File size: 3,127 Bytes
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 | #!/usr/bin/env bash
echo "(run_singularity.py): Called on compute node from current isaaclab directory $1 with container profile $2 and arguments ${@:3}"
#==
# Helper functions
#==
setup_directories() {
# Check and create directories
for dir in \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/cache/kit" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/cache/ov" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/cache/pip" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/cache/glcache" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/cache/computecache" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/logs" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/data" \
"${CLUSTER_ISAAC_SIM_CACHE_DIR}/documents"; do
if [ ! -d "$dir" ]; then
mkdir -p "$dir"
echo "Created directory: $dir"
fi
done
}
#==
# Main
#==
# get script directory
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
# load variables to set the Isaac Lab path on the cluster
source $SCRIPT_DIR/.env.cluster
source $SCRIPT_DIR/../.env.base
# make sure that all directories exists in cache directory
setup_directories
# copy all cache files
cp -r $CLUSTER_ISAAC_SIM_CACHE_DIR $TMPDIR
# make sure logs directory exists (in the permanent isaaclab directory)
mkdir -p "$CLUSTER_ISAACLAB_DIR/logs"
touch "$CLUSTER_ISAACLAB_DIR/logs/.keep"
# copy the temporary isaaclab directory with the latest changes to the compute node
cp -r $1 $TMPDIR
# Get the directory name
dir_name=$(basename "$1")
# copy container to the compute node
tar -xf $CLUSTER_SIF_PATH/$2.tar -C $TMPDIR
# execute command in singularity container
# NOTE: ISAACLAB_PATH is normally set in `isaaclab.sh` but we directly call the isaac-sim python because we sync the entire
# Isaac Lab directory to the compute node and remote the symbolic link to isaac-sim
singularity exec \
-B $TMPDIR/docker-isaac-sim/cache/kit:${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache:rw \
-B $TMPDIR/docker-isaac-sim/cache/ov:${DOCKER_USER_HOME}/.cache/ov:rw \
-B $TMPDIR/docker-isaac-sim/cache/pip:${DOCKER_USER_HOME}/.cache/pip:rw \
-B $TMPDIR/docker-isaac-sim/cache/glcache:${DOCKER_USER_HOME}/.cache/nvidia/GLCache:rw \
-B $TMPDIR/docker-isaac-sim/cache/computecache:${DOCKER_USER_HOME}/.nv/ComputeCache:rw \
-B $TMPDIR/docker-isaac-sim/logs:${DOCKER_USER_HOME}/.nvidia-omniverse/logs:rw \
-B $TMPDIR/docker-isaac-sim/data:${DOCKER_USER_HOME}/.local/share/ov/data:rw \
-B $TMPDIR/docker-isaac-sim/documents:${DOCKER_USER_HOME}/Documents:rw \
-B $TMPDIR/$dir_name:/workspace/isaaclab:rw \
-B $CLUSTER_ISAACLAB_DIR/logs:/workspace/isaaclab/logs:rw \
--nv --writable --containall $TMPDIR/$2.sif \
bash -c "export ISAACLAB_PATH=/workspace/isaaclab && cd /workspace/isaaclab && /isaac-sim/python.sh ${CLUSTER_PYTHON_EXECUTABLE} ${@:3}"
# copy resulting cache files back to host
rsync -azPv $TMPDIR/docker-isaac-sim $CLUSTER_ISAAC_SIM_CACHE_DIR/..
# if defined, remove the temporary isaaclab directory pushed when the job was submitted
if $REMOVE_CODE_COPY_AFTER_JOB; then
rm -rf $1
fi
echo "(run_singularity.py): Return"
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