Installation (Docker)

This section provides instructions for running the simulation within a Docker container. Before proceeding, ensure that your system meets the system requirements. If you are using a different operating system, you may need to adjust the following steps accordingly or refer to the official documentation for each step.

1. Install Docker Engine

First, install Docker Engine by following the official installation instructions. For example:

curl -fsSL https://get.docker.com | sh
sudo systemctl enable --now docker

sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

2. Install NVIDIA Container Toolkit

Next, install the NVIDIA Container Toolkit, which is required to enable GPU support for Docker containers. Follow the official installation guide or use the following commands:

curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
sudo apt-get update
sudo apt-get install -y nvidia-container-toolkit
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

3. Gain Access to the Isaac Sim Docker Image

To run the simulation, you need access to the Isaac Sim Docker image, which requires registering an account and generating an API key from NVIDIA GPU Cloud (NGC).

3.1 Register and Log In to NVIDIA GPU Cloud (NGC)

Visit the NGC portal and register or log in to your account.

3.2 Generate Your NGC API Key

Follow the official guide to generate your personal NGC API key.

3.3 Log In to NGC via Docker

Once you have your API key, log in to NGC through Docker:

docker login nvcr.io

When prompted for a username, enter $oauthtoken (exactly as shown):

Username: $oauthtoken

When prompted for a password, use the API key you just generated:

Password: <NGC API Key>

4. Clone the Repository

Next, clone the space_robotics_bench repository locally. Make sure to include the --recurse-submodules flag to clone also the submodule containing simulation assets.

git clone --recurse-submodules https://github.com/AndrejOrsula/space_robotics_bench.git

5. Build the Docker Image

Now, you can build the Docker image for space_robotics_bench by running the provided .docker/build.bash script. Note that the first build process may take up to 30 minutes (depending on your network speed and system configuration).

space_robotics_bench/.docker/build.bash

6. Verify the Image Build

To ensure that the image was built successfully, run the following command. You should see the space_robotics_bench image listed among recently created Docker images.

docker images

Space Robotics Bench