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‎_sources/source/deployment/cluster.rst

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@@ -60,27 +60,34 @@ Configuring the cluster parameters
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First, you need to configure the cluster-specific parameters in ``docker/cluster/.env.cluster`` file.
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The following describes the parameters that need to be configured:
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- ``CLUSTER_JOB_SCHEDULER``:
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The job scheduler/workload manager used by your cluster. Currently, we support SLURM and
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PBS workload managers [SLURM | PBS].
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- ``CLUSTER_ISAAC_SIM_CACHE_DIR``:
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The directory on the cluster where the Isaac Sim cache is stored. This directory
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has to end on ``docker-isaac-sim``. This directory will be copied to the compute node
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and mounted into the singularity container. It should increase the speed of starting
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the simulation.
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- ``CLUSTER_ISAACLAB_DIR``:
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The directory on the cluster where the Isaac Lab code is stored. This directory has to
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end on ``isaaclab``. This directory will be copied to the compute node and mounted into
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the singularity container. When a job is submitted, the latest local changes will
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be copied to the cluster.
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- ``CLUSTER_LOGIN``:
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The login to the cluster. Typically, this is the user and cluster names,
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e.g., ``your_user@euler.ethz.ch``.
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- ``CLUSTER_SIF_PATH``:
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The path on the cluster where the singularity image will be stored. The image will be
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copied to the compute node but not uploaded again to the cluster when a job is submitted.
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- ``CLUSTER_PYTHON_EXECUTABLE``:
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The path within Isaac Lab to the Python executable that should be executed in the submitted job.
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.. list-table::
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:header-rows: 1
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:widths: 20 80
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* - Parameter
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- Description
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* - CLUSTER_JOB_SCHEDULER
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- The job scheduler/workload manager used by your cluster. Currently, we support 'SLURM' and
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'PBS' workload managers.
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* - CLUSTER_ISAAC_SIM_CACHE_DIR
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- The directory on the cluster where the Isaac Sim cache is stored. This directory
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has to end on ``docker-isaac-sim``. It will be copied to the compute node
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and mounted into the singularity container. This should increase the speed of starting
77+
the simulation.
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* - CLUSTER_ISAACLAB_DIR
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- The directory on the cluster where the Isaac Lab code is stored. This directory has to
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end on ``isaaclab``. It will be copied to the compute node and mounted into
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the singularity container. When a job is submitted, the latest local changes will
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be copied to the cluster.
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* - CLUSTER_LOGIN
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- The login to the cluster. Typically, this is the user and cluster names,
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e.g., ``your_user@euler.ethz.ch``.
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* - CLUSTER_SIF_PATH
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- The path on the cluster where the singularity image will be stored. The image will be
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copied to the compute node but not uploaded again to the cluster when a job is submitted.
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* - CLUSTER_PYTHON_EXECUTABLE
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- The path within Isaac Lab to the Python executable that should be executed in the submitted job.
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When a ``job`` is submitted, it will also use variables defined in ``docker/.env.base``, though these
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should be correct by default.

‎_sources/source/deployment/docker.rst

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@@ -174,18 +174,49 @@ Understanding the mounted volumes
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The ``docker-compose.yaml`` file creates several named volumes that are mounted to the container.
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These are summarized below:
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* ``isaac-cache-kit``: This volume is used to store cached Kit resources (``/isaac-sim/kit/cache`` in container)
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* ``isaac-cache-ov``: This volume is used to store cached OV resources (``/root/.cache/ov`` in container)
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* ``isaac-cache-pip``: This volume is used to store cached pip resources (``/root/.cache/pip`` in container)
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* ``isaac-cache-gl``: This volume is used to store cached GLCache resources (``/root/.cache/nvidia/GLCache`` in container)
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* ``isaac-cache-compute``: This volume is used to store cached compute resources (``/root/.nv/ComputeCache`` in container)
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* ``isaac-logs``: This volume is used to store logs generated by Omniverse. (``/root/.nvidia-omniverse/logs`` in container)
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* ``isaac-carb-logs``: This volume is used to store logs generated by carb. (``/isaac-sim/kit/logs/Kit/Isaac-Sim`` in container)
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* ``isaac-data``: This volume is used to store data generated by Omniverse. (``/root/.local/share/ov/data`` in container)
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* ``isaac-docs``: This volume is used to store documents generated by Omniverse. (``/root/Documents`` in container)
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* ``isaac-lab-docs``: This volume is used to store documentation of Isaac Lab when built inside the container. (``/workspace/isaaclab/docs/_build`` in container)
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* ``isaac-lab-logs``: This volume is used to store logs generated by Isaac Lab workflows when run inside the container. (``/workspace/isaaclab/logs`` in container)
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* ``isaac-lab-data``: This volume is used to store whatever data users may want to preserve between container runs. (``/workspace/isaaclab/data_storage`` in container)
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.. list-table::
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:header-rows: 1
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:widths: 23 45 32
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* - Volume Name
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- Description
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- Container Path
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* - isaac-cache-kit
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- Stores cached Kit resources
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- /isaac-sim/kit/cache
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* - isaac-cache-ov
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- Stores cached OV resources
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- /root/.cache/ov
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* - isaac-cache-pip
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- Stores cached pip resources
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- /root/.cache/pip
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* - isaac-cache-gl
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- Stores cached GLCache resources
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- /root/.cache/nvidia/GLCache
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* - isaac-cache-compute
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- Stores cached compute resources
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- /root/.nv/ComputeCache
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* - isaac-logs
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- Stores logs generated by Omniverse
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- /root/.nvidia-omniverse/logs
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* - isaac-carb-logs
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- Stores logs generated by carb
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- /isaac-sim/kit/logs/Kit/Isaac-Sim
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* - isaac-data
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- Stores data generated by Omniverse
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- /root/.local/share/ov/data
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* - isaac-docs
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- Stores documents generated by Omniverse
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- /root/Documents
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* - isaac-lab-docs
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- Stores documentation of Isaac Lab when built inside the container
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- /workspace/isaaclab/docs/_build
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* - isaac-lab-logs
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- Stores logs generated by Isaac Lab workflows when run inside the container
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- /workspace/isaaclab/logs
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* - isaac-lab-data
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- Stores whatever data users may want to preserve between container runs
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- /workspace/isaaclab/data_storage
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To view the contents of these volumes, you can use the following command:
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‎searchindex.js

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‎source/deployment/cluster.html

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@@ -619,32 +619,48 @@ <h2>Setup Instructions<a class="headerlink" href="#setup-instructions" title="Pe
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<section id="configuring-the-cluster-parameters">
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<h3>Configuring the cluster parameters<a class="headerlink" href="#configuring-the-cluster-parameters" title="Permalink to this heading">#</a></h3>
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<p>First, you need to configure the cluster-specific parameters in <code class="docutils literal notranslate"><span class="pre">docker/cluster/.env.cluster</span></code> file.
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The following describes the parameters that need to be configured:
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- <code class="docutils literal notranslate"><span class="pre">CLUSTER_JOB_SCHEDULER</span></code>:</p>
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<blockquote>
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<div><p>The job scheduler/workload manager used by your cluster. Currently, we support SLURM and
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PBS workload managers [SLURM | PBS].</p>
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</div></blockquote>
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<ul class="simple">
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<li><p><code class="docutils literal notranslate"><span class="pre">CLUSTER_ISAAC_SIM_CACHE_DIR</span></code>:
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The directory on the cluster where the Isaac Sim cache is stored. This directory
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has to end on <code class="docutils literal notranslate"><span class="pre">docker-isaac-sim</span></code>. This directory will be copied to the compute node
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and mounted into the singularity container. It should increase the speed of starting
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the simulation.</p></li>
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<li><p><code class="docutils literal notranslate"><span class="pre">CLUSTER_ISAACLAB_DIR</span></code>:
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The directory on the cluster where the Isaac Lab code is stored. This directory has to
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end on <code class="docutils literal notranslate"><span class="pre">isaaclab</span></code>. This directory will be copied to the compute node and mounted into
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The following describes the parameters that need to be configured:</p>
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<div class="pst-scrollable-table-container"><table class="table">
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<colgroup>
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<col style="width: 20.0%" />
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<col style="width: 80.0%" />
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</colgroup>
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<thead>
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<tr class="row-odd"><th class="head"><p>Parameter</p></th>
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<th class="head"><p>Description</p></th>
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</tr>
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</thead>
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<tbody>
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<tr class="row-even"><td><p>CLUSTER_JOB_SCHEDULER</p></td>
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<td><p>The job scheduler/workload manager used by your cluster. Currently, we support ‘SLURM’ and
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‘PBS’ workload managers.</p></td>
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</tr>
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<tr class="row-odd"><td><p>CLUSTER_ISAAC_SIM_CACHE_DIR</p></td>
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<td><p>The directory on the cluster where the Isaac Sim cache is stored. This directory
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has to end on <code class="docutils literal notranslate"><span class="pre">docker-isaac-sim</span></code>. It will be copied to the compute node
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and mounted into the singularity container. This should increase the speed of starting
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the simulation.</p></td>
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</tr>
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<tr class="row-even"><td><p>CLUSTER_ISAACLAB_DIR</p></td>
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<td><p>The directory on the cluster where the Isaac Lab code is stored. This directory has to
646+
end on <code class="docutils literal notranslate"><span class="pre">isaaclab</span></code>. It will be copied to the compute node and mounted into
637647
the singularity container. When a job is submitted, the latest local changes will
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be copied to the cluster.</p></li>
639-
<li><p><code class="docutils literal notranslate"><span class="pre">CLUSTER_LOGIN</span></code>:
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The login to the cluster. Typically, this is the user and cluster names,
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e.g., <code class="docutils literal notranslate"><span class="pre">your_user&#64;euler.ethz.ch</span></code>.</p></li>
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<li><p><code class="docutils literal notranslate"><span class="pre">CLUSTER_SIF_PATH</span></code>:
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The path on the cluster where the singularity image will be stored. The image will be
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copied to the compute node but not uploaded again to the cluster when a job is submitted.</p></li>
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<li><p><code class="docutils literal notranslate"><span class="pre">CLUSTER_PYTHON_EXECUTABLE</span></code>:
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The path within Isaac Lab to the Python executable that should be executed in the submitted job.</p></li>
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</ul>
648+
be copied to the cluster.</p></td>
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</tr>
650+
<tr class="row-odd"><td><p>CLUSTER_LOGIN</p></td>
651+
<td><p>The login to the cluster. Typically, this is the user and cluster names,
652+
e.g., <code class="docutils literal notranslate"><span class="pre">your_user&#64;euler.ethz.ch</span></code>.</p></td>
653+
</tr>
654+
<tr class="row-even"><td><p>CLUSTER_SIF_PATH</p></td>
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<td><p>The path on the cluster where the singularity image will be stored. The image will be
656+
copied to the compute node but not uploaded again to the cluster when a job is submitted.</p></td>
657+
</tr>
658+
<tr class="row-odd"><td><p>CLUSTER_PYTHON_EXECUTABLE</p></td>
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<td><p>The path within Isaac Lab to the Python executable that should be executed in the submitted job.</p></td>
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</tr>
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</tbody>
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</table>
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</div>
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<p>When a <code class="docutils literal notranslate"><span class="pre">job</span></code> is submitted, it will also use variables defined in <code class="docutils literal notranslate"><span class="pre">docker/.env.base</span></code>, though these
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should be correct by default.</p>
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</section>

‎source/deployment/docker.html

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@@ -734,20 +734,70 @@ <h3>Python Interpreter<a class="headerlink" href="#python-interpreter" title="Pe
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<h3>Understanding the mounted volumes<a class="headerlink" href="#understanding-the-mounted-volumes" title="Permalink to this heading">#</a></h3>
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<p>The <code class="docutils literal notranslate"><span class="pre">docker-compose.yaml</span></code> file creates several named volumes that are mounted to the container.
736736
These are summarized below:</p>
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<ul class="simple">
738-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-cache-kit</span></code>: This volume is used to store cached Kit resources (<code class="docutils literal notranslate"><span class="pre">/isaac-sim/kit/cache</span></code> in container)</p></li>
739-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-cache-ov</span></code>: This volume is used to store cached OV resources (<code class="docutils literal notranslate"><span class="pre">/root/.cache/ov</span></code> in container)</p></li>
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<li><p><code class="docutils literal notranslate"><span class="pre">isaac-cache-pip</span></code>: This volume is used to store cached pip resources (<code class="docutils literal notranslate"><span class="pre">/root/.cache/pip</span></code> in container)</p></li>
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<li><p><code class="docutils literal notranslate"><span class="pre">isaac-cache-gl</span></code>: This volume is used to store cached GLCache resources (<code class="docutils literal notranslate"><span class="pre">/root/.cache/nvidia/GLCache</span></code> in container)</p></li>
742-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-cache-compute</span></code>: This volume is used to store cached compute resources (<code class="docutils literal notranslate"><span class="pre">/root/.nv/ComputeCache</span></code> in container)</p></li>
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<li><p><code class="docutils literal notranslate"><span class="pre">isaac-logs</span></code>: This volume is used to store logs generated by Omniverse. (<code class="docutils literal notranslate"><span class="pre">/root/.nvidia-omniverse/logs</span></code> in container)</p></li>
744-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-carb-logs</span></code>: This volume is used to store logs generated by carb. (<code class="docutils literal notranslate"><span class="pre">/isaac-sim/kit/logs/Kit/Isaac-Sim</span></code> in container)</p></li>
745-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-data</span></code>: This volume is used to store data generated by Omniverse. (<code class="docutils literal notranslate"><span class="pre">/root/.local/share/ov/data</span></code> in container)</p></li>
746-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-docs</span></code>: This volume is used to store documents generated by Omniverse. (<code class="docutils literal notranslate"><span class="pre">/root/Documents</span></code> in container)</p></li>
747-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-lab-docs</span></code>: This volume is used to store documentation of Isaac Lab when built inside the container. (<code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab/docs/_build</span></code> in container)</p></li>
748-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-lab-logs</span></code>: This volume is used to store logs generated by Isaac Lab workflows when run inside the container. (<code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab/logs</span></code> in container)</p></li>
749-
<li><p><code class="docutils literal notranslate"><span class="pre">isaac-lab-data</span></code>: This volume is used to store whatever data users may want to preserve between container runs. (<code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab/data_storage</span></code> in container)</p></li>
750-
</ul>
737+
<div class="pst-scrollable-table-container"><table class="table">
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<colgroup>
739+
<col style="width: 23.0%" />
740+
<col style="width: 45.0%" />
741+
<col style="width: 32.0%" />
742+
</colgroup>
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<thead>
744+
<tr class="row-odd"><th class="head"><p>Volume Name</p></th>
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<th class="head"><p>Description</p></th>
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<th class="head"><p>Container Path</p></th>
747+
</tr>
748+
</thead>
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<tbody>
750+
<tr class="row-even"><td><p>isaac-cache-kit</p></td>
751+
<td><p>Stores cached Kit resources</p></td>
752+
<td><p>/isaac-sim/kit/cache</p></td>
753+
</tr>
754+
<tr class="row-odd"><td><p>isaac-cache-ov</p></td>
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<td><p>Stores cached OV resources</p></td>
756+
<td><p>/root/.cache/ov</p></td>
757+
</tr>
758+
<tr class="row-even"><td><p>isaac-cache-pip</p></td>
759+
<td><p>Stores cached pip resources</p></td>
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<td><p>/root/.cache/pip</p></td>
761+
</tr>
762+
<tr class="row-odd"><td><p>isaac-cache-gl</p></td>
763+
<td><p>Stores cached GLCache resources</p></td>
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<td><p>/root/.cache/nvidia/GLCache</p></td>
765+
</tr>
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<tr class="row-even"><td><p>isaac-cache-compute</p></td>
767+
<td><p>Stores cached compute resources</p></td>
768+
<td><p>/root/.nv/ComputeCache</p></td>
769+
</tr>
770+
<tr class="row-odd"><td><p>isaac-logs</p></td>
771+
<td><p>Stores logs generated by Omniverse</p></td>
772+
<td><p>/root/.nvidia-omniverse/logs</p></td>
773+
</tr>
774+
<tr class="row-even"><td><p>isaac-carb-logs</p></td>
775+
<td><p>Stores logs generated by carb</p></td>
776+
<td><p>/isaac-sim/kit/logs/Kit/Isaac-Sim</p></td>
777+
</tr>
778+
<tr class="row-odd"><td><p>isaac-data</p></td>
779+
<td><p>Stores data generated by Omniverse</p></td>
780+
<td><p>/root/.local/share/ov/data</p></td>
781+
</tr>
782+
<tr class="row-even"><td><p>isaac-docs</p></td>
783+
<td><p>Stores documents generated by Omniverse</p></td>
784+
<td><p>/root/Documents</p></td>
785+
</tr>
786+
<tr class="row-odd"><td><p>isaac-lab-docs</p></td>
787+
<td><p>Stores documentation of Isaac Lab when built inside the container</p></td>
788+
<td><p>/workspace/isaaclab/docs/_build</p></td>
789+
</tr>
790+
<tr class="row-even"><td><p>isaac-lab-logs</p></td>
791+
<td><p>Stores logs generated by Isaac Lab workflows when run inside the container</p></td>
792+
<td><p>/workspace/isaaclab/logs</p></td>
793+
</tr>
794+
<tr class="row-odd"><td><p>isaac-lab-data</p></td>
795+
<td><p>Stores whatever data users may want to preserve between container runs</p></td>
796+
<td><p>/workspace/isaaclab/data_storage</p></td>
797+
</tr>
798+
</tbody>
799+
</table>
800+
</div>
751801
<p>To view the contents of these volumes, you can use the following command:</p>
752802
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># list all volumes</span>
753803
docker<span class="w"> </span>volume<span class="w"> </span>ls

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