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Install Curobo with Issac Sim 1

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

Prerequisites

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

Steps

  1. Clone curobo repo

    git clone https://github.com/NVlabs/curobo.git

    cd curobo/docker into the directory. Replace content in docker_build.sh with

    #!/bin/bash
##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
# This script will create a dev docker. Run this script by calling `bash build_dev_docker.sh`
# If you want to build a isaac sim docker, run this script with `bash build_dev_docker.sh isaac`
# Check architecture to build:
image_tag=“x86”
isaac_sim_version=“”
input_arg=“$1”
if [ -z “$input_arg” ]; then
   arch=$(uname -m)
   echo “Argument empty, trying to build based on architecture”
   if [ “$arch” == “x86_64” ]; then
      input_arg=“x86"
   elif [ “$arch” == “arm64" ]; then
      input_arg=“aarch64”
   elif [ “$arch” == “aarch64” ]; then
      input_arg=“aarch64"
   fi
fi
if [ “$input_arg” == “isaac_sim_4.2.0" ]; then
   echo “Building Isaac Sim headless docker”
   dockerfile=“isaac_sim.dockerfile”
   image_tag=“isaac_sim_4.2.0”
   isaac_sim_version=“4.2.0"
elif [ “$input_arg” == “x86" ]; then
   echo “Building for X86 Architecture”
   dockerfile=“x86.dockerfile”
   image_tag=“x86”
elif [ “$input_arg” = “aarch64” ]; then
   echo “Building for ARM Architecture”
   dockerfile=“aarch64.dockerfile”
   image_tag=“aarch64"
else
   echo “Unknown Argument. Please pass one of [x86, aarch64, isaac_sim_2022.2.1, isaac_sim_2023.1.0]”
   exit
fi
# build docker file:
# Make sure you enable nvidia runtime by:
# Edit/create the /etc/docker/daemon.json with content:
# {
#    “runtimes”: {
#        “nvidia”: {
#            “path”: “/usr/bin/nvidia-container-runtime”,
#            “runtimeArgs”: []
#         }
#    },
#    “default-runtime”: “nvidia” # ADD this line (the above lines will already exist in your json file)
# }
#
echo “${dockerfile}”
docker build --build-arg ISAAC_SIM_VERSION=${isaac_sim_version} -t curobo_docker:${image_tag} -f ${dockerfile} .

    In the file isaac_sim.dockerfile change the VULKAN_SDK_VERSION to 1.3.231.1 (other available version might also works)

  2. Build Nvidia Docker Container for Isaac Sim and Curobo Run below command to build docker container.

    bash build_docker.sh isaac_sim_4.2.0

  3. Run docker image Run following command to enable GPUs and network access for docker image.

    docker run -d --gpus all --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 \
   curobo_docker:isaac_sim_4.2.0

    This will run the docker image in detached mode and you need to attach to it after the command.

  4. Run Isaac Sim Simulation After getting into the container, get into desired directory.

    cd curobo

    Build and compile the repo In python script, make sure to enable webrtc app.

    from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({
   “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
})
simulation_app.set_setting(“/app/window/drawMouse”, True)
simulation_app.set_setting(“/app/livestream/proto”, “ws”)
simulation_app.set_setting(“/ngx/enabled”, False)
from omni.isaac.core.utils.extensions import enable_extension
enable_extension(“omni.services.streamclient.webrtc”)

    Once scripts start running, you could access Isaac Sim headless display from same URL. Also make sure there is only one user for headless rendering.

Troubleshooting

If you encounter any issues:

Footnotes

  1. Last update: 11/20/2024, by Xiao Liang ↩