| Cloud Deployment | |
| ================ | |
| Isaac Lab can be run in various cloud infrastructures with the use of | |
| `Isaac Automator <https://github.com/isaac-sim/IsaacAutomator>`__. | |
| Isaac Automator allows for quick deployment of Isaac Sim and Isaac Lab onto | |
| the public clouds (AWS, GCP, Azure, and Alibaba Cloud are currently supported). | |
| The result is a fully configured remote desktop cloud workstation, which can | |
| be used for development and testing of Isaac Lab within minutes and on a budget. | |
| Isaac Automator supports variety of GPU instances and stop-start functionality | |
| to save on cloud costs and a variety of tools to aid the workflow | |
| (such as uploading and downloading data, autorun, deployment management, etc). | |
| System Requirements | |
| ------------------- | |
| Isaac Automator requires having ``docker`` pre-installed on the system. | |
| * To install Docker, please follow the instructions for your operating system on the | |
| `Docker website`_. A minimum version of 26.0.0 for Docker Engine and 2.25.0 for Docker | |
| compose are required to work with Isaac Automator. | |
| * Follow the post-installation steps for Docker on the `post-installation steps`_ page. | |
| These steps allow you to run Docker without using ``sudo``. | |
| Installing Isaac Automator | |
| -------------------------- | |
| For the most update-to-date and complete installation instructions, please refer to | |
| `Isaac Automator <https://github.com/isaac-sim/IsaacAutomator?tab=readme-ov-file#installation>`__. | |
| To use Isaac Automator, first clone the repo: | |
| .. tab-set:: | |
| .. tab-item:: HTTPS | |
| .. code-block:: bash | |
| git clone https://github.com/isaac-sim/IsaacAutomator.git | |
| .. tab-item:: SSH | |
| .. code-block:: bash | |
| git clone git@github.com:isaac-sim/IsaacAutomator.git | |
| Isaac Automator requires obtaining a NGC API key. | |
| * Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer Program credentials. | |
| * Generate your `NGC API key`_ to access locked container images from NVIDIA GPU Cloud (NGC). | |
| * This step requires you to create an NGC account if you do not already have one. | |
| * Once you have your generated API key, you need to log in to NGC | |
| from the terminal. | |
| .. code:: bash | |
| docker login nvcr.io | |
| * For the username, enter ``$oauthtoken`` exactly as shown. It is a special username that is used to | |
| authenticate with NGC. | |
| .. code:: text | |
| Username: $oauthtoken | |
| Password: <Your NGC API Key> | |
| Building the container | |
| ---------------------- | |
| To run Isaac Automator, first build the Isaac Automator container: | |
| .. tab-set:: | |
| :sync-group: os | |
| .. tab-item:: :icon:`fa-brands fa-linux` Linux | |
| :sync: linux | |
| .. code-block:: bash | |
| ./build | |
| .. tab-item:: :icon:`fa-brands fa-windows` Windows | |
| :sync: windows | |
| .. code-block:: batch | |
| docker build --platform linux/x86_64 -t isa . | |
| This will build the Isaac Automator container and tag it as ``isa``. | |
| Running the Automator Commands | |
| ------------------------------ | |
| First, enter the Automator container: | |
| .. tab-set:: | |
| :sync-group: os | |
| .. tab-item:: :icon:`fa-brands fa-linux` Linux | |
| :sync: linux | |
| .. code-block:: bash | |
| ./run | |
| .. tab-item:: :icon:`fa-brands fa-windows` Windows | |
| :sync: windows | |
| .. code-block:: batch | |
| docker run --platform linux/x86_64 -it --rm -v .:/app isa bash | |
| Next, run the deployment script for your preferred cloud: | |
| .. note:: | |
| The ``--isaaclab`` flag is used to specify the version of Isaac Lab to deploy. | |
| The ``v2.3.0`` tag is the latest release of Isaac Lab. | |
| .. tab-set:: | |
| :sync-group: cloud | |
| .. tab-item:: AWS | |
| :sync: aws | |
| .. code-block:: bash | |
| ./deploy-aws --isaaclab v2.3.0 | |
| .. tab-item:: Azure | |
| :sync: azure | |
| .. code-block:: bash | |
| ./deploy-azure --isaaclab v2.3.0 | |
| .. tab-item:: GCP | |
| :sync: gcp | |
| .. code-block:: bash | |
| ./deploy-gcp --isaaclab v2.3.0 | |
| .. tab-item:: Alibaba Cloud | |
| :sync: alicloud | |
| .. code-block:: bash | |
| ./deploy-alicloud --isaaclab v2.3.0 | |
| Follow the prompts for entering information regarding the environment setup and credentials. | |
| Once successful, instructions for connecting to the cloud instance will be available | |
| in the terminal. The deployed Isaac Sim instances can be accessed via: | |
| - SSH | |
| - noVCN (browser-based VNC client) | |
| - NoMachine (remote desktop client) | |
| Look for the connection instructions at the end of the deployment command output. | |
| Additionally, this info is saved in ``state/<deployment-name>/info.txt`` file. | |
| For details on the credentials and setup required for each cloud, please visit the | |
| `Isaac Automator <https://github.com/isaac-sim/IsaacAutomator?tab=readme-ov-file#deploying-isaac-sim>`__ | |
| page for more instructions. | |
| Running Isaac Lab on the Cloud | |
| ------------------------------ | |
| Once connected to the cloud instance, the desktop will have an icon showing ``isaaclab.sh``. | |
| Launch the ``isaaclab.sh`` executable, which will open a new Terminal. Within the terminal, | |
| Isaac Lab commands can be executed in the same way as running locally. | |
| For example: | |
| .. tab-set:: | |
| :sync-group: os | |
| .. tab-item:: :icon:`fa-brands fa-linux` Linux | |
| :sync: linux | |
| .. code-block:: bash | |
| ./isaaclab.sh -p scripts/reinforcement_learning/rl_games/train.py --task=Isaac-Cartpole-v0 | |
| .. tab-item:: :icon:`fa-brands fa-windows` Windows | |
| :sync: windows | |
| .. code-block:: batch | |
| isaaclab.bat -p scripts/reinforcement_learning/rl_games/train.py --task=Isaac-Cartpole-v0 | |
| Destroying a Deployment | |
| ----------------------- | |
| To save costs, deployments can be destroyed when not being used. | |
| This can be done from within the Automator container. | |
| Enter the Automator container with the command described in the previous section: | |
| .. tab-set:: | |
| :sync-group: os | |
| .. tab-item:: :icon:`fa-brands fa-linux` Linux | |
| :sync: linux | |
| .. code-block:: bash | |
| ./run | |
| .. tab-item:: :icon:`fa-brands fa-windows` Windows | |
| :sync: windows | |
| .. code-block:: batch | |
| docker run --platform linux/x86_64 -it --rm -v .:/app isa bash | |
| To destroy a deployment, run the following command from within the container: | |
| .. code:: bash | |
| ./destroy <deployment-name> | |
| .. _`Docker website`: https://docs.docker.com/desktop/install/linux-install/ | |
| .. _`post-installation steps`: https://docs.docker.com/engine/install/linux-postinstall/ | |
| .. _`Isaac Sim container`: https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim | |
| .. _`NGC API key`: https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key | |