| Component | Value |
|---|
| OS | Ubuntu 24.04.3 LTS (upgraded from 22.04) |
| Kernel | 6.8.0-100-generic |
| Desktop | GNOME (X11 session on :0) |
| Shell | zsh + oh-my-zsh + powerlevel10k |
| GPU | NVIDIA RTX 3090 (24 GB VRAM) |
| NVIDIA Driver | 580.126.09 |
| CUDA | 13.0 |
| RAM | 62 GB |
| Python (system) | 3.12 |
| |
|---|
| Version | 5.1.0 (pip) |
| Install | isaacsim[all,extscache]==5.1.0 in conda env isaaclab |
| Launch | conda activate isaaclab && isaacsim |
| Extensions | 95+ first-party (isaacsim.*), 40+ deprecated shims (omni.isaac.*), 80+ cached Kit extensions |
| ROS 2 Bridge | Enabled (bundled Jazzy libs) |
| Streaming | Sunshine + Moonlight (NvFBC + NVENC) |
- ROS 2:
isaacsim.ros2.bridge, isaacsim.ros2.sim_control, isaacsim.ros2.tf_viewer, isaacsim.ros2.urdf
- Sensors:
isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, isaacsim.sensors.rtx
- Robots:
isaacsim.robot.manipulators, isaacsim.robot.wheeled_robots, isaacsim.robot.surface_gripper
- Motion:
isaacsim.robot_motion.lula, isaacsim.robot_motion.motion_generation
- Replicator:
isaacsim.replicator.behavior, isaacsim.replicator.domain_randomization, isaacsim.replicator.synthetic_recorder
- Asset Import:
isaacsim.asset.importer.urdf, isaacsim.asset.importer.mjcf
- FPS cap: 60 Hz (
isaacsim.exp.full.kit -> rateLimitFrequency = 60)
- Layout persistence: Auto-save on shutdown, auto-restore on startup (hooks in
extension.py)
- Launch wrapper:
~/bin/isaacsim-ros — sets env vars for bundled ROS 2 bridge
- Dock shortcut:
~/.local/share/applications/isaacsim-ros.desktop
~/bin/ros2 — wrapper that runs ros2 commands inside the Docker container with FastDDS UDP fix
| |
|---|
| Location | ~/IsaacLab/ |
| Conda Env | isaaclab (Python 3.11) |
| PyTorch | 2.7.0+cu128 |
| isaacsim pip | 5.1.0.0 (all sub-packages) |
Activate: conda activate isaaclab
Editable packages: isaaclab 0.54.2, isaaclab_assets 0.2.4, isaaclab_tasks 0.11.12, isaaclab_rl 0.4.7, isaaclab_mimic 1.0.16, isaaclab_contrib 0.0.2.
No system ROS 2 on host. Previous ros-jazzy-desktop (295 packages) removed Feb 2026 — conflicted with Isaac Sim’s bundled Python 3.11 rclpy.
| Component | Where |
|---|
| Isaac Sim ROS 2 bridge | Bundled in pip package (Python 3.11 rclpy + Jazzy libs). Launch via ~/bin/isaacsim-ros |
| ros2 CLI, foxglove-bridge | Inside Isaac ROS Docker container |
| Isaac ROS packages | Inside Isaac ROS Docker container |
| |
|---|
| Docker | 29.2.1 |
| nvidia-container-toolkit | 1.18.2 (CDI support) |
| NVIDIA runtime | Registered |
| isaac-ros-cli | v2.0.0 |
| Container | isaac_ros_dev_container (--network host, --runtime nvidia, --ipc host) |
| Committed image | isaac-ros-apriltag:latest (~19 GB) |
ros-jazzy-isaac-ros-apriltag — GPU-accelerated AprilTag detectionros-jazzy-foxglove-bridge — WebSocket bridge (port 8765)ros-jazzy-foxglove-compressed-video-transport — H.264 NVENC video encoding for Foxglove (H.265 doesn’t work with browser decoding)ros-jazzy-ffmpeg-encoder-decoder — ffmpeg with NVENC support
FastDDS SHM transport breaks between Isaac Sim (host) and container. All ros2 commands in container must set:
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/fastdds_no_shm.xml
Forces UDP-only transport (no shared memory). Must be recreated after container restart.
| Method | Details |
|---|
| Sunshine + Moonlight | NvFBC + NVENC, hardware streaming |
| Foxglove | ws://workstation:8765 (bridge runs in Isaac ROS container) |
| Tailscale | workstation.tailee9084.ts.net / 100.101.214.44 |
- uv — not installed (needed for Isaac Sim MCP Server plan)