78 lines
2.5 KiB
Bash
Executable File
78 lines
2.5 KiB
Bash
Executable File
#!/bin/bash
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##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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input_arg="$1"
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if [ -z "$input_arg" ]; then
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echo "Argument empty, trying to run based on architecture"
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arch=$(uname -m)
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if [ "$arch" == "x86_64" ]; then
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input_arg="x86"
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elif [ "$arch" == "arm64" ]; then
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input_arg="aarch64"
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elif [ "$arch" == "aarch64" ]; then
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input_arg="aarch64"
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fi
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fi
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if [ "$input_arg" == "x86" ]; then
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docker run --rm -it \
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--privileged \
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-e NVIDIA_DISABLE_REQUIRE=1 \
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-e NVIDIA_DRIVER_CAPABILITIES=all --device /dev/dri \
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--hostname ros1-docker \
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--add-host ros1-docker:127.0.0.1 \
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--gpus all \
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--network host \
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--env DISPLAY=unix$DISPLAY \
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--volume /tmp/.X11-unix:/tmp/.X11-unix \
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--volume /dev:/dev \
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curobo_docker:$input_arg
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elif [ "$input_arg" == "aarch64" ]; then
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docker run --rm -it \
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--privileged \
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--runtime nvidia \
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--hostname ros1-docker \
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--add-host ros1-docker:127.0.0.1 \
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--network host \
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--gpus all \
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--env ROS_HOSTNAME=localhost \
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--env DISPLAY=$DISPLAY \
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--volume /tmp/.X11-unix:/tmp/.X11-unix \
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--volume /dev/input:/dev/input \
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curobo_docker:$input_arg
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elif [[ "$input_arg" == *isaac_sim* ]] ; then
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docker run --name container_$input_arg --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
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--privileged \
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-e "PRIVACY_CONSENT=Y" \
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-v $HOME/.Xauthority:/root/.Xauthority \
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-e DISPLAY \
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-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
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-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
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-v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
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-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
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-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
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-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
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-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
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-v ~/docker/isaac-sim/documents:/root/Documents:rw \
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--volume /dev:/dev \
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curobo_docker:$input_arg
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else
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echo "Unknown docker"
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fi |