Add isaaclab docker image

.github/workflows/build.yaml

@@ -1,5 +1,5 @@
 # Ref: https://docs.docker.com/build/ci/github-actions/
-name: Build Docker Images Upon New Git Tag
+name: Build Docker Image for omni-farm-isaac
 
 on:
   push:

.github/workflows/build_isaaclab.yaml

@@ -0,0 +1,85 @@
+# Ref: https://docs.docker.com/build/ci/github-actions/
+name: Build Docker Image for omni-farm-isaaclab
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - v*
+    paths:
+      - .github/workflows/build_isaaclab.yaml
+      - thirdparty/**
+      - scripts/docker/run.sh
+      - Dockerfile.isaaclab
+      - .dockerignore
+
+jobs:
+  docker:
+    if: github.repository == 'j3soon/omni-farm-isaac'
+    runs-on: ubuntu-latest
+    steps:
+      -
+        name: Maximize build space
+        uses: easimon/maximize-build-space@master
+        with:
+          build-mount-path: /var/lib/docker/
+          remove-dotnet: 'true'
+          remove-android: 'true'
+          remove-haskell: 'true'
+          remove-codeql: 'true'
+          remove-docker-images: 'true'
+      -
+        name: Restart docker
+        run: sudo service docker restart
+      -
+        name: Checkout
+        uses: actions/checkout@v3
+      -
+        # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "master" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      -
+        name: Docker meta
+        id: meta
+        # Ref: https://github.com/docker/metadata-action
+        uses: docker/metadata-action@v5
+        with:
+          # Link: https://hub.docker.com/repository/docker/j3soon/omni-farm-isaaclab/tags
+          images: ${{ secrets.DOCKERHUB_USERNAME }}/omni-farm-isaaclab
+          tags: |
+            type=raw,value={{date 'YYYYMMDD'}}
+            type=raw,value=${{ env.VERSION }}
+      -
+        name: Login to Docker Hub
+        uses: docker/login-action@v2
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Login to nvcr.io
+        uses: docker/login-action@v2
+        with:
+          registry: nvcr.io
+          username: ${{ secrets.NVCRIO_USERNAME }}
+          password: ${{ secrets.NVCRIO_TOKEN }}
+      -
+        name: Pull Isaac Sim Docker Image
+        run: docker pull nvcr.io/nvidia/isaac-sim:4.1.0
+      -
+        name: Build and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          file: ./Dockerfile.isaaclab
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}

Dockerfile.isaaclab

@@ -0,0 +1,69 @@
+# A lightweight Docker image for running Isaac Lab 1.1.0
+# Please refer to the official documentation for the officlal docker usages.
+FROM nvcr.io/nvidia/isaac-sim:4.1.0
+
+# Install Conda
+# Ref: https://github.com/conda-forge/miniforge-images/blob/484f385f409e75a194dbe48633d8662d389ad748/ubuntu/Dockerfile
+# > Starting with the 22.11 PyTorch NGC container, miniforge is removed and all Python packages are installed in the default Python environment...
+# > See: https://docs.nvidia.com/deeplearning/frameworks/pytorch-release-notes/rel-24-01.html
+ARG MINIFORGE_NAME=Miniforge3
+ARG MINIFORGE_VERSION=24.3.0-0
+ARG TARGETPLATFORM
+
+ENV CONDA_DIR=/opt/conda
+ENV LANG=C.UTF-8 LC_ALL=C.UTF-8
+ENV PATH=${CONDA_DIR}/bin:${PATH}
+
+# 1. Install just enough for conda to work
+# 2. Keep $HOME clean (no .wget-hsts file), since HSTS isn't useful in this context
+# 3. Install miniforge from GitHub releases
+# 4. Apply some cleanup tips from https://jcrist.github.io/conda-docker-tips.html
+#    Particularly, we remove pyc and a files. The default install has no js, we can skip that
+# 5. Activate base by default when running as any *non-root* user as well
+#    Good security practice requires running most workloads as non-root
+#    This makes sure any non-root users created also have base activated
+#    for their interactive shells.
+# 6. Activate base by default when running as root as well
+#    The root user is already created, so won't pick up changes to /etc/skel
+RUN apt-get update > /dev/null && \
+    apt-get install --no-install-recommends --yes \
+        wget bzip2 ca-certificates \
+        git \
+        tini \
+        > /dev/null && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/* && \
+    wget --no-hsts --quiet https://github.com/conda-forge/miniforge/releases/download/${MINIFORGE_VERSION}/${MINIFORGE_NAME}-${MINIFORGE_VERSION}-Linux-$(uname -m).sh -O /tmp/miniforge.sh && \
+    /bin/bash /tmp/miniforge.sh -b -p ${CONDA_DIR} && \
+    rm /tmp/miniforge.sh && \
+    conda clean --tarballs --index-cache --packages --yes && \
+    find ${CONDA_DIR} -follow -type f -name '*.a' -delete && \
+    find ${CONDA_DIR} -follow -type f -name '*.pyc' -delete && \
+    conda clean --force-pkgs-dirs --all --yes  && \
+    echo ". ${CONDA_DIR}/etc/profile.d/conda.sh && conda activate base" >> /etc/skel/.bashrc && \
+    echo ". ${CONDA_DIR}/etc/profile.d/conda.sh && conda activate base" >> ~/.bashrc
+
+ENTRYPOINT ["tini", "--"]
+CMD [ "/bin/bash" ]
+
+# Install and Setup Isaac Lab 1.1.0
+# Ref: https://isaac-sim.github.io/IsaacLab/source/setup/installation/binaries_installation.html
+RUN apt-get update \
+    && apt-get install -y \
+        cmake \
+        build-essential \
+    && rm -rf /var/lib/apt/lists/*
+RUN git clone https://github.com/isaac-sim/IsaacLab.git ~/IsaacLab \
+    && cd ~/IsaacLab \
+    && git checkout v1.1.0
+WORKDIR /root/IsaacLab
+RUN ln -s /isaac-sim _isaac_sim
+RUN ./isaaclab.sh --conda
+RUN . /opt/conda/etc/profile.d/conda.sh \
+    && conda activate isaaclab \
+    && ./isaaclab.sh --install
+RUN echo "conda activate isaaclab" >> ~/.bashrc
+
+# Tools and scripts for Omniverse Farm
+COPY thirdparty/omnicli /omnicli
+COPY scripts/docker/run.sh /run.sh

README.md

@@ -1,6 +1,9 @@
 # Running Isaac Sim Workloads on Omniverse Farm
 
-[<img src="https://img.shields.io/badge/dockerhub-image-important.svg?logo=docker">](https://hub.docker.com/r/j3soon/omni-farm-isaac/tags)
+| Docker Image | Docker Hub Link |
+|--------------|-----------------|
+| `j3soon/omni-farm-isaac` | [<img src="https://img.shields.io/badge/dockerhub-image-important.svg?logo=docker">](https://hub.docker.com/r/j3soon/omni-farm-isaac/tags) |
+| `j3soon/omni-farm-isaaclab` | [<img src="https://img.shields.io/badge/dockerhub-image-important.svg?logo=docker">](https://hub.docker.com/r/j3soon/omni-farm-isaaclab/tags) |
 
 ## Installing Omniverse Farm
 
@@ -265,6 +268,8 @@ For headless tasks, simply follow [the official guide](https://docs.omniverse.nv
 
 If your task requires a GUI during development, see [this guide](https://github.com/j3soon/isaac-extended#docker-container-with-display).
 
+Refer to [scripts/docker](scripts/docker) for potential useful scripts for running Isaac Sim tasks locally.
+
 ## Developer Notes
 
 - The job definitions used above contains minimal configuration. You can include more configuration options by referring to the [Job Definition Docs](https://docs.omniverse.nvidia.com/farm/latest/guides/creating_job_definitions.html) and the [Farm Examples](https://docs.omniverse.nvidia.com/farm/latest/farm_examples.html).

scripts/docker/build_docker.sh

@@ -2,4 +2,4 @@
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 cd "$DIR/../.."
-docker build . -t j3soon/omni-farm-isaac
+docker build -t j3soon/omni-farm-isaac:local .

scripts/docker/build_docker_isaaclab.sh

@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+cd "$DIR/../.."
+docker build -f Dockerfile.isaaclab -t j3soon/omni-farm-isaaclab:local .

scripts/docker/run_docker.sh

@@ -13,4 +13,4 @@ docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y"
   -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
   -v ~/docker/isaac-sim/documents:/root/Documents:rw \
   -v "$DIR/../..":/workspace:rw \
-  j3soon/omni-farm-isaac
+  j3soon/omni-farm-isaac:local

scripts/docker/run_docker_isaaclab.sh

@@ -0,0 +1,16 @@
+#!/bin/bash -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+docker run --name isaac-sim -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+  -e "PRIVACY_CONSENT=Y" \
+  -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+  -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+  -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+  -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+  -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+  -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+  -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+  -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+  -v "$DIR/../..":/workspace:rw \
+  j3soon/omni-farm-isaaclab:local