Container Installation

The container installation of Isaac Sim is recommended for deployment on remote headless servers or the Cloud using a Docker container running Linux.

See also

• Differences Between Workstation And Docker

Container Setup

1. Install NVIDIA Driver:

   $ sudo apt-get update
   $ sudo apt install build-essential -y
   $ wget https://us.download.nvidia.com/XFree86/Linux-x86_64/535.129.03/NVIDIA-Linux-x86_64-535.129.03.run
   $ chmod +x NVIDIA-Linux-x86_64-535.129.03.run
   $ sudo ./NVIDIA-Linux-x86_64-535.129.03.run
   

   Note

   • The recommended driver version for Isaac Sim is 535.129.03 for Linux.

   • See Linux Troubleshooting to resolve driver install issues.

   • We recommend installing the Latest Production Branch Version drivers from the Unix Driver Archive using the .run installer on Linux, if you are on a new GPU or experiencing issues with the current drivers.

2. Install Docker:

   # 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
   

   See also

   • Install Docker Engine on Ubuntu

   • Post-installation steps for Linux

3. Install the NVIDIA Container Toolkit:

   # 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
   
   # Configure the container runtime
   $ sudo nvidia-ctk runtime configure --runtime=docker
   $ sudo systemctl restart docker
   
   # Verify NVIDIA Container Toolkit
   $ docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi
   

   Note

   • Version 1.16.2 or later of NVIDIA Container Toolkit is required.

Note

The NVIDIA Drivers, Docker, and NVIDIA Container Toolkit are preinstalled in the AWS AMI.

Container Deployment

This section describes how to run the Omniverse Isaac Sim container.

Steps:

1. Setup and install the container prerequisites. See Container Setup above.

2. Run the following command to confirm your GPU driver version:

   $ nvidia-smi
   

3. Get access to the Isaac Sim Container using your NVIDIA Developer Program credentials.

4. Generate your NGC API Key.

5. Use the command line to log in to NGC before pulling the Isaac Sim container.

   $ docker login nvcr.io
   Username: $oauthtoken
   Password: <Your NGC API Key>
   WARNING! Your password will be stored unencrypted in /home/username/.docker/config.json.
   Configure a credential helper to remove this warning. See
   https://docs.docker.com/engine/reference/commandline/login/#credentials-store
   Login Succeeded
   

6. Pull the Isaac Sim container:

   $ docker pull nvcr.io/nvidia/isaac-sim:4.2.0
   

7. Run the Isaac Sim container with an interactive Bash session:

   $ docker run --name isaac-sim --entrypoint bash -it --runtime=nvidia --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
       -e "PRIVACY_CONSENT=Y" \
       -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
       -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
       -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
       -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
       -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
       -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
       -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
       -v ~/docker/isaac-sim/documents:/root/Documents:rw \
       nvcr.io/nvidia/isaac-sim:4.2.0
   

   Note

   • By using the -e "ACCEPT_EULA=Y" flag, you accept the license agreement of the image found at NVIDIA Omniverse License Agreement.

   • By using the -e "PRIVACY_CONSENT=Y" flag, you opt-in to the data collection agreement found at common/data-collection. You may opt-out by not setting this flag.

   • The -e "PRIVACY_USERID=<email>" flag can optionally be set for tagging the session logs.

   • The Nucleus and Cache installer is no longer available in the Isaac Sim container. The recommended installation of Nucleus using the Omniverse Launcher.

   • For enterprise users, see Omniverse Nucleus Enterprise.

   • The Isaac Sim container uses assets in the Cloud if no Nucleus server is available.

   When using a separate Nucleus server:

   • See Problem Connecting to Docker Container to expose all ports of the container and connect to an external Nucleus server.

   • See Setting the Default Nucleus Server to set the default Nucleus server.

   • See Setting the Default Username and Password for Connecting to the Nucleus Server to set the default credentials for any Nucleus server.

8. Start Isaac Sim with native livestream mode:

   $ ./runheadless.native.sh -v
   

   Note

   • Before running a livestream client, you must have the Isaac Sim app is loaded and ready. It may take a few minutes for Isaac Sim to completely load.

   • The -v flag is used to show additional logs while the shader cache is being warmed up.

   • To confirm this, look out for this line in the console or the logs:

     Isaac Sim Headless Native App is loaded.
     

   • The first time loading Isaac Sim, it takes a while for the shaders to be cached. Subsequent runs of Isaac Sim are quicker because the shaders are cached and the cache is mounted when the container runs.

   • See Save Isaac Sim Configs on Local Disk to make Isaac Sim configs and cache persistent when using containers.

9. Install and launch the Omniverse Streaming Client from the Omniverse Launcher.

   Note

   • Only the Omniverse Streaming Client is supported. It provides for the best experience when streaming to an AWS EC2 instance over the internet.

   • See Omniverse Streaming Client for more information about the Omniverse Streaming Client.

10. Enter the IP address of the machine or instance running the Isaac Sim container and click on the Connect button to begin live streaming.

11. Proceed to Isaac Sim Interface to begin your first tutorial.

Note

• Some tutorials that use the Content Browser may not work when using the Isaac Sim container with no Nucleus connected.

• It is recommended to use the Workstation Isaac Sim from the Omniverse Launcher to run all tutorials.

• The Isaac Sim container supports running our Python apps and standalone examples in headless mode only.

• The latest NVIDIA drivers may not be fully supported for some features like livestreaming. See common/technical-requirements for recommended drivers.

• See also Isaac Sim Dockerfiles to build your own custom Isaac Sim container.