# Isaac Sim Setup on Ubuntu 22.04

## Environment
**OS**: Linux version 6.8.0-59-generic (buildd@lcy02-amd64-117) (x86_64-linux-gnu-gcc-12 (Ubuntu 12.3.0-1ubuntu1~22.04) 12.3.0, GNU ld (GNU Binutils for Ubuntu) 2.38) #61~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Apr 15 17:03:15 UTC 2
**CPU**: AMD Ryzen 7 7700
**GPU**: RTX 4060Ti

## Install nvidia-driver
Issac Sim need to work with nvidia-driver.

1. Search the available drivers with this command:

ubuntu-drivers devices

Sample output:

== /sys/devices/pci0000:00/0000:00:01.1/0000:01:00.0 ==
modalias : pci:v000010DEd00002803sv00001462sd00005174bc03sc00i00
vendor   : NVIDIA Corporation
driver   : nvidia-driver-545 - distro non-free
driver   : nvidia-driver-550-open - distro non-free
driver   : nvidia-driver-535-server-open - distro non-free
driver   : nvidia-driver-545-open - distro non-free
driver   : nvidia-driver-570 - distro non-free recommended
driver   : nvidia-driver-570-server - distro non-free
driver   : nvidia-driver-570-server-open - distro non-free
driver   : nvidia-driver-535-server - distro non-free
driver   : nvidia-driver-535-open - distro non-free
driver   : nvidia-driver-535 - distro non-free
driver   : nvidia-driver-570-open - distro non-free
driver   : nvidia-driver-550 - distro non-free
driver   : xserver-xorg-video-nouveau - distro free builtin

I would choose `nvidia-driver-570`, without the `-open` or `server`.

2. Install nvidia-driver-570

sudo apt install nvidia-driver-570

3. Choose maintainers' version
At the end of installation, a similar question like this will be printed.

Configuration file '(some config file name)'
 ==> Modified (by you or by a script) since installation.
 ==> Package distributor has shipped an updated version.
   What would you like to do about it ?  Your options are:
    Y or I  : install the package maintainer's version
    N or O  : keep your currently-installed version
      D     : show the differences between the versions
      Z     : start a shell to examine the situation
 The default action is to keep your current version.
*** defaults.list (Y/I/N/O/D/Z) [default=N] ?

**Choose Y**, according to [Which option to choose when package distributor has shipped an updated version?](https://askubuntu.com/q/1143551).

4. reboot
use `sudo reboot` to let driver activate.

5. verify installation with `nvidia-smi`
You should see similar output like:

Sat May 10 22:44:24 2025       
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 570.133.07             Driver Version: 570.133.07     CUDA Version: 12.8     |
|-----------------------------------------+------------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
|                                         |                        |               MIG M. |
|=========================================+========================+======================|
|   0  NVIDIA GeForce RTX 4060 Ti     Off |   00000000:01:00.0  On |                  N/A |
|  0%   57C    P3             29W /  165W |    2162MiB /  16380MiB |     35%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+
                                                                                         
+-----------------------------------------------------------------------------------------+
| Processes:                                                                              |
|  GPU   GI   CI              PID   Type   Process name                        GPU Memory |
|        ID   ID                                                               Usage      |
|=========================================================================================|
|    0   N/A  N/A            4063      G   /usr/lib/xorg/Xorg                      155MiB |
|    0   N/A  N/A            4338    C+G   ...c/gnome-remote-desktop-daemon        120MiB |
|    0   N/A  N/A            4391      G   /usr/bin/gnome-shell                     28MiB |
|    0   N/A  N/A            7357    C+G   /home/jacky/isaacsim/kit/kit           1643MiB |
|    0   N/A  N/A            9036      G   /opt/google/chrome/chrome                 2MiB |
|    0   N/A  N/A            9111      G   ...ersion=20250509-130056.983000        109MiB |
+-----------------------------------------------------------------------------------------+

## Issac Sim Download
1. Download the launcher from official website like https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html. I chose the latest version for Linux.
2. Follow [WorkStation Setup](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html#workstation-setup) to install Isaac Sim
3. After `./isaac-sim.selector.sh` in last step, you need to **wait** for like several minutes. Issac Sim will say that it is not responding, just wait. It will be fine later. You will see it is using GPU when it is done.


## About Me
A self-motivated programmer who is exploring low-latency C++.

>Personal Website: https://jacky-chen-portfolio.vercel.app/
>GitHub: https://github.com/TypeErrorEngine2022
>Email: [e-mail]