creating a separate Conda environment is not mandatory.

However, creating a dedicated Conda environment is recommended if you:

• Plan to develop custom Python scripts
• Intend to integrate Isaac Sim with external libraries
• Require an isolated and reproducible development environment
• Plan to integrate with Isaac Lab

Using a separate environment improves dependency management and helps prevent conflicts with system-level Python packages.

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6.1 Create Conda Environment

Isaac Sim 5.1 requires Python 3.11.

conda create -n isaacsim python=3.11
conda activate isaacsim

Upgrade pip:

pip install --upgrade pip

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6.2 Install Isaac Sim Python Package

pip install isaacsim[all,extscache]==5.1.0 --extra-index-url https://pypi.nvidia.com

This installs:

• Core simulation components
• Extensions
• Cached dependencies
• Python APIs

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7. Launching Isaac Sim from Terminal

When installed via pip, a global command called isaacsim is registered.

Instead of navigating to a folder and running:

./isaac-sim.sh

You can launch from any directory:

isaacsim

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9. Functional Testing and Physics Validation in Isaac Sim

This section demonstrates basic simulation validation using built-in assets and environments. The objective is to verify rendering, physics behavior, gravity, collision detection, and real-time simulation stability.

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9.1 Basic Physics Test (Primitive Objects)

This test validates gravity, rigid body physics, and collision behavior using simple geometric objects.

Step 1 – Create a Ground Plane

1. Navigate to: Create → Physics → Ground Plane
2. A default ground plane will be added to the stage.

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Step 2 – Add a Light Source

1. Navigate to: Create → Light → Distant Light
2. Adjust intensity if needed to improve visibility.

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Step 3 – Add a Primitive Object

1. Navigate to: Create → Shapes

2. Add one of the following:

   • Cube
   • Cone
   • Cylinder

The object will appear at the origin of the stage.

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Step 4 – Enable Physics on the Object

1. Select the object in the Stage panel.
2. Right-click → Add → Physics → Rigid Body with collider preset

This enables gravity and collision behavior.

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Step 5 – Run Simulation

Click the Play button in the toolbar.

Expected result:

• The object falls due to gravity.
• It collides with the ground plane.
• It settles naturally based on physics parameters.

This confirms:

• Physics engine is functioning
• Gravity is active
• Collision detection is working

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9.2 Environment Loading Test (Warehouse Scene)

Step 1 – Load an Environment

In the left category panel:

1. Navigate to:

   Content
   

2. Select Environments

3. Select a warehouse-type environment.

4. Double-click the environment to load it into the stage.

The warehouse scene will now appear in the viewport.

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Step 2 – Open SimReady Explorer

1. Go to: Window → Browsers → SimReady Explorer

2. A new panel will appear in the lower section of the interface

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Step 3 – Add Assets from SimReady Explorer

1. Stay inside SimReady Explorer

2. Browse categories such as:

   • BUILDING COMPONENT
   • CONTAINER
   • EQUIPMENT
   • FURNITURE

3. Select assets (e.g., pallets, boxes, containers).

4. Drag and drop them into the scene.

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Step 4 – Stacking Multiple Assets

You can:

• Hold multiple assets
• Move them vertically using the Move Tool (W)
• Stack them on top of each other

Use snapping if necessary for better alignment.

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Step 5 – Run Simulation

Click Play.

Expected behavior:

• Stacked objects may shift or collapse depending on balance.
• Objects collide naturally.
• Crashes and impacts are physically simulated.
• Warehouse floor acts as static collision surface.

This test validates:

• Multi-body collision interaction
• Stacking stability
• Real time rigid body simulation
• Physics solver behavior

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