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#!/usr/bin/env python3
# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import argparse
import shutil
from pathlib import Path
from utils import ContainerInterface, x11_utils
def parse_cli_args() -> argparse.Namespace:
"""Parse command line arguments.
This function creates a parser object and adds subparsers for each command. The function then parses the
command line arguments and returns the parsed arguments.
Returns:
The parsed command line arguments.
"""
parser = argparse.ArgumentParser(description="Utility for using Docker with Isaac Lab.")
# We have to create separate parent parsers for common options to our subparsers
parent_parser = argparse.ArgumentParser(add_help=False)
parent_parser.add_argument(
"profile", nargs="?", default="base", help="Optional container profile specification. Example: 'base' or 'ros'."
)
parent_parser.add_argument(
"--files",
nargs="*",
default=None,
help=(
"Allows additional '.yaml' files to be passed to the docker compose command. These files will be merged"
" with 'docker-compose.yaml' in their provided order."
),
)
parent_parser.add_argument(
"--env-files",
nargs="*",
default=None,
help=(
"Allows additional '.env' files to be passed to the docker compose command. These files will be merged with"
" '.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)
subparsers.add_parser(
"start",
help="Build the docker image and create the container in detached mode.",
parents=[parent_parser],
)
subparsers.add_parser(
"enter", help="Begin a new bash process within an existing Isaac Lab container.", parents=[parent_parser]
)
config = subparsers.add_parser(
"config",
help=(
"Generate a docker-compose.yaml from the passed yamls, .envs, and either print to the terminal or create a"
" yaml at output_yaml"
),
parents=[parent_parser],
)
config.add_argument(
"--output-yaml", nargs="?", default=None, help="Yaml file to write config output to. Defaults to None."
)
subparsers.add_parser(
"copy", help="Copy build and logs artifacts from the container to the host machine.", parents=[parent_parser]
)
subparsers.add_parser("stop", help="Stop the docker container and remove it.", parents=[parent_parser])
# parse the arguments to determine the command
args = parser.parse_args()
return args
def main(args: argparse.Namespace):
"""Main function for the Docker utility."""
# check if docker is installed
if not shutil.which("docker"):
raise RuntimeError(
"Docker is not installed! Please check the 'Docker Guide' for instruction: "
"https://isaac-sim.github.io/IsaacLab/v2.2.0/source/deployment/docker.html"
)
# creating container interface
ci = ContainerInterface(
context_dir=Path(__file__).resolve().parent,
profile=args.profile,
yamls=args.files,
envs=args.env_files,
suffix=args.suffix,
)
print(f"[INFO] Using container profile: {ci.profile}")
if args.command == "start":
# check if x11 forwarding is enabled
x11_outputs = x11_utils.x11_check(ci.statefile)
# if x11 forwarding is enabled, add the x11 yaml and environment variables
if x11_outputs is not None:
(x11_yaml, x11_envar) = x11_outputs
ci.add_yamls += x11_yaml
ci.environ.update(x11_envar)
# start the container
ci.start()
elif args.command == "enter":
# refresh the x11 forwarding
x11_utils.x11_refresh(ci.statefile)
# enter the container
ci.enter()
elif args.command == "config":
ci.config(args.output_yaml)
elif args.command == "copy":
ci.copy()
elif args.command == "stop":
# stop the container
ci.stop()
# cleanup the x11 forwarding
x11_utils.x11_cleanup(ci.statefile)
else:
raise RuntimeError(f"Invalid command provided: {args.command}. Please check the help message.")
if __name__ == "__main__":
args_cli = parse_cli_args()
main(args_cli)
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