Upgrade to Isaac Sim 5.1.0

CLAUDE.md

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

README.md

@@ -111,7 +111,7 @@ For a quick enable helper, use `../scripts/enable_module.sh <MODULE>` from a wor
 | [Cartographer](https://j3soon.github.io/ros2-essentials/docker-modules/cartographer/) | ✔️ | ✔️ | ✔️ | ROS2 Cartographer | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@yuhsiang1117](https://github.com/yuhsiang1117) |
 | [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) |
 | [CUDA Toolkit](https://j3soon.github.io/ros2-essentials/docker-modules/cuda-toolkit/) | ✔️ | TODO | TODO | CUDA 12.6 | ❌ | [Johnson Sun](https://github.com/j3soon) |
-| [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) |
+| [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) |
 | [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) |
 | [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) |
 | [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

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

aloha_ws/docker/compose.yaml

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

delto_gripper_ws/docker/Dockerfile

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

delto_gripper_ws/docker/compose.yaml

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

docker_modules/install_isaac_sim.sh

@@ -37,28 +37,20 @@ sudo apt-get update && sudo apt-get install -y \
     && sudo rm -rf /var/lib/apt/lists/* \
     || exit 1
 
-if [ "$ISAAC_SIM_VERSION" = "5.0.0" ]; then
-    echo "Installing Isaac Sim Compatibility Checker 5.0.0..."
-    # Note: The Isaac Sim Compatibility Checker is installed since its usefulness outweighs the image size increase
-    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/requirements.html#isaac-sim-compatibility-checker
+if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
+    echo "Installing Isaac Sim 5.1.0 (packaged with Python 3.11)..."
+    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html
     cd /tmp \
-        && wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-comp-check-5.0.0-linux-x86_64.zip \
-        && 7z x "isaac-sim-comp-check-5.0.0-linux-x86_64.zip" -o/home/$USERNAME/isaac-sim-comp-check \
-        && rm "isaac-sim-comp-check-5.0.0-linux-x86_64.zip" \
-        || exit 1
-    echo "Installing Isaac Sim 5.0.0 (packaged with Python 3.11)..."
-    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_workstation.html
-    cd /tmp \
-        && wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.0.0-linux-x86_64.zip \
-        && 7z x "isaac-sim-standalone-5.0.0-linux-x86_64.zip" -o"$ISAACSIM_PATH" \
-        && rm "isaac-sim-standalone-5.0.0-linux-x86_64.zip" \
+        && wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.1.0-linux-x86_64.zip \
+        && 7z x "isaac-sim-standalone-5.1.0-linux-x86_64.zip" -o"$ISAACSIM_PATH" \
+        && rm "isaac-sim-standalone-5.1.0-linux-x86_64.zip" \
         && cd "$ISAACSIM_PATH" \
         && ./post_install.sh \
         || exit 1
 
     # Note: Optional dependencies and the Isaac Sim ROS workspace are not installed to minimize image size
-    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#install-ros-2
-    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#setting-up-workspaces
+    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#install-ros-2
+    # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#setting-up-workspaces
 else
     echo "Error: Unsupported Isaac Sim version: $ISAAC_SIM_VERSION"
     exit 1
@@ -67,8 +59,8 @@ fi
 echo "Creating Isaac Sim directories with correct ownership to avoid permission issues after volume mount..."
 sudo mkdir -p /isaac-sim && sudo chown $USERNAME:$USERNAME /isaac-sim || exit 1
 
-if [ "$ISAAC_SIM_VERSION" = "5.0.0" ]; then
-    echo "Creating Isaac Sim 5.0.0 specific directories with correct ownership to avoid permission issues after volume mount..."
+if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then
+    echo "Creating Isaac Sim 5.1.0 specific directories with correct ownership to avoid permission issues after volume mount..."
     mkdir -p /isaac-sim/kit/cache \
         && mkdir -p /home/$USERNAME/.cache/ov \
         && mkdir -p /home/$USERNAME/.local/lib/python3.11/site-packages/omni/cache \

docs/docker-modules/isaac-sim.md

@@ -2,7 +2,7 @@
 
 [![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)
 
-Isaac Sim 5.0.0 Binary Install.
+Isaac Sim 5.1.0 Binary Install.
 
 > See [Last tested](../last-tested.md) for the latest validation status.
 
@@ -13,11 +13,11 @@ Depends on:
 
 > Note that CUDA Toolkit is not required for Isaac Sim.
 
-Compatibility test:
+[Compatibility test](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html#isaac-sim-compatibility-checker):
 
 ```sh
-cd ~/isaac-sim-comp-check
-./omni.isaac.sim.compatibility_check.sh
+cd ~/isaacsim
+./isaac-sim.compatibility_check.sh
 ```
 
 Quick test:

gazebo_world_ws/docker/Dockerfile

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