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Enable composite compose #455

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Enable composite compose #455

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b8317a5
Remove docker hardcoded path
farbod-farshidian Jun 3, 2024
283c046
Allow getting external yaml and env files for docker compose merge an…
farbod-farshidian Jun 3, 2024
35f707f
Remove dubug echo
farbod-farshidian Jun 5, 2024
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110 changes: 85 additions & 25 deletions docker/container.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -25,18 +25,24 @@ fi

# print the usage description
print_help () {
echo -e "\nusage: $(basename "$0") [-h] [run] [start] [stop] -- Utility for handling docker in Isaac Lab."
echo -e "\noptional arguments:"
echo -e "\t-h, --help Display the help content."
echo -e "\tstart [profile] Build the docker image and create the container in detached mode."
echo -e "\tenter [profile] Begin a new bash process within an existing Isaac Lab container."
echo -e "\tcopy [profile] Copy build and logs artifacts from the container to the host machine."
echo -e "\tstop [profile] Stop the docker container and remove it."
echo -e "\tpush [profile] Push the docker image to the cluster."
echo -e "\tjob [profile] [job_args] Submit a job to the cluster."
echo -e "\n"
echo -e "[profile] is the optional container profile specification and [job_args] optional arguments specific"
echo -e "to the executed script"
echo -e "\nusage: $(basename "$0") [-h] [mode] [options] -- Utility for handling docker in Isaac Lab."
echo -e "\nmode:"
echo -e "\t-h, --help Display the help content."
echo -e "\tstart [profile] [options] Build the docker image and create the container in detached mode."
echo -e "\tenter [profile] Begin a new bash process within an existing Isaac Lab container."
echo -e "\tcopy [profile] Copy build and logs artifacts from the container to the host machine."
echo -e "\tstop [profile] [options] Stop the docker container and remove it."
echo -e "\tpush [profile] Push the docker image to the cluster."
echo -e "\tjob [profile] [job_args] Submit a job to the cluster."
echo -e "\tconfig [profile] [options] Parse, resolve and render compose file in canonical format."
echo -e "\nmode arguments:"
echo -e "\t[profile] is the optional container profile specification."
echo -e "\t[job_args] are optional arguments specific to the executed script."
echo -e "\noptions:"
echo -e "\t[-ay, --add_yaml] allows additional .yaml files to be passed to the docker compose command. .yamls will "
echo -e "\t be merged with docker-compose.yaml in the order in which they are provided."
echo -e "\t[-ae, --add_env] allows additional .env files to be passed to the docker compose command. .env will be"
echo -e "\t merged with .env.base in the order in which they are provided."
echo -e "\n" >&2
}

Expand Down Expand Up @@ -112,8 +118,8 @@ resolve_image_extension() {
# check if a .env.$container_profile file exists
# if the argument is necessary a profile, then the file must exists otherwise an info is printed
if [ "$necessary_profile" = true ] && [ ! -f $SCRIPT_DIR/.env.$container_profile ]; then
echo "[Error] The profile '$container_profile' has no .env.$container_profile file!" >&2;
exit 1
echo "[WARN] The profile '$container_profile' has no .env.$container_profile file!" >&2;
echo "[INFO] .env.$container_profile should be added through --add_envs" >&2;
elif [ ! -f $SCRIPT_DIR/.env.$container_profile ]; then
echo "[INFO] No .env.$container_profile found, assume second argument is no profile! Will use default container!" >&2;
container_profile="base"
Expand All @@ -130,7 +136,11 @@ resolve_image_extension() {
if [ "$container_profile" != "base" ]; then
# We have to load multiple .env files here in order to combine
# them for the args from base required for extensions, (i.e. DOCKER_USER_HOME)
add_envs="$add_envs --env-file .env.$container_profile"
env_file=".env.$container_profile"
# Check if the file exists
if [ -f "$SCRIPT_DIR/$env_file" ]; then
add_envs="$add_envs --env-file $env_file"
fi
fi
}

Expand Down Expand Up @@ -230,6 +240,44 @@ x11_cleanup() {
fi
}

parse_key_equal_to_value() {
local value="${1#*=}"
if [ ${value} == ${1} ]; then
value=""
fi
echo ${value}
}

process_mode_args() {
while [ $# -gt 0 ]; do
case $1 in
-ay*|--add_yaml*)
local value=$(parse_key_equal_to_value ${1})
shift
if [ -z ${value} ]; then
value=${1}
shift
fi
add_yamls="$add_yamls --file ${value}"
;;
-ae*|--add_env*)
local value=$(parse_key_equal_to_value ${1})
shift
if [ -z ${value} ]; then
value=${1}
shift
fi
add_envs="$add_envs --env-file ${value}"
;;
*)
echo "Unknown argument: $1"
print_help
exit 1
;;
esac
done
}

#==
# Main
#==
Expand Down Expand Up @@ -257,12 +305,16 @@ profile_arg="$2" # Capture the second argument as the potential profile argument

# Check mode argument and resolve the container profile
case $mode in
build|start|enter|copy|stop|push)
build|start|enter|copy|stop|push|config)
resolve_image_extension "$profile_arg" true
;;
job)
resolve_image_extension "$profile_arg" false
;;
-h)
print_help
exit 0
;;
*)
# Not recognized mode
echo "[Error] Invalid command provided: $mode"
Expand All @@ -277,15 +329,16 @@ echo "[INFO] Using container profile: $container_profile"
# resolve mode
case $mode in
start)
process_mode_args "${@:3}"
echo "[INFO] Building the docker image and starting the container isaac-lab-$container_profile in the background..."
pushd ${SCRIPT_DIR} > /dev/null 2>&1
# Determine if we want x11 forwarding enabled
x11_check
# We have to build the base image as a separate step,
# in case we are building a profile which depends
# upon
docker compose --file docker-compose.yaml --env-file .env.base build isaac-lab-base
docker compose $add_yamls $add_profiles $add_envs up --detach --build --remove-orphans
docker compose $add_yamls $add_envs build isaac-lab-base
docker compose $add_yamls $add_envs $add_profiles up --detach --build --remove-orphans
popd > /dev/null 2>&1
;;
enter)
Expand All @@ -299,10 +352,11 @@ case $mode in
copy)
# Check that desired container is running, exit if it isn't
is_container_running isaac-lab-$container_profile
DOCKER_ISAACLAB_PATH=$(docker exec isaac-lab-$container_profile printenv DOCKER_ISAACLAB_PATH)
echo "[INFO] Copying artifacts from the 'isaac-lab-$container_profile' container..."
echo -e "\t - /workspace/isaaclab/logs -> ${SCRIPT_DIR}/artifacts/logs"
echo -e "\t - /workspace/isaaclab/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build"
echo -e "\t - /workspace/isaaclab/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage"
echo -e "\t - ${DOCKER_ISAACLAB_PATH}/logs -> ${SCRIPT_DIR}/artifacts/logs"
echo -e "\t - ${DOCKER_ISAACLAB_PATH}/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build"
echo -e "\t - ${DOCKER_ISAACLAB_PATH}/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage"
# enter the script directory
pushd ${SCRIPT_DIR} > /dev/null 2>&1
# We have to remove before copying because repeated copying without deletion
Expand All @@ -315,18 +369,19 @@ case $mode in
mkdir -p ./artifacts/docs

# copy the artifacts
docker cp isaac-lab-$container_profile:/workspace/isaaclab/logs ./artifacts/logs
docker cp isaac-lab-$container_profile:/workspace/isaaclab/docs/_build ./artifacts/docs/_build
docker cp isaac-lab-$container_profile:/workspace/isaaclab/data_storage ./artifacts/data_storage
docker cp isaac-lab-$container_profile:${DOCKER_ISAACLAB_PATH}/logs ./artifacts/logs
docker cp isaac-lab-$container_profile:${DOCKER_ISAACLAB_PATH}/docs/_build ./artifacts/docs/_build
docker cp isaac-lab-$container_profile:${DOCKER_ISAACLAB_PATH}/data_storage ./artifacts/data_storage
echo -e "\n[INFO] Finished copying the artifacts from the container."
popd > /dev/null 2>&1
;;
stop)
process_mode_args "${@:3}"
# Check that desired container is running, exit if it isn't
is_container_running isaac-lab-$container_profile
echo "[INFO] Stopping the launched docker container isaac-lab-$container_profile..."
pushd ${SCRIPT_DIR} > /dev/null 2>&1
docker compose --file docker-compose.yaml $add_profiles $add_envs down
docker compose $add_yamls $add_envs $add_profiles down
x11_cleanup
popd > /dev/null 2>&1
;;
Expand Down Expand Up @@ -378,6 +433,11 @@ case $mode in
ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && sbatch $CLUSTER_ISAACLAB_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ISAACLAB_DIR" "isaac-lab-$container_profile" "${@:2}"
fi
;;
config)
process_mode_args "${@:3}"
pushd ${SCRIPT_DIR} > /dev/null 2>&1
docker compose $add_yamls $add_envs $add_profiles config
;;
*)
# Not recognized mode
echo "[Error] Invalid command provided: $mode"
Expand Down
10 changes: 5 additions & 5 deletions docker/docker-compose.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,24 +36,24 @@ x-default-isaac-lab-volumes: &default-isaac-lab-volumes
# be reflected within the container immediately
- type: bind
source: ../source
target: /workspace/isaaclab/source
target: ${DOCKER_ISAACLAB_PATH}/source
- type: bind
source: ../docs
target: /workspace/isaaclab/docs
target: ${DOCKER_ISAACLAB_PATH}/docs
# 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: /workspace/isaaclab/docs/_build
target: ${DOCKER_ISAACLAB_PATH}/docs/_build
- type: volume
source: isaac-lab-logs
target: /workspace/isaaclab/logs
target: ${DOCKER_ISAACLAB_PATH}/logs
- type: volume
source: isaac-lab-data
target: /workspace/isaaclab/data_storage
target: ${DOCKER_ISAACLAB_PATH}/data_storage

x-default-isaac-lab-environment: &default-isaac-lab-environment
- ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim
Expand Down