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Run Isaac Sim Remotely ARCLAB using webrtc

This guide provides step-by-step instructions for running NVIDIA's Isaac Sim remotely from the lab environment.

Prerequisites

  • UCSD Wifi or VPN
  • NGC account for accessing NVIDIA containers (opitonal if docker already pulled)

Steps

  1. SSH into the remote server

    ssh username@<server_name>.ucsd.edu

    Enter your password when prompted.

  2. Check the server's IP address

    hostname -I | awk '{print $1}'

    Note this IP address for later use.

  3. Generate NGC API Key

  4. Log in to the NVIDIA Container Registry

    docker login nvcr.io
    • Username: $oauthtoken
    • Password: Your NGC API Key

  5. Pull the Isaac Sim Docker image

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

  6. Run the Isaac Sim Docker container

    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

  7. Start Isaac Sim in headless WebRTC mode In the new Docker bash session, run:

    ./isaac-sim.headless.webrtc.sh --allow-root

  8. Access Isaac Sim remotely On your local machine, open a web browser and navigate to:

    http://<server_ip>:8211/streaming/webrtc-demo/?server=<server_ip>

    Replace <server_ip> with the IP address you noted in step 2.

    Note: 8211 is the default Isaac Sim port.

  9. Run standalone program remotely

    Following is an example of running standalone program remotely with webrtc

    from isaacsim import SimulationApp

# This sample enables a livestream server to connect to when running headless
CONFIG = {
    "width": 1280,
    "height": 720,
    "window_width": 1920,
    "window_height": 1080,
    "headless": True,
    "hide_ui": False,  # Show the GUI
    "renderer": "RayTracedLighting",
    "display_options": 3286,  # Set display options to show default grid
}


# Start the omniverse application
kit = SimulationApp(launch_config=CONFIG)

from omni.isaac.core.utils.extensions import enable_extension

# Default Livestream settings
kit.set_setting("/app/window/drawMouse", True)
kit.set_setting("/app/livestream/proto", "ws")
kit.set_setting("/ngx/enabled", False)

# Note: Only one livestream extension can be enabled at a time

# Enable Native Livestream extension
# Default App: Streaming Client from the Omniverse Launcher
# enable_extension("omni.kit.streamsdk.plugins-3.2.1")
# enable_extension("omni.kit.livestream.core-3.2.0")
# enable_extension("omni.kit.livestream.native")

# Enable WebRTC Livestream extension
# Default URL: http://localhost:8211/streaming/webrtc-client/
enable_extension("omni.services.streamclient.webrtc")

from omni.isaac.core import World
world = World()
world.scene.add_default_ground_plane()

# Run until closed
while kit._app.is_running() and not kit.is_exiting():
    # Run in realtime mode, we don't specify the step size
    kit.update()

kit.close()

Troubleshooting

If you encounter any issues:

  • Ensure all prerequisites are met
  • Check that the server's firewall allows connections on port 8211
  • Verify that the NVIDIA GPU is properly set up and recognized by Docker

For more detailed information, refer to the official NVIDIA Isaac Sim documentation.
https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment