---
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.