diff --git a/CLAUDE.md b/CLAUDE.md index 4ba4edfe..2523f892 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -49,7 +49,7 @@ Modules are enabled/disabled via `build.args` in `compose.yaml`: args: CARTOGRAPHER: "YES" # or "" to disable RTABMAP: "YES" - ISAAC_SIM_VERSION: "5.0.0" # or "" to skip + ISAAC_SIM_VERSION: "5.1.0" # or "" to skip ISAAC_LAB_VERSION: "2.3.2" ``` diff --git a/README.md b/README.md index c7eb97c8..7cc5cc37 100644 --- a/README.md +++ b/README.md @@ -111,7 +111,7 @@ For a quick enable helper, use `../scripts/enable_module.sh ` from a wor | [Cartographer](https://j3soon.github.io/ros2-essentials/docker-modules/cartographer/) | ✔️ | ✔️ | ✔️ | ROS2 Cartographer | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@yuhsiang1117](https://github.com/yuhsiang1117) | | [RTAB-Map](https://j3soon.github.io/ros2-essentials/docker-modules/rtabmap/) | ✔️ | ❔ | ❔ | ROS2 RTAB-Map | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@JustinShih0918](https://github.com/JustinShih0918) | | [CUDA Toolkit](https://j3soon.github.io/ros2-essentials/docker-modules/cuda-toolkit/) | ✔️ | TODO | TODO | CUDA 12.6 | ❌ | [Johnson Sun](https://github.com/j3soon) | -| [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | ✔️ | ❌ | ❔ | Isaac Sim 5.0.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) | +| [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | ✔️ | ❌ | ❔ | Isaac Sim 5.1.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) | | [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | ✔️ | ❌ | ❔ | Isaac Lab 2.3.2 Git Install | ✔️ | [Johnson Sun](https://github.com/j3soon) | | [Isaac ROS](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-ros/) | ✔️ | TODO | TODO | Isaac ROS 3.2 Apt Install (Base only) | ❌ | [Johnson Sun](https://github.com/j3soon) | | [NVIDIA OpenUSD Tools](https://j3soon.github.io/ros2-essentials/docker-modules/nv-openusd/) | ✔️ | ❌ | ❔ | NVIDIA OpenUSD Linux Binary Tools (v25.08) | ❌ | [Johnson Sun](https://github.com/j3soon) | diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile index e36f28b6..62594baf 100644 --- a/aloha_ws/docker/Dockerfile +++ b/aloha_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/aloha_ws/docker/compose.yaml b/aloha_ws/docker/compose.yaml index f077fba2..e95b3b03 100644 --- a/aloha_ws/docker/compose.yaml +++ b/aloha_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-aloha-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/delto_gripper_ws/docker/Dockerfile b/delto_gripper_ws/docker/Dockerfile index 89a8bf75..b25ee94f 100644 --- a/delto_gripper_ws/docker/Dockerfile +++ b/delto_gripper_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/delto_gripper_ws/docker/compose.yaml b/delto_gripper_ws/docker/compose.yaml index 78c35af4..d34ec459 100644 --- a/delto_gripper_ws/docker/compose.yaml +++ b/delto_gripper_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-delto-gripper-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/docker_modules/install_isaac_sim.sh b/docker_modules/install_isaac_sim.sh index e3975116..3ed27b13 100755 --- a/docker_modules/install_isaac_sim.sh +++ b/docker_modules/install_isaac_sim.sh @@ -37,28 +37,20 @@ sudo apt-get update && sudo apt-get install -y \ && sudo rm -rf /var/lib/apt/lists/* \ || exit 1 -if [ "$ISAAC_SIM_VERSION" = "5.0.0" ]; then - echo "Installing Isaac Sim Compatibility Checker 5.0.0..." - # Note: The Isaac Sim Compatibility Checker is installed since its usefulness outweighs the image size increase - # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/requirements.html#isaac-sim-compatibility-checker +if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then + echo "Installing Isaac Sim 5.1.0 (packaged with Python 3.11)..." + # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html cd /tmp \ - && wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-comp-check-5.0.0-linux-x86_64.zip \ - && 7z x "isaac-sim-comp-check-5.0.0-linux-x86_64.zip" -o/home/$USERNAME/isaac-sim-comp-check \ - && rm "isaac-sim-comp-check-5.0.0-linux-x86_64.zip" \ - || exit 1 - echo "Installing Isaac Sim 5.0.0 (packaged with Python 3.11)..." - # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_workstation.html - cd /tmp \ - && wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.0.0-linux-x86_64.zip \ - && 7z x "isaac-sim-standalone-5.0.0-linux-x86_64.zip" -o"$ISAACSIM_PATH" \ - && rm "isaac-sim-standalone-5.0.0-linux-x86_64.zip" \ + && wget -q https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.1.0-linux-x86_64.zip \ + && 7z x "isaac-sim-standalone-5.1.0-linux-x86_64.zip" -o"$ISAACSIM_PATH" \ + && rm "isaac-sim-standalone-5.1.0-linux-x86_64.zip" \ && cd "$ISAACSIM_PATH" \ && ./post_install.sh \ || exit 1 # Note: Optional dependencies and the Isaac Sim ROS workspace are not installed to minimize image size - # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#install-ros-2 - # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#setting-up-workspaces + # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#install-ros-2 + # Ref: https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#setting-up-workspaces else echo "Error: Unsupported Isaac Sim version: $ISAAC_SIM_VERSION" exit 1 @@ -67,8 +59,8 @@ fi echo "Creating Isaac Sim directories with correct ownership to avoid permission issues after volume mount..." sudo mkdir -p /isaac-sim && sudo chown $USERNAME:$USERNAME /isaac-sim || exit 1 -if [ "$ISAAC_SIM_VERSION" = "5.0.0" ]; then - echo "Creating Isaac Sim 5.0.0 specific directories with correct ownership to avoid permission issues after volume mount..." +if [ "$ISAAC_SIM_VERSION" = "5.1.0" ]; then + echo "Creating Isaac Sim 5.1.0 specific directories with correct ownership to avoid permission issues after volume mount..." mkdir -p /isaac-sim/kit/cache \ && mkdir -p /home/$USERNAME/.cache/ov \ && mkdir -p /home/$USERNAME/.local/lib/python3.11/site-packages/omni/cache \ diff --git a/docs/docker-modules/isaac-sim.md b/docs/docker-modules/isaac-sim.md index 48b861fd..e37bdaf6 100644 --- a/docs/docker-modules/isaac-sim.md +++ b/docs/docker-modules/isaac-sim.md @@ -2,7 +2,7 @@ [![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/blob/main/docker_modules/install_isaac_sim.sh) -Isaac Sim 5.0.0 Binary Install. +Isaac Sim 5.1.0 Binary Install. > See [Last tested](../last-tested.md) for the latest validation status. @@ -13,11 +13,11 @@ Depends on: > Note that CUDA Toolkit is not required for Isaac Sim. -Compatibility test: +[Compatibility test](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_workstation.html#isaac-sim-compatibility-checker): ```sh -cd ~/isaac-sim-comp-check -./omni.isaac.sim.compatibility_check.sh +cd ~/isaacsim +./isaac-sim.compatibility_check.sh ``` Quick test: diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_ws/docker/Dockerfile index 289abdc5..681815b8 100644 --- a/gazebo_world_ws/docker/Dockerfile +++ b/gazebo_world_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/gazebo_world_ws/docker/compose.yaml b/gazebo_world_ws/docker/compose.yaml index 190e6f52..9e97b4d2 100644 --- a/gazebo_world_ws/docker/compose.yaml +++ b/gazebo_world_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-gazebo-world-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/go2_ws/docker/Dockerfile b/go2_ws/docker/Dockerfile index 23cc92fc..5a642468 100644 --- a/go2_ws/docker/Dockerfile +++ b/go2_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/go2_ws/docker/compose.yaml b/go2_ws/docker/compose.yaml index 6780d050..afc5b275 100644 --- a/go2_ws/docker/compose.yaml +++ b/go2_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-go2-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/h1_ws/docker/Dockerfile b/h1_ws/docker/Dockerfile index 7c276e1f..efdf4991 100644 --- a/h1_ws/docker/Dockerfile +++ b/h1_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/h1_ws/docker/compose.yaml b/h1_ws/docker/compose.yaml index 42c9c13a..aa0050fb 100644 --- a/h1_ws/docker/compose.yaml +++ b/h1_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-h1-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/husky_ws/docker/Dockerfile b/husky_ws/docker/Dockerfile index e35e65e1..18122e4c 100644 --- a/husky_ws/docker/Dockerfile +++ b/husky_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/husky_ws/docker/compose.yaml b/husky_ws/docker/compose.yaml index 7aa0b282..00bf99d6 100644 --- a/husky_ws/docker/compose.yaml +++ b/husky_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-husky-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/kobuki_ws/docker/Dockerfile b/kobuki_ws/docker/Dockerfile index 4970068f..fead87bf 100644 --- a/kobuki_ws/docker/Dockerfile +++ b/kobuki_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml index 39e51d50..8da47373 100644 --- a/kobuki_ws/docker/compose.yaml +++ b/kobuki_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-kobuki-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/orbslam3_ws/docker/Dockerfile b/orbslam3_ws/docker/Dockerfile index 15a01fbb..a0a487c1 100644 --- a/orbslam3_ws/docker/Dockerfile +++ b/orbslam3_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_ws/docker/compose.yaml index 70b44589..fe15bc7c 100644 --- a/orbslam3_ws/docker/compose.yaml +++ b/orbslam3_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-orbslam3-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/scripts/docker_run_official_isaac_sim.sh b/scripts/docker_run_official_isaac_sim.sh index 296f5ba8..2258461c 100755 --- a/scripts/docker_run_official_isaac_sim.sh +++ b/scripts/docker_run_official_isaac_sim.sh @@ -8,19 +8,28 @@ cd "$SCRIPT_DIR/.." # Ref: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Ref: https://github.com/j3soon/docker-isaac-sim +mkdir -p ~/docker/isaac-sim/cache/main/ov +mkdir -p ~/docker/isaac-sim/cache/main/warp +mkdir -p ~/docker/isaac-sim/cache/computecache +mkdir -p ~/docker/isaac-sim/config +mkdir -p ~/docker/isaac-sim/data/documents +mkdir -p ~/docker/isaac-sim/data/Kit +mkdir -p ~/docker/isaac-sim/logs +mkdir -p ~/docker/isaac-sim/pkg +sudo chown -R 1234:1234 ~/docker/isaac-sim + xhost +local:docker docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ -e "PRIVACY_CONSENT=Y" \ - -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ - -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ - -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ - -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ - -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ - -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ - -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ - -v ~/docker/isaac-sim/documents:/root/Documents:rw \ + -v ~/docker/isaac-sim/cache/main:/isaac-sim/.cache:rw \ + -v ~/docker/isaac-sim/cache/computecache:/isaac-sim/.nv/ComputeCache:rw \ + -v ~/docker/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw \ + -v ~/docker/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw \ + -v ~/docker/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw \ + -v ~/docker/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw \ + -u 1234:1234 \ -v $(pwd):/home/ros2-essentials \ -e DISPLAY=$DISPLAY \ -v /tmp/.X11-unix:/tmp/.X11-unix \ -v $HOME/.Xauthority:/root/.Xauthority \ - nvcr.io/nvidia/isaac-sim:5.0.0 + nvcr.io/nvidia/isaac-sim:5.1.0 diff --git a/stretch3_ws/docker/Dockerfile b/stretch3_ws/docker/Dockerfile index e1ace978..fdbf1324 100644 --- a/stretch3_ws/docker/Dockerfile +++ b/stretch3_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/stretch3_ws/docker/compose.yaml b/stretch3_ws/docker/compose.yaml index 648d20d6..541d6ba1 100644 --- a/stretch3_ws/docker/compose.yaml +++ b/stretch3_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-stretch3-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/template_ws/docker/Dockerfile b/template_ws/docker/Dockerfile index 279b0606..564cb3c9 100644 --- a/template_ws/docker/Dockerfile +++ b/template_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/template_ws/docker/compose.yaml b/template_ws/docker/compose.yaml index af795fbd..43b0361b 100644 --- a/template_ws/docker/compose.yaml +++ b/template_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-template-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/tests/diff_base/docker/Dockerfile b/tests/diff_base/docker/Dockerfile index dbde6f0c..291565ed 100644 --- a/tests/diff_base/docker/Dockerfile +++ b/tests/diff_base/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script @@ -167,11 +167,11 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ /tmp/install_rtabmap.sh && rm /tmp/install_rtabmap.sh # realsense configuration -{PLACEHOLDER_#}ARG REALSENSE="" -{PLACEHOLDER_#}COPY --chown=$USERNAME:$USERNAME \ -{PLACEHOLDER_#} modules/install_realsense.sh /tmp/install_realsense.sh -{PLACEHOLDER_#}RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ -{PLACEHOLDER_#} /tmp/install_realsense.sh && rm /tmp/install_realsense.sh +ARG REALSENSE="" +COPY --chown=$USERNAME:$USERNAME \ + modules/install_realsense.sh /tmp/install_realsense.sh +RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ + /tmp/install_realsense.sh && rm /tmp/install_realsense.sh # TODO: Add more commands here {PLACEHOLDER_MULTILINE} diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml index 7c352c5b..43a93c76 100644 --- a/tests/diff_base/docker/compose.yaml +++ b/tests/diff_base/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-{PLACEHOLDER}-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -134,63 +131,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/turtlebot3_ws/docker/Dockerfile b/turtlebot3_ws/docker/Dockerfile index b684a099..5151ed1d 100644 --- a/turtlebot3_ws/docker/Dockerfile +++ b/turtlebot3_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/turtlebot3_ws/docker/compose.yaml b/turtlebot3_ws/docker/compose.yaml index 57003487..f85f3465 100644 --- a/turtlebot3_ws/docker/compose.yaml +++ b/turtlebot3_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-turtlebot3-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/ur5_ws/docker/Dockerfile b/ur5_ws/docker/Dockerfile index ca7aca0c..6d5067a7 100644 --- a/ur5_ws/docker/Dockerfile +++ b/ur5_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/ur5_ws/docker/compose.yaml b/ur5_ws/docker/compose.yaml index 89e22dd6..a210523d 100644 --- a/ur5_ws/docker/compose.yaml +++ b/ur5_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-ur5-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,11 +38,11 @@ services: # 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: "" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab - ISAAC_LAB_VERSION: "" + # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS - ISAAC_ROS: "" + # ISAAC_ROS: "" # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer # CARTOGRAPHER: "" # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map @@ -117,13 +114,13 @@ services: - $HOME/.Xauthority:/home/user/.Xauthority # Xauthority is mounted to allow X11 forwarding for remote display. # Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL. - - /dev/dri:/dev/dri + # - /dev/dri:/dev/dri # Mount sound card to prevent Gazebo warning. - - /dev/snd:/dev/snd + # - /dev/snd:/dev/snd # Mount shared memory for ROS2 communication. - - /dev/shm:/dev/shm + # - /dev/shm:/dev/shm # TODO: Uncomment the line below and comment out the three entries above to enable USB support. - # - /dev:/dev + - /dev:/dev # Mount Gazebo models directory to reuse models downloaded during first launch. # Reference: https://answers.ros.org/question/365658 # Note that this volume is shared among all workspaces. @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials diff --git a/vlp_ws/docker/Dockerfile b/vlp_ws/docker/Dockerfile index 84f31b4f..5920d7fc 100644 --- a/vlp_ws/docker/Dockerfile +++ b/vlp_ws/docker/Dockerfile @@ -105,7 +105,7 @@ RUN mkdir -p /home/$USERNAME/.cache/pip RUN mkdir /home/$USERNAME/.gazebo # Isaac Sim version configuration -ARG ISAAC_SIM_VERSION=5.0.0 +ARG ISAAC_SIM_VERSION=5.1.0 # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim" # Copy and run Isaac Sim installation script diff --git a/vlp_ws/docker/compose.yaml b/vlp_ws/docker/compose.yaml index 194c230d..7ffed964 100644 --- a/vlp_ws/docker/compose.yaml +++ b/vlp_ws/docker/compose.yaml @@ -10,18 +10,15 @@ services: container_name: ros2-vlp-ws-volume-instantiation command: bash -c " echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' && - mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - mkdir -p /isaac-sim/{logs,data,documents} && - mkdir -p /isaac-sim/standalone/cache/ov && - mkdir -p /isaac-sim/standalone/{logs,data} && + mkdir -p /isaac-sim/.cache && + mkdir -p /isaac-sim/.nv/ComputeCache && + mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} && + mkdir -p /isaac-sim/.local/share/ov/{data,pkg} && chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov && - chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data} + 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} " volumes: - isaac-sim-cache:/isaac-sim @@ -41,7 +38,7 @@ services: # 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: "5.0.0" + # ISAAC_SIM_VERSION: "5.1.0" # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab # ISAAC_LAB_VERSION: "2.3.2" # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS @@ -133,63 +130,38 @@ services: # Mount CycloneDDS configuration file. - ./cyclonedds.xml:/home/user/cyclonedds.xml # Mount Isaac Sim cache directories. - # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment + # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment # Note that this volume is shared among all workspaces. - type: volume source: isaac-sim-cache - target: /isaac-sim/kit/cache + target: /home/user/.cache volume: - subpath: cache/kit - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/ov - volume: - subpath: cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/cache # For Isaac Sim standalone - volume: - subpath: standalone/cache/ov - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/pip - volume: - subpath: cache/pip - - type: volume - source: isaac-sim-cache - target: /home/user/.cache/nvidia/GLCache - volume: - subpath: cache/glcache + subpath: .cache - type: volume source: isaac-sim-cache target: /home/user/.nv/ComputeCache volume: - subpath: cache/computecache + subpath: .nv/ComputeCache - type: volume source: isaac-sim-cache target: /home/user/.nvidia-omniverse/logs volume: - subpath: logs + subpath: .nvidia-omniverse/logs - type: volume source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/logs # For Isaac Sim standalone + target: /home/user/.nvidia-omniverse/config volume: - subpath: standalone/logs + subpath: .nvidia-omniverse/config - type: volume source: isaac-sim-cache target: /home/user/.local/share/ov/data volume: - subpath: data - - type: volume - source: isaac-sim-cache - target: /home/user/.local/lib/python3.11/site-packages/omni/data # For Isaac Sim standalone - volume: - subpath: standalone/data + subpath: .local/share/ov/data - type: volume source: isaac-sim-cache - target: /home/user/Documents + target: /home/user/.local/share/ov/pkg volume: - subpath: documents + subpath: .local/share/ov/pkg # TODO: Add more volume mounts here. # Mount root workspace to allow easy access to all workspaces. - ../..:/home/ros2-essentials