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Setup#

Tutorial

This tutorial series runs in NVIDIA Isaac Sim with the Inspire Hand asset. Complete the following setup before starting the remaining tutorials.

Learning Objectives#

In this tutorial, you will:

  • Identify the hardware and software requirements for the tutorial series.

  • Locate the course USD files and checkpoints.

  • Prepare to import the Inspire Hand in Tutorial 1.

Prerequisites#

  • Basic familiarity with USD and Isaac Sim (stage, prims, layers).

  • Understanding of rigid-body physics (mass, inertia, joints) is helpful but not required.

Software requirements#

  • Isaac Sim 6.0 or later.

Get the course USD files#

The course files are located in Isaac/Samples/Rigging/Inspire/. The directory contains the following checkpoints:

  • module_1_start — Inspire Hand URDF and meshes used for the import workflow.

  • module_1_end — Imported Inspire Hand USD at inspire_hand/inspire_hand.usda.

  • module_3_end — Checkpoint with collision filters configured.

  • module_4_end — Checkpoint with joint velocity and torque limits configured.

  • module_5_end — Checkpoint with all finger and thumb joint gains tuned and authored.

Summary#

This tutorial covered:

  • Hardware and software requirements for the tutorial series.

  • The course root at Isaac/Samples/Rigging/Inspire/.

  • The checkpoint folders that you will use throughout the series.

Next Steps#

Continue to Tutorial 1: Import robot and USD asset structure to import the Inspire Hand URDF and examine its USD Asset Structure 3.0 layout.

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