docker-compose.yaml

# Here we set the parts that would
# be re-used 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
    # 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
  - type: bind
    source: /tmp/.X11-unix
    target: /tmp/.X11-unix
  - type: bind
    source: /etc/localtime
    target: /etc/localtime
    read_only: true

x-default-isaac-extasks-volumes: &default-isaac-extasks-volumes
  - 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
    # 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
  - type: bind
    source: /tmp/.X11-unix
    target: /tmp/.X11-unix
  - type: bind
    source: /etc/localtime
    target: /etc/localtime
    read_only: true
  - type: bind
    source: ./
    target: ${ISAACEXTASKS_PATH}

x-default-isaac-lab-environment: &default-isaac-lab-environment
  - ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim
  - OMNI_KIT_ALLOW_ROOT=1
  - DISPLAY
  - TERM
  - QT_X11_NO_MITSHM=1
  - XAUTHORITY=${__ISAACLAB_TMP_XAUTH}
  - MESA_GL_VERSION_OVERRIDE

x-default-isaac-lab-deploy: &default-isaac-lab-deploy
  resources:
    reservations:
      devices:
        - driver: nvidia
          count: all
          capabilities: [ gpu ]

services:
  desktop:
    image: ghcr.io/matsuolab/virtual_desktop:latest
    runtime: nvidia
    environment: *default-isaac-lab-environment
    ports:
      - "${WEB_PORT}:6080"
    volumes:
      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
    security_opt:
      - seccomp:unconfined

    deploy: *default-isaac-lab-deploy
  # This service is the base Isaac Lab image
  isaac-lab-base:
    profiles: [ "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
    depends_on:
      - desktop
    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 IsaacExtendedTasks extension
  # installation on top of the base image
  isaac-lab-extasks:
    profiles: [ "extasks" ]
    build:
      context: ./
      dockerfile: docker/Dockerfile.extasks
      args:
        # ISAACEXTASKS_PATH_ARG will default to NONE.
        # This is to avoid a warning message when building
        # only the base profile with the .env.base file
        - ISAACEXTASKS_PATH_ARG=${ISAACEXTASKS_PATH:-NONE}
    image: isaac-lab-extasks
    depends_on:
      - desktop
    environment: *default-isaac-lab-environment
    volumes: *default-isaac-extasks-volumes
    network_mode: host
    deploy: *default-isaac-lab-deploy
    # This is the entrypoint for the container
    entrypoint: ["./docker/entrypoint.sh", "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: