Enhance Docker workflow with unified mount system and improved cluster operations #56
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…eworks_ext - Replace simple Docker setup with comprehensive 2-container architecture - Add production container (ext) for cluster deployment - Add development container (ext-dev) with ROS2 and dual-mode support - Implement unified mount system for optional IsaacLab/RSL-RL mounts - Add cluster workflow scripts for SLURM/PBS job submission - Include mount configuration system with validation - Add container management script (container.sh) for easier usage - Support both root and rootless Docker operation modes - Add comprehensive documentation (MOUNT_SYSTEM_GUIDE.md, DOCKER_ARCHITECTURE.md) - Update .gitignore to exclude user-specific configuration files This brings the IsaacLabExtensionTemplate up to par with the advanced Docker and cluster capabilities developed in moleworks_ext. 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <[email protected]>
- Merged DOCKER_ARCHITECTURE.md and MOUNT_SYSTEM_GUIDE.md into docker/README.md - Created docker/cluster/README.md for cluster-specific operations - Added missing sync_experiments.sh script from moleworks_ext - Follows moleworks_ext documentation structure
- Remove extends directive from isaac-lab-ext-dev-rootless service - Add full service definition with privileged: false for rootless mode - Include all necessary service properties (network_mode, ipc, deploy, etc.) - This ensures proper permissions without requiring privileged access
- Update Python aliases to use isaaclab.sh -p wrapper for proper environment setup - Enhance container UX with 🐳 DOCKER prompt and welcome banner - Fix bashrc sourcing to ensure proper shell environment loading - Support Docker prompt indicator when home directory is mounted - Add explicit entrypoint declarations in docker-compose services
- Use dynamic_entrypoint.sh for development containers - Remove figlet dependency that was causing startup errors - Ensure proper Docker visual indicators are displayed
- Correct entrypoint path from /dynamic_entrypoint.sh to /entrypoint.sh - Ensure containers start properly with Docker visual indicators
- Fix cluster user variable expansion in mount paths - Fix script argument passing through SSH and job submission - Add proper error handling for mount configuration parsing - Add debug output for troubleshooting cluster jobs
- Add NVIDIA Container Toolkit prerequisite with installation link - Clarify timestamped directory creation for cluster jobs - Fix job output location references for SLURM/PBS - Add troubleshooting for mount path variable expansion - Add Docker/Apptainer version compatibility information - Improve GPU troubleshooting with toolkit verification step
- Remove automatic RSL-RL installation from both production and dev containers - Remove RTX sensor symlink creation (no longer needed) - Update documentation to reflect RSL-RL is not included by default - Remove migration guide section from Docker README
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Summary
This PR introduces a unified mount configuration system for Docker containers and enhances cluster deployment workflows, making it easier to develop
with external IsaacLab/RSL-RL installations and deploy to HPC clusters.
Key Features
1. Unified Mount Configuration System
mount-setupwizard for interactive configuration of external codebase mountsdocker-compose.override.yamlfrom.mount.configmount-enable,mount-disable,mount-set,mount-show2. Enhanced Cluster Operations
$CLUSTER_USERin mount paths3. Developer Experience Improvements
run_dev.shscript for quick development container access--rootlessflag for environments without root Docker access--fix-permsflag to automatically fix file ownership issues4. Documentation Updates
Usage Examples