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‎.aws/mirror-buildspec.yml‎

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version: 0.2
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phases:
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install:
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runtime-versions:
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nodejs: 14
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pre_build:
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commands:
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- git config --global user.name "Isaac LAB CI Bot"
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- git config --global user.email "isaac-lab-ci-bot@nvidia.com"
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build:
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commands:
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- git remote set-url origin https://github.com/${TARGET_REPO}.git
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- git checkout $SOURCE_BRANCH
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- git push --force https://$GITHUB_TOKEN@github.com/${TARGET_REPO}.git $SOURCE_BRANCH:$TARGET_BRANCH

‎.aws/postmerge-ci-buildspec.yml‎

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version: 0.2
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phases:
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build:
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commands:
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- echo "Building and pushing Docker image"
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- |
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# Determine branch name or use fallback
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if [ -n "$CODEBUILD_WEBHOOK_HEAD_REF" ]; then
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BRANCH_NAME=$(echo $CODEBUILD_WEBHOOK_HEAD_REF | sed 's/refs\/heads\///')
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elif [ -n "$CODEBUILD_SOURCE_VERSION" ]; then
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BRANCH_NAME=$CODEBUILD_SOURCE_VERSION
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else
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BRANCH_NAME="unknown"
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fi
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# Replace '/' with '-' and remove any invalid characters for Docker tag
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SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
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# Use "latest" if branch name is empty or only contains invalid characters
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if [ -z "$SAFE_BRANCH_NAME" ]; then
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SAFE_BRANCH_NAME="latest"
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fi
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# Get the git repository short name
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REPO_SHORT_NAME=$(basename -s .git `git config --get remote.origin.url`)
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if [ -z "$REPO_SHORT_NAME" ]; then
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REPO_SHORT_NAME="verification"
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fi
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# Parse the env variable string into an array
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mapfile -d ' ' -t IMAGE_BASE_VERSIONS <<< "$ISAACSIM_BASE_VERSIONS_STRING"
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for IMAGE_BASE_VERSION in "${IMAGE_BASE_VERSIONS[@]}"; do
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IMAGE_BASE_VERSION=$(echo "$IMAGE_BASE_VERSION" | tr -d '[:space:]')
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# Combine repo short name and branch name for the tag
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COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}-${IMAGE_BASE_VERSION}"
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docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
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docker build -t $IMAGE_NAME:$COMBINED_TAG \
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--build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
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--build-arg ISAACSIM_VERSION_ARG=$IMAGE_BASE_VERSION \
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--build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
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--build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
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--build-arg DOCKER_USER_HOME_ARG=/root \
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-f docker/Dockerfile.base .
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docker push $IMAGE_NAME:$COMBINED_TAG
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docker tag $IMAGE_NAME:$COMBINED_TAG $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
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docker push $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
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done

‎.aws/premerge-ci-buildspec.yml‎

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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#
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# This buildspec file defines the CI/CD pipeline for IsaacLab.
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# It runs tests on an EC2 instance with GPU support and uses Docker BuildKit
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# for efficient builds with S3 caching.
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#
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# Required environment variables:
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# - ISAACSIM_BASE_IMAGE: Base image for IsaacSim
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# - ISAACSIM_BASE_VERSION: Version of IsaacSim to use
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#
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# Required AWS Secrets:
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# - NGC_TOKEN: NVIDIA NGC authentication token
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# - SSH_KEY: SSH private key for EC2 access
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# - SSH_PUBLIC_KEY: SSH public key for EC2 access
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version: 0.2
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env:
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variables:
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# Build configuration
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MAX_RETRIES: "5"
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RETRY_WAIT_TIME: "30"
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# EC2 configuration
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INSTANCE_TYPE: "g5.2xlarge"
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VOLUME_SIZE: "500"
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REGION: "us-west-2"
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AZ: "us-west-2a"
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# Docker and cache configuration
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ECR_REPOSITORY: "isaaclab-dev"
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CACHE_BUCKET_PREFIX: "isaaclab-build-cache"
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# Docker versions
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BUILDX_VERSION: "0.11.2"
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secrets-manager:
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NGC_TOKEN: "production/ngc/token"
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SSH_KEY: "production/ssh/isaaclab"
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SSH_PUBLIC_KEY: "production/ssh/isaaclab"
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phases:
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install:
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runtime-versions:
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python: 3.9
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commands:
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- echo "Installing required packages..."
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- pip install awscli boto3
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pre_build:
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commands:
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- |
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# Validate required environment variables
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if [ -z "$ISAACSIM_BASE_IMAGE" ]; then
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echo "Error: Required environment variable ISAACSIM_BASE_IMAGE is not set"
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exit 1
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fi
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if [ -z "$ISAACSIM_BASE_VERSION" ]; then
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echo "Error: Required environment variable ISAACSIM_BASE_VERSION is not set"
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exit 1
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fi
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# Get AWS account ID
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AWS_ACCOUNT_ID=$(aws sts get-caller-identity --query Account --output text)
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if [ -z "$AWS_ACCOUNT_ID" ]; then
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echo "Error: Failed to get AWS account ID"
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exit 1
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fi
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# Create ECR repository if it doesn't exist
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aws ecr describe-repositories --repository-names $ECR_REPOSITORY || \
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aws ecr create-repository --repository-name $ECR_REPOSITORY
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# Configure ECR repository lifecycle policy
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aws ecr put-lifecycle-policy \
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--repository-name $ECR_REPOSITORY \
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--lifecycle-policy-text '{
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"rules": [
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{
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"rulePriority": 1,
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"description": "Expire images older than 2 weeks",
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"selection": {
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"tagStatus": "any",
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"countType": "sinceImagePushed",
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"countUnit": "days",
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"countNumber": 14
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},
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"action": {
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"type": "expire"
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}
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}
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]
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}'
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# Create S3 bucket for BuildKit cache if it doesn't exist
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CACHE_BUCKET="${CACHE_BUCKET_PREFIX}-${AWS_ACCOUNT_ID}"
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aws s3api head-bucket --bucket $CACHE_BUCKET || \
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aws s3 mb s3://$CACHE_BUCKET --region $REGION
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# Configure S3 bucket lifecycle rule for cache expiration
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aws s3api put-bucket-lifecycle-configuration \
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--bucket $CACHE_BUCKET \
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--lifecycle-configuration '{
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"Rules": [
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{
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"ID": "ExpireBuildKitCache",
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"Status": "Enabled",
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"Filter": {
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"Prefix": ""
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},
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"Expiration": {
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"Days": 14
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}
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}
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]
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}'
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echo "Launching EC2 instance to run tests..."
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INSTANCE_ID=$(aws ec2 run-instances \
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--image-id ami-0e6cc441f9f4caab3 \
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--count 1 \
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--instance-type $INSTANCE_TYPE \
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--key-name production/ssh/isaaclab \
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--security-group-ids sg-02617e4b8916794c4 \
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--subnet-id subnet-0907ceaeb40fd9eac \
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--iam-instance-profile Name="IsaacLabBuildRole" \
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--block-device-mappings "[{\"DeviceName\":\"/dev/sda1\",\"Ebs\":{\"VolumeSize\":$VOLUME_SIZE}}]" \
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--output text \
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--query 'Instances[0].InstanceId')
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echo "Waiting for instance $INSTANCE_ID to be running..."
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aws ec2 wait instance-running --instance-ids $INSTANCE_ID
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echo "Getting instance IP address..."
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EC2_INSTANCE_IP=$(aws ec2 describe-instances \
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--filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \
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--query 'Reservations[*].Instances[*].[PrivateIpAddress]' \
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--output text)
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echo "Setting up SSH configuration..."
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mkdir -p ~/.ssh
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aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab \
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--query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
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echo "$SSH_KEY" > ~/.ssh/id_rsa
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chmod 400 ~/.ssh/id_*
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echo "Host $EC2_INSTANCE_IP\n\tStrictHostKeyChecking no\n\tUserKnownHostsFile=/dev/null\n" >> ~/.ssh/config
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echo "Sending SSH public key to instance..."
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aws ec2-instance-connect send-ssh-public-key \
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--instance-id $INSTANCE_ID \
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--availability-zone $AZ \
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--ssh-public-key file://~/.ssh/id_rsa.pub \
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--instance-os-user ubuntu
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build:
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commands:
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- |
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#!/bin/sh
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set -e
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echo "Running tests on EC2 instance..."
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SRC_DIR=$(basename $CODEBUILD_SRC_DIR)
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cd ..
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# Retry SCP with exponential backoff
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retry_count=0
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wait_time=$RETRY_WAIT_TIME
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while [ $retry_count -lt $MAX_RETRIES ]; do
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if [ $retry_count -gt 0 ]; then
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wait_time=$((wait_time * 2))
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echo "Retry attempt $((retry_count + 1))/$MAX_RETRIES. Waiting $wait_time seconds..."
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sleep $wait_time
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fi
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if scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no -r $SRC_DIR ubuntu@$EC2_INSTANCE_IP:~; then
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echo "SCP command succeeded"
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break
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fi
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retry_count=$((retry_count + 1))
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done
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if [ $retry_count -eq $MAX_RETRIES ]; then
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echo "SCP command failed after $MAX_RETRIES attempts"
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exit 1
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fi
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# Get ECR login token
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ECR_LOGIN_TOKEN=$(aws ecr get-login-password --region $REGION)
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# Run tests with proper error handling and Docker caching
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ssh -o ConnectTimeout=10 -o StrictHostKeyChecking=no ubuntu@$EC2_INSTANCE_IP "
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set -e
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# Install Docker with BuildKit support
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echo 'Installing Docker with BuildKit support...'
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sudo apt-get update
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sudo apt-get install -y apt-transport-https ca-certificates curl software-properties-common
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curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
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sudo add-apt-repository \"deb [arch=amd64] https://download.docker.com/linux/ubuntu \$(lsb_release -cs) stable\"
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sudo apt-get update
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sudo apt-get install -y docker-ce docker-ce-cli containerd.io
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# Enable BuildKit at daemon level
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sudo mkdir -p /etc/docker
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echo '{\"features\":{\"buildkit\":true}}' | sudo tee /etc/docker/daemon.json
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# Install Docker Buildx
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echo 'Installing Docker Buildx...'
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mkdir -p ~/.docker/cli-plugins/
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curl -SL https://github.com/docker/buildx/releases/download/v$BUILDX_VERSION/buildx-v$BUILDX_VERSION.linux-amd64 -o ~/.docker/cli-plugins/docker-buildx
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chmod a+x ~/.docker/cli-plugins/docker-buildx
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# Add current user to docker group
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sudo usermod -aG docker ubuntu
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newgrp docker
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echo 'Logging into NGC...'
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docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io
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# Login to ECR using token from CodeBuild
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echo \"$ECR_LOGIN_TOKEN\" | docker login --username AWS --password-stdin $AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com
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cd $SRC_DIR
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echo 'Building Docker image with BuildKit caching...'
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# Configure BuildKit environment
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export DOCKER_BUILDKIT=1
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export BUILDKIT_INLINE_CACHE=1
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# Create a new builder instance with S3 cache support
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docker buildx create --name mybuilder --driver docker-container --bootstrap
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docker buildx use mybuilder
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# Build with BuildKit and S3 cache
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if docker pull $AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com/$ECR_REPOSITORY:latest 2>/dev/null; then
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echo "Using existing image for cache..."
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docker buildx build --progress=plain --platform linux/amd64 -t isaac-lab-dev \
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--cache-from type=registry,ref=$AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com/$ECR_REPOSITORY:latest \
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--cache-to type=s3,region=$REGION,bucket=$CACHE_BUCKET,mode=max,ignore-error=true \
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--build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
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--build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
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--build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
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--build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
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--build-arg DOCKER_USER_HOME_ARG=/root \
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-f docker/Dockerfile.base \
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--load .
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else
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echo "No existing image found, building without cache-from..."
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docker buildx build --progress=plain --platform linux/amd64 -t isaac-lab-dev \
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--cache-to type=s3,region=$REGION,bucket=$CACHE_BUCKET,mode=max,ignore-error=true \
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--build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
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--build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
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--build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
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--build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
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--build-arg DOCKER_USER_HOME_ARG=/root \
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-f docker/Dockerfile.base \
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--load .
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fi
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echo 'Running tests...'
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TEST_EXIT_CODE=0
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docker run --rm --entrypoint bash --gpus all --network=host \
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--name isaac-lab-test -v ~/$SRC_DIR/reports:/workspace/IsaacLab/tests isaac-lab-dev \
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/isaac-sim/python.sh -m \
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pytest tools -v || TEST_EXIT_CODE=$?
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echo "Test exit code: $TEST_EXIT_CODE" > ~/$SRC_DIR/test_exit_code.txt
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" || { echo "Test execution failed"; exit 1; }
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echo "Copying test reports..."
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mkdir -p $CODEBUILD_SRC_DIR/reports
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scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no -r ubuntu@$EC2_INSTANCE_IP:~/$SRC_DIR/reports/test-reports.xml $CODEBUILD_SRC_DIR/reports/
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scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no ubuntu@$EC2_INSTANCE_IP:~/$SRC_DIR/test_exit_code.txt $CODEBUILD_SRC_DIR/
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if [ "$(cat $CODEBUILD_SRC_DIR/test_exit_code.txt)" != "0" ]; then
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echo "Tests failed with exit code $(cat $CODEBUILD_SRC_DIR/test_exit_code.txt)"
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exit 1
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fi
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post_build:
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commands:
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- |
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echo "Cleaning up resources..."
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if [ ! -z "$INSTANCE_ID" ]; then
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echo "Terminating EC2 instance $INSTANCE_ID..."
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aws ec2 terminate-instances --instance-ids $INSTANCE_ID || true
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fi
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reports:
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pytest_reports:
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files:
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- 'reports/test-reports.xml'
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base-directory: '.'
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file-format: JUNITXML
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cache:
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paths:
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- '/root/.cache/pip/**/*'
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- '/root/.docker/**/*'
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- '/root/.aws/**/*'

‎.dockerignore‎

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# ignore .git related folders
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.git/
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.github/
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.gitignore
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# ignore docs
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docs/
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# copy in licenses folder to the container
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!docs/licenses/
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# ignore logs
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**/logs/
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**/runs/
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**/output/*
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**/outputs/*
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**/videos/*
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*.tmp
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# ignore docker
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docker/cluster/exports/
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docker/.container.cfg
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# ignore recordings
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recordings/
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# ignore __pycache__
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**/__pycache__/
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**/*.egg-info/
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# ignore isaac sim symlink
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_isaac_sim?

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