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

Container Setup#

  1. Ensure your system meets the System Requirements and Driver Requirements for running NVIDIA Isaac Sim.

  2. 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.

  1. 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

  1. 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

Container Deployment#

This section describes how to run the NVIDIA 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

  1. Pull the Isaac Sim Container:

$ docker pull nvcr.io/nvidia/isaac-sim:4.5.0

  1. 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:4.5.0

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 Data Collection & Usage. You may opt-out by not setting this flag.

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

  • 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:

  1. Start Isaac Sim with native livestream mode:

$ ./runheadless.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 Full Streaming 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.

  1. Download and install the Isaac Sim WebRTC Streaming Client from the Latest Release section.

Note

  • Isaac Sim WebRTC Streaming Client is recommended to be used within the same network as an Isaac Sim headless instance.

  • See Omniverse Streaming Client [DEPRECATED] for an alternative streaming client if you have issue livestreaming remotely in the Cloud.

  1. Run the the Isaac Sim WebRTC Streaming Client.

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

  3. Proceed to Getting Started Tutorials 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 Technical Requirements for recommended drivers.

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

  • You can debug Python Scripts Running in Docker.

On this page