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Docker Modules

Robot Operating System 2 (ROS 2)

ROS 2 Humble Apt Install.

CUDA Toolkit

CUDA Toolkit 12.6 Deb Install.

This is often unnecessary when only Python is used, as pip install torch typically installs the appropriate version of the CUDA Toolkit automatically.

Isaac Sim

Isaac Sim 4.5.0 Binary Install.

Depends on:

  • Vulkan Configuration
  • Username

Note that CUDA Toolkit is not required for Isaac Sim.

On Host

Quick test using official Docker image:

scripts/docker_run_official_isaac_sim.sh

In Container

Compatibility test:

cd ~/isaac-sim-comp-check
./omni.isaac.sim.compatibility_check.sh

Quick test:

cd ~/isaacsim
./python.sh standalone_examples/api/isaacsim.core.api/time_stepping.py
# or
./python.sh standalone_examples/api/isaacsim.core.api/simulation_callbacks.py

Launch GUI:

cd ~/isaacsim
./isaac-sim.sh

Isaac Lab

Isaac Lab 2.1.0 Git Install.

Depends on:

  • Vulkan Configuration
  • Username
  • Isaac Sim

Note that CUDA Toolkit is not required for Isaac Lab.

On Host

Quick test using official Docker image:

scripts/docker_run_official_isaac_lab.sh

In Container

Quick test:

cd ~/IsaacLab
./isaaclab.sh -p scripts/tutorials/00_sim/log_time.py --headless
# View the logs and press Ctrl+C to stop

Train Cartpole:

cd ~/IsaacLab
./isaaclab.sh -p scripts/reinforcement_learning/rl_games/train.py --task=Isaac-Cartpole-v0 --headless
# or
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Cartpole-v0 --headless
# or
./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task=Isaac-Cartpole-v0 --headless

Isaac ROS

Note: This is a work in progress. Currently only the base Isaac ROS is installed. Running examples requires additional dependencies that are not yet included in this setup.

Isaac ROS 3.2.

Depends on:

  • ROS 2 Humble
  • CUDA Toolkit
  • and more...