added rgbd camera to franka arm #3
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| version: 0.2 | |
| phases: | |
| pre_build: | |
| commands: | |
| - echo "Launching EC2 instance to run tests" | |
| - | | |
| INSTANCE_ID=$(aws ec2 run-instances \ | |
| --image-id ami-0b3a9d48380433e49 \ | |
| --count 1 \ | |
| --instance-type g5.2xlarge \ | |
| --key-name production/ssh/isaaclab \ | |
| --security-group-ids sg-02617e4b8916794c4 \ | |
| --subnet-id subnet-0907ceaeb40fd9eac \ | |
| --block-device-mappings '[{"DeviceName":"/dev/sda1","Ebs":{"VolumeSize":500}}]' \ | |
| --output text \ | |
| --query 'Instances[0].InstanceId') | |
| - aws ec2 wait instance-running --instance-ids $INSTANCE_ID | |
| - | | |
| EC2_INSTANCE_IP=$(aws ec2 describe-instances \ | |
| --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \ | |
| --query 'Reservations[*].Instances[*].[PrivateIpAddress]' \ | |
| --output text) | |
| - mkdir -p ~/.ssh | |
| - | | |
| aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab \ | |
| --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub | |
| - | | |
| aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab \ | |
| --query SecretString --output text > ~/.ssh/id_rsa | |
| - chmod 400 ~/.ssh/id_* | |
| - echo "Host $EC2_INSTANCE_IP\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config | |
| - | | |
| aws ec2-instance-connect send-ssh-public-key \ | |
| --instance-id $INSTANCE_ID \ | |
| --availability-zone us-west-2a \ | |
| --ssh-public-key file://~/.ssh/id_rsa.pub \ | |
| --instance-os-user ubuntu | |
| build: | |
| commands: | |
| - echo "Running tests on EC2 instance" | |
| - SRC_DIR=$(basename $CODEBUILD_SRC_DIR) | |
| - cd .. | |
| - | | |
| bash -c ' | |
| function retry_scp() { | |
| local retries=5 | |
| local wait_time=30 | |
| local count=0 | |
| while [ $count -lt $retries ]; do | |
| sleep $wait_time | |
| scp -r $SRC_DIR ubuntu@$EC2_INSTANCE_IP:~ | |
| if [ $? -eq 0 ]; then | |
| echo "SCP command succeeded" | |
| return 0 | |
| fi | |
| count=$((count + 1)) | |
| echo "SCP command failed. Retrying in $wait_time seconds..." | |
| done | |
| echo "SCP command failed after $retries attempts." | |
| return 1 | |
| } | |
| retry_scp | |
| ' | |
| - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io" | |
| - | | |
| ssh ubuntu@$EC2_INSTANCE_IP " | |
| cd $SRC_DIR | |
| DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev \ | |
| --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \ | |
| --build-arg ISAACSIM_VERSION_ARG=4.2.0 \ | |
| --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \ | |
| --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \ | |
| --build-arg DOCKER_USER_HOME_ARG=/root \ | |
| -f docker/Dockerfile.base . | |
| docker run --rm --entrypoint bash --gpus all --network=host \ | |
| --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t && exit \$? | |
| " | |
| post_build: | |
| commands: | |
| - echo "Terminating EC2 instance" | |
| - aws ec2 terminate-instances --instance-ids $INSTANCE_ID |