# Isaac Sim Docker安裝

> 2025-12-11

[TOC]

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## 有圖形界面的 isaac-sim

### 1. 上一篇 `Docker` 的步驟務必先完成
:::danger
⚠️ **重要提示**
請確保你已經完成前一章節的 Docker 安裝與設定流程，才能繼續執行以下步驟。
:::

### 2. 先跑這個指令確認你的驅動

nvidia-smi

### 3. Pull `isaac-sim` 的 `Docker` image

docker pull nvcr.io/nvidia/isaac-sim:5.1.0

### 4. 創建 `isaac-sim` 的 cache 空間

mkdir -p ~/docker/isaac-sim/cache/main/ov
mkdir -p ~/docker/isaac-sim/cache/main/warp
mkdir -p ~/docker/isaac-sim/cache/computecache
mkdir -p ~/docker/isaac-sim/config
mkdir -p ~/docker/isaac-sim/data/documents
mkdir -p ~/docker/isaac-sim/data/Kit
mkdir -p ~/docker/isaac-sim/logs
mkdir -p ~/docker/isaac-sim/pkg
sudo chown -R 1234:1234 ~/docker/isaac-sim

我會加上

mkdir -p ~/MyRobotProject

之後有用

### 5. 開啟 `isaac-sim` 的 `docker` 容器

xhost +local:
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
    -e "PRIVACY_CONSENT=Y" \
    -v $HOME/.Xauthority:/isaac-sim/.Xauthority \
    -e DISPLAY \
    -v ~/docker/isaac-sim/cache/main:/isaac-sim/.cache:rw \
    -v ~/docker/isaac-sim/cache/computecache:/isaac-sim/.nv/ComputeCache:rw \
    -v ~/docker/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw \
    -v ~/docker/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw \
    -v ~/docker/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw \
    -v ~/docker/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw \
    -u 1234:1234 \
    nvcr.io/nvidia/isaac-sim:5.1.0

### 6. 如果要確認系統規格是否適合
請打這行：

./isaac-sim.compatibility_check.sh

### 7. 開啟有圖像界面的 `isaac-sim`

./runapp.sh