Moz 1 Isaac Sim Simulation Platform Tutorial

This tutorial guides users to quickly deploy and use the Moz1 robot on the Isaac Sim simulation platform. The tutorial includes simplified quick start and complete simulation operations. Before using this tutorial, please ensure all related resources and materials have been downloaded.

• Download resource package ISAAC_MOZ1

1. Docker Setup

1.1 System Requirements

Please ensure your system meets the requirements for running NVIDIA Isaac Sim:

1.1.1 x86_64 Requirements

Element	Minimum Specs	Suitable Specs	Ideal Specs
OS	Ubuntu 22.04/24.04 Windows 10/11	Ubuntu 22.04/24.04 Windows 10/11	Ubuntu 22.04/24.04 Windows 10/11
CPU	Intel Core i7 (7th Generation) AMD Ryzen 5	Intel Core i7 (9th Generation) AMD Ryzen 7	Intel Core i9 X-series or higher AMD Ryzen 9, Threadripper or higher
Cores	4	8	16
RAM	32GB	64GB	64GB
Storage	50GB SSD	500GB SSD	1TB NVMe SSD
GPU	GeForce RTX 4080	GeForce RTX 5080	RTX PRO 6000 Blackwell
VRAM	16GB	16GB	48GB
Driver	Linux: 580.65.06 Windows: 580.88	Linux: 580.65.06 Windows: 580.88	Linux: 580.65.06 Windows: 580.88

GPUs with less than 16GB VRAM may not be sufficient for complex scenes rendering more than 16MP per frame. If your needs include such scenarios, consider upgrading to higher specification graphics cards. Additional RAM and VRAM are recommended for advanced Isaac Sim usage. Isaac Lab usage also requires additional memory and VRAM for training.

1.1.2 aarch64 Requirements

Element	Minimum Specs
Device	NVIDIA DGX™ Spark
OS	NVIDIA DGX OS 7.2.3
Driver	580.95.05

1.2 Install Docker

# Docker installation using the convenience script
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh

# Post-install steps for Docker
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

# Verify Docker
docker run hello-world

If installation issues occur, refer to:

• Install Docker Engine on Ubuntu
• Linux post-installation steps

1.3 Install Nvidia Docker Toolkit

# Configure the repository
curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
    && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
    && \
    sudo apt-get update

# Install the NVIDIA Container Toolkit packages
sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

Configure the container runtime
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

# Verify NVIDIA Container Toolkit

docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi

2. Docker Deployment

This section describes how to deploy Isaac Sim locally as a container to support subsequent simulation and development workflows.

1. Set up and install necessary container components. Refer to the "Docker Setup" section above.
2. Run the following command to confirm your GPU driver version: nvidia-smi
3. Load Isaac Sim Docker:

cd isaac_moz1/                            # cd to installation package location
docker load -i isaac-sim-5.1.0.tar        # Load image
docker images # Check if container is deployed locally

If nvcr.io/nvidia/isaac-sim:5.1.0 appears, the container has been successfully loaded locally

4. Create cache volume mount points on the host:

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

5. Check if the system is compatible with Isaac Sim:

./check_isaac.sh

If "app ready" or "Isaac Sim Full Streaming App is loaded." appears at the end, the system is compatible with the Isaac Sim simulation platform.

3. Simulation Startup

This section covers loading Isaac Sim Docker for Moz1 development, supporting both quick start and complete loading methods. For secondary development and asset import, please visit NVIDIA Isaac Assets official website for reference and asset downloads.

INFO

Note: Please extract the downloaded asset files to the isaac_moz1/Issacsim_Assets directory to ensure proper mounting and normal use in the Docker environment.

3.1 Lightweight Quick Start

The "Quick Start" feature is for enterprise customers who need cloud-based batch simulation and automated training, supporting high-speed physics simulation, data generation, and programmatic control workflows without GUI. Run the following command in the Isaac_Moz1 path:

docker compose up

First-time loading takes longer (please be patient and do not click "Force Quit"). After successful loading, the following screen appears:

After the above screen appears, simple development simulation can begin.

3.2 Extended Complete Loading

The "Complete Loading" feature is for R&D customers who need to build, debug, and visualize robot scenes, supporting full extensions, graphical interface, physics debugging, and interactive development environment. Run the following command in the Isaac_Moz1 path:

./start_isaac.sh
# After entering docker
./isaac-sim.sh

First-time loading takes longer (please be patient and do not click "Force Quit"). After successful loading, the following screen appears:

In the assets section, find the corresponding asset according to path Issacsim_Assets/spirit01_model/spirit01_model/USD/Moz1_* (internal container path), then drag it into the middle Stage section,

The following screen indicates Moz1 robot and related scene loaded successfully:

To visually adjust robot joint angles, open the physics property editor through menu Tool → Physics → Physics Inspector, as shown below.

After selecting the Moz1 robot, you can complete joint debugging and motion preview in the visual GUI interface by dragging joint sliders.

4. File Description and Notes

Please contact customer service to obtain the ISAAC_MOZ1 files. Related descriptions are as follows:

ISAAC_MOZ1/
├── Issacsim_Assets/                            # Isaac related assets
│   ├── Isaac/5.1/                                  # Isaac official assets
│   ├── Lightwheel_oz5iukPxYq_KitchenRoom/          # Kitchen related life assets
│   └── spirit01_model/                             # Moz1 robot body hardware design files
│       └── spirit01_model/
│           ├── launch/                                 # ROS launch files
│           ├── meshes/                                 # Moz1 hardware Mesh files
│           ├── rviz/                                   # ROS visualization files
│           ├── urdf/                                   # Moz1 overall description files
│           ├── USD/                                    # Isaac scene description files
│           ├── CMakeLists.txt
│           └── package.xml
│
├── docker-compose.yml                              # Lightweight Docker startup file
├── entrypoint.sh                                   # Lightweight Docker entry point file
├── start_isaac.sh                                  # Complete Docker startup file
├── check_isaac.sh                                  # System compatibility check file
├── isaac-sim-5.1.0.tar                             # NVIDIA Isaac official image compressed file
└── ...

This version of simulation only includes Kitchen-related scenes and supporting assets. For other environments, please build them according to project needs. The Moz1 end effector comes pre-installed with OmniGripper, which can be used directly for related task simulation and testing.