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Merge pull request #114 from j3soon/feat/isaac-sim-5-1-0
Upgrade to Isaac Sim 5.1.0
2 parents d39ad67 + 4689b87 commit b8109fe

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‎CLAUDE.md‎

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@@ -49,7 +49,7 @@ Modules are enabled/disabled via `build.args` in `compose.yaml`:
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args:
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CARTOGRAPHER: "YES" # or "" to disable
5151
RTABMAP: "YES"
52-
ISAAC_SIM_VERSION: "5.0.0" # or "" to skip
52+
ISAAC_SIM_VERSION: "5.1.0" # or "" to skip
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ISAAC_LAB_VERSION: "2.3.2"
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```
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‎README.md‎

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Original file line numberDiff line numberDiff line change
@@ -111,7 +111,7 @@ For a quick enable helper, use `../scripts/enable_module.sh <MODULE>` from a wor
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| [Cartographer](https://j3soon.github.io/ros2-essentials/docker-modules/cartographer/) | ✔️ | ✔️ | ✔️ | ROS2 Cartographer | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@yuhsiang1117](https://github.com/yuhsiang1117) |
112112
| [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 5.0.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) |
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) |
115115
| [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) |
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) |

‎aloha_ws/docker/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip
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RUN mkdir /home/$USERNAME/.gazebo
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# Isaac Sim version configuration
108-
ARG ISAAC_SIM_VERSION=5.0.0
108+
ARG ISAAC_SIM_VERSION=5.1.0
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# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
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ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
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# Copy and run Isaac Sim installation script

‎aloha_ws/docker/compose.yaml‎

Lines changed: 19 additions & 47 deletions
Original file line numberDiff line numberDiff line change
@@ -10,18 +10,15 @@ services:
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container_name: ros2-aloha-ws-volume-instantiation
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command: bash -c "
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echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' &&
13-
mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
14-
mkdir -p /isaac-sim/{logs,data,documents} &&
15-
mkdir -p /isaac-sim/standalone/cache/ov &&
16-
mkdir -p /isaac-sim/standalone/{logs,data} &&
13+
mkdir -p /isaac-sim/.cache &&
14+
mkdir -p /isaac-sim/.nv/ComputeCache &&
15+
mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} &&
16+
mkdir -p /isaac-sim/.local/share/ov/{data,pkg} &&
1717
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim &&
18-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache &&
19-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
20-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} &&
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chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone &&
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chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache &&
23-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov &&
24-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data}
18+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.cache &&
19+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nv{,/ComputeCache} &&
20+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
21+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
2522
"
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volumes:
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- isaac-sim-cache:/isaac-sim
@@ -41,7 +38,7 @@ services:
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# TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
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# CUDA_TOOLKIT_VERSION: ""
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# TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
44-
# ISAAC_SIM_VERSION: "5.0.0"
41+
# ISAAC_SIM_VERSION: "5.1.0"
4542
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
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# ISAAC_LAB_VERSION: "2.3.2"
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# TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
@@ -133,63 +130,38 @@ services:
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# Mount CycloneDDS configuration file.
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- ./cyclonedds.xml:/home/user/cyclonedds.xml
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# Mount Isaac Sim cache directories.
136-
# Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
133+
# Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment
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# Note that this volume is shared among all workspaces.
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- type: volume
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source: isaac-sim-cache
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target: /isaac-sim/kit/cache
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target: /home/user/.cache
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volume:
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subpath: cache/kit
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.cache/ov
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volume:
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subpath: cache/ov
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone
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volume:
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subpath: standalone/cache/ov
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.cache/pip
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volume:
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subpath: cache/pip
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.cache/nvidia/GLCache
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volume:
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subpath: cache/glcache
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subpath: .cache
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.nv/ComputeCache
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volume:
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subpath: cache/computecache
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subpath: .nv/ComputeCache
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.nvidia-omniverse/logs
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volume:
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subpath: logs
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subpath: .nvidia-omniverse/logs
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone
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target: /home/user/.nvidia-omniverse/config
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volume:
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subpath: standalone/logs
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subpath: .nvidia-omniverse/config
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.local/share/ov/data
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volume:
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subpath: data
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- type: volume
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source: isaac-sim-cache
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target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone
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volume:
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subpath: standalone/data
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subpath: .local/share/ov/data
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- type: volume
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source: isaac-sim-cache
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target: /home/user/Documents
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target: /home/user/.local/share/ov/pkg
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volume:
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subpath: documents
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subpath: .local/share/ov/pkg
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# TODO: Add more volume mounts here.
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# Mount root workspace to allow easy access to all workspaces.
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- ../..:/home/ros2-essentials

‎delto_gripper_ws/docker/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip
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RUN mkdir /home/$USERNAME/.gazebo
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# Isaac Sim version configuration
108-
ARG ISAAC_SIM_VERSION=5.0.0
108+
ARG ISAAC_SIM_VERSION=5.1.0
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# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
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ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
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# Copy and run Isaac Sim installation script

‎delto_gripper_ws/docker/compose.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -10,18 +10,15 @@ services:
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container_name: ros2-delto-gripper-ws-volume-instantiation
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command: bash -c "
1212
echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' &&
13-
mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
14-
mkdir -p /isaac-sim/{logs,data,documents} &&
15-
mkdir -p /isaac-sim/standalone/cache/ov &&
16-
mkdir -p /isaac-sim/standalone/{logs,data} &&
13+
mkdir -p /isaac-sim/.cache &&
14+
mkdir -p /isaac-sim/.nv/ComputeCache &&
15+
mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} &&
16+
mkdir -p /isaac-sim/.local/share/ov/{data,pkg} &&
1717
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim &&
18-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache &&
19-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
20-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} &&
21-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone &&
22-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache &&
23-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov &&
24-
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data}
18+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.cache &&
19+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nv{,/ComputeCache} &&
20+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
21+
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
2522
"
2623
volumes:
2724
- isaac-sim-cache:/isaac-sim
@@ -41,7 +38,7 @@ services:
4138
# TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
4239
# CUDA_TOOLKIT_VERSION: ""
4340
# TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
44-
# ISAAC_SIM_VERSION: "5.0.0"
41+
# ISAAC_SIM_VERSION: "5.1.0"
4542
# TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
4643
# ISAAC_LAB_VERSION: "2.3.2"
4744
# TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
@@ -133,63 +130,38 @@ services:
133130
# Mount CycloneDDS configuration file.
134131
- ./cyclonedds.xml:/home/user/cyclonedds.xml
135132
# Mount Isaac Sim cache directories.
136-
# Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
133+
# Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment
137134
# Note that this volume is shared among all workspaces.
138135
- type: volume
139136
source: isaac-sim-cache
140-
target: /isaac-sim/kit/cache
137+
target: /home/user/.cache
141138
volume:
142-
subpath: cache/kit
143-
- type: volume
144-
source: isaac-sim-cache
145-
target: /home/user/.cache/ov
146-
volume:
147-
subpath: cache/ov
148-
- type: volume
149-
source: isaac-sim-cache
150-
target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone
151-
volume:
152-
subpath: standalone/cache/ov
153-
- type: volume
154-
source: isaac-sim-cache
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target: /home/user/.cache/pip
156-
volume:
157-
subpath: cache/pip
158-
- type: volume
159-
source: isaac-sim-cache
160-
target: /home/user/.cache/nvidia/GLCache
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volume:
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subpath: cache/glcache
139+
subpath: .cache
163140
- type: volume
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source: isaac-sim-cache
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target: /home/user/.nv/ComputeCache
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volume:
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subpath: cache/computecache
144+
subpath: .nv/ComputeCache
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- type: volume
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source: isaac-sim-cache
170147
target: /home/user/.nvidia-omniverse/logs
171148
volume:
172-
subpath: logs
149+
subpath: .nvidia-omniverse/logs
173150
- type: volume
174151
source: isaac-sim-cache
175-
target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone
152+
target: /home/user/.nvidia-omniverse/config
176153
volume:
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subpath: standalone/logs
154+
subpath: .nvidia-omniverse/config
178155
- type: volume
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source: isaac-sim-cache
180157
target: /home/user/.local/share/ov/data
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volume:
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subpath: data
183-
- type: volume
184-
source: isaac-sim-cache
185-
target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone
186-
volume:
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subpath: standalone/data
159+
subpath: .local/share/ov/data
188160
- type: volume
189161
source: isaac-sim-cache
190-
target: /home/user/Documents
162+
target: /home/user/.local/share/ov/pkg
191163
volume:
192-
subpath: documents
164+
subpath: .local/share/ov/pkg
193165
# TODO: Add more volume mounts here.
194166
# Mount root workspace to allow easy access to all workspaces.
195167
- ../..:/home/ros2-essentials

‎docker_modules/install_isaac_sim.sh‎

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Original file line numberDiff line numberDiff line change
@@ -37,28 +37,20 @@ sudo apt-get update && sudo apt-get install -y \
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&& sudo rm -rf /var/lib/apt/lists/* \
3838
|| exit 1
3939

40-
if [ "$ISAAC_SIM_VERSION" = "5.0.0" ]; then
41-
echo "Installing Isaac Sim Compatibility Checker 5.0.0..."
42-
# Note: The Isaac Sim Compatibility Checker is installed since its usefulness outweighs the image size increase
43-
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/requirements.html#isaac-sim-compatibility-checker
40+
if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
41+
echo "Installing Isaac Sim 5.1.0 (packaged with Python 3.11)..."
42+
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html
4443
cd /tmp \
45-
&& wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-comp-check-5.0.0-linux-x86_64.zip \
46-
&& 7z x "isaac-sim-comp-check-5.0.0-linux-x86_64.zip" -o/home/$USERNAME/isaac-sim-comp-check \
47-
&& rm "isaac-sim-comp-check-5.0.0-linux-x86_64.zip" \
48-
|| exit 1
49-
echo "Installing Isaac Sim 5.0.0 (packaged with Python 3.11)..."
50-
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_workstation.html
51-
cd /tmp \
52-
&& wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.0.0-linux-x86_64.zip \
53-
&& 7z x "isaac-sim-standalone-5.0.0-linux-x86_64.zip" -o"$ISAACSIM_PATH" \
54-
&& rm "isaac-sim-standalone-5.0.0-linux-x86_64.zip" \
44+
&& 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"$ISAACSIM_PATH" \
46+
&& rm "isaac-sim-standalone-5.1.0-linux-x86_64.zip" \
5547
&& cd "$ISAACSIM_PATH" \
5648
&& ./post_install.sh \
5749
|| exit 1
5850

5951
# Note: Optional dependencies and the Isaac Sim ROS workspace are not installed to minimize image size
60-
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#install-ros-2
61-
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#setting-up-workspaces
52+
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#install-ros-2
53+
# Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#setting-up-workspaces
6254
else
6355
echo "Error: Unsupported Isaac Sim version: $ISAAC_SIM_VERSION"
6456
exit 1
@@ -67,8 +59,8 @@ fi
6759
echo "Creating Isaac Sim directories with correct ownership to avoid permission issues after volume mount..."
6860
sudo mkdir -p /isaac-sim && sudo chown $USERNAME:$USERNAME /isaac-sim || exit 1
6961

70-
if [ "$ISAAC_SIM_VERSION" = "5.0.0" ]; then
71-
echo "Creating Isaac Sim 5.0.0 specific directories with correct ownership to avoid permission issues after volume mount..."
62+
if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
63+
echo "Creating Isaac Sim 5.1.0 specific directories with correct ownership to avoid permission issues after volume mount..."
7264
mkdir -p /isaac-sim/kit/cache \
7365
&& mkdir -p /home/$USERNAME/.cache/ov \
7466
&& mkdir -p /home/$USERNAME/.local/lib/python3.11/site-packages/omni/cache \

‎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 5.0.0 Binary Install.
5+
Isaac Sim 5.1.0 Binary Install.
66

77
> See [Last tested](../last-tested.md) for the latest validation status.
88
@@ -13,11 +13,11 @@ Depends on:
1313

1414
> Note that CUDA Toolkit is not required for Isaac Sim.
1515
16-
Compatibility test:
16+
[Compatibility test](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html#isaac-sim-compatibility-checker):
1717

1818
```sh
19-
cd ~/isaac-sim-comp-check
20-
./omni.isaac.sim.compatibility_check.sh
19+
cd ~/isaacsim
20+
./isaac-sim.compatibility_check.sh
2121
```
2222

2323
Quick test:

‎gazebo_world_ws/docker/Dockerfile‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip
105105
RUN mkdir /home/$USERNAME/.gazebo
106106

107107
# Isaac Sim version configuration
108-
ARG ISAAC_SIM_VERSION=5.0.0
108+
ARG ISAAC_SIM_VERSION=5.1.0
109109
# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
110110
ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
111111
# Copy and run Isaac Sim installation script

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