update to 0.6.2

2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
--- a/docker/aarch64.dockerfile
+++ b/docker/aarch64.dockerfile
@@ -107,7 +107,7 @@ RUN apt-get update && \


 #
-# download/build the ROS source
+# Optionally download/build the ROS source
 #
 RUN mkdir ros_catkin_ws && \
    cd ros_catkin_ws && \
@@ -139,12 +139,13 @@ COPY pkgs /pkgs

 # install warp:
 # 
-RUN cd /pkgs/warp && python3 build_lib.py && pip3 install .
+RUN cd /pkgs/warp && pip3 install .

 # install curobo:

 RUN cd /pkgs && git clone https://github.com/NVlabs/curobo.git

+ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"

 RUN cd /pkgs/curobo && pip3 install . --no-build-isolation

--- a/docker/base.dockerfile
+++ b/docker/base.dockerfile
@@ -9,7 +9,6 @@
 ## its affiliates is strictly prohibited.
 ##

-#@FROM nvcr.io/nvidia/pytorch:22.12-py3
 FROM nvcr.io/nvidia/pytorch:23.08-py3 AS torch_cuda_base

 RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
--- a/docker/build_dev_docker.sh
+++ b/docker/build_dev_docker.sh
@@ -10,16 +10,9 @@
 ## its affiliates is strictly prohibited.
 ##

+input_arg=$1
+USER_ID=$(id -g "$USER")

-# This script will create a dev docker. Run this script by calling `bash build_dev_docker.sh`
-# If you want to build a isaac sim docker, run this script with `bash build_dev_docker.sh isaac_sim_2022.2.1`
-
-# Check architecture to build:
-echo "deprecated, use build_docker.sh instead"
-
-image_tag="x86"
-isaac_sim_version=""
-input_arg="$1"

 if [ -z "$input_arg" ]; then
    arch=$(uname -m)
@@ -33,42 +26,13 @@ if [ -z "$input_arg" ]; then
    fi
 fi

-if [ "$input_arg" == "isaac_sim_2022.2.1" ]; then
-    echo "Building Isaac Sim docker"
-    dockerfile="isaac_sim.dockerfile"
-    image_tag="isaac_sim_2022.2.1"
-    isaac_sim_version="2022.2.1"
-elif [ "$input_arg" == "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 [ "$input_arg" == "x86" ]; then
-    echo "Building for X86 Architecture"
-    dockerfile="x86.dockerfile"
-    image_tag="x86"
-elif [ "$input_arg" = "aarch64" ]; then
-    echo "Building for ARM Architecture"
-    dockerfile="aarch64.dockerfile"
-    image_tag="aarch64"
-else
-    echo "Unknown Architecture"
-    exit
+user_dockerfile=user.dockerfile
+
+if [[ $input_arg == *isaac_sim* ]] ; then
+    user_dockerfile=user_isaac_sim.dockerfile
 fi

-# build docker file:
-# Make sure you enable nvidia runtime by:
-# 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)
-# }
-# 
-echo "${dockerfile}"
+echo $input_arg
+echo $USER_ID

-docker build --build-arg ISAAC_SIM_VERSION=${isaac_sim_version} -t curobo_docker:${image_tag} -f ${dockerfile} . 
+docker build --build-arg USERNAME=$USER --build-arg USER_ID=${USER_ID} --build-arg IMAGE_TAG=$input_arg -f $user_dockerfile --tag curobo_docker:user_$input_arg . 
--- a/docker/build_docker.sh
+++ b/docker/build_docker.sh
@@ -12,7 +12,7 @@


 # This script will create a dev docker. Run this script by calling `bash build_dev_docker.sh`
-# If you want to build a isaac sim docker, run this script with `bash build_dev_docker.sh isaac_sim_2022.2.1`
+# If you want to build a isaac sim docker, run this script with `bash build_dev_docker.sh isaac`

 # Check architecture to build:

@@ -51,7 +51,7 @@ elif [ "$input_arg" = "aarch64" ]; then
    dockerfile="aarch64.dockerfile"
    image_tag="aarch64"
 else
-    echo "Unknown Architecture"
+    echo "Unknown Argument. Please pass one of [x86, aarch64, isaac_sim_2022.2.1, isaac_sim_2023.1.0]"
    exit
 fi

--- a/docker/build_user_docker.sh
+++ b/docker/build_user_docker.sh
--- a/docker/isaac_sim.dockerfile
+++ b/docker/isaac_sim.dockerfile
@@ -18,6 +18,7 @@ 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} 

@@ -171,7 +172,7 @@ 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
+RUN cd /pkgs/curobo && $omni_python -m pip install .[dev] --no-build-isolation

 # Optionally install nvblox:

@@ -183,17 +184,32 @@ RUN apt-get update && \

 # install gflags and glog statically, instructions from: https://github.com/nvidia-isaac/nvblox/blob/public/docs/redistributable.md

+
+RUN cd /pkgs && wget https://cmake.org/files/v3.27/cmake-3.27.1.tar.gz && \
+    tar -xvzf cmake-3.27.1.tar.gz && \
+    apt update &&  apt install -y build-essential checkinstall zlib1g-dev libssl-dev && \
+    cd cmake-3.27.1 && ./bootstrap && \
+    make -j8 && \
+    make install &&  rm -rf /var/lib/apt/lists/*
+
+
+ENV USE_CX11_ABI=0
+ENV PRE_CX11_ABI=ON
+
+
+
 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 && \
+
+RUN cd /pkgs && git clone https://github.com/google/glog.git -b v0.6.0 && \
    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 \ 
+    -DWITH_GFLAGS=OFF -DWITH_GTEST=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
    && make -j8 && make install


@@ -202,39 +218,25 @@ RUN cd /pkgs && git clone https://github.com/gflags/gflags.git -b v2.2.2 && \
    mkdir build && cd build && \
    cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
    -DCMAKE_INSTALL_PREFIX=/pkgs/gflags/install/ \
-    -DGFLAGS_BUILD_STATIC_LIBS=ON -DGFLAGS=google \
+    -DGFLAGS_BUILD_STATIC_LIBS=ON -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
    && 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/" && \
+RUN cd /pkgs &&  git clone https://github.com/valtsblukis/nvblox.git && cd /pkgs/nvblox/nvblox && \
+    mkdir build && cd build && \
+    cmake ..  -DBUILD_REDISTRIBUTABLE=ON \
+    -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI}  -DPRE_CXX11_ABI_LINKABLE=${PRE_CX11_ABI} \
+    -DSQLITE3_BASE_PATH="/pkgs/sqlite/install/" -DGLOG_BASE_PATH="/pkgs/glog/install/" \
+    -DGFLAGS_BASE_PATH="/pkgs/gflags/install/" -DCMAKE_CUDA_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
+    -DBUILD_TESTING=OFF && \
    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/*
-
+# we also need libglog for pytorch:
+RUN cd /pkgs/glog && \
+    mkdir build_isaac && cd build_isaac && \
+    cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    -DWITH_GFLAGS=OFF -DWITH_GTEST=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
+    && make -j8 && make install

 RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
    cd /pkgs/nvblox_torch && \
--- a/docker/start_dev_docker.sh
+++ b/docker/start_dev_docker.sh
@@ -10,25 +10,24 @@
 ## its affiliates is strictly prohibited.
 ##

-echo "deprecated, use start_user_docker.sh instead"

-input_arg="$1"
+input_arg=$1


 if [ -z "$input_arg" ]; then
    echo "Argument empty, trying to run based on architecture"
-    arch=$(uname -m)
-    if [ "$arch" == "x86_64" ]; then
+    arch=`uname -m`
+    if [ $arch == "x86_64" ]; then
        input_arg="x86"
-    elif [ "$arch" == "arm64" ]; then
+    elif [ $arch == "arm64" ]; then
        input_arg="aarch64"
-    elif [ "$arch" == "aarch64" ]; then
+    elif [ $arch == "aarch64" ]; then
        input_arg="aarch64"
    fi
 fi


-if [ "$input_arg" == "x86" ]; then
+if [ $input_arg == "x86" ]; then

    docker run --rm -it \
    --privileged \
@@ -44,9 +43,10 @@ if [ "$input_arg" == "x86" ]; then
    --volume /dev:/dev \
    curobo_docker:user_$input_arg

-elif [ "$input_arg" == "aarch64" ]; then
+elif [ $input_arg == "aarch64" ]; then

    docker run --rm -it \
+    --privileged \
    --runtime nvidia \
    --hostname ros1-docker \
    --add-host ros1-docker:127.0.0.1 \
@@ -59,8 +59,38 @@ elif [ "$input_arg" == "aarch64" ]; then
    --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
    curobo_docker:user_$input_arg

-elif [[ "$input_arg" == *isaac_sim* ]] ; then
-   echo "Isaac Sim User Docker is not supported" 
+elif [[ $input_arg == *isaac_sim* ]] ; then
+   echo "Isaac Sim Dev Docker is not supported" 
+
+   mkdir -p ~/docker/isaac-sim ~/docker/isaac-sim/cache/kit \
+    ~/docker/isaac-sim/cache/ov \
+    ~/docker/isaac-sim/cache/pip \
+    ~/docker/isaac-sim/cache/glcache \
+    ~/docker/isaac-sim/cache/computecache \
+    ~/docker/isaac-sim/logs \
+    ~/docker/isaac-sim/data \
+    ~/docker/isaac-sim/documents
+ 
+
+
+   docker run --name container_$input_arg -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+        --privileged \
+        -e "PRIVACY_CONSENT=Y" \
+        -v $HOME/.Xauthority:/root/.Xauthority \
+        -e DISPLAY \
+        -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+        -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+        -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+        -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+        -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+        -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+        -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+        -v ~/docker/isaac-sim/documents:/home/$USER/Documents:rw \
+        --volume /dev:/dev \
+        --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
+        curobo_docker:user_$input_arg
+    
+
 else
    echo "Unknown docker"
 fi
--- a/docker/start_docker.sh
+++ b/docker/start_docker.sh
@@ -42,6 +42,7 @@ if [ "$input_arg" == "x86" ]; then
 elif [ "$input_arg" == "aarch64" ]; then

    docker run --rm -it \
+    --privileged \
    --runtime nvidia \
    --hostname ros1-docker \
    --add-host ros1-docker:127.0.0.1 \
--- a/docker/start_docker_aarch64.sh
+++ b/docker/start_docker_aarch64.sh
@@ -1,3 +1,4 @@
+#!/bin/bash
 ##
 ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 ##
--- a/docker/start_docker_arm64.sh
+++ b/docker/start_docker_arm64.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=$DISPLAY \
+--volume /tmp/.X11-unix:/tmp/.X11-unix \
+--volume /dev/input:/dev/input \
+curobo_user_docker:latest
--- a/docker/start_docker_isaac_sim.sh
+++ b/docker/start_docker_isaac_sim.sh
@@ -1,3 +1,4 @@
+#!/bin/bash
 ##
 ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 ##
--- a/docker/start_docker_isaac_sim_headless.sh
+++ b/docker/start_docker_isaac_sim_headless.sh
@@ -1,3 +1,4 @@
+#!/bin/bash
 ##
 ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 ##
--- a/docker/start_docker_x86.sh
+++ b/docker/start_docker_x86.sh
@@ -1,3 +1,4 @@
+#!/bin/bash
 ##
 ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 ##
--- a/docker/start_docker_x86_robot.sh
+++ b/docker/start_docker_x86_robot.sh
@@ -0,0 +1,24 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+docker run --rm -it \
+--privileged --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
+-e NVIDIA_DISABLE_REQUIRE=1 \
+-e NVIDIA_DRIVER_CAPABILITIES=all  --device /dev/dri \
+--hostname ros1-docker \
+--add-host ros1-docker:127.0.0.1 \
+--gpus all \
+--network host \
+--env ROS_MASTER_URI=http://127.0.0.1:11311 \
+--env ROS_IP=127.0.0.1 \
+--env DISPLAY=unix$DISPLAY \
+--volume /tmp/.X11-unix:/tmp/.X11-unix \
+--volume /dev/input:/dev/input \
+curobo_user_docker:latest
--- a/docker/start_user_docker.sh
+++ b/docker/start_user_docker.sh
@@ -11,23 +11,23 @@
 ##


-input_arg="$1"
+input_arg=$1


 if [ -z "$input_arg" ]; then
    echo "Argument empty, trying to run based on architecture"
-    arch=$(uname -m)
-    if [ "$arch" == "x86_64" ]; then
+    arch=`uname -m`
+    if [ $arch == "x86_64" ]; then
        input_arg="x86"
-    elif [ "$arch" == "arm64" ]; then
+    elif [ $arch == "arm64" ]; then
        input_arg="aarch64"
-    elif [ "$arch" == "aarch64" ]; then
+    elif [ $arch == "aarch64" ]; then
        input_arg="aarch64"
    fi
 fi


-if [ "$input_arg" == "x86" ]; then
+if [ $input_arg == "x86" ]; then

    docker run --rm -it \
    --privileged \
@@ -41,9 +41,9 @@ if [ "$input_arg" == "x86" ]; then
    --env DISPLAY=unix$DISPLAY \
    --volume /tmp/.X11-unix:/tmp/.X11-unix \
    --volume /dev:/dev \
-    curobo_docker:user_$1
+    curobo_docker:user_$input_arg

-elif [ "$input_arg" == "aarch64" ]; then
+elif [ $input_arg == "aarch64" ]; then

    docker run --rm -it \
    --runtime nvidia \
@@ -56,10 +56,23 @@ elif [ "$input_arg" == "aarch64" ]; then
    --volume /tmp/.X11-unix:/tmp/.X11-unix \
    --volume /dev/input:/dev/input \
    --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
-    curobo_docker:user_$1
+    curobo_docker:user_$input_arg

-elif [[ "$input_arg" == *isaac_sim* ]] ; then
-   echo "Isaac Sim User Docker is not supported" 
+elif [[ $input_arg == *isaac_sim* ]] ; then
+   echo "Isaac Sim Dev Docker is not supported" 
 else
-    echo "Unknown docker"
+    echo "Unknown docker, launching blindly"
+    docker run --rm -it \
+    --privileged \
+    -e NVIDIA_DISABLE_REQUIRE=1 \
+    -e NVIDIA_DRIVER_CAPABILITIES=all  --device /dev/dri \
+    --mount type=bind,src=/home/$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_$input_arg
 fi
--- a/docker/user_isaac_sim.dockerfile
+++ b/docker/user_isaac_sim.dockerfile
@@ -0,0 +1,70 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+# Check architecture and load:
+ARG IMAGE_TAG 
+FROM curobo_docker:${IMAGE_TAG}
+# Set variables
+ARG USERNAME
+ARG USER_ID
+
+# Set environment variables
+
+# Set up sudo user
+#RUN /sbin/adduser --disabled-password --gecos '' --uid $USER_ID $USERNAME
+RUN useradd -l -u $USER_ID -g users $USERNAME
+
+RUN /sbin/adduser $USERNAME sudo
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+RUN usermod -aG root $USERNAME
+
+
+# change ownership of isaac sim folder if it exists:
+RUN mkdir /isaac-sim/kit/cache && chown -R $USERNAME:users /isaac-sim/kit/cache
+RUN chown $USERNAME:users /root && chown $USERNAME:users /isaac-sim
+RUN mkdir /root/.nv && chown -R $USERNAME:users /root/.nv
+RUN chown -R $USERNAME:users /root/.cache
+
+# change permission for some exts:
+RUN mkdir -p /isaac-sim/kit/logs/Kit/Isaac-Sim && chown -R $USERNAME:users /isaac-sim/kit/logs/Kit/Isaac-Sim
+
+#RUN chown -R $USERNAME:users /root/.cache/pip
+#RUN chown -R $USERNAME:users /root/.cache/nvidia/GLCache
+#RUN chown -R $USERNAME:users /root/.local/share/ov
+RUN mkdir /root/.nvidia-omniverse/logs && mkdir -p /home/$USERNAME/.nvidia-omniverse && cp -r /root/.nvidia-omniverse/* /home/$USERNAME/.nvidia-omniverse && chown -R $USERNAME:users /home/$USERNAME/.nvidia-omniverse
+RUN chown -R $USERNAME:users /isaac-sim/exts/omni.isaac.synthetic_recorder/
+RUN chown -R $USERNAME:users /isaac-sim/kit/exts/omni.gpu_foundation
+RUN mkdir -p /home/$USERNAME/.cache && cp -r /root/.cache/* /home/$USERNAME/.cache && chown -R $USERNAME:users /home/$USERNAME/.cache
+RUN mkdir -p /isaac-sim/kit/data/documents/Kit && mkdir -p /isaac-sim/kit/data/documents/Kit/apps/Isaac-Sim/scripts/ &&chown -R $USERNAME:users /isaac-sim/kit/data/documents/Kit /isaac-sim/kit/data/documents/Kit/apps/Isaac-Sim/scripts/
+RUN mkdir -p /home/$USERNAME/.local 
+
+
+RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /home/$USERNAME/.bashrc
+RUN echo "alias python='/isaac-sim/python.sh'" >> /home/$USERNAME/.bashrc
+
+RUN chown -R $USERNAME:users /home/$USERNAME
+# /isaac-sim/kit/data
+# /isaac-sim/kit/logs/Kit
+
+# Set user
+USER $USERNAME
+WORKDIR /home/$USERNAME
+ENV USER=$USERNAME
+ENV PATH="${PATH}:/home/${USER}/.local/bin"
+ENV SHELL /bin/bash
+ENV OMNI_USER=admin
+ENV OMNI_PASS=admin
+
+
+RUN mkdir /root/Documents && chown -R $USERNAME:users /root/Documents
+
+RUN echo 'completed'
+