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406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 | #!/usr/bin/env bash
#==
# Configurations
#==
# Exits if error occurs
set -e
# Set tab-spaces
tabs 4
# get script directory
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
#==
# Functions
#==
# Function to display warnings in red
display_warning() {
echo -e "\033[31mWARNING: $1\033[0m"
}
# Helper function to compare version numbers
version_gte() {
# Returns 0 if the first version is greater than or equal to the second, otherwise 1
[ "$(printf '%s\n' "$1" "$2" | sort -V | head -n 1)" == "$2" ]
}
# Function to check docker versions
check_docker_version() {
# check if docker is installed
if ! command -v docker &> /dev/null; then
echo "[Error] Docker is not installed! Please check the 'Docker Guide' for instruction." >&2;
exit 1
fi
# Retrieve Docker version
docker_version=$(docker --version | awk '{ print $3 }')
apptainer_version=$(apptainer --version | awk '{ print $3 }')
# Check if Docker version is exactly 24.0.7 or Apptainer version is exactly 1.2.5
if [ "$docker_version" = "24.0.7" ] && [ "$apptainer_version" = "1.2.5" ]; then
echo "[INFO]: Docker version ${docker_version} and Apptainer version ${apptainer_version} are tested and compatible."
# Check if Docker version is >= 27.0.0 and Apptainer version is >= 1.3.4
elif version_gte "$docker_version" "27.0.0" && version_gte "$apptainer_version" "1.3.4"; then
echo "[INFO]: Docker version ${docker_version} and Apptainer version ${apptainer_version} are tested and compatible."
# Else, display a warning for non-tested versions
else
display_warning "Docker version ${docker_version} and Apptainer version ${apptainer_version} are non-tested versions. There could be issues, please try to update them. More info: https://isaac-sim.github.io/IsaacLab/source/deployment/cluster.html"
fi
}
# Checks if a docker image exists, otherwise prints warning and exists
check_image_exists() {
image_name="$1"
if ! docker image inspect $image_name &> /dev/null; then
echo "[Error] The '$image_name' image does not exist!" >&2;
echo "[Error] You might be able to build it with /IsaacLab/docker/container.py." >&2;
exit 1
fi
}
# Check if the singularity image exists on the remote host, otherwise print warning and exit
check_singularity_image_exists() {
image_name="$1"
if ! ssh "$CLUSTER_LOGIN" "[ -f $CLUSTER_SIF_PATH/$image_name.tar ]"; then
echo "[Error] The '$image_name' image does not exist on the remote host $CLUSTER_LOGIN!" >&2;
exit 1
fi
}
submit_job() {
echo "[INFO] Arguments passed to job script ${@}"
case $CLUSTER_JOB_SCHEDULER in
"SLURM")
job_script_file=submit_job_slurm.sh
;;
"PBS")
job_script_file=submit_job_pbs.sh
;;
*)
echo "[ERROR] Unsupported job scheduler specified: '$CLUSTER_JOB_SCHEDULER'. Supported options are: ['SLURM', 'PBS']"
exit 1
;;
esac
ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && bash $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
}
#==
# Main
#==
#!/bin/bash
help() {
echo -e "\nusage: $(basename "$0") [-h] <command> [<profile>] [<job_args>...] -- Utility for interfacing between IsaacLab and compute clusters."
echo -e "\noptions:"
echo -e " -h Display this help message."
echo -e "\ncommands:"
echo -e " push [<profile>] Push the docker image to the cluster."
echo -e " job [<profile>] [<job_args>] Submit a job to the cluster."
echo -e "\nwhere:"
echo -e " <profile> is the optional container profile specification. Defaults to 'base'."
echo -e " <job_args> are optional arguments specific to the job command."
echo -e "\n" >&2
}
# Parse options
while getopts ":h" opt; do
case ${opt} in
h )
help
exit 0
;;
\? )
echo "Invalid option: -$OPTARG" >&2
help
exit 1
;;
esac
done
shift $((OPTIND -1))
# Check for command
if [ $# -lt 1 ]; then
echo "Error: Command is required." >&2
help
exit 1
fi
command=$1
shift
profile="base"
case $command in
push)
if [ $# -gt 1 ]; then
echo "Error: Too many arguments for push command." >&2
help
exit 1
fi
[ $# -eq 1 ] && profile=$1
echo "Executing push command"
[ -n "$profile" ] && echo "Using profile: $profile"
if ! command -v apptainer &> /dev/null; then
echo "[INFO] Exiting because apptainer was not installed"
echo "[INFO] You may follow the installation procedure from here: https://apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages"
exit
fi
# Check if Docker image exists
check_image_exists isaac-lab-$profile:latest
# Check docker and apptainer version
check_docker_version
# source env file to get cluster login and path information
source $SCRIPT_DIR/.env.cluster
# make sure exports directory exists
mkdir -p /$SCRIPT_DIR/exports
# clear old exports for selected profile
rm -rf /$SCRIPT_DIR/exports/isaac-lab-$profile*
# create singularity image
# NOTE: we create the singularity image as non-root user to allow for more flexibility. If this causes
# issues, remove the --fakeroot flag and open an issue on the IsaacLab repository.
cd /$SCRIPT_DIR/exports
APPTAINER_NOHTTPS=1 apptainer build --sandbox --fakeroot isaac-lab-$profile.sif docker-daemon://isaac-lab-$profile:latest
# tar image (faster to send single file as opposed to directory with many files)
tar -cvf /$SCRIPT_DIR/exports/isaac-lab-$profile.tar isaac-lab-$profile.sif
# make sure target directory exists
ssh $CLUSTER_LOGIN "mkdir -p $CLUSTER_SIF_PATH"
# send image to cluster
scp $SCRIPT_DIR/exports/isaac-lab-$profile.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/isaac-lab-$profile.tar
;;
job)
if [ $# -ge 1 ]; then
passed_profile=$1
if [ -f "$SCRIPT_DIR/../.env.$passed_profile" ]; then
profile=$passed_profile
shift
fi
fi
job_args="$@"
echo "[INFO] Executing job command"
[ -n "$profile" ] && echo -e "\tUsing profile: $profile"
[ -n "$job_args" ] && echo -e "\tJob arguments: $job_args"
source $SCRIPT_DIR/.env.cluster
# Get current date and time
current_datetime=$(date +"%Y%m%d_%H%M%S")
# Append current date and time to CLUSTER_ISAACLAB_DIR
CLUSTER_ISAACLAB_DIR="${CLUSTER_ISAACLAB_DIR}_${current_datetime}"
# Check if singularity image exists on the remote host
check_singularity_image_exists isaac-lab-$profile
# make sure target directory exists
ssh $CLUSTER_LOGIN "mkdir -p $CLUSTER_ISAACLAB_DIR"
# Sync Isaac Lab code
echo "[INFO] Syncing Isaac Lab code..."
rsync -rh --exclude="*.git*" --filter=':- .dockerignore' /$SCRIPT_DIR/../.. $CLUSTER_LOGIN:$CLUSTER_ISAACLAB_DIR
# execute job script
echo "[INFO] Executing job script..."
# check whether the second argument is a profile or a job argument
submit_job $job_args
;;
*)
echo "Error: Invalid command: $command" >&2
help
exit 1
;;
esac
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