| 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 |
|
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| git clone https://github.com/isaac-sim/IsaacAutomator.git |
|
|
| .. tab-item:: SSH |
|
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| .. code-block:: bash |
|
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| git clone git@github.com:isaac-sim/IsaacAutomator.git |
|
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|
|
| 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 |
|
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| ./build |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code-block:: batch |
|
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| 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 |
|
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| ./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 |
|
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| ./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 |
|
|
