Enhance Docker workflow with unified mount system and improved cluster operations

.gitignore

@@ -29,6 +29,13 @@
 docker/artifacts/
 *.tmp
 
+# Docker user-specific files
+docker/.env.ext_template
+docker/.env.ext_template-dev
+docker/.mount.config
+docker/docker-compose.override.yaml
+docker/.container.cfg
+
 # Isaac-Sim packman
 _isaac_sim*
 _repo

docker/.env.ext_template-dev.template

@@ -0,0 +1,42 @@
+# =========================
+# Extension Configuration
+# =========================
+EXTENSION_NAME=ext_template
+EXTENSION_FOLDER=/path/to/your/project/folder
+EXT_PATH=$EXTENSION_FOLDER/$EXTENSION_NAME
+DOCKER_EXT_PATH=/workspace/$EXTENSION_NAME
+
+# =========================
+# Docker User Configuration
+# =========================
+HOST_HOME=/home/your_username
+DOCKER_USER_NAME=your_username
+DOCKER_USER_HOME=/home/your_username
+
+# =========================
+# Isaac Sim Configuration
+# =========================
+DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
+
+# =========================
+# Built-in IsaacLab Configuration
+# =========================
+# The built-in IsaacLab is always at /workspace/isaaclab
+DOCKER_ISAACLAB_PATH=/workspace/isaaclab
+
+# =========================
+# External Codebase Mounting
+# =========================
+# External mounts are now configured via the unified mount system.
+# Run './container.sh mount-setup' to configure optional mounts for IsaacLab and RSL-RL.
+
+# =========================
+# NVIDIA Configuration
+# =========================
+ACCEPT_EULA=Y
+
+# =========================
+# WANDB Configuration (Optional)
+# =========================
+# WANDB_API_KEY=your_wandb_api_key
+# WANDB_USERNAME=your_wandb_username

docker/.env.ext_template.template

@@ -0,0 +1,40 @@
+# =========================
+# Extension Configuration
+# =========================
+EXTENSION_NAME=ext_template
+EXT_PATH=/path/to/your/extension
+DOCKER_EXT_PATH=/workspace/$EXTENSION_NAME
+
+# =========================
+# Docker User Configuration
+# =========================
+DOCKER_USER_NAME=root
+DOCKER_USER_HOME=/root
+
+# =========================
+# Isaac Sim Configuration
+# =========================
+DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
+
+# =========================
+# Built-in IsaacLab Configuration
+# =========================
+# The built-in IsaacLab is always at /workspace/isaaclab
+DOCKER_ISAACLAB_PATH=/workspace/isaaclab
+
+# =========================
+# External Codebase Mounting
+# =========================
+# External mounts are now configured via the unified mount system.
+# Run './container.sh mount-setup' to configure optional mounts for IsaacLab and RSL-RL.
+
+# =========================
+# NVIDIA Configuration
+# =========================
+ACCEPT_EULA=Y
+
+# =========================
+# WANDB Configuration (Optional)
+# =========================
+# WANDB_API_KEY=your_wandb_api_key
+# WANDB_USERNAME=your_wandb_username

docker/.mount.config.template

@@ -0,0 +1,22 @@
+{
+  "mounts": {
+    "isaaclab": {
+      "enabled": false,
+      "local_path": "/path/to/your/isaaclab",
+      "cluster_path": "",
+      "container_path": "/workspace/isaaclab",
+      "mount_type": "source",
+      "sync_to_cluster": true,
+      "description": "External IsaacLab installation (mounts only source/ subdirectory to preserve container's Python environment)"
+    },
+    "rsl_rl": {
+      "enabled": false,
+      "local_path": "/path/to/your/rsl_rl",
+      "cluster_path": "",
+      "container_path": "/workspace/isaaclab/_isaac_sim/kit/python/lib/python3.10/site-packages/rsl_rl",
+      "mount_type": "full",
+      "sync_to_cluster": true,
+      "description": "External RSL-RL installation (completely overrides built-in version)"
+    }
+  }
+}

docker/Dockerfile.ext

@@ -0,0 +1,63 @@
+# we use the basic isaaclab image as the base
+FROM isaac-lab-base AS base
+
+# Declare build arguments
+ARG EXTENSION_NAME_ARG
+ARG DOCKER_EXT_PATH_ARG
+ARG DOCKER_USER_NAME_ARG
+ARG DOCKER_USER_HOME_ARG
+
+# Set environment variables
+ENV EXTENSION_NAME=${EXTENSION_NAME_ARG}
+ENV DOCKER_EXT_PATH=${DOCKER_EXT_PATH_ARG}
+ENV DOCKER_USER_NAME=${DOCKER_USER_NAME_ARG}
+ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
+
+# Set the home directory for the user
+ENV HOME=${DOCKER_USER_HOME}
+
+# Create necessary directories for the extension with proper permissions
+RUN mkdir -p ${DOCKER_EXT_PATH}/data && \
+    mkdir -p ${DOCKER_EXT_PATH}/logs && \
+    chmod -R 777 ${DOCKER_EXT_PATH}
+
+
+# Copy the entire extension directory
+COPY --chown=root:root . ${DOCKER_EXT_PATH}
+
+# Install required build dependencies
+RUN --mount=type=cache,target=/root/.cache/pip \
+    /workspace/isaaclab/isaaclab.sh -p -m pip install toml setuptools wheel build
+
+# Install extension with explicit setup dependencies
+RUN --mount=type=cache,target=/root/.cache/pip \
+    cd ${DOCKER_EXT_PATH} && \
+    /workspace/isaaclab/isaaclab.sh -p -m pip install -e source/${EXTENSION_NAME} --no-build-isolation
+
+
+
+# (Do not remove the DOCKER_EXT_PATH folder; keep it for the bind mount)
+
+# Minimal system packages for container functionality
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    gosu && \
+    rm -rf /var/lib/apt/lists/*
+
+#==
+# Environment
+#==
+COPY docker/bashrc /home/bash.bashrc
+RUN chmod a+rwx /home/bash.bashrc
+COPY docker/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# Set up Python alias
+RUN echo "alias python3='${ISAACLAB_PATH}/isaaclab.sh -p'" >> /home/bash.bashrc && \
+    echo "alias python='${ISAACLAB_PATH}/isaaclab.sh -p'" >> /home/bash.bashrc
+
+# Set working directory
+WORKDIR ${DOCKER_USER_HOME}
+
+# Set the entry point
+ENTRYPOINT ["/entrypoint.sh"]

docker/Dockerfile.ext-dev

@@ -0,0 +1,123 @@
+# Unified Development Container with ROS2 and Dual-Mode Support
+# Supports both root and rootless operation modes
+FROM isaac-lab-ros2 AS base
+
+# =========================
+# Build Arguments and ENV
+# =========================
+ARG EXTENSION_NAME_ARG
+ARG EXT_PATH_ARG
+ARG DOCKER_EXT_PATH_ARG
+ARG DOCKER_USER_NAME_ARG
+ARG DOCKER_USER_HOME_ARG
+
+ENV EXT_PATH=${EXT_PATH_ARG} \
+    EXTENSION_NAME=${EXTENSION_NAME_ARG} \
+    DOCKER_EXT_PATH=${DOCKER_EXT_PATH_ARG} \
+    DOCKER_USER_NAME=${DOCKER_USER_NAME_ARG} \
+    DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG} \
+    HOME=${DOCKER_USER_HOME}
+
+# =========================
+# Create User (for root mode)
+# =========================
+RUN useradd -d ${DOCKER_USER_HOME} -s /bin/bash ${DOCKER_USER_NAME} || true
+
+# =========================
+# Install Minimal System Dependencies
+# =========================
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    gosu \
+    git \
+    git-lfs \
+    curl \
+    python3-colcon-common-extensions && \
+    rm -rf /var/lib/apt/lists/*
+
+# =========================
+# Configure Git LFS
+# =========================
+RUN git lfs install
+
+# =========================
+# Install Colcon Mixin
+# =========================
+RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update default
+
+# =========================
+# Install Minimal Python Dependencies
+# =========================
+# Users should add their own dependencies as needed
+
+# =========================
+# Install Basic Development Tools
+# =========================
+RUN ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install --no-cache-dir \
+    pytest \
+    ruff
+
+
+# =========================
+# ROS2 Core Packages Only
+# =========================
+# Users should install additional ROS2 packages as needed
+# Example: apt-get install ros-humble-xacro ros-humble-tf2
+
+# =========================
+# Setup Extension Directories
+# =========================
+RUN mkdir -p ${DOCKER_EXT_PATH}/data ${DOCKER_EXT_PATH}/logs && \
+    chmod -R 777 ${DOCKER_EXT_PATH}
+
+# =========================
+# Copy and Install Extension
+# =========================
+COPY --chown=root:root source/${EXTENSION_NAME} ${DOCKER_EXT_PATH}/source/${EXTENSION_NAME}
+RUN --mount=type=cache,target=/root/.cache/pip \
+    cd ${DOCKER_EXT_PATH} && \
+    ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e source/${EXTENSION_NAME}
+
+# =========================
+# Clean Up Extension Directory
+# =========================
+RUN rm -rf ${DOCKER_EXT_PATH}/source/${EXTENSION_NAME}
+
+
+
+# =========================
+# Set Ownership and Permissions
+# =========================
+# Make kit directory accessible to all users
+RUN chmod -R 777 /isaac-sim/kit
+
+# Create alternative home for rootless mode
+RUN mkdir -p /root/project && chmod 777 /root/project
+
+# =========================
+# Environment Setup
+# =========================
+COPY docker/bashrc /home/bash.bashrc
+RUN chmod a+rwx /home/bash.bashrc
+
+# Copy bashrc also to root for rootless mode
+RUN cp /home/bash.bashrc /root/.bashrc
+
+# Dynamic entrypoint that handles both modes
+COPY docker/dynamic_entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# =========================
+# Set Up Python Aliases
+# =========================
+RUN echo "alias python3='${ISAACLAB_PATH}/isaaclab.sh -p'" >> /home/bash.bashrc && \
+    echo "alias python='${ISAACLAB_PATH}/isaaclab.sh -p'" >> /home/bash.bashrc && \
+    echo "alias python3='${ISAACLAB_PATH}/isaaclab.sh -p'" >> /root/.bashrc && \
+    echo "alias python='${ISAACLAB_PATH}/isaaclab.sh -p'" >> /root/.bashrc
+
+# =========================
+# Final Configuration
+# =========================
+WORKDIR ${DOCKER_USER_HOME}
+ENTRYPOINT ["/entrypoint.sh"]