Isaac Sim Simulation Engine

I would like to know if Isaac Sim can be used standalone or if it requires NVIDIA Omniverse. I am using the Isaac Sim Docker image on Linux. Does this image include Omniverse in the background, or does it only contain Isaac Sim? What are the benefits of using Isaac Sim with Omniverse?

Hi @2212285

Isaac Sim is robotics simulation toolkit build on top of the Omniverse Kit SDK (What Is Isaac Sim? — Omniverse IsaacSim latest documentation), so it does not exist separately from Omniverse.

See the Isaac Sim architecture for a graphical reference

For Isaac Sim the term standalone refers to a specific workflow that support running python scripts with full control over timing of physics and rendering steps. Read more about the different workflows here: 1.2. Isaac Sim Workflows — Omniverse IsaacSim latest documentation