Isaac Sim

Isaac Sim

NVIDIA Isaac Sim™, is a scalable robotics simulation application and synthetic data generation tool that powers photorealistic, physically-accurate virtual environments to develop, test, and manage AI-based robots.

Built on NVIDIA Omniverse, Isaac Sim leverages Omniverse Kit’s powerful simulation technologies including advanced GPU-enabled physics simulation with PhysX 5, photorealism with real-time ray and path tracing, and MDL material definition support for physically-based rendering.

Isaac Sim provides a physically-accurate virtual environment to develop, test, and manage AI-based robots, and provides the essential features for building virtual robotics experiments, including importing robot models, and simulating sensors such as RGB-D, Lidar, contact, ultrasonic, and IMU. Isaac Sim supports navigation, manipulation, deep learning applications through Python, ROS and Isaac SDK. For AI applications, Isaac Sim provides extensive tools for synthetic data generation such as domain randomization, ground truth labeling, segmentation, and bounding boxes.

What's New in Isaac Sim 2022.1.1

• RTX Lidar sample ROS/ROS2 PCL publishing
• Isaac Gym Performance improvements
• Forklift rigging tutorial
• 6 new robots added
• ROS IMU publisher node
• New APIs for batch development
• New Manipulator extension / tutorial
• New manipulator Tutorial
• Replicator: Pose estimation with DOPE
• RRT & RRT + RMP hybrid planner

For complete list of updates and features, view release notes here.

Cloud Container Deployment Instructions

This release is offered as a container that runs locally or on NVIDIA RTX equipped Amazon Web Services (AWS), Microsoft Azure or Google Cloud Platform (GCP) with the ability to stream the application directly to the user’s desktop. This cloud-based delivery provides the latest RTX graphics and performance to any desktop system without requiring local NVIDIA RTX GPUs.

For Cloud Deployment installation steps, view documentation here.

PreRequisites

Requirements for local deployment:

• Ubuntu 18.04 Operating System
• NVIDIA GPU (RTX 2070 or higher)
• NVIDIA GPU Driver (minimum version 470.57)
• Docker CE 19.03
• NVIDIA Container Toolkit

Running Isaac Sim

Steps:

1. Run the command below to confirm your GPU driver version is 470.57 or later.

   $ nvidia-smi
   

2. Follow the steps in Generate Your NGC API Key. Use command line to login into NGC to download the Isaac Sim container.

   $ docker login nvcr.io
    Username: $oauthtoken
    Password: 
    WARNING! Your password will be stored unencrypted in /home/username/.docker/config.json.
    Configure a credential helper to remove this warning. See
    https://docs.docker.com/engine/reference/commandline/login/#credentials-store
    Login Succeeded
   

3. Pull the Isaac Sim container.

   $ docker pull nvcr.io/nvidia/isaac-sim:2022.1.1
   

4. Run the Isaac Sim container with an interactive Bash session.

   $ docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
    -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/config:/root/.nvidia-omniverse/config: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:2022.1.1
   

5. Start Isaac Sim.

   $ ./runheadless.native.sh
   

This will download and launch the Isaac Sim container in headless mode.

Note: By using the -e "ACCEPT_EULA=Y" flag, you are accepting the NVIDIA Omniverse License Agreement of the image.

Refer to our Isaac Sim User Guide and Isaac Sim Setup FAQ for more information.

Livestreaming Isaac Sim Remotely

See Livestream Clients in our User Guide to connect to Isaac Sim using your desktop. The default livestream client is Omniverse Streaming Client.

License

By pulling and using the container, you accept the terms and conditions of the NVIDIA Omniverse License Agreement.

Suggested readings:

• Release Notes
• Webpage
• Documentation
• NVIDIA Forums