feat: Unify workspaces

j3soon · j3soon · commit 22d7601bd83b · 2026-04-05T01:19:47.000+08:00
diff --git a/README.md b/README.md
@@ -100,7 +100,7 @@ The docker image of the template workspace is share by most of the workspace, al
 | [Unitree H1](https://j3soon.github.io/ros2-essentials/h1-ws/) | ✔️ | ❌️ | Simulation only | [Johnson Sun](https://github.com/j3soon) |
 | [Hello Robot Stretch 3](https://j3soon.github.io/ros2-essentials/stretch3-ws/) | ✔️ | ❌️ | Simulation only | [@JustinShih0918](https://github.com/JustinShih0918), [Johnson Sun](https://github.com/j3soon) |
 | [Universal Robots UR5](https://j3soon.github.io/ros2-essentials/ur5-ws/) | ✔️ | ❌️ | Real-world support (CB3 only) | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
-| [SO-ARM 101](https://j3soon.github.io/ros2-essentials/so101-ws/) | ✔️ | ❌️ | Real-world support | [Johnson Sun](https://github.com/j3soon) |
+| [LeRobot SO-101](https://j3soon.github.io/ros2-essentials/so101-ws/) | ✔️ | ❔ | Real-world support | [Johnson Sun](https://github.com/j3soon) |
 
 If you have trouble using a workspace, please [open an issue](https://github.com/j3soon/ros2-essentials/issues) and tag the current maintainers mentioned above.
 
diff --git a/aloha_ws/docker/.bashrc b/aloha_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/aloha_ws/docker/compose.yaml b/aloha_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   aloha-ws:
diff --git a/delto_gripper_ws/docker/.bashrc b/delto_gripper_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/delto_gripper_ws/docker/compose.yaml b/delto_gripper_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   delto-gripper-ws:
diff --git a/gazebo_world_ws/docker/.bashrc b/gazebo_world_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/gazebo_world_ws/docker/compose.yaml b/gazebo_world_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   gazebo-world-ws:
diff --git a/go2_ws/docker/.bashrc b/go2_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/go2_ws/docker/compose.yaml b/go2_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   go2-ws:
diff --git a/h1_ws/docker/.bashrc b/h1_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/h1_ws/docker/compose.yaml b/h1_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   h1-ws:
diff --git a/husky_ws/docker/.bashrc b/husky_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/husky_ws/docker/compose.yaml b/husky_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   husky-ws:
diff --git a/kobuki_ws/docker/.bashrc b/kobuki_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   kobuki-ws:
diff --git a/orbslam3_ws/docker/.bashrc b/orbslam3_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   orbslam3-ws:
diff --git a/so101_ws/docker/.bashrc b/so101_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 LEISAAC_CACHE_SOURCE="$ROS2_WS/leisaac/.cache"
 LEISAAC_CACHE_TARGET="/home/user/isaacsim/kit/python/lib/python3.11/site-packages/leisaac/devices/lerobot/.cache"
 mkdir -p "$LEISAAC_CACHE_SOURCE"
diff --git a/so101_ws/docker/Dockerfile b/so101_ws/docker/Dockerfile
@@ -221,11 +221,9 @@ RUN mkdir -p /home/$USERNAME/leisaac/assets/robots && \
 RUN curl -fsSL https://bun.sh/install | bash
 RUN git clone -b feat/private_repo_viz https://github.com/huggingface/lerobot-dataset-visualizer.git /home/$USERNAME/lerobot-dataset-visualizer
 RUN cd /home/$USERNAME/lerobot-dataset-visualizer && /home/$USERNAME/.bun/bin/bun install
-
 COPY --chown=$USERNAME:$USERNAME \
      .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
-
 # NVIDIA OpenUSD Tools configuration
 ARG NV_OPENUSD=""
 COPY --chown=$USERNAME:$USERNAME \
@@ -253,6 +251,12 @@ COPY --chown=$USERNAME:$USERNAME \
      modules/install_codex.sh /tmp/install_codex.sh
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     /tmp/install_codex.sh && rm /tmp/install_codex.sh
+# OpenCode CLI configuration
+ARG OPENCODE=""
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_opencode.sh /tmp/install_opencode.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_opencode.sh && rm /tmp/install_opencode.sh
 # TODO: Install more optional development tools here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/so101_ws/docker/compose.yaml b/so101_ws/docker/compose.yaml
@@ -18,10 +18,11 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.cache &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nv{,/ComputeCache} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
-        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg} &&
-        rm -rf /isaac-sim/.cache/huggingface &&
-        ln -s /home/ros2-essentials/so101_ws/.cache/huggingface /isaac-sim/.cache/huggingface
+        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
+        && rm -rf /isaac-sim/.cache/huggingface
+        && ln -s /home/ros2-essentials/so101_ws/.cache/huggingface /isaac-sim/.cache/huggingface
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   so101-ws:
@@ -39,10 +40,10 @@ services:
         USER_UID: "${USER_UID:-1000}"
         # TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
         # CUDA_TOOLKIT_VERSION: ""
-        # TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
-        ISAAC_SIM_VERSION: "5.1.0"
-        # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
-        ISAAC_LAB_VERSION: "2.3.0"
+        # TODO: Set Isaac Sim version, set to "" if not using Isaac Sim, set to "5.1.0" for the binary install, or set to "develop" to build upstream IsaacSim from source
+        ISAAC_SIM_VERSION: "5.1.0" # "develop"
+        # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab, set to "2.3.2" for the latest stable version, or set to "develop" to build upstream Isaac Lab from source
+        ISAAC_LAB_VERSION: "2.3.0" # "develop"
         # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
@@ -56,9 +57,11 @@ services:
         # TODO: Set to "YES" if using Newton Tools or set to "" if not using Newton Tools
         # NEWTON_TOOLS: ""
         # TODO: Set to "YES" if using Claude Code CLI or set to "" if not using Claude Code CLI
-        # CLAUDE_CODE: "YES"
+        CLAUDE_CODE: "YES"
         # TODO: Set to "YES" if using Codex CLI or set to "" if not using Codex CLI
         CODEX: "YES"
+        # TODO: Set to "YES" if using OpenCode CLI or set to "" if not using OpenCode CLI
+        OPENCODE: "YES"
       cache_from:
         - j3soon/ros2-so101-ws:buildcache-amd64
         - j3soon/ros2-so101-ws:buildcache-arm64
@@ -171,6 +174,8 @@ services:
       - ${HOME}/docker/.claude:/home/user/.claude
       - ${HOME}/docker/.claude.json:/home/user/.claude.json
       - ${HOME}/docker/.codex:/home/user/.codex
+      - ${HOME}/docker/.config/opencode:/home/user/.config/opencode
+      - ${HOME}/docker/.local/share/opencode:/home/user/.local/share/opencode
     # Add device cgroup rules to allow access to specific devices (like realsense).
     # Reference: https://github.com/2b-t/docker-for-robotics/blob/main/doc/WorkingWithHardware.md
     # Note that this is required only when using privileged: false.
diff --git a/stretch3_ws/docker/.bashrc b/stretch3_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/stretch3_ws/docker/compose.yaml b/stretch3_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   stretch3-ws:
diff --git a/template_ws/docker/.bashrc b/template_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/template_ws/docker/compose.yaml b/template_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   template-ws:
diff --git a/tests/diff_base/docker/.bashrc b/tests/diff_base/docker/.bashrc
@@ -9,6 +9,8 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
+{PLACEHOLDER_MULTILINE}
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml
@@ -19,7 +19,9 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nv{,/ComputeCache} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
+{PLACEHOLDER_MULTILINE}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   {PLACEHOLDER}-ws:
diff --git a/turtlebot3_ws/docker/.bashrc b/turtlebot3_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/turtlebot3_ws/docker/compose.yaml b/turtlebot3_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   turtlebot3-ws:
diff --git a/ur5_ws/docker/.bashrc b/ur5_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/ur5_ws/docker/compose.yaml b/ur5_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   ur5-ws:
diff --git a/vlp_ws/docker/.bashrc b/vlp_ws/docker/.bashrc
@@ -8,6 +8,7 @@ if [ -d "$HOME/.local/bin" ] ; then
     PATH="$HOME/.local/bin:$PATH"
 fi
 
+# TODO: Environment independent commmands here (e.g., set up symbolic link upon first launch)
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Source colcon-argcomplete
diff --git a/vlp_ws/docker/compose.yaml b/vlp_ws/docker/compose.yaml
@@ -20,6 +20,7 @@ services:
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
         chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
       "
+    # TODO: Append other cache directories creation in the command above.
     volumes:
       - isaac-sim-cache:/isaac-sim
   vlp-ws:

Original file line number	Diff line number	Diff line change
`@@ -20,6 +20,7 @@ services:`
`20`	`20`	`chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&`
`21`	`21`	`chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}`
`22`	`22`	`"`
	`23`	`+ # TODO: Append other cache directories creation in the command above.`
`23`	`24`	`volumes:`
`24`	`25`	`- isaac-sim-cache:/isaac-sim`
`25`	`26`	`aloha-ws:`