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 

Install NVIDIA Isaac Sim

Wandelbots NOVA 25.8 supports NVIDIA Isaac Sim 4.2, 4.5 and 5.0. Recommended: version 4.5.

Install NVIDIA Isaac Sim version 4.5 following its original installation guide .

Install Wandelbots NOVA extension

Wandelbots NOVA 25.8 requires the Wandelbots NOVA extension version 2.4.0+.

Authenticate

1. Go to the Wandelbots NOVA extension tab in Isaac Sim.
2. Use Sign in to authenticate with your Wandelbots NOVA account.

3. Complete the authentication in the browser.
   The device confirmation dialogue is displayed.

4. Confirm your device code.
   After successful confirmation, the instances associated with your Wandelbots NOVA account will be listed in the extension.

Connect to cloud instance

After successful authentication, you can now connect to the robot articulation you want to work with on the cloud instances associated with your account.

Each instance lists the available robot articulations in a dropdown.

1. Select the desired robot articulation from the dropdown.

2. Click Connect.
   After successful connection, the instance will display a green indicator and feature the selected articulation.

Add VM or bare-metal instance

You can also connect to a VM or bare-metal Wandelbots NOVA instance.

1. Use the + icon to display a field where you can enter the Wandelbots NOVA instance’s host address.
   Optionally, specify the port.

2. Click Add.
   The NOVA instance will be displayed in the instance list under Custom Instances, featuring a green indicator that marks a successful connection.
3. Select the desired robot articulation from the dropdown.
4. Click Connect.
   After successful connection, the instance will feature the selected articulation.

Connection issues

If the NOVA instance displays a yellow or red indicator, or a notification, the NOVA instance is not reachable. This can be due to an incorrect setup or outdated Wandelbots NOVA versions.

1. Open the Wandelbots NOVA instance and ensure that it is running and reachable.
2. Check that the firewall settings allow communication with the Wandelbots NOVA instance on the specified port.
3. Update the Wandelbots NOVA instance to the latest version.

4. Create a cell on the Wandelbots NOVA instance in Setup.
5. Add a robot to the cell that the Isaac Sim extension can connect to.

6. Add a robot to the cell that the Isaac Sim extension can connect to.
7. Open Robot Pad once to initialize the robot connection on the Wandelbots NOVA instance.

Network issues

If connecting from a NOVA web app to the extension is not possible or the extension is unable to reach NOVA API endpoints, ensure the network settings are configured the following way:

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

Edit this part at the bottom of the script to match your instance setup:

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

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