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https://github.com/j3soon/docker-isaac-sim

Unofficial minimal dockerfile for Isaac Sim
https://github.com/j3soon/docker-isaac-sim

isaac isaac-sim nvidia-isaac omniverse ros2 ros2-humble

Last synced: about 2 months ago
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Unofficial minimal dockerfile for Isaac Sim

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# Docker Isaac Sim



Unofficial minimal dockerfile for Isaac Sim.



This is often useful in scenarios when you are using a custom base image and want to install Isaac Sim in it. For an example, one may want to use a custom base image for ROS2 and install Isaac Sim in it.



| Name | Docker Image | Docker Hub Link |

|------|--------------|-----------------|

| Pip | `j3soon/isaac-sim-pip` | [![Docker Image](https://img.shields.io/badge/dockerhub-image-important.svg?logo=docker)](https://hub.docker.com/r/j3soon/isaac-sim-pip/tags) |

| Binary | `j3soon/isaac-sim-bin` | [![Docker Image](https://img.shields.io/badge/dockerhub-image-important.svg?logo=docker)](https://hub.docker.com/r/j3soon/isaac-sim-bin/tags) |



## Prerequisites



- [NVIDIA Driver](https://ubuntu.com/server/docs/nvidia-drivers-installation)

- [Docker](https://docs.docker.com/engine/install/ubuntu/)

- [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)



## Official Docker Images



Before diving into the unofficial docker images, let's first see how to use the official images.



For using the official Isaac Sim docker images, please follow [the official guide](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment), the commands should be something like below.



Headless mode:



```sh

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

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

# in the container

./runheadless.sh

```



> For using WebRTC streaming, wait until the streaming is ready, you should see something like this:

> 

> ```

> Isaac Sim Full Streaming App is loaded.

> ```

> 

> Download and use the [Isaac Sim WebRTC Streaming Client](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html#isaac-sim-latest-release) as mentioned in [the official guide](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-setup-livestream-webrtc).

> 

> > For WebRTC streaming in Isaac Sim 4.2 and earlier, run the following command:

> >

> > ```sh

> > # in the container

> > ./runheadless.webrtc.sh

> > ```

> > Wait until the streaming is ready, you should see something like this:

> > ```

> > Isaac Sim Headless WebRTC App is loaded.

> > ```

> >

> > Visit .

> >

> > Note that the URL must contain the IP address of the host machine, not the host/domain name.



GUI mode:



```sh

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

xhost +local:docker

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 \

  -v $(pwd):/workspace \

  -e DISPLAY=$DISPLAY \

  -v /tmp/.X11-unix:/tmp/.X11-unix \

  -v $HOME/.Xauthority:/root/.Xauthority \

  nvcr.io/nvidia/isaac-sim:4.5.0

# in the container

./runapp.sh

```



References:



- [Container Installation - Isaac Sim Documentation](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html)

- [Isaac Sim \| NVIDIA NGC](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim/tags)



## Pip Install



> Note that pip install Isaac Sim is still [in experimental stage](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_python.html). Personally, I have used this method in [j3soon/ros2-essentials](https://github.com/j3soon/ros2-essentials) and have not encountered any issues with it yet.



Build or pull image:



```sh

# build the preferred version

docker build -f Dockerfile_isaacsim_4_5_pip -t j3soon/isaac-sim-pip:4.5 .

docker build -f Dockerfile_isaacsim_4_2_pip -t j3soon/isaac-sim-pip:4.2 .

docker build -f Dockerfile_isaacsim_4_1_pip -t j3soon/isaac-sim-pip:4.1 .

docker build -f Dockerfile_isaacsim_4_0_pip -t j3soon/isaac-sim-pip:4.0 .

# or pull the preferred version

docker pull j3soon/isaac-sim-pip:4.5

docker pull j3soon/isaac-sim-pip:4.2

docker pull j3soon/isaac-sim-pip:4.1

docker pull j3soon/isaac-sim-pip:4.0

```



```sh

xhost +local:docker

ISAAC_SIM_VERSION=4.2

docker run --rm -it --runtime=nvidia --gpus all --network=host \

  -v ~/docker/isaac-sim-pip/cache/kit:/usr/local/lib/python3.10/site-packages/omni/cache:rw \

  -v ~/docker/isaac-sim-pip/cache/ov:/root/.cache/ov:rw \

  -v ~/docker/isaac-sim-pip/cache/pip:/root/.cache/pip:rw \

  -v ~/docker/isaac-sim-pip/cache/glcache:/root/.cache/nvidia/GLCache:rw \

  -v ~/docker/isaac-sim-pip/cache/computecache:/root/.nv/ComputeCache:rw \

  -v ~/docker/isaac-sim-pip/logs:/root/.nvidia-omniverse/logs:rw \

  -v ~/docker/isaac-sim-pip/data:/root/.local/share/ov/data:rw \

  -v ~/docker/isaac-sim-pip/documents:/root/Documents:rw \

  -v $(pwd):/workspace \

  -e DISPLAY=$DISPLAY \

  -v /tmp/.X11-unix:/tmp/.X11-unix \

  -v $HOME/.Xauthority:/root/.Xauthority \

  -v /dev/shm:/dev/shm \

  j3soon/isaac-sim-pip:${ISAAC_SIM_VERSION}

# in the container

# For Isaac Sim 4.0 to 4.2, run:

isaacsim omni.isaac.sim

# or WebRTC streaming:

isaacsim omni.isaac.sim.headless.webrtc --no-window

```



> For Isaac Sim 4.5, run the following instead:

> 

> ```sh

> isaacsim isaacsim.exp.full

> # or WebRTC streaming:

> isaacsim isaacsim.exp.full.streaming --no-window

> ```



For WebRTC streaming usage, see [the official Docker images section](#official-docker-images) below.



> The slight difference in cache directories between the official Docker image and the pip-installed version is observed by comparing the logs of the Isaac Sim instance in both environments.



To test the ros2 bridge in Isaac Sim, click `Isaac Utils > Common Omnigraphs > ROS2 Clock` in the menu and click `OK`. Click the play button, and run the following in a new terminal:



```sh

docker run --rm -it --network=host -v /dev/shm:/dev/shm osrf/ros:humble-desktop-full bash

# in the container

ros2 topic list

ros2 topic echo /clock

```



> Please note that the ROS2 bridge is not working in Isaac Sim 4.5.0 yet. We're currently working on this issue.



References:



- [Python Environment Installation \| Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_python.html)

- [`isaacsim` \| PyPI](https://pypi.org/project/isaacsim/#history)



## Binary Install



Starting from Isaac Sim 4.5.0, the Isaac Sim binary installation is supported.



Build or pull image:



```sh

# build the preferred version

docker build -f Dockerfile_isaacsim_4_5_bin -t j3soon/isaac-sim-bin:4.5 .

# or pull the preferred version

docker pull j3soon/isaac-sim-bin:4.5

```



```sh

xhost +local:docker

ISAAC_SIM_VERSION=4.5

docker run --rm -it --runtime=nvidia --gpus all --network=host \

  -v ~/docker/isaac-sim-bin/cache/kit:/root/isaac-sim/kit/cache:rw \

  -v ~/docker/isaac-sim-bin/cache/ov:/root/.cache/ov:rw \

  -v ~/docker/isaac-sim-bin/cache/pip:/root/.cache/pip:rw \

  -v ~/docker/isaac-sim-bin/cache/glcache:/root/.cache/nvidia/GLCache:rw \

  -v ~/docker/isaac-sim-bin/cache/computecache:/root/.nv/ComputeCache:rw \

  -v ~/docker/isaac-sim-bin/logs:/root/.nvidia-omniverse/logs:rw \

  -v ~/docker/isaac-sim-bin/data:/root/.local/share/ov/data:rw \

  -v ~/docker/isaac-sim-bin/documents:/root/Documents:rw \

  -v $(pwd):/workspace \

  -e DISPLAY=$DISPLAY \

  -v /tmp/.X11-unix:/tmp/.X11-unix \

  -v $HOME/.Xauthority:/root/.Xauthority \

  -v /dev/shm:/dev/shm \

  j3soon/isaac-sim-bin:${ISAAC_SIM_VERSION}

# in the container

~/isaacsim/isaac-sim.sh

# or WebRTC streaming:

~/isaacsim/isaac-sim.streaming.sh

```



For WebRTC streaming usage, see [the official Docker images section](#official-docker-images) below.



References:



- [Workstation Installation \| Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/install_workstation.html)