Update to Isaac Lab 2.3 image and remove root user

Author: shanereetz

README.md

@@ -19,9 +19,14 @@ The project includes:
 - Isaac Sim pre-installed
 - an Omniverse Kit App Streaming client, based on the [web-viewer-sample](https://github.com/NVIDIA-Omniverse/web-viewer-sample) project.
 
+
+
 ## Quickstart Guide
 This guide will get you started with a Visual Studio Code instance with Isaac Lab preinstalled, and an in-browser user interface provided by Kit App Streaming.
 
+> [!IMPORTANT]
+> This project is intended for learning purposes. It is not intended for production use.
+
 > [!NOTE]
 > Please note that Brev instances are pay-by-the hour. To make the best use of credits, stop instances when they are not in use. Stopped instances have a smaller storage charge.
 
@@ -33,6 +38,7 @@ This guide will get you started with a Visual Studio Code instance with Isaac La
 4. On the Brev instance page, scroll to the TCP/UDP ports section.
 5. Click the link for port 80 (HTTP) to open Visual Studio Code Server.
 6. The default password is `password`. This can be modified.
+    - To change the password, modify the `PASSWORD` environment variable in this [docker-compose.yml](https://github.com/isaac-sim/isaac-launchable/blob/main/isaac-lab/docker-compose.yml) file.
 7. Inside Visual Studio Code, continue with the [README.md](https://github.com/isaac-sim/isaac-launchable/blob/main/isaac-lab/vscode/README.md) instructions. A summary is provided below.
 8. Now you're in the Visual Studio Code dev environment! 
 
@@ -122,7 +128,7 @@ docker compose up -d
 7. Click Next.
 8. Under "Do you want a Jupyter Notebook experience" select "No, I don't want Jupyter".
 9. Select the TCP/UDP ports tab.
-10. Expose the following ports (for Visual Studio Code Server and Kit App Streaming). You can choose to limit these ports to be accessible only from certain IPs as well.
+10. Expose the following ports (for Visual Studio Code Server and Kit App Streaming) to a specific public IP address that will be using this service.
 ```
 80
 1024
@@ -134,7 +140,7 @@ docker compose up -d
 
 > [!NOTE]
 > GPUs with RT cores are required for Kit App Streaming. 
-> The compute specs and driver versions provided also need to be compatible with [Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/requirements.html). The available drivers are not exposed on this Brev page currently.
+> The compute specs and driver versions provided also need to be compatible with [Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html). The available drivers are not exposed on this Brev page currently.
 
 > [!IMPORTANT]
 > The project is not currently compatible with Crusoe instances. AWS has been tested and is used for the example launchable.
@@ -147,7 +153,7 @@ Congratulations! You now have a custom launchable.
 
 This project can also be used to run a containerized version of Isaac Sim and Isaac Lab.
 
-To use this project locally, you'll need a workstation that meets [Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/requirements.html)'s requirements.
+To use this project locally, you'll need a workstation that meets [Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html)'s requirements.
 
 
 1. Install the NVIDIA Container Toolkit: `sudo install nvidia-container-toolkit`

isaac-lab/docker-compose.yml

@@ -26,11 +26,8 @@ services:
     network_mode: "host"
     runtime: nvidia
     volumes:
-      - 'shared:/kube'
-      - '/var/run/docker.sock:/var/run/docker.sock'
-      - "ov-cache:/home/root/.cache/ov:rw"
-      - "ov-local-share:/home/root/.local/share/ov/:rw"
-    privileged: true
+      - "ov-cache:/home/isaac-sim/.cache/ov:rw"
+      - "ov-local-share:/home/isaac-sim/.local/share/ov/:rw"
     environment:
       - CUDA_VISIBLE_DEVICES=0
       - NVIDIA_VISIBLE_DEVICES=all

isaac-lab/vscode/Dockerfile

@@ -12,10 +12,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-FROM nvcr.io/nvidia/isaac-lab:2.2.0
-
-USER root
-ENV OMNI_KIT_ALLOW_ROOT=1
+FROM nvcr.io/nvidia/isaac-lab:2.3.0
 
 RUN apt update && \
     apt install -y \
@@ -35,8 +32,9 @@ RUN apt update && \
 
 ENV WORKSPACE_DIR=/workspace
 
-COPY --chown=ubuntu:ubuntu ./README.md ${WORKSPACE_DIR}/README.md
-COPY --chown=ubuntu:ubuntu ./settings.json ${WORKSPACE_DIR}/.vscode/settings.json
+COPY --chown=isaac-sim:isaac-sim ./README.md ${WORKSPACE_DIR}/README.md
+COPY --chown=isaac-sim:isaac-sim ./settings.json ${WORKSPACE_DIR}/.vscode/settings.json
+
 
 RUN code-server \
     --install-extension ms-python.python \
@@ -46,11 +44,17 @@ RUN code-server \
 COPY entrypoint.sh /entrypoint.sh
 
 # OV Cache Directories
-RUN mkdir -p /home/root/.cache/ov
-RUN mkdir -p /home/root/.local/share/ov
-RUN chown root:root /home/root/.cache/ov
-RUN chown root:root /home/root/.local/share/ov
+RUN mkdir -p /home/isaac-sim/.cache/ov
+RUN mkdir -p /home/isaac-sim/.local/share/ov
+
+# Fix permissions for ubuntu user
+RUN chown -R isaac-sim /workspace /home/isaac-sim/.cache/ov /home/isaac-sim/.local/share/ov /isaac-sim/kit/cache
+
+# Copy bashrc to get aliases
+RUN cp /root/.bashrc /isaac-sim/.root-bashrc
+RUN echo 'source $HOME/.root-bashrc' >> /isaac-sim/.bashrc
 
+USER isaac-sim:isaac-sim
 
 ENTRYPOINT ["/bin/bash"]
 

isaac-lab/vscode/README.md

@@ -3,24 +3,30 @@
 This project provides a simple way to interact with Isaac Lab, and Isaac Sim, either on the cloud or locally.
 See the [project repo](https://github.com/isaac-sim/isaac-launchable) for more detaild instructions, but below is a quickstart guide.
 
-## Running Isaac Lab
+## Running Isaac Lab 2.3
 
 You can run any of the Issac Lab scripts with the streaming Isaac Sim experience with the following command:
 
 ```console
-./isaaclab/isaaclab.sh -p "isaaclab/scripts/tutorials/00_sim/create_empty.py" --kit_args="--no-window --enable omni.kit.livestream.webrtc"
+cd /workspace/isaaclab
+./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --livestream 2
 ```
 
 Then, in a separate browser window, open `http://{your instance's address}/viewer`.
 
-To run any other Isaac Lab commands, simply append those same arguments as shown above: `--kit_args="--no-window --enable omni.kit.livestream.webrtc"`
+To run any other Isaac Lab commands, simply append the same argument as shown above: `--livestream 2`
 
-## Running Isaac Sim
+## Running Isaac Sim 5.1
 
-You can run the streaming Isaac Sim application at anytime with the following command:
+You can run the streaming Isaac Sim application at anytime with the following command.
 
 ```console
-./isaaclab/_isaac_sim/isaac-sim.sh --no-window --enable omni.kit.livestream.webrtc
+/isaac-sim/runheadless.sh
+```
+
+Or to run and simultaneously accept the EULA:
+```console
+ACCEPT_EULA=y /isaac-sim/runheadless.sh
 ```
 
 Then, in a separate browser window, open `https://{your instance's address}/viewer`.