isaac-sim-headless-deployment

name

isaac-sim-headless-deployment

description

Running Isaac Sim 6.0 headlessly with `--no-window` for batch simulation, automated data generation, and server-side workloads. Covers launch modes (native headless, physics-only, standalone Python), key CLI flags, app configurations, and the canonical `SimulationApp` bootstrap pattern. Use when: launching Isaac Sim without a display, running batch simulations on a server, generating synthetic data headlessly, or wrapping a standalone Python script in the headless `SimulationApp` lifecycle. Triggers on: headless Isaac Sim, --no-window, batch simulation, SimulationApp, physics-only, standalone Python script.

Isaac Sim Headless Usage (--no-window)

This skill covers headless usage of a built or installed Isaac Sim. It does not cover Docker images, container orchestration, or CI/CD wiring — those live with the deployment infrastructure that wraps Isaac Sim, not in this skill.

Launch modes

1. Headed (Default)

./isaac-sim.sh
# Launches isaacsim.exp.full.kit with full UI

2. Headless with Rendering

For headless GPU rendering (generates images without a window):

# Native headless — uses EGL/Vulkan offscreen
./isaac-sim.sh --no-window

# With explicit display (required on some systems)
DISPLAY=:0 ./isaac-sim.sh --no-window

3. Headless No Rendering

For physics-only simulation (no viewport, no rendering):

./isaac-sim.sh --no-window --/app/renderer/enabled=false

4. Python Standalone Scripts

Run simulation logic from a standalone Python script:

./python.sh my_simulation.py
# Uses Isaac Sim's Python environment with all extensions available

The script controls headless behavior via the SimulationApp config (see Batch simulation pattern below) — python.sh does not need a --no-window flag.

5. Kit CLI with Script Execution

[Code: scripts/kit_cli_with_script_execution.sh]

Key CLI Flags

Flag	Description
--no-window	Disable window creation (headless)
--/app/renderer/enabled=false	Disable rendering entirely
--/app/window/width=W	Set viewport width
--/app/window/height=H	Set viewport height
--/app/settings/fabricDefaultStageFrameHistoryCount=N	Frame history for Fabric
--enable EXT_ID	Enable specific extension
--ext-folder PATH	Add extension search path
--exec SCRIPT	Execute script on startup
--no-ros-env	Skip ROS 2 auto-sourcing
--allow-root	Allow running as root

App Configurations

Config File	Use Case
isaacsim.exp.full.kit	Full simulation (default)
isaacsim.exp.full.newton.kit	Newton physics engine
isaacsim.exp.full.fabric.kit	Fabric scene delegate
isaacsim.exp.base.kit	Minimal base (faster startup)
isaacsim.exp.base.python.kit	Python-only base
isaacsim.exp.base.zero_delay.kit	Zero-delay base

Batch Simulation Pattern

The canonical headless bootstrap pattern lives in:

• source/standalone_examples/api/isaacsim.simulation_app/hello_world.py (minimal)
• source/standalone_examples/api/isaacsim.simulation_app/load_stage.py (stage open + step loop with --test mode)

For an N-episode batch driver, wrap that bootstrap in a Python for episode in range(N) loop. Use the current APIs:

• isaacsim.core.experimental.utils.stage for stage open / waiting on load
• isaacsim.core.simulation_manager.SimulationManager.setup_simulation(dt=..., device=...) to configure physics
• isaacsim.core.experimental.utils.app (enable_extension, play, stop, update_app) to drive the loop

Skeleton (paraphrased from load_stage.py, adapted for batch):

from isaacsim import SimulationApp

simulation_app = SimulationApp({"headless": True, "renderer": "RayTracedLighting"})

import isaacsim.core.experimental.utils.app as app_utils
import isaacsim.core.experimental.utils.stage as stage_utils
from isaacsim.core.simulation_manager import SimulationManager

NUM_EPISODES, STEPS_PER_EPISODE = 100, 1000
for episode in range(NUM_EPISODES):
    stage_utils.open_stage("/path/to/scene.usd")
    while stage_utils.is_stage_loading():
        simulation_app.update()
    SimulationManager.setup_simulation(dt=1.0 / 60.0, device="cpu")
    app_utils.play()
    for _ in range(STEPS_PER_EPISODE):
        simulation_app.update()
    app_utils.stop()

simulation_app.close()

Avoid the legacy isaacsim.core.api.World / isaacsim.core.utils.stage paths — they are deprecated in Kit 110.

Migration: see Renaming Extensions for the omni.isaac.* → isaacsim.* map covering omni.isaac.core, omni.isaac.utils, and friends.

Performance Tuning for Batch/Headless

Physics-Only (Fastest)

config = {"headless": True, "renderer": None}
# In step loop:
world.step(render=False)

Throughput: 10-50x real-time depending on scene complexity.

Memory Management

• Clear stage between episodes: world.clear() + garbage collect
• Use instanceable assets: make_instanceable: true in config.yaml
• Monitor GPU memory: nvidia-smi — Kit leaks if stages aren't properly cleared
• GB10 (Jetson): Max ~35K prims, 16GB shared memory — reduce scene complexity

Known Issues (Kit 110)

• DISPLAY=:0 required for headless viewport on Kit 110 with complex stages on some GPU configurations
• Viewport never initializes without DISPLAY on some configurations — use --no-window + offscreen rendering
• CUDA OOM: Monitor with nvidia-smi, keep under 90% GPU VRAM utilization
• Startup time: ~30-60s cold start; use persistent processes for interactive batch
• Newton physics + torch conflict: Never import torch before physics settle