Skip to content

README.md

Latest commit

 

History

History
112 lines (82 loc) · 2.51 KB

README.md

File metadata and controls

112 lines (82 loc) · 2.51 KB
Raw

Docker Installation and Usage

The Docker workflow is the recommended installation path for robo_orchard_sim. It provides the tested simulation stack while keeping it isolated from the host Python environment.

Prerequisites

  • Linux with an NVIDIA driver
  • Docker Engine
  • NVIDIA Container Toolkit
  • An X11 display for GUI execution
  • The simulation assets described in the root installation guide

Software Stack

  • Ubuntu 22.04
  • CUDA 11.8
  • Python 3.10
  • GCC 11.4
  • PyTorch 2.5.1 with CUDA 11.8
  • Isaac Sim 4.5.0
  • Isaac Lab 2.0.2
  • cuRobo

Get the Image

Pull From Docker Hub

Pull the prebuilt image:

docker pull horizonrobotics/robo_orchard_sim:cuda11.8-ubuntu22.04-py3.10-isaacsim4.5.0-isaaclab2.0.2-curobo-gui-v1.0

Run With GUI

Run these commands from the repository root on a machine with an NVIDIA driver and X11 display:

export CONTAINER_NAME=robo-orchard-sim
export HOST_WORKSPACE=/absolute/path/to/your/robo_orchard_sim
export ASSETS_DIR=/absolute/path/to/sim_task_suite_assets
bash docker/run_container.sh

The launcher maps the host asset directory into the container as follows:

ASSETS_DIR (host)
  -> CONTAINER_ASSETS (container, default: /assets)
     -> ORCHARD_ASSET=/assets
     -> NV_ASSET_ROOT_DIR=/assets/NVIDIA/Assets/Isaac/4.1

To use a different container mount point, set CONTAINER_ASSETS before running the launcher:

export CONTAINER_ASSETS=/data/assets
bash docker/run_container.sh

The launcher mounts HOST_WORKSPACE at /workspace and opens an interactive Bash shell there.

Configure and Verify the Container

The commands in this section run inside the container.

Install robo_orchard_sim from the mounted repository:

git clone <repo-url>
cd robo_orchard_sim
make install-editable

Verify that Isaac Sim is importable:

python3 -c "import isaacsim; print('isaacsim ok')"

Optional: VSCode/Cursor Compatibility

To attach VSCode or Cursor to the running container, apply these compatibility fixes once inside the container as root:

ln -sf /usr/lib/os-release /etc/os-release

cat >/usr/local/bin/base64 <<'EOF'
#!/bin/sh
if [ "$1" = "-D" ]; then
  shift
  exec /usr/bin/base64 -d "$@"
fi
exec /usr/bin/base64 "$@"
EOF

chmod +x /usr/local/bin/base64

Notes

  • This image is intended for robo_orchard_sim distribution, not as a generic public base image.
  • The image includes Isaac Sim, Isaac Lab, and cuRobo. Users must follow the applicable NVIDIA software terms.