Very long 10+ minute load time #284
Description
Description
I am experiencing incredibly long load times ranging from 1-20 minutes seemingly at random when using Isaac Sim. I've containerized my environment with this dockerfile:
FROM nvcr.io/nvidia/isaac-sim:5.0.0
# ------------------------------------------------------------
# Part 1: Core simulation stuff
# ------------------------------------------------------------
RUN apt-get update && apt-get install -y --no-install-recommends \
git build-essential cmake unzip git-lfs wget \
&& rm -rf /var/lib/apt/lists/*
# Isaac Lab
RUN git clone https://github.com/isaac-sim/IsaacLab.git /IsaacLab && \
cd /IsaacLab && \
git checkout v2.2.0 && \
ln -s /isaac-sim _isaac_sim && \
TERM=xterm ./isaaclab.sh --install
# CycloneDDS (necessary to communicate with the simulated robot)
RUN git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x /cyclonedds && \
cd /cyclonedds && mkdir build install && cd build && \
cmake .. -DCMAKE_INSTALL_PREFIX=../install && \
cmake --build . --target install
ENV CYCLONEDDS_HOME=/cyclonedds/install
# Unitree SDK 2.0
RUN git clone https://github.com/unitreerobotics/unitree_sdk2_python /unitree_sdk2_python && \
cd /unitree_sdk2_python && \
/isaac-sim/python.sh -m pip install -e .
# Unitree Sim environment
RUN git clone https://github.com/unitreerobotics/unitree_sim_isaaclab.git /home/code/unitree_sim_isaaclab && \
cd /home/code/unitree_sim_isaaclab && \
/isaac-sim/python.sh -m pip install -r requirements.txt
# Fetch USD assets
RUN cd /home/code/unitree_sim_isaaclab && \
chmod +x fetch_assets.sh && \
bash -lc ". fetch_assets.sh"
# ------------------------------------------------------------
# Part 2: VR Teleop stuff
# ------------------------------------------------------------
ARG COUNTRY="US"
ARG STATE="CA"
ARG LOCALITY="San Francisco"
ARG ORGANIZATION="University of California, Berkeley"
ARG ORGANIZATION_UNIT="BAIR"
ARG COMMON_NAME="Owen Burns"
ENV PATH="/root/miniconda3/bin:${PATH}"
ARG PATH="/root/miniconda3/bin:${PATH}"
# miniconda setup
RUN mkdir -p ~/miniconda3 && \
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
rm ~/miniconda3/miniconda.sh
RUN . ~/miniconda3/bin/activate
RUN conda init --all && \
conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/main && \
conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/r && \
conda create -n tv python=3.10 pinocchio=3.1.0 numpy=1.26.4 -c conda-forge
# XR Teleop stuff
RUN git clone https://github.com/unitreerobotics/xr_teleoperate.git /xr_teleoperate && \
cd /xr_teleoperate && \
git submodule update --init --depth 1 && \
cd teleop/televuer && \
~/miniconda3/envs/tv/bin/pip install -e . && \
openssl req -x509 -nodes -days 365 -newkey rsa:2048 -keyout key.pem -out cert.pem -subj "/CN=${COUNTRY}/ST=${STATE}/L=${LOCALITY}/O=${ORGANIZATION}/OU=${ORGANIZATION_UNIT}/CN=${COMMON_NAME}" && \
cd ../robot_control/dex-retargeting/ && \
~/miniconda3/envs/tv/bin/pip install -e . && \
cd ../../../ && \
~/miniconda3/envs/tv/bin/pip install -r requirements.txt
# Install the unitree SDK in the conda environment as well
RUN cd /unitree_sdk2_python && \
~/miniconda3/envs/tv/bin/pip install -e .
# ------------------------------------------------------------
CMD [ "bash"]
Steps to replicate:
docker build -t unitree_sim_vr .
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 \
-v /home/owenburns/workareas/teleop_data:/xr_teleoperate/teleop/utils/data \
-v "$PWD":/workspace \
unitree_sim_vr
conda deactivate
export PUBLIC_IP=$(curl -s ifconfig.me)
cd /home/code/unitree_sim_isaaclab
export PATH="/isaac-sim/kit/python/bin:$PATH"
/isaac-sim/python.sh sim_main.py --device cpu --enable_cameras --task Isaac-PickPlace-Cylinder-G129-Dex3-Joint --enable_dex3_dds --robot_type g129 --livestream 1
Is there any way to circumvent this very long load time, or reduce the probability of a long load time? Any help is greatly appreciated.
Isaac Sim version
5.0.0
Operating System (OS)
Ubuntu 22
GPU Name
RTX 6000
GPU Driver and CUDA versions
Driver Version: 570.195.03 CUDA Version: 12.8
Logs
No response
Additional information
No response