Isaac Sim Dockerfiles

Introduction

This repository contains Dockerfiles for building an Isaac Sim container.

Pre-Requisites

Before getting started, ensure that the system has the latest NVIDIA Driver and the NVIDIA Container Toolkit installed.

Use your NGC Account to get access to the Isaac Sim Container and generate your NGC API Key.

Build

Clone this repository and then build the image:

docker login nvcr.io
docker build --pull -t \
  isaac-sim:2023.1.0-ubuntu22.04 \
  --build-arg ISAACSIM_VERSION=2023.1.0 \
  --file Dockerfile.2023.1.0-ubuntu22.04 .

Usage

To run the container and start Isaac Sim as a headless app:

docker run --name isaac-sim --entrypoint bash -it --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 \
  isaac-sim:2023.1.0-ubuntu22.04 \
  ./runheadless.native.sh -v

To run the container and start Isaac Sim as a windowed app:

xhost +
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
  -e "PRIVACY_CONSENT=Y" \
  -v $HOME/.Xauthority:/root/.Xauthority \
  -e DISPLAY \
  -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 \
  isaac-sim:2023.1.0-ubuntu22.04 \
  ./runapp.sh

Connect to Isaac Sim using the Omniverse Streaming Client.

See Container Deployment for information on container deployment.

Licensing

The source code in this repository is licensed under Apache 2.0.

The resulting container images are licensed under the NVIDIA Omniverse License Agreement.

Support

• Please use NVIDIA Developer Forums for questions and comments.
• See Isaac Sim Documentation for more information.