isaac-sim-headless-deployment

DevOps & Security

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.

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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