Adds custom docker file for the project (#36)

A temporary solution. It isn't perfect as the utilities from
`ContainerInterface` in IsaacLab hasn't been propogated.

Fixes #8

Author: Mayankm96

.dockerignore

@@ -0,0 +1,23 @@
+# ignore .git related folders
+.git/
+.github/
+.gitignore
+# ignore docs
+docs/
+# ignore logs
+**/logs/
+**/runs/
+**/output/*
+**/outputs/*
+**/videos/*
+*.tmp
+# ignore docker
+docker/cluster/exports/
+docker/.container.cfg
+# ignore recordings
+recordings/
+# ignore __pycache__
+**/__pycache__/
+**/*.egg-info/
+# ignore isaac sim symlink
+_isaac_sim?

README.md

@@ -79,6 +79,80 @@ To enable your extension, follow these steps:
     - Find your extension under the `Third Party` category.
     - Toggle it to enable your extension.
 
+## Docker setup
+
+### Building Isaac Lab Base Image
+
+Currently, we don't have the Docker for Isaac Lab publicly available. Hence, you'd need to build the docker image
+for Isaac Lab locally by following the steps [here](https://isaac-sim.github.io/IsaacLab/source/deployment/index.html).
+
+Once you have built the base Isaac Lab image, you can check it exists by doing:
+
+```bash
+docker images
+
+# Output should look something like:
+#
+# REPOSITORY                       TAG       IMAGE ID       CREATED          SIZE
+# isaac-lab-base                   latest    28be62af627e   32 minutes ago   18.9GB
+```
+
+### Building Isaac Lab Template Image
+
+Following above, you can build the docker container for this project. It is called `isaac-lab-template`. However,
+you can modify this name inside the [`docker/docker-compose.yaml`](docker/docker-compose.yaml).
+
+```bash
+cd docker
+docker compose --env-file .env.base --file docker-compose.yaml build isaac-lab-template
+```
+
+You can verify the image is built successfully using the same command as earlier:
+
+```bash
+docker images
+
+# Output should look something like:
+#
+# REPOSITORY                       TAG       IMAGE ID       CREATED             SIZE
+# isaac-lab-template               latest    00b00b647e1b   2 minutes ago       18.9GB
+# isaac-lab-base                   latest    892938acb55c   About an hour ago   18.9GB
+```
+
+### Running the container
+
+After building, the usual next step is to start the containers associated with your services. You can do this with:
+
+```bash
+docker compose --env-file .env.base --file docker-compose.yaml up
+```
+
+This will start the services defined in your `docker-compose.yaml` file, including isaac-lab-template.
+
+If you want to run it in detached mode (in the background), use:
+
+```bash
+docker compose --env-file .env.base --file docker-compose.yaml up -d
+```
+
+### Interacting with a running container
+
+If you want to run commands inside the running container, you can use the `exec` command:
+
+```bash
+docker exec --interactive --tty -e DISPLAY=${DISPLAY} isaac-lab-template /bin/bash
+```
+
+### Shutting down the container
+
+When you are done or want to stop the running containers, you can bring down the services:
+
+```bash
+docker compose --env-file .env.base --file docker-compose.yaml down
+```
+
+This stops and removes the containers, but keeps the images.
+
 ## Code formatting
 
 We have a pre-commit template to automatically format your code.

docker/.env.base

@@ -0,0 +1,8 @@
+###
+# General settings
+###
+
+# Isaac Lab base image
+ISAACLAB_BASE_IMAGE=isaac-lab-base
+# The Isaac Lab Extension Template path in the container
+DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH=/workspace/isaaclab_extension_template

docker/Dockerfile

@@ -0,0 +1,21 @@
+ARG ISAACLAB_BASE_IMAGE_ARG
+
+# we use the basic isaaclab image as the base
+FROM ${ISAACLAB_BASE_IMAGE_ARG} AS base
+
+ARG DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH_ARG
+ENV DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH=${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH_ARG}
+
+USER root
+
+# Copy the Isaac Lab Extension Template directory (files to exclude are defined in .dockerignore)
+COPY ../ ${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}
+
+# # Install whatever you need as additional dependencies.
+RUN bash -i -c "source ${HOME}/.bashrc && \
+    cd ${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}/exts/ext_template && \
+    pip install -e ."
+
+# make working directory as the Isaac Lab directory
+# this is the default directory when the container is run
+WORKDIR /workspace

docker/docker-compose.yaml

@@ -0,0 +1,33 @@
+x-default-isaac-lab-template-environment: &default-isaac-lab-template-environment
+  - OMNI_KIT_ALLOW_ROOT=1
+
+x-default-isaac-lab-template-deploy: &default-isaac-lab-template-deploy
+  resources:
+    reservations:
+      devices:
+        - driver: nvidia
+          count: all
+          capabilities: [ gpu ]
+
+services:
+  isaac-lab-template:
+    env_file: .env.base
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile
+      args:
+        - ISAACLAB_BASE_IMAGE_ARG=${ISAACLAB_BASE_IMAGE}
+        - DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH_ARG=${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}
+    image: isaac-lab-template
+    container_name: isaac-lab-template
+    volumes:
+      - type: bind
+        source: ../
+        target: ${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}
+    network_mode: host
+    environment: *default-isaac-lab-template-environment
+    deploy: *default-isaac-lab-template-deploy
+    # This is the entrypoint for the container
+    entrypoint: bash
+    stdin_open: true
+    tty: true