Understanding Filesystem

Note

This page can be skipped if you are using inly GUI.

In the / folder, apart from standard ubuntu folder, there is the isaac-sim folder. Docker opens uses this folder as the initial working directory.

In the isaac-sim folder you have files to run Isaac Sim. There are mainly two kinds of files, .sh and Python libraries/packages.

.sh

The first three files are used to start Isaac Sim from terminal. Choose the one according to your use case.

1. runapp.sh

2. runheadless.sh - use to start Isaac Sim

3. runoldstreaming.sh

   To run any of there files, use,

   ./<file-name>
   

   Starting Isaac Sim from terminal

   Since we are running Docker, run

   ./runheadless.sh
   

   These files set some environment variables and arguments and calls the following files

4. isaac-sim.sh

5. isaac-sim.streaming.sh

6. isaac-sim.old_streaming.sh

   respectively.

   There are also

7. isaac-sim.xr.vr.sh

8. isaac-sim.selector.sh

   The selector is used in the normal GUI mode. Since we are running with docker, we will only be using the headless/streaming files.

   The isaac-sim.<>.sh files are not meant to be run directly.

9. python.sh

   To run a python script, we will use python.sh. Use the following command

   ./python.sh <py-file-name>
   

10. clear_caches.sh

11. isaac-sim.docker.gui.sh

12. isaac-sim-docker.sh

13. isaac-sim.fabric.sh

14. license.sh

15. post_install.sh

16. privacy.sh

17. setup_conda_env.sh

18. setup_python_env.sh

19. warmup.sh

Python packages and libraries

The core functionality of Isaac Sim is written as various Isaac Sim extensions. These extensions, found in exts folder. Detailed documentation can be found here for the 4.5.0 version. We will be using these extensions, which are actually python libraries, in our scripts, automating and specifying our interactions with Isaac Sim.

There is also a folder called standalone_examples. Details of this will be discussed later.