Cleans up the docker container interface and utilities (isaac-sim#823)

# Description

Mainly documentation fixes and ensuring the code quality remains
consistent. Also adds the `container.sh` script which calls the python
script for compatibility reasons. We can remove it in later releases.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: Mayankm96

docker/.env.ros2

@@ -3,7 +3,7 @@
 ###
 # Set the version of the ROS2 apt package to install (ros-base, desktop, desktop-full)
 ROS2_APT_PACKAGE=ros-base
-# Se t ROS2 middleware implementation to use (e.g. rmw_fastrtps_cpp, rmw_cyclonedds_cpp)
+# Set ROS2 middleware implementation to use (e.g. rmw_fastrtps_cpp, rmw_cyclonedds_cpp)
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 # Path to fastdds.xml file to use (only needed when using fastdds)
 FASTRTPS_DEFAULT_PROFILES_FILE=${DOCKER_USER_HOME}/.ros/fastdds.xml

docker/container.py

@@ -9,37 +9,46 @@
 import shutil
 from pathlib import Path
 
-from utils import x11_utils
-from utils.isaaclab_container_interface import IsaacLabContainerInterface
+from utils import ContainerInterface, x11_utils
 
 
-def main():
+def parse_cli_args() -> argparse.Namespace:
+    """Parse command line arguments.
+
+    This function creates a parser object and adds subparsers for each command. The function then parses the
+    command line arguments and returns the parsed arguments.
+
+    Returns:
+        The parsed command line arguments.
+    """
     parser = argparse.ArgumentParser(description="Utility for using Docker with Isaac Lab.")
-    subparsers = parser.add_subparsers(dest="command", required=True)
 
     # We have to create separate parent parsers for common options to our subparsers
     parent_parser = argparse.ArgumentParser(add_help=False)
-    parent_parser.add_argument("profile", nargs="?", default="base", help="Optional container profile specification.")
+    parent_parser.add_argument(
+        "profile", nargs="?", default="base", help="Optional container profile specification. Example: 'base' or 'ros'."
+    )
     parent_parser.add_argument(
         "--files",
         nargs="*",
         default=None,
         help=(
-            "Allows additional .yaml files to be passed to the docker compose command. Files will be merged with"
-            " docker-compose.yaml in the order in which they are provided."
+            "Allows additional '.yaml' files to be passed to the docker compose command. These files will be merged"
+            " with 'docker-compose.yaml' in their provided order."
         ),
     )
     parent_parser.add_argument(
         "--env-files",
         nargs="*",
         default=None,
         help=(
-            "Allows additional .env files to be passed to the docker compose command. Files will be merged with"
-            " .env.base in the order in which they are provided."
+            "Allows additional '.env' files to be passed to the docker compose command. These files will be merged with"
+            " '.env.base' in their provided order."
         ),
     )
 
     # Actual command definition begins here
+    subparsers = parser.add_subparsers(dest="command", required=True)
     subparsers.add_parser(
         "start",
         help="Build the docker image and create the container in detached mode.",
@@ -64,37 +73,55 @@ def main():
     )
     subparsers.add_parser("stop", help="Stop the docker container and remove it.", parents=[parent_parser])
 
+    # parse the arguments to determine the command
     args = parser.parse_args()
 
+    return args
+
+
+def main(args: argparse.Namespace):
+    """Main function for the Docker utility."""
+    # check if docker is installed
     if not shutil.which("docker"):
-        raise RuntimeError("Docker is not installed! Please check the 'Docker Guide' for instruction.")
+        raise RuntimeError(
+            "Docker is not installed! Please check the 'Docker Guide' for instruction: "
+            "https://isaac-sim.github.io/IsaacLab/source/deployment/docker.html"
+        )
 
-    # Creating container interface
-    ci = IsaacLabContainerInterface(
+    # creating container interface
+    ci = ContainerInterface(
         context_dir=Path(__file__).resolve().parent, profile=args.profile, yamls=args.files, envs=args.env_files
     )
 
     print(f"[INFO] Using container profile: {ci.profile}")
     if args.command == "start":
+        # check if x11 forwarding is enabled
         x11_outputs = x11_utils.x11_check(ci.statefile)
+        # if x11 forwarding is enabled, add the x11 yaml and environment variables
         if x11_outputs is not None:
             (x11_yaml, x11_envar) = x11_outputs
             ci.add_yamls += x11_yaml
             ci.environ.update(x11_envar)
+        # start the container
         ci.start()
     elif args.command == "enter":
+        # refresh the x11 forwarding
         x11_utils.x11_refresh(ci.statefile)
+        # enter the container
         ci.enter()
     elif args.command == "config":
         ci.config(args.output_yaml)
     elif args.command == "copy":
         ci.copy()
     elif args.command == "stop":
+        # stop the container
         ci.stop()
+        # cleanup the x11 forwarding
         x11_utils.x11_cleanup(ci.statefile)
     else:
-        raise RuntimeError(f"Invalid command provided: {args.command}")
+        raise RuntimeError(f"Invalid command provided: {args.command}. Please check the help message.")
 
 
 if __name__ == "__main__":
-    main()
+    args_cli = parse_cli_args()
+    main(args_cli)

docker/container.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# print warning of deprecated script in yellow
+echo -e "\e[33m------------------------------------------------------------"
+echo -e "WARNING: This script is deprecated and will be removed in the future. Please use 'docker/container.py' instead."
+echo -e "------------------------------------------------------------\e[0m\n"
+
+# obtain current directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+# call the python script
+python3 "${SCRIPT_DIR}/container.py" "${@:1}"

docker/utils/__init__.py

@@ -2,3 +2,7 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+
+from .container_interface import ContainerInterface
+
+__all__ = ["ContainerInterface"]