DT-containerized

Digital‑Twin Container Images for NVIDIA Omniverse & ROS 2 Pre‑built & version‑locked Docker images so you can spin up Isaac Sim or any other Omniverse app with a single docker run

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🔔 Pre‑built image on Docker Hub

A fully configured image for the most recent, production‑tested stack is already pushed to Docker Hub. We regularly push incremental improvements, so please check the Tags tab on Docker Hub for the latest version before pulling.

Tag	Isaac Sim	ROS 2	Notes
ttyy441/issac-sim:0.4.5.1	4.5.1	Humble	Default; includes ROS bridge + Nucleus auto‑login
ttyy441/issac-sim:<next>	TBD	Humble	Will appear whenever NVIDIA ships a new minor/patch version

Need something different? Feel free to fork this repo, tweak the Dockerfiles, and push your own image under any tag. All helper scripts are self‑contained.

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Why does this repo exist?

Keeping Omniverse apps reproducible is a cumbersome task: large installers, GPU driver quirks, and Nucleus auth that breaks CI/CD. We needed a container with key features auto-configured for a cloud-native workflow, and that's why this repository exists. Here we lock every dependency inside a Docker image per version and commit the exact build context under <app>_container_<major>_<minor> folders. Git history + Docker tag = perfect roll‑back.

Key features of the Isaac Sim image:

• ROS 2 Humble pre‑installed with ros2_isaac_bridge enabled
• Nucleus auto‑login via nucleus-login.py (reads OMNI_SERVER, OMNI_USER, OMNI_PASS env vars)
• [NetAI] tagged extensions automatically installed and configured
• Headless & GUI launch support (VNC, X11, PulseAudio)

Future apps—Omniverse Code, USD Composer, OV XR, etc.—will live in sibling folders that follow the same naming convention.

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Container Variants & Use Cases

Different variants of the Isaac Sim container are available to match specific workflow requirements:

Variant	Target Use Case	Key Differences
isaac-sim_container_4_5	Core Base Image	Isaac Sim 4.5 + ROS 2 bridge
isaac-sim-baseline_4_5	Core Base + RL Environment	Includes baseline development environment for autonomous driving training
isaac_sim_script	Environment Setup Scripts	Collection of convenience scripts for Isaac Sim 4.5 environment configuration
isaac-sim_visualization	Lab Display Wall Setup	Docker Compose files and demo configurations for presentation purposes, similar to isaac-sim_container_4_5

Isaac-sim Repository layout

DT-containerized/
├── isaac-sim_container_4_5/   # Dockerfile + scripts for Isaac Sim 4.5.x
│   ├── Dockerfile
│   ├── entrypoint.sh
│   └── scripts/
│       └── nucleus-login.py
├── isaac-sim_container_4_6/   # ← upcoming version placeholder
└── <app>_container_<ver>/     # Omniverse Code, USD Composer, …

Naming rule: <application>_container_<major>_<minor> Examples: code_container_2025_1, usd-composer_container_2024_3.

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🚀 Quick start (using the pre‑built image)

Important: Check the run command for your specific version

docker run -d \
  --name isaac-sim \
  --restart unless-stopped \
  --runtime=nvidia --gpus all \
  -e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y \
  -e OMNI_SERVER="omniverse://<nucleus-host>/NVIDIA/Assets/Isaac/4.5" \
  -e OMNI_USER=admin -e OMNI_PASS=******** \
  --network host \  # ROS 2 bridge works best on host network
  -v ~/docker/isaac/cache/kit:/isaac-sim/kit/cache:rw \
  ttyy441/issac-sim:0.4.5.1

entrypoint.sh launches Isaac Sim after performing a silent Nucleus sign‑in.

VS Code + ROS 2 development inside the container

docker exec -it isaac-sim bash
source /opt/ros/humble/setup.bash
colcon build --symlink-install

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🛠️ Build your own image

1. Clone & copy the folder closest to your target version.

   cp -r isaac-sim_container_4_5 isaac-sim_container_4_6

2. Edit the Dockerfile → change Isaac Sim installer URL & checksum.

3. Build & test:

   docker build -t <yourname>/isaac-sim:4.6 ./isaac-sim_container_4_6
   docker run --rm <yourname>/isaac-sim:4.6 --version

4. Push to any registry you like.

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🤝 Contributing

• Issues & PRs are welcome!
• Please include a minimal Nucleus asset path and ROS 2 workspace to reproduce problems faster.

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🌐 Localizations

• English (default) – this file.
• 한국어 – see README_KR.md.

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📜 License

Isaac Sim / Omniverse binaries are © NVIDIA Corporation and subject to their own licenses.