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Fix Isaac Sim launch errors #69

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merged 4 commits into from
Dec 14, 2024
Merged

Fix Isaac Sim launch errors #69

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bdd662d
fix(template_ws): Fix Isaac Sim Warp/Replicator error during launch
j3soon Dec 12, 2024
fe2c622
fix(template_ws): Fix Isaac Sim NumPy/SciPy error during launch
j3soon Dec 12, 2024
e1174e3
refactor(template_ws): Set isaac sim env vars in dockerfile instead o…
j3soon Dec 12, 2024
4aabbeb
refactor: Sync isaac sim updates across workspaces
j3soon Dec 13, 2024
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6 changes: 0 additions & 6 deletions aloha_ws/docker/.bashrc
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,6 @@ if [ $(arch) == "x86_64" ]; then
source /usr/share/gazebo/setup.bash
fi
# TODO: Source other workspace environments as underlay
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions aloha_ws/docker/Dockerfile
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Expand Up @@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
Expand Down
6 changes: 0 additions & 6 deletions cartographer_ws/docker/.bashrc
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Expand Up @@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
source /usr/share/gazebo/setup.bash
fi
# TODO: Source other workspace environments as underlay
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions cartographer_ws/docker/Dockerfile
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Expand Up @@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
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6 changes: 0 additions & 6 deletions gazebo_world_ws/docker/.bashrc
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Expand Up @@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
source /usr/share/gazebo/setup.bash
fi
# TODO: Source other workspace environments as underlay
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions gazebo_world_ws/docker/Dockerfile
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Expand Up @@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
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6 changes: 0 additions & 6 deletions husky_ws/docker/.bashrc
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Expand Up @@ -45,12 +45,6 @@ fi
source ~/husky_driver_ws/install/local_setup.bash
# Source Clearpath default environment installed by `clearpath_computer_installer.sh`
source /etc/clearpath/setup.bash
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions husky_ws/docker/Dockerfile
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Expand Up @@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
Expand Down
6 changes: 0 additions & 6 deletions jazzy_template_ws/docker/.bashrc
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Expand Up @@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
source /usr/share/gazebo/setup.bash
fi
# TODO: Source other workspace environments as underlay
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
11 changes: 1 addition & 10 deletions jazzy_template_ws/docker/Dockerfile
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Expand Up @@ -119,16 +119,7 @@ USER $USERNAME
RUN mkdir /home/$USERNAME/.gazebo

# Temporarily remove Isaac Sim since Ubuntu 24 uses Python 3.12 by default.
# # Install Isaac Sim (requires Python 3.10)
# # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
# # TODO: Remove the note above when it is no longer experimental
# # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
# RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
# if [ "$TARGETARCH" = "amd64" ]; then \
# python3 -V | grep "Python 3.10" \
# && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
# && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
# fi
# TODO: Add back Isaac Sim

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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6 changes: 0 additions & 6 deletions kobuki_ws/docker/.bashrc
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Expand Up @@ -43,12 +43,6 @@ fi
# TODO: Source other workspace environments as underlay
# Source kobuki driver workspace environment
source ~/kobuki_driver_ws/install/local_setup.bash
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions kobuki_ws/docker/Dockerfile
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Expand Up @@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
Expand Down
6 changes: 0 additions & 6 deletions orbslam3_ws/docker/.bashrc
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Expand Up @@ -42,12 +42,6 @@ if [ $(arch) == "x86_64" ]; then
fi
# TODO: Source other workspace environments as underlay
source ~/test_ws/install/local_setup.bash
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions orbslam3_ws/docker/Dockerfile
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Expand Up @@ -123,6 +123,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
Expand Down
6 changes: 0 additions & 6 deletions rtabmap_ws/docker/.bashrc
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
source /usr/share/gazebo/setup.bash
fi
# TODO: Source other workspace environments as underlay
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions rtabmap_ws/docker/Dockerfile
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Expand Up @@ -126,6 +126,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
Expand Down
6 changes: 0 additions & 6 deletions template_ws/docker/.bashrc
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,6 @@ if [ $(arch) == "x86_64" ]; then
source /usr/share/gazebo/setup.bash
fi
# TODO: Source other workspace environments as underlay
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
21 changes: 21 additions & 0 deletions template_ws/docker/Dockerfile
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Expand Up @@ -121,6 +121,27 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
&& pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
fi

# Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
RUN pip install scipy==1.14.1 numpy==1.26.0

# Create isaac sim cache directory with correct ownership to avoid permission issues after volume mount
RUN sudo mkdir -p /isaac-sim/kit/cache \
&& sudo chown -R $USERNAME:$USERNAME /isaac-sim/kit/cache
RUN mkdir -p /home/$USERNAME/.cache/ov \
&& mkdir -p /home/$USERNAME/.cache/pip \
&& mkdir -p /home/$USERNAME/.cache/nvidia/GLCache \
&& mkdir -p /home/$USERNAME/.nv/ComputeCache \
&& mkdir -p /home/$USERNAME/.nvidia-omniverse/logs \
&& mkdir -p /home/$USERNAME/.local/share/ov/data \
&& mkdir -p /home/$USERNAME/Documents

# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
ENV OMNI_USER=admin
ENV OMNI_PASS=admin
ENV OMNI_KIT_ACCEPT_EULA=YES

# Install custom tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
sudo apt-get update && sudo apt-get install -y \
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6 changes: 0 additions & 6 deletions tests/diff_base/docker/.bashrc
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Expand Up @@ -44,12 +44,6 @@ if [ $(arch) == "x86_64" ]; then
fi
# TODO: Source other workspace environments as underlay
{PLACEHOLDER_MULTILINE}
# Set Isaac Sim environment variables
# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
export OMNI_USER=admin
export OMNI_PASS=admin
export OMNI_KIT_ACCEPT_EULA=YES
# Source workspace environment
source $ROS2_WS/install/setup.bash
echo "Successfully built workspace and configured environment variables."
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