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. You can use the following commands to install Docker on your system:

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 registration and 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. Build the Docker Image

Now, you can build the Docker image for spaceros_procgen_envs by running the provided build.sh script. Note that the build process may take up to 15 minutes, depending on your network speed.

spaceros_procgen_envs/build.sh

5. Verify the Image Build

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

docker images openrobotics/spaceros_procgen_envs