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Merge pull request #116 from j3soon/feat/isaac-sim-6-0-0
feat(docker_modules): Add Isaac Sim 6.0.0 beta (build from source) and Isaac Lab 3.0 beta support
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‎README.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -111,8 +111,8 @@ For a quick enable helper, use `../scripts/enable_module.sh <MODULE>` from a wor
111111
| [Cartographer](https://j3soon.github.io/ros2-essentials/docker-modules/cartographer/) | ✔️ | ✔️ | ✔️ | ROS2 Cartographer | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@yuhsiang1117](https://github.com/yuhsiang1117) |
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| [RTAB-Map](https://j3soon.github.io/ros2-essentials/docker-modules/rtabmap/) | ✔️ | ❔ | ❔ | ROS2 RTAB-Map | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@JustinShih0918](https://github.com/JustinShih0918) |
113113
| [CUDA Toolkit](https://j3soon.github.io/ros2-essentials/docker-modules/cuda-toolkit/) | ✔️ | TODO | TODO | CUDA 12.6 | ❌ | [Johnson Sun](https://github.com/j3soon) |
114-
| [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | ✔️ | ❌ | ❔ | Isaac Sim 5.1.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) |
115-
| [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | ✔️ | ❌ | ❔ | Isaac Lab 2.3.2 Git Install | ✔️ | [Johnson Sun](https://github.com/j3soon) |
114+
| [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | ✔️ | ❌ | ❔ | Isaac Sim 5.1.0 Binary Install / `develop` Build | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) |
115+
| [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | ✔️ | ❌ | ❔ | Isaac Lab 2.3.2 Git Install / `develop` Build | ✔️ | [Johnson Sun](https://github.com/j3soon) |
116116
| [Isaac ROS](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-ros/) | ✔️ | TODO | TODO | Isaac ROS 3.2 Apt Install (Base only) | ❌ | [Johnson Sun](https://github.com/j3soon) |
117117
| [NVIDIA OpenUSD Tools](https://j3soon.github.io/ros2-essentials/docker-modules/nv-openusd/) | ✔️ | ❌ | ❔ | NVIDIA OpenUSD Linux Binary Tools (v25.08) | ❌ | [Johnson Sun](https://github.com/j3soon) |
118118
| [Newton Tools](https://j3soon.github.io/ros2-essentials/docker-modules/newton-tools/) | ✔️ | ❔ | ❔ | URDF/MJCF to USD Converters | ❌ | [Johnson Sun](https://github.com/j3soon) |

‎aloha_ws/docker/compose.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -37,26 +37,26 @@ services:
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USER_UID: "${USER_UID:-1000}"
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# TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
3939
# CUDA_TOOLKIT_VERSION: ""
40-
# TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
41-
# ISAAC_SIM_VERSION: "5.1.0"
42-
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
43-
# ISAAC_LAB_VERSION: "2.3.2"
40+
# TODO: Set Isaac Sim version, set to "" if not using Isaac Sim, set to "5.1.0" for the binary install, or set to "develop" to build upstream IsaacSim from source
41+
# ISAAC_SIM_VERSION: "5.1.0" # "develop"
42+
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab, set to "2.3.2" for the latest stable version, or set to "develop" to build upstream Isaac Lab from source
43+
# ISAAC_LAB_VERSION: "2.3.2" # "develop"
4444
# TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
4545
# ISAAC_ROS: ""
4646
# TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
47-
# CARTOGRAPHER: ""
47+
CARTOGRAPHER: "YES"
4848
# TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
49-
# RTABMAP: ""
49+
RTABMAP: "YES"
5050
# TODO: Set to "YES" if using RealSense or set to "" if not using RealSense
51-
# REALSENSE: ""
51+
REALSENSE: "YES"
5252
# TODO: Set to "YES" if using NVIDIA OpenUSD tools or set to "" if not using NVIDIA OpenUSD tools
5353
# NV_OPENUSD: ""
5454
# TODO: Set to "YES" if using Newton Tools or set to "" if not using Newton Tools
5555
# NEWTON_TOOLS: ""
5656
# TODO: Set to "YES" if using Claude Code CLI or set to "" if not using Claude Code CLI
57-
# CLAUDE_CODE: ""
57+
CLAUDE_CODE: "YES"
5858
# TODO: Set to "YES" if using Codex CLI or set to "" if not using Codex CLI
59-
# CODEX: ""
59+
CODEX: "YES"
6060
cache_from:
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- j3soon/ros2-aloha-ws:buildcache-amd64
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- j3soon/ros2-aloha-ws:buildcache-arm64
@@ -114,13 +114,13 @@ services:
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- $HOME/.Xauthority:/home/user/.Xauthority
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# Xauthority is mounted to allow X11 forwarding for remote display.
116116
# Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL.
117-
- /dev/dri:/dev/dri
117+
# - /dev/dri:/dev/dri
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# Mount sound card to prevent Gazebo warning.
119-
- /dev/snd:/dev/snd
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# - /dev/snd:/dev/snd
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# Mount shared memory for ROS2 communication.
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- /dev/shm:/dev/shm
121+
# - /dev/shm:/dev/shm
122122
# TODO: Uncomment the line below and comment out the three entries above to enable USB support.
123-
# - /dev:/dev
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- /dev:/dev
124124
# Mount Gazebo models directory to reuse models downloaded during first launch.
125125
# Reference: https://answers.ros.org/question/365658
126126
# Note that this volume is shared among all workspaces.

‎delto_gripper_ws/docker/compose.yaml‎

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -37,26 +37,26 @@ services:
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USER_UID: "${USER_UID:-1000}"
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# TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
3939
# CUDA_TOOLKIT_VERSION: ""
40-
# TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
41-
# ISAAC_SIM_VERSION: "5.1.0"
42-
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
43-
# ISAAC_LAB_VERSION: "2.3.2"
40+
# TODO: Set Isaac Sim version, set to "" if not using Isaac Sim, set to "5.1.0" for the binary install, or set to "develop" to build upstream IsaacSim from source
41+
# ISAAC_SIM_VERSION: "5.1.0" # "develop"
42+
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab, set to "2.3.2" for the latest stable version, or set to "develop" to build upstream Isaac Lab from source
43+
# ISAAC_LAB_VERSION: "2.3.2" # "develop"
4444
# TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
4545
# ISAAC_ROS: ""
4646
# TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
47-
# CARTOGRAPHER: ""
47+
CARTOGRAPHER: "YES"
4848
# TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
49-
# RTABMAP: ""
49+
RTABMAP: "YES"
5050
# TODO: Set to "YES" if using RealSense or set to "" if not using RealSense
51-
# REALSENSE: ""
51+
REALSENSE: "YES"
5252
# TODO: Set to "YES" if using NVIDIA OpenUSD tools or set to "" if not using NVIDIA OpenUSD tools
5353
# NV_OPENUSD: ""
5454
# TODO: Set to "YES" if using Newton Tools or set to "" if not using Newton Tools
5555
# NEWTON_TOOLS: ""
5656
# TODO: Set to "YES" if using Claude Code CLI or set to "" if not using Claude Code CLI
57-
# CLAUDE_CODE: ""
57+
CLAUDE_CODE: "YES"
5858
# TODO: Set to "YES" if using Codex CLI or set to "" if not using Codex CLI
59-
# CODEX: ""
59+
CODEX: "YES"
6060
cache_from:
6161
- j3soon/ros2-delto-gripper-ws:buildcache-amd64
6262
- j3soon/ros2-delto-gripper-ws:buildcache-arm64
@@ -114,13 +114,13 @@ services:
114114
- $HOME/.Xauthority:/home/user/.Xauthority
115115
# Xauthority is mounted to allow X11 forwarding for remote display.
116116
# Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL.
117-
- /dev/dri:/dev/dri
117+
# - /dev/dri:/dev/dri
118118
# Mount sound card to prevent Gazebo warning.
119-
- /dev/snd:/dev/snd
119+
# - /dev/snd:/dev/snd
120120
# Mount shared memory for ROS2 communication.
121-
- /dev/shm:/dev/shm
121+
# - /dev/shm:/dev/shm
122122
# TODO: Uncomment the line below and comment out the three entries above to enable USB support.
123-
# - /dev:/dev
123+
- /dev:/dev
124124
# Mount Gazebo models directory to reuse models downloaded during first launch.
125125
# Reference: https://answers.ros.org/question/365658
126126
# Note that this volume is shared among all workspaces.

‎docker_modules/install_isaac_lab.sh‎

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@@ -39,14 +39,21 @@ if [ "$TARGETARCH" != "amd64" ]; then
3939
exit 0
4040
fi
4141

42+
ISAAC_LAB_GIT_REF=""
4243
if [ "$ISAAC_LAB_VERSION" = "2.3.2" ]; then
43-
echo "Installing Isaac Lab 2.3.2..."
44+
ISAAC_LAB_GIT_REF="v2.3.2"
45+
elif [ "$ISAAC_LAB_VERSION" = "develop" ]; then
46+
ISAAC_LAB_GIT_REF="develop"
47+
fi
48+
49+
if [ -n "$ISAAC_LAB_GIT_REF" ]; then
50+
echo "Installing Isaac Lab from git ref: $ISAAC_LAB_GIT_REF..."
4451
# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
4552
sudo apt-get update && sudo apt-get install -y \
4653
cmake build-essential \
4754
&& sudo rm -rf /var/lib/apt/lists/* \
4855
|| exit 1
49-
git clone -b v2.3.2 https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_PATH" \
56+
git clone -b "$ISAAC_LAB_GIT_REF" https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_PATH" \
5057
&& cd "$ISAACLAB_PATH" \
5158
&& ln -s "$ISAACSIM_PATH" _isaac_sim \
5259
&& ./isaaclab.sh --install \

‎docker_modules/install_isaac_sim.sh‎

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Original file line numberDiff line numberDiff line change
@@ -25,41 +25,98 @@ fi
2525
echo "Installing Isaac Sim components for architecture: $TARGETARCH"
2626
echo "Isaac Sim version: $ISAAC_SIM_VERSION"
2727

28+
ISAAC_SIM_STANDALONE_ARCHIVE=""
29+
ISAAC_SIM_SOURCE_PATH="/home/$USERNAME/IsaacSim"
30+
2831
# Only install Isaac Sim components on amd64 architecture
2932
if [ "$TARGETARCH" != "amd64" ]; then
3033
echo "Skipping Isaac Sim installation for architecture: $TARGETARCH (only supported on amd64)"
3134
exit 0
3235
fi
3336

37+
if [ "$ISAAC_SIM_VERSION" = "develop" ]; then
38+
echo "Isaac Sim source build enabled from branch: develop"
39+
40+
echo "Installing build dependencies for Isaac Sim source build..."
41+
sudo apt-get update && sudo apt-get install -y \
42+
build-essential gcc-11 g++-11 \
43+
&& sudo rm -rf /var/lib/apt/lists/* \
44+
|| exit 1
45+
fi
46+
3447
echo "Installing 'libglu1-mesa' for Iray and 'libxrandr2' to support Isaac Sim WebRTC streaming..."
3548
sudo apt-get update && sudo apt-get install -y \
3649
libglu1-mesa libxrandr2 \
3750
&& sudo rm -rf /var/lib/apt/lists/* \
3851
|| exit 1
3952

40-
if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
53+
if [ "$ISAAC_SIM_VERSION" = "develop" ]; then
54+
echo "Cloning Isaac Sim source repository..."
55+
git clone -b develop https://github.com/isaac-sim/IsaacSim.git "$ISAAC_SIM_SOURCE_PATH" \
56+
&& cd "$ISAAC_SIM_SOURCE_PATH" \
57+
&& git lfs install \
58+
&& git lfs pull \
59+
&& touch .eula_accepted \
60+
&& ./build.sh --config release \
61+
&& ./repo.sh package --config release -m isaac-sim-standalone \
62+
|| exit 1
63+
64+
ISAAC_SIM_STANDALONE_ARCHIVE="$(
65+
find "$ISAAC_SIM_SOURCE_PATH/_build/packages" -maxdepth 1 -type f -name 'isaac-sim-standalone*release*.7z' \
66+
| sort \
67+
| tail -n 1
68+
)"
69+
if [ -z "$ISAAC_SIM_STANDALONE_ARCHIVE" ]; then
70+
echo "Error: Isaac Sim standalone package archive was not generated"
71+
exit 1
72+
fi
73+
elif [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
4174
echo "Installing Isaac Sim 5.1.0 (packaged with Python 3.11)..."
4275
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html
4376
cd /tmp \
4477
&& wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.1.0-linux-x86_64.zip \
45-
&& 7z x "isaac-sim-standalone-5.1.0-linux-x86_64.zip" -o"$ISAACSIM_PATH" \
46-
&& rm "isaac-sim-standalone-5.1.0-linux-x86_64.zip" \
47-
&& cd "$ISAACSIM_PATH" \
78+
|| exit 1
79+
80+
ISAAC_SIM_STANDALONE_ARCHIVE="/tmp/isaac-sim-standalone-5.1.0-linux-x86_64.zip"
81+
else
82+
echo "Error: Unsupported Isaac Sim version: $ISAAC_SIM_VERSION"
83+
exit 1
84+
fi
85+
86+
if [ "$ISAAC_SIM_VERSION" = "develop" ]; then
87+
echo "Extracting standalone package to $ISAACSIM_PATH..."
88+
rm -rf "$ISAACSIM_PATH" \
89+
&& mkdir -p "$ISAACSIM_PATH" \
90+
&& 7z x "$ISAAC_SIM_STANDALONE_ARCHIVE" -o"$ISAACSIM_PATH" \
91+
|| exit 1
92+
93+
echo "Removing Isaac Sim source build artifacts after packaging..."
94+
rm -rf "$ISAAC_SIM_SOURCE_PATH" \
95+
&& rm -rf "/home/$USERNAME/.cache/packman" \
96+
|| exit 1
97+
elif [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
98+
# It's a bit unfortunate that we are currently manually compressing the source build and then extracting
99+
# it again to install, but without this process, the build will not be standalone (depends on `.cache`).
100+
echo "Extracting standalone package to $ISAACSIM_PATH..."
101+
rm -rf "$ISAACSIM_PATH" \
102+
&& mkdir -p "$ISAACSIM_PATH" \
103+
&& 7z x "$ISAAC_SIM_STANDALONE_ARCHIVE" -o"$ISAACSIM_PATH" \
104+
|| exit 1
105+
106+
cd "$ISAACSIM_PATH" \
48107
&& ./post_install.sh \
108+
&& rm -f "$ISAAC_SIM_STANDALONE_ARCHIVE" \
49109
|| exit 1
50110

51111
# Note: Optional dependencies and the Isaac Sim ROS workspace are not installed to minimize image size
52112
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#install-ros-2
53113
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#setting-up-workspaces
54-
else
55-
echo "Error: Unsupported Isaac Sim version: $ISAAC_SIM_VERSION"
56-
exit 1
57114
fi
58115

59116
echo "Creating Isaac Sim directories with correct ownership to avoid permission issues after volume mount..."
60117
sudo mkdir -p /isaac-sim && sudo chown $USERNAME:$USERNAME /isaac-sim || exit 1
61118

62-
if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
119+
if [ "$ISAAC_SIM_VERSION" = "develop" ] || [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
63120
echo "Creating Isaac Sim 5.1.0 specific directories with correct ownership to avoid permission issues after volume mount..."
64121
mkdir -p /isaac-sim/kit/cache \
65122
&& mkdir -p /home/$USERNAME/.cache/ov \

‎docs/docker-modules/isaac-lab.md‎

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@@ -2,7 +2,7 @@
22

33
[![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/blob/main/docker_modules/install_isaac_lab.sh)
44

5-
Isaac Lab 2.1.0 Git Install.
5+
Isaac Lab 2.3.2 git install, with `ISAAC_LAB_VERSION: "develop"` available for upstream source builds.
66

77
> See [Last tested](../last-tested.md) for the latest validation status.
88
@@ -14,6 +14,16 @@ Depends on:
1414

1515
> Note that CUDA Toolkit is not required for Isaac Lab.
1616
17+
Source build from `compose.yaml`:
18+
19+
```yaml
20+
build:
21+
args:
22+
ISAAC_LAB_VERSION: "develop"
23+
```
24+
25+
`develop` clones `https://github.com/isaac-sim/IsaacLab.git` at `develop` into `~/IsaacLab`, links the installed Isaac Sim runtime via `_isaac_sim`, then runs `./isaaclab.sh --install`.
26+
1727
[Quick test](https://isaac-sim.github.io/IsaacLab/main/source/deployment/docker.html#running-pre-built-isaac-lab-container):
1828

1929
```sh

‎docs/docker-modules/isaac-sim.md‎

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@@ -2,7 +2,7 @@
22

33
[![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/blob/main/docker_modules/install_isaac_sim.sh)
44

5-
Isaac Sim 5.1.0 Binary Install.
5+
Isaac Sim 5.1.0 binary install, with `ISAAC_SIM_VERSION: "develop"` available for upstream source builds.
66

77
> See [Last tested](../last-tested.md) for the latest validation status.
88
@@ -29,6 +29,16 @@ cd ~/isaacsim
2929
./python.sh standalone_examples/api/isaacsim.core.api/simulation_callbacks.py
3030
```
3131

32+
Source build from `compose.yaml`:
33+
34+
```yaml
35+
build:
36+
args:
37+
ISAAC_SIM_VERSION: "develop"
38+
```
39+
40+
`develop` clones `https://github.com/isaac-sim/IsaacSim.git` at `develop` into `~/IsaacSim`, runs `git lfs pull`, builds from source, runs the upstream standalone packaging flow, then extracts that packaged runtime into `~/isaacsim`.
41+
3242
Launch GUI:
3343

3444
```sh

‎gazebo_world_ws/docker/compose.yaml‎

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -37,26 +37,26 @@ services:
3737
USER_UID: "${USER_UID:-1000}"
3838
# TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
3939
# CUDA_TOOLKIT_VERSION: ""
40-
# TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
41-
# ISAAC_SIM_VERSION: "5.1.0"
42-
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
43-
# ISAAC_LAB_VERSION: "2.3.2"
40+
# TODO: Set Isaac Sim version, set to "" if not using Isaac Sim, set to "5.1.0" for the binary install, or set to "develop" to build upstream IsaacSim from source
41+
# ISAAC_SIM_VERSION: "5.1.0" # "develop"
42+
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab, set to "2.3.2" for the latest stable version, or set to "develop" to build upstream Isaac Lab from source
43+
# ISAAC_LAB_VERSION: "2.3.2" # "develop"
4444
# TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
4545
# ISAAC_ROS: ""
4646
# TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
47-
# CARTOGRAPHER: ""
47+
CARTOGRAPHER: "YES"
4848
# TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
49-
# RTABMAP: ""
49+
RTABMAP: "YES"
5050
# TODO: Set to "YES" if using RealSense or set to "" if not using RealSense
51-
# REALSENSE: ""
51+
REALSENSE: "YES"
5252
# TODO: Set to "YES" if using NVIDIA OpenUSD tools or set to "" if not using NVIDIA OpenUSD tools
5353
# NV_OPENUSD: ""
5454
# TODO: Set to "YES" if using Newton Tools or set to "" if not using Newton Tools
5555
# NEWTON_TOOLS: ""
5656
# TODO: Set to "YES" if using Claude Code CLI or set to "" if not using Claude Code CLI
57-
# CLAUDE_CODE: ""
57+
CLAUDE_CODE: "YES"
5858
# TODO: Set to "YES" if using Codex CLI or set to "" if not using Codex CLI
59-
# CODEX: ""
59+
CODEX: "YES"
6060
cache_from:
6161
- j3soon/ros2-gazebo-world-ws:buildcache-amd64
6262
- j3soon/ros2-gazebo-world-ws:buildcache-arm64
@@ -114,13 +114,13 @@ services:
114114
- $HOME/.Xauthority:/home/user/.Xauthority
115115
# Xauthority is mounted to allow X11 forwarding for remote display.
116116
# Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL.
117-
- /dev/dri:/dev/dri
117+
# - /dev/dri:/dev/dri
118118
# Mount sound card to prevent Gazebo warning.
119-
- /dev/snd:/dev/snd
119+
# - /dev/snd:/dev/snd
120120
# Mount shared memory for ROS2 communication.
121-
- /dev/shm:/dev/shm
121+
# - /dev/shm:/dev/shm
122122
# TODO: Uncomment the line below and comment out the three entries above to enable USB support.
123-
# - /dev:/dev
123+
- /dev:/dev
124124
# Mount Gazebo models directory to reuse models downloaded during first launch.
125125
# Reference: https://answers.ros.org/question/365658
126126
# Note that this volume is shared among all workspaces.

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