Setting up Isaac Lab and Isaac Sim in Ubuntu 24.04
In this section, we will discuss installing RL frameworks like NVIDIA Isaac Lab and Isaac Sim in Ubuntu 24.04 using Docker. Before setting this up, let’s look at the basics of these two frameworks.
What is Isaac Sim and Isaac Lab?
Isaac Sim and Isaac Lab are interconnected software developed by NVIDIA for robot simulation and robot learning.
Isaac Sim [6] is a high-fidelity simulator compared to Gazebo, which we saw in an earlier chapter. It is built on the NVIDIA Omniverse platform [7], and it provides photorealistic rendering and precise physics simulations. The simulator supports many robots, such as robotic arms and wheeled, legged, and humanoid robots. It also supports many sensors, like LIDAR, depth cameras, etc.
Figure 15.3 shows the Isaac Sim UI with multiple robots in the simulation.

Figure 15.3: NVIDIA Isaac Sim
The simulator also supports various robotics applications, such as SLAM (Simultaneous...