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metadata 
license: other
license_name: nvidia-proprietary-software-license
license_link: https://docs.nvidia.com/cuda/eula/index.html
pretty_name: Simulation runtime (the third-party half of the AVSim data generation package)

Simulation runtime: the third-party half of the AVSim data generation package

This repository holds the third-party runtime of the Simulation data generation package, version 3: the pieces the pipeline needs that were not written by the authors. It contains no code and no data of the authors. It is not usable on its own: the private half of the package, AVSim/simulation, downloads this repository into the same directory at a pinned revision with its fetch_runtime.sh script and verifies it against MANIFEST.runtime.sha256.

Contents:

  • sifs/isaac.sif: the render container, NVIDIA Isaac Sim 5.1 with its Omniverse Kit runtime and the python packages of the kit process.
  • toolchain/: the NVIDIA CUDA 12.6.3 toolkit installer, a rootless Apptainer installation, a standalone CPython 3.11, CMake 3.27.9.
  • omniverse_mirror/ and materials/: mirrors of NVIDIA Omniverse content (Isaac Sim environments and SimReady props) and the MDL materials they reference; every mirror carries its mirror_manifest.json with the upstream source.
  • code/third_party/omniverse_assets/ and code/third_party/vMaterials_2/: NVIDIA Omniverse assets and the NVIDIA vMaterials 2 library, at the paths the code tree expects.
  • code/src/simulation/assets/sources/<id>/source/ and store_v2/<id>/source/: the object source meshes extracted from the mirrored NVIDIA assets and from the YCB object set.
  • envs/: the python packages injected into the kit process, static builds of ffmpeg and ffprobe, a cmake wrapper, the pip freeze of the host-side environment; wheels/: the host-side python packages; vendor/: Eigen and libigl for the offline solver build.

License: the components keep the licenses of their upstreams (NVIDIA Software License Agreement and NVIDIA CUDA End User License Agreement for the container, the toolkit and the vMaterials library; the NVIDIA Omniverse asset terms for the mirrored content; CC BY 4.0 for the YCB objects; BSD, MIT, PSF, MPL 2.0, LGPL and GPL for the open-source tools and packages). The most restrictive of them, the NVIDIA proprietary software license, governs this repository as a whole.