Python Environment Installation — Isaac Sim Documentation

Last updated: 12/12/2025

Title: Python Environment Installation — Isaac Sim Documentation

URL Source: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_python.html

Published Time: Tue, 21 Oct 2025 19:24:38 GMT

Markdown Content: Python Environment Installation#

This section presents the following contents:

Install Isaac Sim using PIP#

Note

  • Isaac Sim requires Python 3.11. Visit the Python download page to get a suitable version.

  • On Linux, GLIBC 2.35+ (manylinux_2_35_x86_64) version compatibility is required for pip to discover and install the Python packages. Check the GLIBC version using the command ldd --version.

  • On Windows, it may be necessary to enable long path support to avoid installation errors due to OS limitations.

Isaac Sim provides several Python namespace packages that allow you to compose an Isaac Sim app by parts using a Python package manager (for example: pip). The following tables list the available Isaac Sim - Python packages.

Main Python packages#| Package | Description | | --- | --- | | isaacsim | A metapackage that defines optional dependencies for installing some or all of the other Python packages | | | | | isaacsim-kernel | Isaac Sim kernel | | isaacsim-app | Isaac Sim components for application setup | | isaacsim-asset | Isaac Sim components for asset import, creation and management | | isaacsim-benchmark | Isaac Sim components for benchmarking | | isaacsim-code-editor | Isaac Sim components for scripting and code edition | | isaacsim-core | Isaac Sim core extensions and APIs | | isaacsim-cortex | Isaac Sim components to enable the Cortex decision framework for intelligent robot behavior | | isaacsim-example | Isaac Sim examples | | isaacsim-gui | Isaac Sim components for the graphical user interface (GUI) | | isaacsim-replicator | Isaac Sim components to enable the Replicator framework for synthetic data generation pipelines and services | | isaacsim-rl | Isaac Sim components for reinforcement learning | | isaacsim-robot | Isaac Sim’s robot models and APIs | | isaacsim-robot-motion | Isaac Sim components for motion generation pipelines and algorithms | | isaacsim-robot-setup | Isaac Sim components for robot setup | | isaacsim-ros2 | Isaac Sim components for ROS 2 system integration | | isaacsim-sensor | Isaac Sim components to simulate sensors | | isaacsim-storage | Isaac Sim components for storage system | | isaacsim-template | Isaac Sim templates | | isaacsim-test | Isaac Sim components for testing | | isaacsim-utils | Isaac Sim utilities |

Python packages that cache all the Omniverse extension dependencies for Isaac Sim#| Package | Description | | --- | --- | | isaacsim-extscache-kit | Kit extensions cache for Isaac Sim | | isaacsim-extscache-kit-sdk | Kit-SDK extensions cache for Isaac Sim | | isaacsim-extscache-physics | Physics extensions cache for Isaac Sim |

Installation Using PIP#

  1. Create and activate the virtual environment (optional, but highly recommended):

venv module

Ubuntu

python3.11 -m venv env_isaacsim source env_isaacsim/bin/activate Windows

python3.11 -m venv env_isaacsim env_isaacsim\Scripts\activate
Conda

conda create -n env_isaacsim python=3.11 conda activate env_isaacsim
Make sure pip is updated (pip install --upgrade pip) after activating the environment and before proceeding with installation.

  1. Install Isaac Sim - Python packages:

(Virtual) Python environment

Full Isaac Sim

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

pip install isaacsim[BUNDLE]==5.1.0 --extra-index-url https://pypi.nvidia.com Available Bundles#| Bundle | Description | | --- | --- | | all | Install all the main Python packages | | extscache | Install the packages that cache the Omniverse extension dependencies | | compatibility-check | Install the packages to run the Isaac Sim Compatibility Checker app | | ros2 | Install all the packages that enable ROS 2 system integration |
Specific Isaac Sim Package

pip install isaacsim-PACKAGE_SUBNAME==5.1.0 --extra-index-url https://pypi.nvidia.com
Notebook (for example: Jupyter, Colab)

Full Isaac Sim

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

!pip install isaacsim[BUNDLE]==5.1.0 --extra-index-url https://pypi.nvidia.com Available Bundles#| Bundle | Description | | --- | --- | | all | Install all the main Python packages | | extscache | Install the packages that cache the Omniverse extension dependencies | | compatibility-check | Install the packages to run the Isaac Sim Compatibility Checker app | | ros2 | Install all the packages that enable ROS 2 system integration |
Specific Isaac Sim Package

!pip install isaacsim-PACKAGE_SUBNAME==5.1.0 --extra-index-url https://pypi.nvidia.com
The installation path can be queried with the command pip show isaacsim.

Running Isaac Sim#

Note

You must agree and accept the Omniverse License Agreement (EULA) to use Isaac Sim. The EULA can be accepted in two ways, through system environment variables or by responding to a prompt:

Prompting at Runtime

The first time isaacsim is imported, a prompt asks you to accept the EULA at runtime. After the EULA is accepted, you will not see it again. If the EULA is not accepted, the execution will be terminated.

By installing or using Omniverse Kit, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA) in https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.html

Do you accept the EULA? (Yes/No):

Environment Variable

By setting the OMNI_KIT_ACCEPT_EULA environment variable to YES, Y or 1 (case insensitive), the interpreter will not prompt for EULA acceptance at runtime.

Command line Interface

Ubuntu

export OMNI_KIT_ACCEPT_EULA=YES

Windows

set OMNI_KIT_ACCEPT_EULA=YES

Python Script

Add the following statements at the beginning of the script or notebook cell before importing isaacsim:

import os os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"

Warning

  • Some Python packages required by some Isaac Sim extensions or examples may not be included as dependencies. However, it is possible to install them using the command pip install DEPENDENCY_NAME.

  • On DGX Spark / aarch64 architecture, it may be necessary to preload (LD_PRELOAD) the libgomp shared library for some modules to be loaded. When the isaacsim package is imported, a check will be performed, after which a message providing preload instructions may be displayed.

Launching Isaac Sim Experiences#

Hint

To launch the (standard) Isaac Sim app, run the isaacsim command in the terminal.

The installation registers a Python entry point (isaacsim) that allows launching experience (.kit) files. The experience file can be defined by its:

  • absolute or relative file path

  • file name, with/without .kit file extension (search paths: isaacsim/apps, omni/apps)

isaacsim path/to/experience_file.kit [arguments]

The following table lists the most common Isaac Sim - Python packages commands to launch experiences:

CommandDescription
isaacsim isaacsim.exp.compatibility_checkCompatibility check app: a lightweight application that programmatically checks for Isaac Sim requirements.
isaacsim isaacsim.exp.fullStandard Isaac Sim app, as it is executed from binary. It is the default experience if no experience file is specified (for example: isaacsim).
isaacsim isaacsim.exp.full.streaming --no-windowHeadless livestreaming Isaac Sim (WebRTC protocol). See Isaac Sim WebRTC Streaming Client for more details. Warning Unsupported on DGX Spark / aarch64 architecture.

Running Python Scripts#

Run the following command to execute a Python script in the (virtual) environment:

python path/to/script.py

Running in Interactive Interpreter or Notebooks#

When running in interactive interpreter or Notebooks (for example: Jupyter, Colab), you must import the isaacsim package to access the SimulationApp class. For convenience, the isaacsim package exposes that class (implemented in the isaacsim.simulation_app extension).

Using isaacsim

from isaacsim import SimulationApp

simulation_app = SimulationApp({"headless": True})

perform any Isaac Sim / Omniverse imports after instantiating the class

Using isaacsim.simulation_app

import isaacsim from isaacsim.simulation_app import SimulationApp

simulation_app = SimulationApp({"headless": True})

perform any Isaac Sim / Omniverse imports after instantiating the class

Note

Calling the SimulationApp.close method on Notebooks causes a kernel interruption and termination.

Generating VS Code Settings#

Because of the structure resulting from the installation, VS Code IntelliSense (code completion, parameter info, and member lists) will not work by default. To set it up (define the search paths for import resolution, the path to the default Python interpreter, and other settings), for a given workspace folder, run the following command:

python -m isaacsim --generate-vscode-settings

Note

The command will generate a .vscode/settings.json file in the workspace folder. If the file already exists, it will be overwritten (a confirmation prompt will be shown first).

Default Python Environment#

It is possible to run Isaac Sim natively from Python rather than as a standalone executable. This provides more low-level control over how to initialize, setup, and manage an Omniverse application. Isaac Sim provides a built-in Python 3.11 environment that packages can use, similar to a system-level Python install. We recommend using this Python environment when running the Python scripts.

Run the following from the Isaac Sim root folder to start a Python script in this environment:

./python.sh path/to/script.py

Note

  • You can open a terminal directly at the Isaac Sim root folder from the Isaac Sim App Selector.

  • On Windows use python.bat instead of python.sh.

  • If you need to install additional packages using pip, run the following:

./python.sh -m pip install name_of_package_here

See the Python Environment manual for more details about python.sh.

Jupyter Notebook Setup#

Jupyter Notebook is supported on Linux only.

Jupyter Notebooks that use Isaac Sim can be executed as follows:

./jupyter_notebook.sh path/to/notebook.ipynb

The first time you run jupyter_notebook.sh, it installs the Jupyter Notebook package into the Isaac Sim Python environment, this can take several minutes.

See the Jupyter Notebook documentation for more details.

Visual Studio Code Support#

Using Visual Studio Code for tutorials and examples is recommended.

The Isaac Sim package provides a .vscode workspace with a pre-configured environment that provides the following:

  • Launch configurations for running in standalone Python mode or the interactive GUI

  • An environment for Python auto-complete

You can open this workspace by opening the main Isaac Sim package folder in Visual Studio Code (VS Code).

See the Visual Studio Code (VS Code) documentation for details about the VS Code workspace.

Advanced: Running in Docker#

Start the Docker container following the instructions in Container Deployment up to step 7.

After the Isaac Sim container is running, you can run a Python script or Jupyter Notebook from the sections above.

Note

  • You can install additional packages using pip:

./python.sh -m pip install name_of_package_here

  • See Save Docker Image for committing the image and making the Python setup installation persistent.

Advanced: Running with Anaconda#

Warning

This setup (prior to Isaac Sim - Python packages installation) is deprecated and will be removed in the next release. To install/use Isaac Sim on a Conda (or any other Python environment), see Install Isaac Sim using PIP instead.

  1. Create a new environment with the following command:

conda env create -f environment.yml conda activate isaac-sim

  1. If you have an existing Conda environment, ensure that the packages in environment.yml are installed. Alternatively, you can delete and re-create your Conda environment as follows:

conda remove --name isaac-sim --all conda env create -f environment.yml conda activate isaac-sim

  1. You must set up environment variables so that Isaac Sim Python packages are located correctly. On Linux, you can do this as follows:

source setup_conda_env.sh

  1. Run samples as follows in the isaac-sim Conda env:

python path/to/script.py

Note

If you are using the isaac-sim Anaconda environment, use python instead of python.sh to run the samples.

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