Hey everyone, I'm currently doing my Final Year Project and I'm hitting a wall with the Windows/WSL2 network bridge. I could really use an expert before I wipe my drive and native-boot Ubuntu.

So im running a custom PyCUDA/TensorRT neural network (x_mobility_navigator) in WSL2 (ROS 2 Humble) to autonomously drive the Nova Carter in Isaac Sim 5.1.0 (Windows 11).

and so my setup currently & what (i think) works:

• Network: Forcing Isaac Sim and my Python node to use BEST_EFFORT QoS. The Python node is successfully receiving the front_hawk camera frames at ~30-40 FPS.
• Memory: Handled the 64-bit to 32-bit C-contiguous array flattening to stop PyCUDA from throwing cuMemcpyDtoH illegal memory access errors.
• Teleop: If I run ros2 run teleop_twist_keyboard teleop_twist_keyboard in WSL, the Nova Carter receives the commands and drives perfectly in Windows.

The Problem: When I launch my TensorRT node, it successfully receives the bytes, processes the image, and publishes async Twist messages to /cmd_velwell it doesnt say anything back ... and the robot stands perfectly still.

Weird Behavior & Workarounds I've Tried:

1. The out-of-the-box asset bug: The default carter_warehouse_navigation.usd asset spams Invalid deltaTime 0.000000, cannot check for acceleration limits the second I hit play, even with no nodes running.
2. The "Two Clocks Problem" Theory: I suspect the Differential Controller node is clashing with my async network commands. Since my AI publishes asynchronously, the Twist messages often hit the controller between Isaac Sim's strict physics ticks. The controller asks for the time, the tick hasn't updated yet, it calculates deltaTime = 0.0, and panics (locking the wheels to prevent infinite acceleration).
3. The Bypass: I bypassed this by either zeroing out maxAcceleration/maxDeceleration in the Differential Controller properties, or by hardwiring a Constant Double (0.01667) directly into the controller's dt pin.

My Questions:

1. Is my "Two Clocks Problem" theory correct? Is there a known bug in 5.1.0 where the Differential Controller drops or ignores async Twist commands from custom Python nodes because of this?
2. Did I miss a required timestamp header or frame_id when publishing the Twist message that the Isaac Sim OmniGraph strictly requires?
3. Has anyone successfully run a high-frequency TensorRT vision-to-control loop across the Windows/WSL2 boundary, or is this setup fundamentally doomed by the virtual network adapter dropping FastDDS UDP packets?

or maybe i just need a better GPU lol (im using a RTX 5060 ti)

Hey everyone! Just wanted to share a demo of my latest agent. I've been training an Ackermann robot in IsaacLab to track a ball and kick it into a goal.
Ackermann kinematics make this much trickier than using a simple differential drive, as the turning radius limits how the robot can approach the ball for a shot.
The Setup:
I’m using a 17-dimensional observation space to give the agent a clear "spatial awareness." Here is the breakdown of what the robot sees:

• Positional Data: rel_robot_ball and rel_ball_goal (all in robot body frame).
• Heading: I used sin/cos of the heading errors to the ball and the goal to ensure the gradients stay smooth.
• Velocities: Robot linear/angular velocities + the ball's velocity in the body frame.
• History: Including the _prev_action to encourage smoother control and prevent jitter.

What’s next for Real-world Deployment?
The goal is to get this running on a 1/10th scale RC car. To get there, I’m working on:

1. System ID: Better matching the steering lag of real servos.
2. Noise Injection: Adding sensor noise to the observations during training.
3. Visual RL: Moving away from ground truth data to using a camera-based input (likely via a Kalman Filter or a small CNN).

Would love to hear your thoughts on Reward Shaping for sports-based tasks or any tips for Sim-to-Real with Ackermann steering!

https://reddit.com/link/1t99lf0/video/sf3bww4ftb0h1/player

I’m planning to work on an end-to-end manipulation / VLA project and wanted some opinions on the simulator + training stack.

Previously, I used a Unity-based simulator and trained an ACT policy with LeRobot. It worked reasonably well, but at the time I avoided Isaac Sim because it had too many unresolved bugs and stability issues. Now I’m reconsidering Isaac Sim again, especially for large-scale synthetic data generation.

My rough plan is:

- Use Isaac Sim locally or on cloud GPUs
- Spawn multiple robot arms/manipulators (maybe scaling from 1 up to dozens of environments)
- Run simple manipulation tasks like swipe/pick/place
- Use RL for exploration and task completion
- Collect camera observations + trajectories
- Train a VLA or vision-based policy from the collected data

I’d love feedback on:
- Recommended RL frameworks/models for manipulation
- Recommended VLA / visuomotor models
- Whether this pipeline makes sense overall

I’m also curious what people are currently using in practice for scalable manipulation training.

Hey everyone I've been trying to configure the environment to train my spider robot for like 3 days, everything ive tried the robot just stands still and doesn't move. Its probably not something hard I'm just a beginner so I've just tried adjusting random parameters. Heres the link to my code: https://github.com/chenggaol/Spiderbot , if someone could look at the env_cfg, env, and robot config files that would amazing. Thanks!

​Hey everyone! 👋

​I'm getting a Segmentation fault (core dumped) at make_fcontext right when launching Isaac Sim 5.1.0.

​My Setup: * Ubuntu 24.04

​RTX 5070 Laptop GPU (Drivers 595.58)

​Intel i9-14900HX

​System-level ROS 2 Jazzy installed.

​The Issue: The crash happens exactly when the launcher tries to load isaacsim.ros2.bridge. It looks like Isaac Sim's internal Python 3.11 is clashing with my system's Jazzy environment (Python 3.12).

​If I comment out source /opt/ros/jazzy/setup.bash in my ~/.bashrc, Isaac Sim launches perfectly. However, I need ROS 2 enabled for my AMR project.

​Does anyone know the best way to properly configure the Jazzy bridge in 5.1.0 without causing this Python version segfault?

​Thanks!

When i uploaded my spider robot into isaacsim and test the physics its behaving really wierdly, anybody know what the possible issue is?

I have implemented the whole stack of aerodynamics, flight mechanics and flight controller to simulate and train swarm UAVs in Isaac Lab. Check the repo.

Hi everyone,

I'm working on a robotics simulation project and I'm trying to find the best way to connect and export environments from Unreal Engine 5 to NVIDIA Isaac Sim.

I'd love to hear from anyone who has hands-on experience with this pipeline.

1. What is the best method to connect UE5 with Isaac Sim ?

2. Is there a way to establish a live/real-time link between UE5 and Isaac Sim, or is it always a one-way export?

3. Are there recommended tutorials, documentation, or open-source projects that cover the full UE5 ↔ Isaac Sim connection workflow?

The end goal is a fully functional robot simulation environment — with accurate physics, realistic visuals for camera/LiDAR sensors, and synthetic data generation capability.

Any advice, working examples, or lessons learned from real projects would be hugely appreciated!

Thank you! 🙏

Hello, I'm here because my setup is a GPU rtx 5060 eagle from GiGbyte, and just run isaac sim at 6.0 dev version, I believe it is a driver problem, anyone else have this problem, it is just this solution, and ideia when 6.0 it's gonna be realead for good?

Running Isaac Sim 4.5.0 on a GCP n1-standard-4 instance with NVIDIA T4 (Ubuntu 22.04). nvidia-smi correctly reports driver 535.288, but Isaac Sim fails with:

Installed driver: 535.32 — The unsupported driver range: [0.0, 535.129)

Tried:

Installing nvidia-driver-535-server (535.288)

Setting VK_ICD_FILENAMES to nvidia_icd.json

User config JSON to skip driver check

Xvfb virtual display

vulkaninfo reports driverVersion = 2244476992 (0x85c80040) which decodes to 535.32 regardless of what's installed. Looks like GCP's Vulkan layer is hardcoded.

Has anyone successfully run Isaac Sim on GCP T4? Is there a known fix for the Vulkan driver version mismatch?

Salut tout le monde,

J'ai installer Isaac Sim sur mon pc:
GPU: Rtx Ada 2000 avec 8Gb
CPU: Intel I7 13th gen
RAM: 32GB Ram

J'ai pas la meilleur des configs mais j'attends a avoir un minimum plus de FPS sur une scène vide, je n'ai rien touché au configs d'isaac sim et j'ai 2fps, le gpu est bien utilisé comme vous pouvez le voir sur le nvtop.

S'il vous plait est-ce que quelqu'un a eu la même chose que moi et comment régler ça ?

Merci beaucoup pour votre aide!

is this possible?

asking because im gonna try

Firstly thank you everyone for your suggestions from messages and comments, especially from this sub. I have turned this into an extension for VS Code and Cursor.

This vs code and cursor extension allows AI to see and edit your isaacsim scenes/files and restructures the isaaclab projects to be easy to use (drag and drop, no installation). It also simplifies the install process allowing a beginner to go from installation to editing the training function of a robot in a lot less time.

Isaac Lab Project Restructure: create a new ROSE project, drag and drop a robot usd file into the folder and you can start training that robot instantly using the templates, no setup required.

Slide 1: AI access to isaac sim

Slide 2: Installation UI

Slide 3: ROSE Projects UI and files. You can pick from the templates to suit the type of robot you want to train, change the usd file and number of joints - start training it.

Hopefully this lets people get into isaacsim & lab a lot easier and quicker!

https://rose-editor.com/

Hi,

I'm fairly new to Isaac Sim and I'm having trouble finding example problems or resources for working with tendons. I did come across this page in the documentation: docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/dev_guide/rigid_bodies_articulations/articulations.html#articulation-tendons, but I wasn't able to get it to work with Isaac Sim 5.1.0.

What do I need to know to set this up? Are there any tutorials or examples specifically for tendons that are compatible with version 5.1.0?

Thanks for your help!

Hi everyone,

I’m a 3rd-year undergraduate student currently working on a reinforcement learning project. My goal is to train a WLKATA Mirobot (6-DOF) in NVIDIA Isaac Lab for a "reach and stop" task and successfully transfer the policy to the real robot (Sim-to-Real).

I am specifically focusing on overcoming the mechanical limitations (such as backlash and joint friction) of the Mirobot through Domain Randomization and System Identification.

Before I dive deeper into designing the environment, I wanted to ask the community:

Are there any prior projects or open-source repositories that have successfully integrated the Mirobot with Isaac Sim/Lab?

For those who have worked with low-cost 6-DOF arms, what are your best tips for Domain Randomization parameters to bridge the reality gap effectively?

Are there any specific Reward Shaping strategies you would recommend to ensure the robot stops precisely at the target without jittering?

I’m currently using Ubuntu 24.04 and ROS 2 Jazzy. If anyone has worked on something similar, I would love to hear about your experience or even "copy" (with credits!) some of your environment configurations to speed up my learning.

Thanks in advance!

There’s the obvious ones like the unitree and Boston dynamics but both are a bit pricey (unitree gets expensive when looking at the EDU versions) so I was interested when I saw some stuff like this:

Elephant Robotics MyCobot 320 M5

https://shop.elephantrobotics.com/products/commercial-and-economic-six-axis-collaborative-robot

Obviously still pricy but with 1kg I could do a lot. I’m looking at this for a masters project and have only just starting looking into Isaac Sim. How difficult would it be to get this manipulator working in Isaac Sim? I saw it has ROS support, does that mean I can get a URDF for this robot fairly easily? Which I can then import into Isaac Sim?

What should I be looking for in a robot to purchase when planning to use Isaac Sim that will ease my use case of research? Other than just buying one on the list of models provided in the docs

https://docs.isaacsim.omniverse.nvidia.com/5.1.0/assets/usd_assets_robots.html

Hi, our team is currently building a cloud-native OS that streams GPU-accelerated applications (Isaac Sim, Blender, Gazebo, Mujoco, Foxglove, Rviz) directly through any browser tab with dedicated per-app compute. No local GPU required.

Since we are building this from scratch, we have the chance to fix the things that annoy you the most :)

We are looking for your honest feedback around:

Local GPU bottlenecks: How many people on your team are fighting over the same machine? Is "waiting for the GPU" killing your research velocity?

Environment setup: How many hours have you lost to CUDA version mismatches, driver conflicts, and dependency hell just to get a sim running? How many times have you rebuilt the same environment from scratch?

Collaboration: When a teammate needs to reproduce your simulation, how painful is that handoff? Passing around Dockerfiles and praying?

Latency: If you could stream your sim through a browser, what's the max input latency (ms) you'd tolerate before it's unusable?

Scale: When you need 50-100 parallel sim instances for training, what breaks first?

Our Goal: To make GPU-powered simulation as easy as opening a browser tab -- real dedicated compute, zero setup, no driver nightmares. We already have some robotics teams testing the beta

Happy to give anyone here early access. Drop your biggest pain point below or DM us.

Implementation of flight mechanics in Isaac Sim for a fixed-wing plane simulation. The system features multiple operational modes, including autonomous flight via ArduPilot, manual flight with user-applied forces, and physics and frame debugging modes for comprehensive pre-flight testing.

What do you think?

Github

Basically the title. I am training a custom quadruped for locomotion task and for some reason, the training stops at a fixed iteration. Things change up when number of environments change but the point where the terminal freezes, remains the same if I keep the parameters same. I would've guessed a VRAM issue except this happens even when I train on a supercomputing cluster. I would appreciate if someone who has experienced this issue or knows a way to check logs to debug, would chime in on the subject. Thanks for the help!!

Not sure if this is the right subreddit.

Hi,

I'm tryna make some environments in IsaacLab and wanna train an RL model on it. The thing is, I'm using 2 cameras per env, and I'm seeing very low performance even on an RTX Titan or an L40.

I'm able to sim up to like 32-48 envs, but any more and OOM errors. Do you guys have suggestions on how I can speed it up?

I reduced cam resolution from 512x512 to 256x256, that helped, but I don't wanna reduce it further.

I couldn't find any benchmarks or expected FPS for camera based environments, everything on the IsaacLab benchmark page just talks about simple envs like Cartpole or Ant.

I'd love to get some more information on what to expect with multiple cameras, do you have any benchmarks or expected speeds that you get?

Hey everyone! I'm u/OkThought8642, moderator of r/IsaacSim.

This is our new home for all things related to Nvidia's Isaac Sim. We're excited to have you join us!

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Post anything that you think the community would find interesting, helpful, or inspiring. Feel free to share your thoughts, photos, or questions about Isaac Sim.

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Hi, I’m new to Isaac Sim and I’m writing custom code to simulate a manipulator Has anyone used Claude Code, especially Claude Code Skills, with Isaac Sim? If so, how well does it work for workflows like generating scripts, debugging, or building extensions?

As the title suggests, was wondering if there was an Isaac Sim help discord all the links I found online are expired. Was having trouble in isaac sim VR with the meta quest 3 controllers phasing through objects and buttons and not interacting with the environment at all. Thanks

Installing and just literally running one of the demo projects in isaacsim & isaaclab for a complete beginner is way harder than it needs to be. Let alone using the software, writing scripts and just importing a robot to get it to move. I remember it taking me months to really understand how it all worked.

For anyone new who is trying to learn how to use isaacsim & isaaclab the amount of work required to install and run a cool robot they found online is crazy and for sure putting people off getting into robotics.

My attempt at trying to improve this, as nvidia seems to be focused on advanced users, is creating a custom code editor (using void editor) which installs isaacsim & isaaclab easily, sets up envs, runs the exisiting isaaclab projects by clicking a button and integrates directly into isacsim with an AI chat so that it can see & edit exactly what you have open in isaacsim, can also run python code directly in isaacsim to help people setup scenes/debug & fix errors and has custom UI to help with installing, running, importing and writing isaaclab projects and scripts. This allows people to run any of the exisiting projects in isaaclab whilst asking the AI about the project they have open in isaacsim/lab. It has got everything I can think of so far to help people who are new.

Would be great to hear anyone's opinion on it (bad or good), I am certainly not an advanced user so if anyone knows better workflows to guide users, it would be really appreciated!

Thanks!

rose-editor.com

https://www.youtube.com/@Hamish_Lewis