76 lines
2.4 KiB
YAML
76 lines
2.4 KiB
YAML
services:
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sru-nav:
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build:
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context: .
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dockerfile: Dockerfile
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args:
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ISAAC_SIM_VERSION: "4.5.0"
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ISAACLAB_VERSION: "v2.1.1"
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SRU_NAV_REPO: "https://github.com/leggedrobotics/sru-navigation-sim.git"
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SRU_NAV_REF: "main"
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# Optional, for CN servers behind GFW. Pass via env or shell:
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# GITHUB_MIRROR=https://ghproxy.com/ docker compose build
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# HTTP_PROXY=http://host:7890 HTTPS_PROXY=http://host:7890 docker compose build
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GITHUB_MIRROR: "${GITHUB_MIRROR:-}"
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HTTP_PROXY: "${HTTP_PROXY:-}"
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HTTPS_PROXY: "${HTTPS_PROXY:-}"
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NO_PROXY: "${NO_PROXY:-}"
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PIP_INDEX_URL: "${PIP_INDEX_URL:-}"
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PIP_TRUSTED_HOST: "${PIP_TRUSTED_HOST:-}"
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image: sru-nav:latest
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container_name: sru-nav
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runtime: nvidia
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stdin_open: true
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tty: true
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network_mode: host
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ipc: host
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shm_size: "16gb"
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ulimits:
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memlock: -1
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stack: 67108864
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environment:
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- ACCEPT_EULA=Y
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- PRIVACY_CONSENT=Y
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- DISPLAY=${DISPLAY:-:0}
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- NVIDIA_DRIVER_CAPABILITIES=all
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- NVIDIA_VISIBLE_DEVICES=all
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# Attempt to avoid RTX segfault on Blackwell (sm_120) by forcing true headless
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- OMNI_KIT_HEADLESS=1
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# Optional: put your wandb key in a .env file next to compose
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- WANDB_API_KEY=${WANDB_API_KEY:-}
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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volumes:
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# X11 for GUI (optional)
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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# Persist Isaac Sim caches across runs
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- isaac-cache-kit:/isaac-sim/kit/cache
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- isaac-cache-ov:/root/.cache/ov
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- isaac-cache-pip:/root/.cache/pip
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- isaac-cache-gl:/root/.cache/nvidia/GLCache
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- isaac-cache-compute:/root/.nv/ComputeCache
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- isaac-logs:/root/.nvidia-omniverse/logs
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- isaac-data:/root/.local/share/ov/data
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- isaac-docs:/root/Documents
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# Persist training outputs (logs/checkpoints)
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- ./outputs/logs:/workspace/IsaacLab/logs
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# Optional: live-mount the extension for development. Uncomment to use:
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# - ./sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task
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working_dir: /workspace/IsaacLab
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command: /bin/bash
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volumes:
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isaac-cache-kit:
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isaac-cache-ov:
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isaac-cache-pip:
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isaac-cache-gl:
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isaac-cache-compute:
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isaac-logs:
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isaac-data:
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isaac-docs:
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