多个isaac sim容器

sudo docker run --name isaac-sim-0 \
    -itd --gpus all -e "ACCEPT_EULA=Y" \
    --entrypoint /bin/bash \
    -p 42020:22 \
    -p 48020:48010 \
    -p 47998-48000:47998-48000/udp \
    -v /dev/shm:/dev/shm \
    nvcr.io/nvidia/isaac-sim:2023.1.1

sudo docker run --name isaac-sim-1 \
    -itd --gpus all -e "ACCEPT_EULA=Y" \
    --entrypoint /bin/bash \
    -p 42021:22 \
    -p 48021:48010 \
    -p 48001-48003:47998-48000/udp \
    -v /dev/shm:/dev/shm \
    nvcr.io/nvidia/isaac-sim:2023.1.1

sudo docker run --name isaac-sim-2 \
    -itd --gpus all -e "ACCEPT_EULA=Y" \
    --entrypoint /bin/bash \
    -p 42022:22 \
    -p 48022:48010 \
    -p 48004-48006:47998-48000/udp \
    -v /dev/shm:/dev/shm \
    nvcr.io/nvidia/isaac-sim:2023.1.1

sudo docker run --name isaac-sim-3 \
    -itd --gpus all -e "ACCEPT_EULA=Y" \
    --entrypoint /bin/bash \
    -p 42023:22 \
    -p 48023:48010 \
    -p 48007-48009:47998-48000/udp \
    -v /dev/shm:/dev/shm \
    nvcr.io/nvidia/isaac-sim:2023.1.1

sudo docker run --name isaac-sim-4 \
    -itd --gpus all -e "ACCEPT_EULA=Y" \
    --entrypoint /bin/bash \
    -p 42024:22 \
    -p 48024:48010 \
    -p 48010-48012:47998-48000/udp \
    -v /dev/shm:/dev/shm \
    nvcr.io/nvidia/isaac-sim:2023.1.1

sudo docker run --name isaac-sim-5 \
    -itd --gpus all -e "ACCEPT_EULA=Y" \
    --entrypoint /bin/bash \
    -p 42025:22 \
    -p 48025:48010 \
    -p 48013-48015:47998-48000/udp \
    -v /dev/shm:/dev/shm \
    nvcr.io/nvidia/isaac-sim:2023.1.1

sudo docker exec -it isaac-sim-0 bash
./runheadless.native.sh -v

• 带有多余端口

sudo apt-get install -y nvidia-container-toolkit
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

sudo docker run --name isaac-sim \
    -it --runtime=nvidia --gpus all \
	-e "ACCEPT_EULA=Y" \
	-e "PRIVACY_CONSENT=Y" \
    --entrypoint /bin/bash \
    -p 8100:80/tcp \
    -p 8101:8000/tcp \
    -p 8102:22/tcp \
	-p 8010:48010/tcp \
	-p 8011:8211/tcp \
    -p 8008-8010:47998-48000/udp \
    nvcr.io/nvidia/isaac-sim:4.0.0