services: isaac-sim: profiles: - isaac-sim image: &image_tag ${PROJECT_DOCKER_REGISTRY}/${PROJECT_NAME}:v${VERSION}_isaac-sim build: context: ../ dockerfile: docker/Dockerfile.isaac-ros tags: - *image_tag # Floating tag republished by docker-build.yml on main/develop. The # versioned tag above never exists yet on a PR (check-version-increment # forces VERSION up), so it can only ever be a cache miss. - &cache_tag ${PROJECT_DOCKER_REGISTRY}/${PROJECT_NAME}:${CACHE_TAG:-cache}_isaac-sim cache_from: - *image_tag - *cache_tag container_name: isaac-sim entrypoint: "" command: > bash -c " tmux new -d -s isaac; if [ $$AUTOLAUNCH = 'true' ]; then if [ \"${ISAAC_SIM_USE_STANDALONE}\" = 'true' ]; then tmux send-keys -t isaac 'PYTHONPATH="$$ISAAC_SIM_PYTHONPATH" /isaac-sim/python.sh /isaac-sim/AirStack/simulation/isaac-sim/launch_scripts/${ISAAC_SIM_SCRIPT_NAME} --ext-folder ~/.local/share/ov/data/documents/Kit/shared/exts' ENTER else tmux send-keys -t isaac 'ros2 launch isaacsim run_isaacsim.launch.py install_path:=/isaac-sim gui:=\"${ISAAC_SIM_GUI}\" play_sim_on_start:=\"${PLAY_SIM_ON_START}\" ' ENTER fi fi; sleep infinity" # Interactive shell stdin_open: true # docker run -i tty: true # docker run -t ipc: host privileged: true networks: airstack_network: # INVARIANT: every sim service (isaac-sim, ms-airsim, simple-sim) # binds this same fixed address — robot containers reach the sim at # SIM_IP (default 172.31.0.200), so only one sim can run at a time. ipv4_address: 172.31.0.200 env_file: - ./omni_pass.env # PX4 SITL parameter set, applied by rcS at boot. - ./px4-params/${PX4_PARAM_SET:-default}.env environment: - AUTOLAUNCH=${AUTOLAUNCH:-'false'} - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 # Isaac Sim stuff - PLAY_SIM_ON_START=${PLAY_SIM_ON_START} - NUM_ROBOTS=${NUM_ROBOTS:-1} - ENABLE_LIDAR=${ENABLE_LIDAR:-false} # Fleet spawner input: fleet_spawn.py maps the robot-container # path onto this container's /isaac-sim/AirStack checkout mount. - FLEET_CONFIG_FILE=${FLEET_CONFIG_FILE:-} - ISAAC_SIM_HEADLESS=${ISAAC_SIM_HEADLESS:-false} # Scene selection (`airstack up --scene ` → simulation/scenes.yaml): # a Pegasus SIMULATION_ENVIRONMENTS key or a USD URL, resolved by the # launch scripts (pegasus_app.resolve_scene_from_env). Empty = script default. - ISAAC_SIM_SCENE=${ISAAC_SIM_SCENE:-} - ISAAC_SIM_STAGE_SCALE=${ISAAC_SIM_STAGE_SCALE:-} # Viewport follow-camera (pegasus_app.py): domain id of the drone to # chase (default 1; off/none/0 disables) and its world-frame x,y,z # offset in meters. - ISAAC_SIM_FOLLOW_CAM=${ISAAC_SIM_FOLLOW_CAM:-} - ISAAC_SIM_FOLLOW_CAM_OFFSET=${ISAAC_SIM_FOLLOW_CAM_OFFSET:-} # Spawn-row center "x,y" in meters (default origin) — for scenes whose # origin is cluttered; see launch_scripts/pegasus_app.py. - ISAAC_SIM_SPAWN_XY=${ISAAC_SIM_SPAWN_XY:-} # Dome light override "intensity[,exposure]" for dim indoor scenes. - ISAAC_SIM_DOME_LIGHT=${ISAAC_SIM_DOME_LIGHT:-} # Multiply the scene's own lights (office/hospital ceiling lights are # authored dim); follow-cam headlight intensity for unlit interiors. - ISAAC_SIM_LIGHT_BOOST=${ISAAC_SIM_LIGHT_BOOST:-} - ISAAC_SIM_FOLLOW_CAM_LIGHT=${ISAAC_SIM_FOLLOW_CAM_LIGHT:-} # Pegasus physics tuning — read by pegasus/simulator/params.py - PX4_PHYSICS_HZ=${PX4_PHYSICS_HZ:-100} - ARDUPILOT_PHYSICS_HZ=${ARDUPILOT_PHYSICS_HZ:-800} - PX4_RENDERING_HZ=${PX4_RENDERING_HZ:-30} - ARDUPILOT_RENDERING_HZ=${ARDUPILOT_RENDERING_HZ:-120} deploy: # let it use the GPU resources: reservations: devices: - driver: nvidia # https://stackoverflow.com/a/70761193 count: 1 capabilities: [ gpu ] volumes: # display - $HOME/.Xauthority:/isaac-sim/.Xauthority - /tmp/.X11-unix:/tmp/.X11-unix # isaac sim stuff - $HOME/docker/isaac-sim/cache/main:/isaac-sim/.cache:rw \ - $HOME/docker/isaac-sim/cache/computecache:/isaac-sim/.nv/ComputeCache:rw \ - $HOME/docker/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw \ - $HOME/docker/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw \ - $HOME/docker/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw \ - $HOME/docker/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw \ # pegasus integration - ../extensions/PegasusSimulator/extensions/pegasus.simulator:/isaac-sim/.local/share/ov/data/documents/Kit/shared/exts/pegasus.simulator/:rw # omniverse - ./omniverse.toml:/isaac-sim/.nvidia-omniverse/config/omniverse.toml:rw - ./user.config.json:/isaac-sim/.local/share/ov/data/Kit/Isaac-Sim Full/5.1/user.config.json:rw # enables pegasus extension; IMPORTANT: set the version number without the trailing .0 # developer stuff - .dev:/isaac-sim/.dev:rw # developer config - .bashrc:/isaac-sim/.bashrc:rw # bash config - ../../../common/inputrc:/etc/inputrc:rw # for using page up/down to search through command history - ../../../common/.tmux.conf:/isaac-sim/.tmux.conf:rw # airstack code - ../../..:/isaac-sim/AirStack:rw - ../../../.devcontainer/isaac-sim/launch.json:/isaac-sim/AirStack/.vscode/launch.json:rw - ../../../.devcontainer/isaac-sim/tasks.json:/isaac-sim/AirStack/.vscode/tasks.json:rw # =================================================================================================================== # Full Isaac Sim GUI editor for USD/scene editing on any asset (runapp.sh, # no Pegasus/ROS launch script). Deliberately NOT on airstack_network — no # DDS reaches the robots, so it is for scene authoring, not for flying. # Run with: airstack up --profile isaac-sim-gui isaac-sim-gui # See docs/simulation/isaac_sim/docker.md ("GUI-Only Mode"). isaac-sim-gui: extends: service: isaac-sim container_name: isaac-sim-gui # don't spawn by default, only when you want to use the GUI profiles: !override - isaac-sim-gui command: > bash -c "tmux new -d -s isaac; tmux send-keys -t isaac '/isaac-sim/runapp.sh' ENTER; sleep infinity" networks: !reset null # =================================================================================================================== # WebRTC livestream variant for OSMO / remote dev. Headless: no X server, # no display, no GUI window. Kit's `omni.kit.livestream.webrtc` extension # serves WebSocket signaling on TCP 49100 and SRTP media on UDP 49099 (the # latter pinned by `app.livestream.fixedHostPort/minHostPort/maxHostPort=49099` # in the Pegasus launch script — see example_one_px4_pegasus_launch_script.py). # Those two ports are published into the host (the OSMO workspace pod's # network namespace) so `osmo workflow port-forward` can reach them. Kit # 107's default media-port range is wider and dynamic, so pinning to a # known value is the only way to keep the forward surface to two ports. # # Selected via COMPOSE_PROFILES (e.g. `desktop,isaac-sim-livestream`) in # osmo/workspace/entrypoint.sh, or by setting ISAAC_SIM_LIVESTREAM=true. isaac-sim-livestream: extends: service: isaac-sim container_name: isaac-sim-livestream profiles: !override - isaac-sim-livestream # Always run the Pegasus standalone path; the livestream branch in the # script is gated on ISAAC_SIM_LIVESTREAM=true (env-driven, additive # to the existing script behavior). command: > bash -c " tmux new -d -s isaac; tmux send-keys -t isaac 'PYTHONPATH=\"$$ISAAC_SIM_PYTHONPATH\" /isaac-sim/python.sh /isaac-sim/AirStack/simulation/isaac-sim/launch_scripts/${ISAAC_SIM_SCRIPT_NAME} --ext-folder ~/.local/share/ov/data/documents/Kit/shared/exts --/app/livestream/enabled=true' ENTER; sleep infinity" environment: # Inherit everything from isaac-sim and append: - ISAAC_SIM_LIVESTREAM=true - ISAAC_SIM_USE_STANDALONE=true - ISAAC_SIM_HEADLESS=true # Publish the WebRTC livestream ports to the pod NS. Bridge-mode + # publish (the conservative choice) keeps the rest of the stack on # airstack_network for DDS multicast. ports: - "49100:49100/tcp" # WebSocket signaling (omni.kit.livestream.webrtc, app.livestream.port=49100) - "49099:49099/udp" # SRTP media (pinned via app.livestream.fixedHostPort=49099 in the launch script) # Drop X11-specific volume mounts inherited from the isaac-sim service — # there is no X server in an OSMO pod. volumes: !override - $HOME/docker/isaac-sim/cache/main:/isaac-sim/.cache:rw - $HOME/docker/isaac-sim/cache/computecache:/isaac-sim/.nv/ComputeCache:rw - $HOME/docker/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw - $HOME/docker/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw - $HOME/docker/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw - $HOME/docker/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw - ../extensions/PegasusSimulator/extensions/pegasus.simulator:/isaac-sim/.local/share/ov/data/documents/Kit/shared/exts/pegasus.simulator/:rw - ./omniverse.toml:/isaac-sim/.nvidia-omniverse/config/omniverse.toml:rw - ./user.config.json:/isaac-sim/.local/share/ov/data/Kit/Isaac-Sim Full/5.1/user.config.json:rw - .dev:/isaac-sim/.dev:rw - .bashrc:/isaac-sim/.bashrc:rw - ../../../common/inputrc:/etc/inputrc:rw - ../../../common/.tmux.conf:/isaac-sim/.tmux.conf:rw - ../../..:/isaac-sim/AirStack:rw - ../../../.devcontainer/isaac-sim/launch.json:/isaac-sim/AirStack/.vscode/launch.json:rw - ../../../.devcontainer/isaac-sim/tasks.json:/isaac-sim/AirStack/.vscode/tasks.json:rw