diff --git a/sim/scripts/setup_isaac.sh b/sim/scripts/setup_isaac.sh
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+++ b/sim/scripts/setup_isaac.sh
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+#!/bin/bash
+# Script to set up Isaac Sim on a cluster.
+# This script was adapted from here:
+# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
+
+# Run updates and install dependencies.
+sudo apt-get update
+sudo apt install build-essential -y
+
+# Install NVIDIA drivers.
+wget https://us.download.nvidia.com/XFree86/Linux-x86_64/525.85.05/NVIDIA-Linux-x86_64-525.85.05.run
+chmod +x NVIDIA-Linux-x86_64-525.85.05.run
+sudo ./NVIDIA-Linux-x86_64-525.85.05.run
+
+# Docker installation using the convenience script
+curl -fsSL https://get.docker.com -o get-docker.sh
+sudo sh get-docker.sh
+
+# Post-install steps for Docker
+sudo groupadd docker
+sudo usermod -aG docker $USER
+newgrp docker
+
+# Verify Docker
+docker run hello-world
+
+# Configure the repository
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
+  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
+  && \
+    sudo apt-get update
+
+# Install the NVIDIA Container Toolkit packages
+sudo apt-get install -y nvidia-container-toolkit
+sudo systemctl restart docker
+
+# Verify NVIDIA Container Toolkit
+docker run --rm --gpus all ubuntu nvidia-smi