Big Bang

Signed-off-by: Andrej Orsula <[email protected]>

.devcontainer/devcontainer.json

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+{
+	"name": "${localWorkspaceFolderBasename}",
+	"build": {
+		"context": "${localWorkspaceFolder}",
+		"dockerfile": "${localWorkspaceFolder}/Dockerfile",
+		"cacheFrom": "andrejorsula/space_robotics_bench"
+	},
+	"workspaceFolder": "/root/ws",
+	"workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/ws",
+	"runArgs": [
+		// Network mode
+		"--network=host",
+		"--ipc=host",
+		// NVIDIA GPU
+		"--gpus=all",
+		// Other GPUs
+		"--device=/dev/dri:/dev/dri",
+		"--group-add=video"
+	],
+	"mounts": [
+		/// Common
+		// Time
+		"type=bind,source=/etc/localtime,target=/etc/localtime,readonly",
+		"type=bind,source=/etc/timezone,target=/etc/timezone,readonly",
+		// GUI (X11)
+		"type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix",
+		"type=bind,source=${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename},target=${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}",
+		/// Isaac Sim
+		// Data
+		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/data/isaac-sim,target=/root/isaac-sim/kit/data",
+		// Cache
+		"type=bind,source=${localEnv:HOME}/.cache/isaac-sim,target=/root/isaac-sim/kit/cache",
+		"type=bind,source=${localEnv:HOME}/.cache/nvidia/GLCache,target=/root/.cache/nvidia/GLCache",
+		"type=bind,source=${localEnv:HOME}/.cache/ov,target=/root/.cache/ov",
+		"type=bind,source=${localEnv:HOME}/.nv/ComputeCache,target=/root/.nv/ComputeCache",
+		// Logs
+		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/logs,target=/root/.nvidia-omniverse/logs",
+		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/logs/isaac-sim,target=/root/isaac-sim/kit/logs",
+		/// Project
+		// Cache
+		"type=bind,source=${localEnv:HOME}/.cache/srb,target=/root/.cache/srb"
+	],
+	"containerEnv": {
+		// GUI (X11)
+		"DISPLAY": "${localEnv:DISPLAY}",
+		"XAUTHORITY": "${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}",
+		// NVIDIA GPU
+		"NVIDIA_VISIBLE_DEVICES": "all",
+		"NVIDIA_DRIVER_CAPABILITIES": "all"
+	},
+	"initializeCommand": "XAUTH=\"${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}\"; touch \"${XAUTH}\"; chmod a+r \"${XAUTH}\"; XAUTH_LIST=$(xauth nlist \"${localEnv:DISPLAY}\"); if [ -n \"${XAUTH_LIST}\" ]; then echo \"${XAUTH_LIST}\" | sed -e 's/^..../ffff/' | xauth -f \"${XAUTH}\" nmerge -; fi",
+	"customizations": {
+		"vscode": {
+			"extensions": []
+		}
+	}
+}

.devcontainer/open.bash

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+#!/usr/bin/env bash
+### Open the Dev Container in VS Code
+### Usage: open.bash
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+REPOSITORY_DIR="$(dirname "${SCRIPT_DIR}")"
+
+## Determine the workspace folder
+if [[ -n "$1" ]]; then
+    # Use the first argument as the workspace folder if provided
+    WORKSPACE_FOLDER="$1"
+else
+    # Otherwise, try to extract the workspace folder from `./devcontainer.json`
+    WORKSPACE_FOLDER="$(grep -Po '"workspaceFolder":.*?[^\\]",' "${SCRIPT_DIR}/devcontainer.json" | cut -d'"' -f4 || true)"
+    if [[ -z "${WORKSPACE_FOLDER}" ]]; then
+        # If `./devcontainer.json` does not contain the workspace folder, default to the root
+        WORKSPACE_FOLDER="/"
+    fi
+fi
+
+## Open the Dev Container in VS Code
+CODE_REMOTE_CMD=(
+    code --remote
+    "dev-container+$(printf "%s" "${REPOSITORY_DIR}" | xxd -p | tr -d "[:space:]")"
+    "${WORKSPACE_FOLDER}"
+)
+echo -e "\033[1;90m${CODE_REMOTE_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${CODE_REMOTE_CMD[*]}

.docker/build.bash

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+#!/usr/bin/env bash
+### Build the Docker image
+### Usage: build.bash [TAG] [BUILD_ARGS...]
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+REPOSITORY_DIR="$(dirname "${SCRIPT_DIR}")"
+
+## If the current user is not in the docker group, all docker commands will be run as root
+if ! grep -qi /etc/group -e "docker.*${USER}"; then
+    echo "[INFO] The current user '${USER}' is not detected in the docker group. All docker commands will be run as root."
+    WITH_SUDO="sudo"
+fi
+
+## Determine the name of the image to build
+DOCKERHUB_USER="$(${WITH_SUDO} docker info 2>/dev/null | sed '/Username:/!d;s/.* //')"
+PROJECT_NAME="$(basename "${REPOSITORY_DIR}")"
+IMAGE_NAME="${DOCKERHUB_USER:+${DOCKERHUB_USER}/}${PROJECT_NAME}"
+
+## Parse TAG and forward additional build arguments
+if [ "${#}" -gt "0" ]; then
+    if [[ "${1}" != "-"* ]]; then
+        IMAGE_NAME+=":${1}"
+        BUILD_ARGS=${*:2}
+    else
+        BUILD_ARGS=${*:1}
+    fi
+fi
+
+## Build the image
+DOCKER_BUILD_CMD=(
+    "${WITH_SUDO}" docker build
+    "${REPOSITORY_DIR}"
+    --file "${REPOSITORY_DIR}/Dockerfile"
+    --tag "${IMAGE_NAME}"
+    "${BUILD_ARGS}"
+)
+echo -e "\033[1;90m[TRACE] ${DOCKER_BUILD_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${DOCKER_BUILD_CMD[*]}

.docker/demo.bash

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+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+
+## Config
+# Additional volumes to mount inside the container
+EXTRA_DOCKER_VOLUMES=(
+    "${HOME}/Videos:/root/Videos"
+)
+# Additional environment variables to set inside the container
+EXTRA_DOCKER_ENVIRON=(
+    SRB_SKIP_EXT_MOD_UPDATE="1"
+)
+
+## Parse arguments
+DEFAULT_CMD="cargo run --release --package space_robotics_bench_gui"
+if [ "${#}" -gt "0" ]; then
+    CMD=${*:1}
+fi
+
+## Run the container
+DOCKER_RUN_CMD=(
+    "${SCRIPT_DIR}/run.bash"
+    "${EXTRA_DOCKER_VOLUMES[@]/#/"-v "}"
+    "${EXTRA_DOCKER_ENVIRON[@]/#/"-e "}"
+    "${CMD:-${DEFAULT_CMD}}"
+)
+echo -e "\033[1;90m[TRACE] ${DOCKER_RUN_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${DOCKER_RUN_CMD[*]}

.docker/dev.bash

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+#!/usr/bin/env bash
+### Run a Docker container with additional development volumes mounted
+### Usage: dev.bash [-v HOST_DIR:DOCKER_DIR:OPTIONS] [-e ENV=VALUE] [TAG] [CMD]
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+REPOSITORY_DIR="$(dirname "${SCRIPT_DIR}")"
+WS_DIR="$(dirname "${REPOSITORY_DIR}")"
+
+## Config
+# Development volumes to mount inside the container
+DOCKER_DEV_VOLUMES=(
+    "${WS_DIR}/isaaclab:/root/isaaclab:rw"
+    # "${WS_DIR}/dreamerv3:/root/dreamerv3:rw"
+)
+# Development environment variables to set inside the container
+DOCKER_DEV_ENVIRON=(
+    SRB_WITH_TRACEBACK="${SRB_WITH_TRACEBACK:-true}"
+)
+
+## Run the container with development volumes
+DOCKER_DEV_CMD=(
+    WITH_DEV_VOLUME=true "${SCRIPT_DIR}/run.bash"
+    "${DOCKER_DEV_VOLUMES[@]/#/"-v "}"
+    "${DOCKER_DEV_ENVIRON[@]/#/"-e "}"
+    "${*:1}"
+)
+echo -e "\033[1;90m[TRACE] ${DOCKER_DEV_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${DOCKER_DEV_CMD[*]}

.docker/host/install_docker.bash

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+#!/usr/bin/env bash
+### Install Docker and NVIDIA Container Toolkit
+### Usage: install_docker.bash
+set -e
+
+## Install curl if missing
+if ! command -v curl >/dev/null 2>&1; then
+    if command -v apt-get >/dev/null 2>&1; then
+        sudo apt-get install -y curl
+    elif command -v dnf >/dev/null 2>&1; then
+        sudo dnf install -y curl
+    elif command -v yum >/dev/null 2>&1; then
+        sudo yum install -y curl
+    fi
+fi
+
+## Install Docker via the convenience script
+curl -fsSL https://get.docker.com | sh
+sudo systemctl enable --now docker
+
+## (Optional) Install support for NVIDIA if an NVIDIA GPU is detected and the installation is requested
+check_nvidia_gpu() {
+    if ! lshw -C display 2>/dev/null | grep -qi "vendor.*nvidia"; then
+        return 1 # NVIDIA GPU is not present
+    elif ! command -v nvidia-smi >/dev/null 2>&1; then
+        return 1 # NVIDIA GPU is present but nvidia-utils not installed
+    elif ! nvidia-smi -L &>/dev/null; then
+        return 1 # NVIDIA GPU is present but is not working properly
+    else
+        return 0 # NVIDIA GPU is present and appears to be working
+    fi
+}
+configure_nvidia_apt_repository() {
+    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey |
+    sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg &&
+    curl -sL https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list |
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' |
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+    sudo apt-get update
+}
+if check_nvidia_gpu; then
+    echo -e "[INFO] NVIDIA GPU detected."
+    DOCKER_VERSION="$(sudo docker version --format '{{.Server.Version}}' 2>/dev/null)"
+    MIN_VERSION_FOR_TOOLKIT="19.3"
+    if [ "$(printf '%s\n' "${MIN_VERSION_FOR_TOOLKIT}" "${DOCKER_VERSION}" | sort -V | head -n1)" = "$MIN_VERSION_FOR_TOOLKIT" ]; then
+        if ! command -v nvidia-container-toolkit >/dev/null 2>&1; then
+            while true; do
+                read -erp "Do you want to install NVIDIA Container Toolkit? [Y/n]: " INSTALL_NVIDIA_CONTAINER_TOOLKIT
+                case "${INSTALL_NVIDIA_CONTAINER_TOOLKIT,,}" in
+                    "" | y | yes)
+                        INSTALL_NVIDIA_CONTAINER_TOOLKIT=true
+                        break
+                        ;;
+                    n | no)
+                        INSTALL_NVIDIA_CONTAINER_TOOLKIT=false
+                        break
+                        ;;
+                esac
+            done
+            if [[ "${INSTALL_NVIDIA_CONTAINER_TOOLKIT}" = true ]]; then
+                if command -v apt-get >/dev/null 2>&1; then
+                    configure_nvidia_apt_repository
+                    sudo apt-get install -y nvidia-container-toolkit
+                elif command -v yum >/dev/null 2>&1; then
+                    curl -s -L https://nvidia.github.io/libnvidia-container/stable/rpm/nvidia-container-toolkit.repo |
+                    sudo tee /etc/yum.repos.d/nvidia-container-toolkit.repo
+                    sudo yum install -y nvidia-container-toolkit
+                else
+                    echo >&2 -e "\033[1;31m[ERROR] Supported package manager not found. Please install nvidia-container-toolkit manually.\033[0m"
+                fi
+                sudo systemctl restart --now docker
+            fi
+        else
+            echo -e "[INFO] NVIDIA Container Toolkit is already installed."
+        fi
+    else
+        if ! command -v nvidia-docker >/dev/null 2>&1; then
+            while true; do
+                read -erp "Do you want to install NVIDIA Docker [Y/n]: " INSTALL_NVIDIA_DOCKER
+                case "${INSTALL_NVIDIA_DOCKER,,}" in
+                    "" | y | yes)
+                        INSTALL_NVIDIA_DOCKER=true
+                        break
+                        ;;
+                    n | no)
+                        INSTALL_NVIDIA_DOCKER=false
+                        break
+                        ;;
+                esac
+            done
+            if [[ "${INSTALL_NVIDIA_DOCKER}" = true ]]; then
+                if command -v apt-get >/dev/null 2>&1; then
+                    configure_nvidia_apt_repository
+                    sudo apt-get install -y nvidia-docker2
+                else
+                    echo >&2 -e "\033[1;31m[ERROR] Supported package manager not found. Please install nvidia-docker2 manually.\033[0m"
+                fi
+                sudo systemctl restart --now docker
+            fi
+        else
+            echo -e "[INFO] NVIDIA Docker is already installed."
+        fi
+    fi
+fi
+
+if [[ $(grep /etc/group -e "docker") != *"${USER}"* ]]; then
+    [ -z "${PS1}" ]
+    ## (Optional) Add user to docker group
+    while true; do
+        read -erp "Do you want to add the current user ${USER} to the docker group? [Y/n]: " ADD_USER_TO_DOCKER_GROUP
+        case "${ADD_USER_TO_DOCKER_GROUP,,}" in
+            "" | y | yes)
+                ADD_USER_TO_DOCKER_GROUP=true
+                break
+                ;;
+            n | no)
+                ADD_USER_TO_DOCKER_GROUP=false
+                break
+                ;;
+        esac
+    done
+    if [[ "${ADD_USER_TO_DOCKER_GROUP}" = true ]]; then
+        sudo groupadd -f docker
+        sudo usermod -aG docker "${USER}"
+        newgrp docker
+        echo -e "[INFO] The current user ${USER} was added to the docker group."
+    fi
+else
+    echo -e "[INFO] The current user ${USER} is already in the docker group."
+fi

.docker/hpc/build.bash

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+#!/usr/bin/env bash
+### Build a Singularity image from the Docker image
+### Usage: build.bash [TAG] [BUILD_ARGS...]
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+DOT_DOCKER_DIR="$(dirname "${SCRIPT_DIR}")"
+REPOSITORY_DIR="$(dirname "${DOT_DOCKER_DIR}")"
+IMAGES_DIR="${SCRIPT_DIR}/images"
+DOCKER_BUILD_SCRIPT="${DOT_DOCKER_DIR}/build.bash"
+export APPTAINER_TMPDIR="${APPTAINER_TMPDIR:-"${HOME}/.apptainer/tmp"}"
+
+## If the current user is not in the docker group, all docker commands will be run as root
+if ! grep -qi /etc/group -e "docker.*${USER}"; then
+    echo "[INFO] The current user '${USER}' is not detected in the docker group. All docker commands will be run as root."
+    WITH_SUDO="sudo"
+fi
+
+## Determine the name of the image to build and the output path
+DOCKERHUB_USER="$(${WITH_SUDO} docker info 2>/dev/null | sed '/Username:/!d;s/.* //')"
+PROJECT_NAME="$(basename "${REPOSITORY_DIR}")"
+IMAGE_NAME="${DOCKERHUB_USER:+${DOCKERHUB_USER}/}${PROJECT_NAME}"
+OUTPUT_PATH="${IMAGES_DIR}/${PROJECT_NAME}.sif"
+
+## Parse TAG and forward additional build arguments
+if [ "${#}" -gt "0" ]; then
+    if [[ "${1}" != "-"* ]]; then
+        TAG="${1}"
+        BUILD_ARGS=${*:2}
+    else
+        BUILD_ARGS=${*:1}
+    fi
+fi
+TAG="${TAG:-"latest"}"
+IMAGE_NAME+=":${TAG}"
+
+## Create the temporary directory for the Singularity image
+mkdir -p "${APPTAINER_TMPDIR}"
+
+## Build the Docker image
+"${DOCKER_BUILD_SCRIPT}" "${TAG}" "${BUILD_ARGS}"
+
+## Convert the Docker image to a Singularity image
+APPTAINER_BUILD_CMD=(
+    apptainer build
+    "${OUTPUT_PATH}"
+    "docker-daemon:${IMAGE_NAME}"
+)
+echo -e "\033[1;90m[TRACE] ${APPTAINER_BUILD_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${APPTAINER_BUILD_CMD[*]}