Laura dev

.gitattributes

@@ -10,3 +10,4 @@
 *.pt filter=lfs diff=lfs merge=lfs -text
 *.jit filter=lfs diff=lfs merge=lfs -text
 *.hdf5 filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -64,5 +64,8 @@ _build
 # Teleop Recorded Dataset
 datasets
 
+# path 
+docs/training_runs
+
 # Tests
 tests/

docker/.env.base

@@ -14,6 +14,3 @@ DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 DOCKER_ISAACLAB_PATH=/workspace/isaaclab
 # Docker user directory - by default this is the root user's home directory
 DOCKER_USER_HOME=/root
-# Docker image and container name suffix (default "", set by the container_interface.py script)
-# Example: "-custom"
-DOCKER_NAME_SUFFIX=""

docker/.env.ros2

@@ -9,6 +9,3 @@ RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 FASTRTPS_DEFAULT_PROFILES_FILE=${DOCKER_USER_HOME}/.ros/fastdds.xml
 # Path to cyclonedds.xml file to use (only needed when using cyclonedds)
 CYCLONEDDS_URI=${DOCKER_USER_HOME}/.ros/cyclonedds.xml
-# Docker image and container name suffix (default "", set by the container_interface.py script)
-# Example: "-custom"
-DOCKER_NAME_SUFFIX=""

docker/.env.ros2_mod

@@ -0,0 +1,11 @@
+###
+# ROS2 specific settings
+###
+# Set the version of the ROS2 apt package to install (ros-base, desktop, desktop-full)
+ROS2_APT_PACKAGE=ros-base
+# Set ROS2 middleware implementation to use (e.g. rmw_fastrtps_cpp, rmw_cyclonedds_cpp)
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+# Path to fastdds.xml file to use (only needed when using fastdds)
+FASTRTPS_DEFAULT_PROFILES_FILE=${DOCKER_USER_HOME}/.ros/fastdds.xml
+# Path to cyclonedds.xml file to use (only needed when using cyclonedds)
+CYCLONEDDS_URI=${DOCKER_USER_HOME}/.ros/cyclonedds.xml

docker/Dockerfile.base

@@ -33,7 +33,7 @@ ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
 # Set environment variables
 ENV LANG=C.UTF-8
 ENV DEBIAN_FRONTEND=noninteractive
-
+ENV NVIDIA_DRIVER_CAPABILITIES=all
 USER root
 
 # Install dependencies and remove cache
@@ -88,9 +88,6 @@ RUN touch /bin/nvidia-smi && \
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
     ${ISAACLAB_PATH}/isaaclab.sh --install
 
-# HACK: Remove install of quadprog dependency
-RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
-
 # aliasing isaaclab.sh and python for convenience
 RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
     echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
@@ -100,7 +97,18 @@ RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
     echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
     echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \
     echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc
+
+ # installing nightly torch 
+# use pip caching to avoid reinstalling large packages
+#RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+#    pip install --upgrade --pre torch torchvision torchaudio --index-url https://download.pytorch.org/whl/nightly/cu128
+# install TensorFlow and nightly PyTorch
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+    ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install --upgrade --pre torch torchvision torchaudio --index-url https://download.pytorch.org/whl/nightly/cu128 
+
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+    ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install tensorflow scikit-learn
 
 # make working directory as the Isaac Lab directory
 # this is the default directory when the container is run
-WORKDIR ${ISAACLAB_PATH}
+WORKDIR ${ISAACLAB_PATH}

docker/Dockerfile.ros2

@@ -1,10 +1,7 @@
+
 # Everything past this stage is to install
 # ROS2 Humble
-
-# What is the docker name suffix for the base image to load? (defaults to empty string)
-ARG DOCKER_NAME_SUFFIX=""
-
-FROM isaac-lab-base${DOCKER_NAME_SUFFIX} AS ros2
+FROM isaac-lab-base AS ros2
 
 # Which ROS2 apt package to install
 ARG ROS2_APT_PACKAGE

docker/Dockerfile.ros2_mod

@@ -0,0 +1,35 @@
+# Everything past this stage is to install
+# ROS2 Humble
+FROM isaac-lab-base AS ros2
+
+# Which ROS2 apt package to install
+ARG ROS2_APT_PACKAGE
+
+# ROS2 Humble Apt installations
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    # Install ROS2 Humble \
+    software-properties-common && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo jammy) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-${ROS2_APT_PACKAGE} \
+    ros-humble-vision-msgs \
+    # Install both FastRTPS and CycloneDDS
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-rmw-fastrtps-cpp \
+    # This includes various dev tools including colcon
+    ros-dev-tools && \
+    # Install rosdeps for extensions that declare a ros_ws in
+    # their extension.toml
+    ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py rosdep ${ISAACLAB_PATH}/source && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/* && \
+    # Add sourcing of setup.bash to .bashrc
+    echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
+
+# Copy the RMW specifications for ROS2
+# https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html
+COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/

docker/cluster/.env.cluster

@@ -7,16 +7,16 @@
 CLUSTER_JOB_SCHEDULER=SLURM
 # Docker cache dir for Isaac Sim (has to end on docker-isaac-sim)
 # e.g. /cluster/scratch/$USER/docker-isaac-sim
-CLUSTER_ISAAC_SIM_CACHE_DIR=/some/path/on/cluster/docker-isaac-sim
+CLUSTER_ISAAC_SIM_CACHE_DIR=/users/ljones3/docker-isaac-sim
 # Isaac Lab directory on the cluster (has to end on isaaclab)
 # e.g. /cluster/home/$USER/isaaclab
-CLUSTER_ISAACLAB_DIR=/some/path/on/cluster/isaaclab
+CLUSTER_ISAACLAB_DIR=/users/ljones3/isaaclab
 # Cluster login
-CLUSTER_LOGIN=username@cluster_ip
+CLUSTER_LOGIN=ljones3@barklaviz2.liverpool.ac.uk
 # Cluster scratch directory to store the SIF file
 # e.g. /cluster/scratch/$USER
-CLUSTER_SIF_PATH=/some/path/on/cluster/
+CLUSTER_SIF_PATH=/users/ljones3/scratch
 # Remove the temporary isaaclab code copy after the job is done
 REMOVE_CODE_COPY_AFTER_JOB=false
 # Python executable within Isaac Lab directory to run with the submitted job
-CLUSTER_PYTHON_EXECUTABLE=scripts/reinforcement_learning/rsl_rl/train.py
+CLUSTER_PYTHON_EXECUTABLE="./isaaclab.sh -p scripts/environments/list_envs.py"

docker/container.py

@@ -46,17 +46,6 @@ def parse_cli_args() -> argparse.Namespace:
             " '.env.base' in their provided order."
         ),
     )
-    parent_parser.add_argument(
-        "--suffix",
-        nargs="?",
-        default=None,
-        help=(
-            "Optional docker image and container name suffix.  Defaults to None, in which case, the docker name"
-            " suffix is set to the empty string. A hyphen is inserted in between the profile and the suffix if"
-            ' the suffix is a nonempty string.  For example, if "base" is passed to profile, and "custom" is'
-            " passed to suffix, then the produced docker image and container will be named ``isaac-lab-base-custom``."
-        ),
-    )
 
     # Actual command definition begins here
     subparsers = parser.add_subparsers(dest="command", required=True)
@@ -101,11 +90,7 @@ def main(args: argparse.Namespace):
 
     # creating container interface
     ci = ContainerInterface(
-        context_dir=Path(__file__).resolve().parent,
-        profile=args.profile,
-        yamls=args.files,
-        envs=args.env_files,
-        suffix=args.suffix,
+        context_dir=Path(__file__).resolve().parent, profile=args.profile, yamls=args.files, envs=args.env_files
     )
 
     print(f"[INFO] Using container profile: {ci.profile}")

docker/docker-compose.yaml

@@ -60,6 +60,11 @@ x-default-isaac-lab-volumes: &default-isaac-lab-volumes
   - type: volume
     source: isaac-lab-data
     target: ${DOCKER_ISAACLAB_PATH}/data_storage
+    # pull in nvoptix 
+  - type: bind
+    source: /usr/share/nvidia/nvoptix.bin
+    target: /usr/share/nvidia/nvoptix.bin
+    read_only: true
 
 x-default-isaac-lab-environment: &default-isaac-lab-environment
   - ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim
@@ -87,8 +92,8 @@ services:
         - ISAACSIM_ROOT_PATH_ARG=${DOCKER_ISAACSIM_ROOT_PATH}
         - ISAACLAB_PATH_ARG=${DOCKER_ISAACLAB_PATH}
         - DOCKER_USER_HOME_ARG=${DOCKER_USER_HOME}
-    image: isaac-lab-base${DOCKER_NAME_SUFFIX-}
-    container_name: isaac-lab-base${DOCKER_NAME_SUFFIX-}
+    image: isaac-lab-base
+    container_name: isaac-lab-base
     environment: *default-isaac-lab-environment
     volumes: *default-isaac-lab-volumes
     network_mode: host
@@ -97,6 +102,10 @@ services:
     entrypoint: bash
     stdin_open: true
     tty: true
+    devices:
+    - /dev/hidraw0:/dev/hidraw0
+    - /dev/hidraw1:/dev/hidraw1
+    - /dev/hidraw2:/dev/hidraw2
 
   # This service adds a ROS2 Humble
   # installation on top of the base image
@@ -113,11 +122,8 @@ services:
         # avoid a warning message when building only the base profile
         # with the .env.base file
         - ROS2_APT_PACKAGE=${ROS2_APT_PACKAGE:-NONE}
-        # Make sure that the correct Docker Name Suffix is being passed to the dockerfile, to know which base image to
-        # start from.
-        - DOCKER_NAME_SUFFIX=${DOCKER_NAME_SUFFIX-}
-    image: isaac-lab-ros2${DOCKER_NAME_SUFFIX-}
-    container_name: isaac-lab-ros2${DOCKER_NAME_SUFFIX-}
+    image: isaac-lab-ros2
+    container_name: isaac-lab-ros2
     environment: *default-isaac-lab-environment
     volumes: *default-isaac-lab-volumes
     network_mode: host
@@ -126,8 +132,18 @@ services:
     entrypoint: bash
     stdin_open: true
     tty: true
+    devices:
+    - /dev/hidraw0:/dev/hidraw0
+    - /dev/hidraw1:/dev/hidraw1
+    - /dev/hidraw2:/dev/hidraw2
+      #- /dev/hidraw5:/dev/hidraw5
+
+
+
+
 
 volumes:
+
   # isaac-sim
   isaac-cache-kit:
   isaac-cache-ov: