Isaac Sim Mastery

A collection of Isaac Sim examples and robotics simulations using Docker containers.

Important

This repository is tailored for a specific workflow: developing on a Windows laptop, connecting via SSH to a shared GPU-enabled PC, running Isaac Sim inside a Docker container, and streaming the GUI using the Isaac Sim WebRTC Streaming Client.

Setup

Asset Configuration (Optional)

Assets can be downloaded locally and mounted for faster access:

# Mount local assets (optional)
~/weijie/isaacsim-4-5/isaacsim_assets_4-5:/isaac-sim/isaacsim_assets:rw

Note

This step can be skipped as should be automatically fetched from the NVIDIA asset cloud by default

Prerequisites

Make the run script executable:

chmod +x run.sh

Usage

Quick Start

Run the simulation with:

./run.sh

Development Setup

For development with VS Code integration:

docker compose up

Then attach VS Code to the running container for easier development.

Running Scripts

Execute Python scripts inside the container:

./python.sh <script.py>

Headless Mode Configuration

For headless mode visualization in Docker containers, use the following configuration:

app_config = {
    "headless": True,
    "hide_ui": False,
    "width": 1280,
    "height": 720,
    "renderer": "RaytracedLighting"  # Can also be PathTracing
}

simulation_app = SimulationApp(launch_config=app_config)

# Enable WebRTC streaming (optional) - useful for headless mode visualization
from isaacsim.core.utils.extensions import enable_extension
enable_extension("omni.kit.livestream.webrtc")