Ensure your system meets the system requirements

To work with NVIDIA Isaac Sim 4.5 your system has to fulfill the following requirements:

Original source: NVIDIA Isaac Sim documentation (opens in a new tab)

Install NVIDIA Isaac Sim

Wandelbots NOVA 25.7 supports NVIDIA Isaac Sim 4.2 and 4.5. We recommend to use version 4.5.

Install NVIDIA Isaac Sim version 4.5 following its original installation guide (opens in a new tab).

Port forward Omniservice API

If you installed NVIDIA Isaac Sim on a remote machine, the Omniservice API needs to be exposed by a remotly accessible URL. We recommend Microsoft DevTunnel (opens in a new tab) for this purpose. The following steps are required to configure a DevTunnel on Windows:

Install DevTunnel

Install the DevTunnel via the winget package manager:

winget install Microsoft.DevTunnel

Login with Microsoft account

Log into your Microsoft or GitHub account via the command line:

devtunnel login

Create a DevTunnel

Create a DevTunnel via the command line:

devtunnel host --allow-anonymous --port-numbers 8011

Access the API via the URL that is returned by the command, for example https://<tunnel-id>-8011.euw.devtunnels.ms/omniservice/api.

Install Wandelbots NOVA extension

Wandelbots NOVA 25.7 requires the Wandelbots NOVA extension (Omniservice) version 1.48.0.

Connect Wandelbots NOVA to NVIDIA Isaac Sim

After successfully installing the Wandelbots NOVA extension, you have to connect Wandelbots NOVA to NVIDIA Isaac Sim via Robot Pad.

1. Authenticate via the NVIDIA Isaac Sim Wandelbots NOVA tab.
2. Tap on the NVIDIA Omniverse icon in the Wandelbots NOVA interface. The simulation panel will open, displaying a login.
3. Enter the NVIDIA Isaac Sim instance's IP address and connect to it.
   The port will be detected automatically.

Configure network

If connecting from a NOVA web app to the extension is not possible or the extension is unable to reach NOVA API endpoints, make sure the network of your setup is configured the following way:

To test the network configuration this script can be executed on the NVIDIA Isaac Sim host.

At the end of the script

   main(
      host="abc.instance.wandelbots.io",
      access_token="123",
      secure=True,
      cell="cell",
      motion_group="0@ur10e",
   )

can be edited to match the instance setup.

For execution you will need requests and websockets. If you are using the python version shipped with NVIDIA Isaac Sim all required packages should be present. The following output is expected for a successful test:

$ isaac-sim-4.5/python.bat test_nova_connection.py

## Testing http connection to https://abc.instance.wandelbots.io/api/v1/cells/cell/motion-groups/0@ur10e/state
HTTP test succeeded
## Testing websocket connection to wss://abc.instance.wandelbots.io/api/v1/cells/cell/motion-groups/0@ur10e/state-stream?response_rate=32
Joint data: [0, -1.5709999799728394, -1.5709999799728394, -1.5709999799728394, 1.5709999799728394, -1.5709999799728394]
Joint data: [0, -1.5709999799728394, -1.5709999799728394, -1.5709999799728394, 1.5709999799728394, -1.5709999799728394]
Joint data: [0, -1.5709999799728394, -1.5709999799728394, -1.5709999799728394, 1.5709999799728394, -1.5709999799728394]
Joint data: [0, -1.5709999799728394, -1.5709999799728394, -1.5709999799728394, 1.5709999799728394, -1.5709999799728394]
Joint data: [0, -1.5709999799728394, -1.5709999799728394, -1.5709999799728394, 1.5709999799728394, -1.5709999799728394]
Websocket test succeeded

Example: stacking demo

Download our stacking demo (opens in a new tab) and import the folder into NVIDIA Isaac Sim. The stacking demo package includes the predefined scene main.usd, tool configurations, assets and a matching Wandelscript you will use during the setup of NVIDIA Isaac Sim.