add isaac sim 2023 support and dockerfiles

2023-11-04 09:32:30 -07:00
parent f2eb5f937a
commit 102c5d6ab2
41 changed files with 1284 additions and 622 deletions
--- a/docker/README.md
+++ b/docker/README.md
@@ -10,27 +10,5 @@ its affiliates is strictly prohibited.
 -->
 # Docker Instructions

-## Running docker from NGC (Recommended)
-1. `sh build_user_docker.sh $UID`
-2. `sh start_docker_x86.sh` will start the docker
-
-## Building your own docker image with CuRobo
-1. Add default nvidia runtime to enable cuda compilation during docker build:
-    ```
-    Edit/create the /etc/docker/daemon.json with content:
-    {
-    "runtimes": {
-        "nvidia": {
-            "path": "/usr/bin/nvidia-container-runtime",
-            "runtimeArgs": []
-         } 
-    },
-    "default-runtime": "nvidia" # ADD this line (the above lines will already exist in your json file)
-    }
-    ```
-2. `sh pull_repos.sh`
-3. `bash build_dev_docker.sh`
-4. Change the docker image name in `user.dockerfile`
-5. `sh build_user_docker.sh`
-6. `sh start_docker_x86.sh` will start the docker
-
+Check [Docker Development](https://curobo.org/source/getting_started/5_docker_development.html) for
+instructions.
--- a/docker/aarch64.dockerfile
+++ b/docker/aarch64.dockerfile
@@ -0,0 +1,167 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3 AS l4t_pytorch
+
+# Install ros components:
+RUN apt-get update &&\
+    apt-get install -y sudo git bash unattended-upgrades glmark2 &&\
+    rm -rf /var/lib/apt/lists/*
+
+
+# Deal with getting tons of debconf messages
+# See: https://github.com/phusion/baseimage-docker/issues/58
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
+# TODO: Don't hardcode timezone setting to Los_Angeles, pull from host computer
+# Set timezone info
+RUN apt-get update && apt-get install -y \
+  tzdata \
+  && rm -rf /var/lib/apt/lists/* \
+  && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
+  && echo "America/Los_Angeles" > /etc/timezone \
+  && dpkg-reconfigure -f noninteractive tzdata
+
+# Install apt-get packages necessary for building, downloading, etc
+# NOTE: Dockerfile best practices recommends having apt-get update
+# and install commands in one line to avoid apt-get caching issues.
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#run
+RUN apt-get update && apt-get install -y \
+  curl \
+  lsb-core \
+  software-properties-common \
+  wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN add-apt-repository -y ppa:git-core/ppa
+
+RUN apt-get update && apt-get install -y \
+  build-essential \
+  cmake \
+  git \
+  git-lfs \
+  iputils-ping \
+  make \
+  openssh-server \
+  openssh-client \
+  libeigen3-dev \
+  libssl-dev \
+  python3-pip \
+  python3-ipdb \
+  python3-tk \
+  python3-wstool \
+  sudo git bash unattended-upgrades \
+  apt-utils \
+  terminator \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG ROS_PKG=ros_base # desktop does not work
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV ROS_PYTHON_VERSION=3
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+WORKDIR /workspace
+
+
+#
+# add the ROS deb repo to the apt sources list
+#
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          git \
+		cmake \
+		build-essential \
+		curl \
+		wget \
+		gnupg2 \
+		lsb-release \
+		ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+
+#
+# install bootstrap dependencies
+#
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          libpython3-dev \
+          python3-rosdep \
+          python3-rosinstall-generator \
+          python3-vcstool \
+          build-essential && \
+    rosdep init && \
+    rosdep update && \
+    rm -rf /var/lib/apt/lists/*
+
+
+#
+# download/build the ROS source
+#
+RUN mkdir ros_catkin_ws && \
+    cd ros_catkin_ws && \
+    rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
+    mkdir src && \
+    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
+    apt-get update && \
+    rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
+    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /var/lib/apt/lists/*
+
+
+RUN pip3 install trimesh \
+  numpy-quaternion \
+  networkx \
+  pyyaml \
+  rospkg \ 
+  rosdep \
+  empy
+
+# warp from https://github.com/NVIDIA/warp needs to be compiled locally and then 
+# placed in curobo/docker/pkgs. 
+# Run the following from your terminal:
+# cd curobo/docker && mkdir pkgs && cd pkgs && git clone https://github.com/NVIDIA/warp.git
+# cd warp && python build_libs.py
+# 
+# copy pkgs directory:
+COPY pkgs /pkgs
+
+# install warp:
+# 
+RUN cd /pkgs/warp && python3 build_lib.py && pip3 install .
+
+# install curobo:
+
+RUN cd /pkgs && git clone https://github.com/NVlabs/curobo.git
+
+
+RUN cd /pkgs/curobo && pip3 install . --no-build-isolation
+
+# Optionally install nvblox:
+
+RUN apt-get update && \
+    apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
+    cd /usr/src/googletest && cmake . && cmake --build . --target install && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN cd /pkgs &&  git clone https://github.com/valtsblukis/nvblox.git && \
+    cd nvblox && cd nvblox && mkdir build && cd build && \
+    cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
+    make -j32 && \
+    make install
+
+RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
+    cd nvblox_torch && \
+    sh install.sh
+
--- a/docker/build_dev_docker.sh
+++ b/docker/build_dev_docker.sh
@@ -12,21 +12,35 @@


 # This script will create a dev docker. Run this script by calling `bash build_dev_docker.sh`
-
-# Make sure you have pulled all required repos into pkgs folder (see pull_repos.sh script)
+# If you want to build a isaac sim docker, run this script with `bash build_dev_docker.sh isaac`

 # Check architecture to build:
 arch=`uname -m`

-if [ ${arch} == "x86_64" ]; then
+image_tag="x86"
+isaac_sim_version=""
+
+if [ $1 == "isaac_sim_2022.2.1" ]; then
+    echo "Building Isaac Sim docker"
+    dockerfile="isaac_sim.dockerfile"
+    image_tag="isaac_sim_2022.2.1"
+    isaac_sim_version="2022.2.1"
+elif [ $1 == "isaac_sim_2023.1.0" ]; then
+    echo "Building Isaac Sim headless docker"
+    dockerfile="isaac_sim.dockerfile"
+    image_tag="isaac_sim_2023.1.0"
+    isaac_sim_version="2023.1.0"
+elif [ ${arch} == "x86" ]; then
    echo "Building for X86 Architecture"
    dockerfile="x86.dockerfile"
+    image_tag="x86"
 elif [ ${arch} = "aarch64" ]; then
    echo "Building for ARM Architecture"
-    dockerfile="arm64.dockerfile"
+    dockerfile="aarch64.dockerfile"
+    image_tag="aarch64"
 else
-    echo "Unknown Architecture, defaulting to " + ${arch}
-    dockerfile="x86.dockerfile"
+    echo "Unknown Architecture"
+    exit
 fi

 # build docker file:
@@ -43,4 +57,5 @@ fi
 # }
 # 
 echo "${dockerfile}"
-docker build -t curobo_docker:latest -f ${dockerfile} .
+
+docker build --build-arg ISAAC_SIM_VERSION=${isaac_sim_version} -t curobo_docker:${image_tag} -f ${dockerfile} . 
--- a/docker/build_user_docker.sh
+++ b/docker/build_user_docker.sh
@@ -8,4 +8,8 @@
 ## without an express license agreement from NVIDIA CORPORATION or
 ## its affiliates is strictly prohibited.
 ##
-docker build --build-arg USERNAME=$USER --no-cache --build-arg USER_ID=$1 --tag curobo_user_docker:latest -f user.dockerfile . 
+
+echo $1
+echo $2
+
+docker build --build-arg USERNAME=$USER --no-cache --build-arg USER_ID=$1 --build-arg IMAGE_TAG=$2 -f user.dockerfile --tag curobo_docker:user_$2 . 
--- a/docker/isaac_sim.dockerfile
+++ b/docker/isaac_sim.dockerfile
@@ -0,0 +1,247 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+ARG DEBIAN_FRONTEND=noninteractive
+ARG BASE_DIST=ubuntu20.04
+ARG CUDA_VERSION=11.4.2
+ARG ISAAC_SIM_VERSION=2022.2.1
+
+
+FROM nvcr.io/nvidia/isaac-sim:${ISAAC_SIM_VERSION} AS isaac-sim
+
+FROM nvcr.io/nvidia/cudagl:${CUDA_VERSION}-devel-${BASE_DIST}
+
+# this does not work for 2022.2.1
+#$FROM nvcr.io/nvidia/cuda:${CUDA_VERSION}-cudnn8-devel-${BASE_DIST} 
+
+LABEL maintainer "User Name"
+
+ARG VULKAN_SDK_VERSION=1.3.224.1
+
+
+
+# Deal with getting tons of debconf messages
+# See: https://github.com/phusion/baseimage-docker/issues/58
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
+
+# add GL if using a cuda docker instead of cudagl:
+#RUN apt-get update && apt-get install -y --no-install-recommends \
+#        pkg-config \
+#        libglvnd-dev \
+#        libgl1-mesa-dev \
+#        libegl1-mesa-dev \
+#        libgles2-mesa-dev && \
+#    rm -rf /var/lib/apt/lists/*
+
+# Set timezone info
+RUN apt-get update && apt-get install -y \
+  tzdata \
+  software-properties-common \
+  && rm -rf /var/lib/apt/lists/* \
+  && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
+  && echo "America/Los_Angeles" > /etc/timezone \
+  && dpkg-reconfigure -f noninteractive tzdata \
+  && add-apt-repository -y ppa:git-core/ppa \
+  && apt-get update && apt-get install -y \
+  curl \
+  lsb-core \
+  wget \
+  build-essential \
+  cmake \
+  git \
+  git-lfs \
+  iputils-ping \
+  make \
+  openssh-server \
+  openssh-client \
+  libeigen3-dev \
+  libssl-dev \
+  python3-pip \
+  python3-ipdb \
+  python3-tk \
+  python3-wstool \
+  sudo git bash unattended-upgrades \
+  apt-utils \
+  terminator \
+  && rm -rf /var/lib/apt/lists/*
+
+
+# https://catalog.ngc.nvidia.com/orgs/nvidia/containers/cudagl
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libatomic1 \
+    libegl1 \
+    libglu1-mesa \
+    libgomp1 \
+    libsm6 \
+    libxi6 \
+    libxrandr2 \
+    libxt6 \
+    libfreetype-dev \
+    libfontconfig1 \
+    openssl \
+    libssl1.1 \
+    wget \
+    vulkan-utils \
+&& apt-get -y autoremove \
+&& apt-get clean autoclean \
+&& rm -rf /var/lib/apt/lists/*
+
+
+
+# Download the Vulkan SDK and extract the headers, loaders, layers and binary utilities
+RUN wget -q --show-progress \
+    --progress=bar:force:noscroll \
+    https://sdk.lunarg.com/sdk/download/${VULKAN_SDK_VERSION}/linux/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \
+    -O /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \ 
+    && echo "Installing Vulkan SDK ${VULKAN_SDK_VERSION}" \
+    && mkdir -p /opt/vulkan \
+    && tar -xf /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz -C /opt/vulkan \
+    && mkdir -p /usr/local/include/ && cp -ra /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/include/* /usr/local/include/ \
+    && mkdir -p /usr/local/lib && cp -ra /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/lib/* /usr/local/lib/ \
+    && cp -a /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/lib/libVkLayer_*.so /usr/local/lib \
+    && mkdir -p /usr/local/share/vulkan/explicit_layer.d \
+    && cp /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/etc/vulkan/explicit_layer.d/VkLayer_*.json /usr/local/share/vulkan/explicit_layer.d \
+    && mkdir -p /usr/local/share/vulkan/registry \
+    && cp -a /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/share/vulkan/registry/* /usr/local/share/vulkan/registry \
+    && cp -a /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/bin/* /usr/local/bin \
+    && ldconfig \
+    && rm /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz && rm -rf /opt/vulkan
+
+
+# Setup the required capabilities for the container runtime    
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
+# Open ports for live streaming
+EXPOSE 47995-48012/udp \
+       47995-48012/tcp \
+       49000-49007/udp \
+       49000-49007/tcp \
+       49100/tcp \
+       8011/tcp \
+       8012/tcp \
+       8211/tcp \
+       8899/tcp \
+       8891/tcp
+
+ENV OMNI_SERVER http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/${ISAAC_SIM_VERSION}
+# ENV OMNI_SERVER omniverse://localhost/NVIDIA/Assets/Isaac/2022.1
+# ENV OMNI_USER admin
+# ENV OMNI_PASS admin
+ENV MIN_DRIVER_VERSION 525.60.11
+
+# Copy Isaac Sim files
+COPY --from=isaac-sim /isaac-sim /isaac-sim
+RUN mkdir -p /root/.nvidia-omniverse/config
+COPY --from=isaac-sim /root/.nvidia-omniverse/config /root/.nvidia-omniverse/config
+COPY --from=isaac-sim /etc/vulkan/icd.d/nvidia_icd.json /etc/vulkan/icd.d/nvidia_icd.json
+COPY --from=isaac-sim /etc/vulkan/icd.d/nvidia_icd.json /etc/vulkan/implicit_layer.d/nvidia_layers.json
+
+WORKDIR /isaac-sim
+
+
+ENV TORCH_CUDA_ARCH_LIST="7.0+PTX"
+
+
+
+
+# create an alias for omniverse python
+ENV omni_python='/isaac-sim/python.sh'
+
+RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /.bashrc
+
+RUN $omni_python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
+
+# if you want to use a different version of curobo, create folder as docker/pkgs and put your
+# version of curobo there. Then uncomment below line and comment the next line that clones from 
+# github
+
+# COPY pkgs /pkgs
+
+RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git
+
+RUN $omni_python -m pip install ninja wheel tomli
+
+
+RUN cd /pkgs/curobo && $omni_python -m pip install .[dev, isaac_sim] --no-build-isolation
+
+# Optionally install nvblox:
+
+RUN apt-get update && \
+    apt-get install -y curl tcl && \
+    rm -rf /var/lib/apt/lists/*
+
+
+
+# install gflags and glog statically, instructions from: https://github.com/nvidia-isaac/nvblox/blob/public/docs/redistributable.md
+
+RUN cd /pkgs && git clone https://github.com/sqlite/sqlite.git -b version-3.39.4 && \
+    cd /pkgs/sqlite && CFLAGS=-fPIC ./configure --prefix=/pkgs/sqlite/install/ && \
+    make && make install
+
+
+RUN cd /pkgs && git clone https://github.com/google/glog.git -b v0.4.0 && \
+    cd glog && \
+    mkdir build && cd build && \
+    cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    -DCMAKE_INSTALL_PREFIX=/pkgs/glog/install/ \
+    -DWITH_GFLAGS=OFF -DBUILD_SHARED_LIBS=OFF \ 
+    && make -j8 && make install
+
+
+RUN cd /pkgs && git clone https://github.com/gflags/gflags.git -b v2.2.2 && \
+    cd gflags &&  \
+    mkdir build && cd build && \
+    cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    -DCMAKE_INSTALL_PREFIX=/pkgs/gflags/install/ \
+    -DGFLAGS_BUILD_STATIC_LIBS=ON -DGFLAGS=google \
+    && make -j8 && make install
+
+RUN cd /pkgs && git clone https://github.com/google/googletest.git -b v1.14.0 && \
+    cd googletest && mkdir build && cd build && cmake .. && make -j8 && make install
+
+RUN cd /pkgs &&  git clone https://github.com/valtsblukis/nvblox.git
+
+RUN cd /pkgs/nvblox/nvblox && mkdir build && cd build && \
+    cmake .. -DPRE_CXX11_ABI_LINKABLE=ON -DBUILD_REDISTRIBUTABLE=ON -DSQLITE3_BASE_PATH="/pkgs/sqlite/install/" -DGLOG_BASE_PATH="/pkgs/glog/install/" -DGFLAGS_BASE_PATH="/pkgs/gflags/install/" && \
+    make -j32 && \
+    make install
+
+# install newer cmake and glog for pytorch:
+# TODO: use libgoogle from source that was compiled instead.
+
+RUN apt-get update && \
+    apt-get install -y libgoogle-glog-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN cd /pkgs && wget https://cmake.org/files/v3.19/cmake-3.19.5.tar.gz && \
+    tar -xvzf cmake-3.19.5.tar.gz && \
+    apt update &&  apt install -y build-essential checkinstall zlib1g-dev libssl-dev && \
+    cd cmake-3.19.5 && ./bootstrap && \
+    make -j8 && \
+    make install &&  rm -rf /var/lib/apt/lists/*
+
+
+ENV cudnn_version=8.2.4.15
+ENV cuda_version=cuda11.4
+RUN apt update && apt-get install -y libcudnn8=${cudnn_version}-1+${cuda_version} libcudnn8-dev=${cudnn_version}-1+${cuda_version} && \
+    rm -rf /var/lib/apt/lists/*
+
+
+RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
+    cd /pkgs/nvblox_torch && \
+    sh install_isaac_sim.sh $($omni_python -c 'import torch.utils; print(torch.utils.cmake_prefix_path)') && \
+    $omni_python -m pip install -e .
+
+# install realsense for nvblox demos:
+RUN $omni_python -m pip install pyrealsense2 opencv-python transforms3d
+
+
--- a/docker/start_dev_docker.sh
+++ b/docker/start_dev_docker.sh
@@ -0,0 +1,49 @@
+#!/bin/bash
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+
+if [ $1 == "x86" ]; then
+
+    docker run --rm -it \
+    --privileged \
+    -e NVIDIA_DISABLE_REQUIRE=1 \
+    -e NVIDIA_DRIVER_CAPABILITIES=all  --device /dev/dri \
+    --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
+    --hostname ros1-docker \
+    --add-host ros1-docker:127.0.0.1 \
+    --gpus all \
+    --network host \
+    --env DISPLAY=unix$DISPLAY \
+    --volume /tmp/.X11-unix:/tmp/.X11-unix \
+    --volume /dev:/dev \
+    curobo_docker:user_$1
+
+elif [ $1 == "aarch64" ]; then
+
+    docker run --rm -it \
+    --runtime nvidia \
+    --hostname ros1-docker \
+    --add-host ros1-docker:127.0.0.1 \
+    --network host \
+    --gpus all \
+    --env ROS_HOSTNAME=localhost \
+    --env DISPLAY=$DISPLAY \
+    --volume /tmp/.X11-unix:/tmp/.X11-unix \
+    --volume /dev/input:/dev/input \
+    --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
+    curobo_docker:user_$1
+
+elif [[ $1 == *isaac_sim* ]] ; then
+   echo "Isaac Sim Dev Docker is not supported" 
+else
+    echo "Unknown docker"
+fi
--- a/docker/start_docker.sh
+++ b/docker/start_docker.sh
@@ -0,0 +1,62 @@
+#!/bin/bash
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+if [ $1 == "x86" ]; then
+
+    docker run --rm -it \
+    --privileged \
+    -e NVIDIA_DISABLE_REQUIRE=1 \
+    -e NVIDIA_DRIVER_CAPABILITIES=all  --device /dev/dri \
+    --hostname ros1-docker \
+    --add-host ros1-docker:127.0.0.1 \
+    --gpus all \
+    --network host \
+    --env DISPLAY=unix$DISPLAY \
+    --volume /tmp/.X11-unix:/tmp/.X11-unix \
+    --volume /dev:/dev \
+    curobo_docker:$1
+
+elif [ $1 == "aarch64" ]; then
+
+    docker run --rm -it \
+    --runtime nvidia \
+    --hostname ros1-docker \
+    --add-host ros1-docker:127.0.0.1 \
+    --network host \
+    --gpus all \
+    --env ROS_HOSTNAME=localhost \
+    --env DISPLAY=$DISPLAY \
+    --volume /tmp/.X11-unix:/tmp/.X11-unix \
+    --volume /dev/input:/dev/input \
+    curobo_docker:$1
+
+elif [[ $1 == *isaac_sim* ]] ; then
+
+    docker run --name container_$1 --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+        --privileged \
+        -e "PRIVACY_CONSENT=Y" \
+        -v $HOME/.Xauthority:/root/.Xauthority \
+        -e DISPLAY \
+        -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+        -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+        -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+        -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+        -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+        -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+        -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+        -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+        --volume /dev:/dev \
+        curobo_docker:$1
+
+else
+    echo "Unknown docker"
+fi
--- a/docker/start_docker_aarch64.sh
+++ b/docker/start_docker_aarch64.sh
@@ -0,0 +1,22 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+docker run --rm -it \
+--runtime nvidia \
+--mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
+--hostname ros1-docker \
+--add-host ros1-docker:127.0.0.1 \
+--network host \
+--gpus all \
+--env ROS_HOSTNAME=localhost \
+--env DISPLAY=$DISPLAY \
+--volume /tmp/.X11-unix:/tmp/.X11-unix \
+--volume /dev/input:/dev/input \
+curobo_docker:aarch64
--- a/docker/start_docker_isaac_sim.sh
+++ b/docker/start_docker_isaac_sim.sh
@@ -0,0 +1,27 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+
+docker run --name container_$1 --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+  --privileged \
+  -e "PRIVACY_CONSENT=Y" \
+  -v $HOME/.Xauthority:/root/.Xauthority \
+  -e DISPLAY \
+  -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+  -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+  -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+  -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+  -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+  -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+  -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+  -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+  --volume /dev:/dev \
+  curobo_docker:$1
--- a/docker/start_docker_isaac_sim_headless.sh
+++ b/docker/start_docker_isaac_sim_headless.sh
@@ -0,0 +1,22 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+docker run --name container_$1 --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+    -e "PRIVACY_CONSENT=Y"  \
+    -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+    -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+    -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+    -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+    -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+    -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+    -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+    -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+    curobo_docker:$1
--- a/docker/start_docker_x86.sh
+++ b/docker/start_docker_x86.sh
@@ -8,8 +8,9 @@
 ## without an express license agreement from NVIDIA CORPORATION or
 ## its affiliates is strictly prohibited.
 ##
+
 docker run --rm -it \
--privileged --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
+--privileged \
 -e NVIDIA_DISABLE_REQUIRE=1 \
 -e NVIDIA_DRIVER_CAPABILITIES=all  --device /dev/dri \
 --hostname ros1-docker \
@@ -19,4 +20,4 @@ docker run --rm -it \
 --env DISPLAY=unix$DISPLAY \
 --volume /tmp/.X11-unix:/tmp/.X11-unix \
 --volume /dev:/dev \
-curobo_user_docker:latest
+curobo_docker:x86
--- a/docker/user.dockerfile
+++ b/docker/user.dockerfile
@@ -10,7 +10,8 @@
 ##

 # Check architecture and load:
-FROM curobo_docker:latest
+ARG IMAGE_TAG 
+FROM curobo_docker:${IMAGE_TAG}
 # Set variables
 ARG USERNAME
 ARG USER_ID
@@ -24,11 +25,13 @@ RUN useradd -l -u $USER_ID -g users $USERNAME
 RUN /sbin/adduser $USERNAME sudo
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

+
 # Set user
 USER $USERNAME
 WORKDIR /home/$USERNAME
 ENV USER=$USERNAME
 ENV PATH="${PATH}:/home/${USER}/.local/bin"

+
 RUN echo 'completed'

--- a/docker/x86.dockerfile
+++ b/docker/x86.dockerfile
@@ -12,6 +12,11 @@ FROM nvcr.io/nvidia/pytorch:23.08-py3 AS torch_cuda_base

 LABEL maintainer "User Name"

+
+# Deal with getting tons of debconf messages
+# See: https://github.com/phusion/baseimage-docker/issues/58
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
 # add GL:
 RUN apt-get update && apt-get install -y --no-install-recommends \
        pkg-config \
@@ -24,16 +29,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute

-
-RUN apt-get update &&\
-    apt-get install -y sudo git bash unattended-upgrades glmark2 &&\
-    rm -rf /var/lib/apt/lists/*
-
-
-# Deal with getting tons of debconf messages
-# See: https://github.com/phusion/baseimage-docker/issues/58
-RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
-
 # Set timezone info
 RUN apt-get update && apt-get install -y \
  tzdata \
@@ -42,9 +37,8 @@ RUN apt-get update && apt-get install -y \
  && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
  && echo "America/Los_Angeles" > /etc/timezone \
  && dpkg-reconfigure -f noninteractive tzdata \
-  && add-apt-repository -y ppa:git-core/ppa
-
-RUN apt-get update && apt-get install -y \
+  && add-apt-repository -y ppa:git-core/ppa \
+  && apt-get update && apt-get install -y \
  curl \
  lsb-core \
  wget \
@@ -65,6 +59,7 @@ RUN apt-get update && apt-get install -y \
  sudo git bash unattended-upgrades \
  apt-utils \
  terminator \
+  glmark2 \
  && rm -rf /var/lib/apt/lists/*

 # push defaults to bashrc:
@@ -83,11 +78,43 @@ ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
 ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"


-# copy pkgs directory: clone curobo into docker/pkgs folder.
-COPY pkgs /pkgs
-
 RUN pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"

+# if you want to use a different version of curobo, create folder as docker/pkgs and put your
+# version of curobo there. Then uncomment below line and comment the next line that clones from 
+# github
+
+# COPY pkgs /pkgs
+
+RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git

 RUN cd /pkgs/curobo && pip3 install .[dev,usd] --no-build-isolation

+WORKDIR /pkgs/curobo
+
+# Optionally install nvblox:
+
+# we require this environment variable to  render images in unit test curobo/tests/nvblox_test.py
+
+ENV PYOPENGL_PLATFORM=egl
+
+# add this file to enable EGL for rendering
+
+RUN echo '{"file_format_version": "1.0.0", "ICD": {"library_path": "libEGL_nvidia.so.0"}}' >> /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+RUN apt-get update && \
+    apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
+    cd /usr/src/googletest && cmake . && cmake --build . --target install && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN cd /pkgs &&  git clone https://github.com/valtsblukis/nvblox.git && \
+    cd nvblox && cd nvblox && mkdir build && cd build && \
+    cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
+    make -j32 && \
+    make install
+
+RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
+    cd nvblox_torch && \
+    sh install.sh
+
+RUN python -m pip install pyrealsense2 opencv-python transforms3d