NASA Challenge_[@AndrejOrsula]_[Parallel ProcGen Environments]

spaceros_procgen_envs/.devcontainer/devcontainer.json

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+{
+	"name": "${localWorkspaceFolderBasename}",
+	"build": {
+		"context": "${localWorkspaceFolder}",
+		"dockerfile": "${localWorkspaceFolder}/Dockerfile.bundle_isaac_sim",
+		"cacheFrom": "openrobotics/spaceros_procgen_envs"
+	},
+	"workspaceFolder": "/home/spaceros-user/spaceros_procgen_envs",
+	"workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/spaceros-user/spaceros_procgen_envs",
+	"runArgs": [
+		// Network mode
+		"--network=host",
+		"--ipc=host",
+		// NVIDIA GPU
+		"--gpus=all",
+		// Other GPUs
+		"--device=/dev/dri:/dev/dri",
+		"--group-add=video"
+	],
+	"mounts": [
+		// Local time
+		"type=bind,source=/etc/localtime,target=/etc/localtime,readonly",
+		// Input devices
+		"type=bind,source=/dev/input,target=/dev/input",
+		// GUI (X11)
+		"type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix",
+		"type=bind,source=${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename},target=${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}",
+		// Cache (compiled shaders, proceduraly generated assets, etc.)
+		"type=bind,source=${HOME}/.cache/spaceros_demos/isaac_sim/computecache,target=/home/spaceros-user/.nv/ComputeCache",
+		"type=bind,source=${HOME}/.cache/spaceros_demos/isaac_sim/glcache,target=/home/spaceros-user/.cache/nvidia/GLCache",
+		"type=bind,source=${HOME}/.cache/spaceros_demos/isaac_sim/kit,target=/home/spaceros-user/isaac-sim/kit/cache",
+		"type=bind,source=${HOME}/.cache/spaceros_demos/isaac_sim/ov,target=/home/spaceros-user/.cache/ov",
+		"type=bind,source=${HOME}/.cache/spaceros_demos/procgen_envs,target=/home/spaceros-user/.cache/spaceros_procgen_envs"
+	],
+	"containerEnv": {
+		// GUI (X11)
+		"DISPLAY": "${localEnv:DISPLAY}",
+		"XAUTHORITY": "${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}",
+		// NVIDIA GPU
+		"NVIDIA_VISIBLE_DEVICES": "all",
+		"NVIDIA_DRIVER_CAPABILITIES": "all"
+	},
+	"initializeCommand": "XAUTH=\"${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}\"; touch \"${XAUTH}\"; chmod a+r \"${XAUTH}\"; XAUTH_LIST=$(xauth nlist \"${localEnv:DISPLAY}\"); if [ -n \"${XAUTH_LIST}\" ]; then echo \"${XAUTH_LIST}\" | sed -e 's/^..../ffff/' | xauth -f \"${XAUTH}\" nmerge -; fi",
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				// Python
+				"ms-python.black-formatter",
+				"ms-python.isort",
+				"ms-python.python",
+				"ms-python.vscode-pylance"
+				// Note: Add your preferred extensions here
+			]
+		}
+	}
+}

spaceros_procgen_envs/.devcontainer/open.sh

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+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+DEMO_DIR="$(dirname "${SCRIPT_DIR}")"
+
+## Determine the workspace folder
+if [[ -n "$1" ]]; then
+    # Use the first argument as the workspace folder if provided
+    WORKSPACE_FOLDER="$1"
+else
+    # Otherwise, try to extract the workspace folder from `./devcontainer.json`
+    WORKSPACE_FOLDER="$(grep -Po '"workspaceFolder":.*?[^\\]",' "${SCRIPT_DIR}/devcontainer.json" | cut -d'"' -f4 || true)"
+    if [[ -z "${WORKSPACE_FOLDER}" ]]; then
+        # If `./devcontainer.json` does not contain the workspace folder, default to the root
+        WORKSPACE_FOLDER="/"
+    fi
+fi
+
+## Open the Dev Container in VS Code
+CODE_REMOTE_CMD=(
+    code --remote
+    "dev-container+$(printf "%s" "${DEMO_DIR}" | xxd -p | tr -d "[:space:]")"
+    "${WORKSPACE_FOLDER}"
+)
+echo -e "\033[1;90m${CODE_REMOTE_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${CODE_REMOTE_CMD[*]}

spaceros_procgen_envs/.dockerignore

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+## Python
+**/__pycache__/
+**/.pytest_cache/
+**/*.pcd
+**/*.py[cod]
+**/*.pyc
+**/*$py.class
+
+## Rust
+target/
+**/*.rs.bk
+**/*.pdb
+**/.cargo/config.toml
+!.cargo/config.toml
+
+## Shared Objects
+**/*.so
+
+## Dump files
+**/core.*
+
+## Logs
+logs/
+
+## Docker
+Dockerfile*
+.dockerignore
+build.sh
+join.sh
+run.sh
+
+## Git
+.git/
+.gitignore

spaceros_procgen_envs/.gitignore

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+## Python
+**/__pycache__/
+**/.pytest_cache/
+**/*.pcd
+**/*.py[cod]
+**/*.pyc
+**/*$py.class
+
+## Rust
+target/
+**/*.rs.bk
+**/*.pdb
+**/.cargo/config.toml
+!.cargo/config.toml
+
+## Shared Objects
+**/*.so
+
+## Dump files
+**/core.*
+
+## Logs
+logs/

spaceros_procgen_envs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(spaceros_procgen_envs)
+
+## Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+## Install Python package
+ament_python_install_package(spaceros_procgen_envs)
+
+## Install Python scripts
+set(SCRIPTS_DIR scripts)
+install(PROGRAMS
+    ${SCRIPTS_DIR}/blender/procgen_assets.py
+    ${SCRIPTS_DIR}/agent_random.py
+    ${SCRIPTS_DIR}/agent_zero.py
+    ${SCRIPTS_DIR}/clean_procgen_cache.py
+    ${SCRIPTS_DIR}/list_envs.py
+    ${SCRIPTS_DIR}/run_spaceros.py
+    ${SCRIPTS_DIR}/teleop.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+## Install directories
+install(DIRECTORY apps config launch DESTINATION share/${PROJECT_NAME})
+
+## Setup the project
+ament_package()