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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 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
# Here we set the parts that would
# be reused between services to an
# extension field
# https://docs.docker.com/compose/compose-file/compose-file-v3/#extension-fields
x-default-isaac-lab-volumes: &default-isaac-lab-volumes
# These volumes follow from this page
# https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
- type: volume
source: isaac-cache-kit
target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache
- type: volume
source: isaac-cache-ov
target: ${DOCKER_USER_HOME}/.cache/ov
- type: volume
source: isaac-cache-pip
target: ${DOCKER_USER_HOME}/.cache/pip
- type: volume
source: isaac-cache-gl
target: ${DOCKER_USER_HOME}/.cache/nvidia/GLCache
- type: volume
source: isaac-cache-compute
target: ${DOCKER_USER_HOME}/.nv/ComputeCache
- type: volume
source: isaac-logs
target: ${DOCKER_USER_HOME}/.nvidia-omniverse/logs
- type: volume
source: isaac-carb-logs
target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/logs/Kit/Isaac-Sim
- type: volume
source: isaac-data
target: ${DOCKER_USER_HOME}/.local/share/ov/data
- type: volume
source: isaac-docs
target: ${DOCKER_USER_HOME}/Documents
# This overlay allows changes on the local files to
# be reflected within the container immediately
- type: bind
source: ../source
target: ${DOCKER_ISAACLAB_PATH}/source
- type: bind
source: ../scripts
target: ${DOCKER_ISAACLAB_PATH}/scripts
- type: bind
source: ../docs
target: ${DOCKER_ISAACLAB_PATH}/docs
- type: bind
source: ../tools
target: ${DOCKER_ISAACLAB_PATH}/tools
# The effect of these volumes is twofold:
# 1. Prevent root-owned files from flooding the _build and logs dir
# on the host machine
# 2. Preserve the artifacts in persistent volumes for later copying
# to the host machine
- type: volume
source: isaac-lab-docs
target: ${DOCKER_ISAACLAB_PATH}/docs/_build
- type: volume
source: isaac-lab-logs
target: ${DOCKER_ISAACLAB_PATH}/logs
- type: volume
source: isaac-lab-data
target: ${DOCKER_ISAACLAB_PATH}/data_storage
# This volume is used to store the history of the bash shell
- type: bind
source: .isaac-lab-docker-history
target: ${DOCKER_USER_HOME}/.bash_history
x-default-isaac-lab-environment: &default-isaac-lab-environment
- ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim
- OMNI_KIT_ALLOW_ROOT=1
x-default-isaac-lab-deploy: &default-isaac-lab-deploy
resources:
reservations:
devices:
- driver: nvidia
count: all
capabilities: [ gpu ]
services:
# This service is the base Isaac Lab image
isaac-lab-base:
profiles: [ "base" ]
env_file: .env.base
build:
context: ../
dockerfile: docker/Dockerfile.base
args:
- ISAACSIM_BASE_IMAGE_ARG=${ISAACSIM_BASE_IMAGE}
- ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION}
- 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${DOCKER_NAME_SUFFIX-}
environment: *default-isaac-lab-environment
volumes: *default-isaac-lab-volumes
network_mode: host
deploy: *default-isaac-lab-deploy
# This is the entrypoint for the container
entrypoint: bash
stdin_open: true
tty: true
# This service adds a ROS2 Humble
# installation on top of the base image
isaac-lab-ros2:
profiles: [ "ros2" ]
env_file:
- .env.base
- .env.ros2
build:
context: ../
dockerfile: docker/Dockerfile.ros2
args:
# ROS2_APT_PACKAGE will default to NONE. This is to
# avoid a warning message when building only the base profile
# with the .env.base file
- ROS2_APT_PACKAGE=${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-}
environment: *default-isaac-lab-environment
volumes: *default-isaac-lab-volumes
network_mode: host
deploy: *default-isaac-lab-deploy
# This is the entrypoint for the container
entrypoint: bash
stdin_open: true
tty: true
volumes:
# isaac-sim
isaac-cache-kit:
isaac-cache-ov:
isaac-cache-pip:
isaac-cache-gl:
isaac-cache-compute:
isaac-logs:
isaac-carb-logs:
isaac-data:
isaac-docs:
# isaac-lab
isaac-lab-docs:
isaac-lab-logs:
isaac-lab-data:
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