Update Dockerfile and add Dependabot automation

.docker/internal/pxr_sys/patches/src/build_scripts/build_usd.py.patch

@@ -0,0 +1,51 @@
+--- ./build_scripts/build_usd.py
++++ ./build_scripts/build_usd.py
+@@ -695,7 +695,7 @@
+     BOOST_URL = "https://boostorg.jfrog.io/artifactory/main/release/1.76.0/source/boost_1_76_0.tar.gz"
+     BOOST_VERSION_FILE = "include/boost/version.hpp"
+ elif Linux():
+-    BOOST_URL = "https://boostorg.jfrog.io/artifactory/main/release/1.70.0/source/boost_1_70_0.tar.gz"
++    BOOST_URL = "https://sourceforge.net/projects/boost/files/boost/1.76.0/boost_1_76_0.tar.gz"
+     BOOST_VERSION_FILE = "include/boost/version.hpp"
+ elif Windows():
+     # The default installation of boost on Windows puts headers in a versioned 
+@@ -1166,6 +1166,10 @@
+
+ def InstallOpenEXR(context, force, buildArgs):
+     with CurrentWorkingDirectory(DownloadURL(OPENEXR_URL, context, force)):
++        PatchFile(
++            "OpenEXR/IlmImf/ImfTiledMisc.cpp",
++            [("#include <algorithm>\n", "#include <algorithm>\n#include <limits>\n")],
++        )
+         RunCMake(context, force, 
+                  ['-DPYILMBASE_ENABLE=OFF',
+                   '-DOPENEXR_VIEWERS_ENABLE=OFF',
+@@ -1561,10 +1565,9 @@
+
+ def InstallAlembic(context, force, buildArgs):
+     with CurrentWorkingDirectory(DownloadURL(ALEMBIC_URL, context, force)):
+-        if MacOS():
+-            PatchFile("CMakeLists.txt",
+-              [("ADD_DEFINITIONS(-Wall -Werror -Wextra -Wno-unused-parameter)",
+-                "ADD_DEFINITIONS(-Wall -Wextra -Wno-unused-parameter)")])
++        PatchFile("CMakeLists.txt",
++            [("ADD_DEFINITIONS(-Wall -Werror -Wextra -Wno-unused-parameter)",
++            "ADD_DEFINITIONS(-Wall -Wextra -Wno-unused-parameter)")])
+         cmakeOptions = ['-DUSE_BINARIES=OFF', '-DUSE_TESTS=OFF']
+         if context.enableHDF5:
+             # HDF5 requires the H5_BUILT_AS_DYNAMIC_LIB macro be defined if
+@@ -1589,6 +1592,14 @@
+
+ def InstallDraco(context, force, buildArgs):
+     with CurrentWorkingDirectory(DownloadURL(DRACO_URL, context, force)):
++        PatchFile(
++            "src/draco/core/hash_utils.h",
++            [("#include <functional>\n", "#include <functional>\n#include <cstddef>\n")],
++        )
++        PatchFile(
++            "src/draco/io/parser_utils.cc",
++            [("#include <iterator>\n", "#include <iterator>\n#include <limits>\n")],
++        )
+         cmakeOptions = [
+             '-DBUILD_USD_PLUGIN=ON',
+         ]

.github/workflows/dependabot.yml

@@ -0,0 +1,27 @@
+name: Dependabot automation
+on: pull_request
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  dependabot_automation:
+    runs-on: ubuntu-latest
+    if: ${{ github.actor == 'dependabot[bot]' && github.event_name == 'pull_request' }}
+    steps:
+      - name: Fetch metadata
+        id: metadata
+        uses: dependabot/fetch-metadata@v1
+        with:
+          github-token: "${{ secrets.GITHUB_TOKEN }}"
+      - name: Approve the PR
+        env:
+          PR_URL: ${{github.event.pull_request.html_url}}
+          GH_TOKEN: ${{secrets.GITHUB_TOKEN}}
+        run: gh pr review --approve "$PR_URL"
+      - name: Enable auto-merge for the PR
+        env:
+          PR_URL: ${{github.event.pull_request.html_url}}
+          GH_TOKEN: ${{secrets.GITHUB_TOKEN}}
+        run: gh pr merge --auto --merge "$PR_URL"

.github/workflows/rust.yml

@@ -14,6 +14,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
+  MSRV: "1.70"
   CARGO_TERM_COLOR: always
   LIB_PACKAGE_NAME: isaac_sim
 
@@ -37,7 +38,7 @@ jobs:
       fail-fast: false
       matrix:
         toolchain:
-          - "1.70" # Minimal supported Rust version (MSRV)
+          - MSRV
           - stable
           - beta
     env:
@@ -48,9 +49,18 @@ jobs:
         with:
           save-if: ${{ github.event_name == 'push'}}
       - uses: dtolnay/rust-toolchain@master
+        if: ${{ matrix.toolchain != 'MSRV' && matrix.toolchain != 'stable' }}
         with:
           toolchain: ${{ matrix.toolchain }}
-          components: rustfmt, clippy
+      - uses: dtolnay/rust-toolchain@master
+        if: ${{ matrix.toolchain == 'MSRV' }}
+        with:
+          toolchain: ${{ env.MSRV }}
+      - uses: dtolnay/rust-toolchain@master
+        if: ${{ matrix.toolchain == 'stable' }}
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          components: clippy
 
       ## Install dependencies
       - run: sudo apt-get update && sudo apt-get install -yq --no-install-recommends cmake libarchive-dev libgl-dev libglu-dev libilmbase-dev libssl-dev libx11-dev libxt-dev nvidia-cuda-dev pybind11-dev
@@ -104,7 +114,7 @@ jobs:
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
           files: lcov.info
-          fail_ci_if_error: true
+          fail_ci_if_error: false
 
   deny:
     runs-on: ubuntu-latest

Cargo.toml

@@ -21,7 +21,7 @@ version = "0.1.0"
 autocxx = { version = "0.26" }
 builder_derive_more = { version = "0.1" }
 ctor = { version = "0.2" }
-derive_builder = { version = "0.12" }
+derive_builder = { version = "0.13" }
 derive_more = { version = "0.99" }
 omniverse = { version = "0.1" }
 pxr = { version = "0.1" }

Dockerfile

@@ -16,6 +16,71 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN echo "#!/usr/bin/env bash" >> /entrypoint.bash && \
     chmod +x /entrypoint.bash
 
+### Build OpenUSD
+ARG OPENUSD_VERSION="22.11"
+COPY ./.docker/internal/pxr_sys/patches/src/build_scripts/build_usd.py.patch /tmp/build_usd.py.patch
+# hadolint ignore=SC2016
+RUN OPENUSD_DL_PATH="/tmp/OpenUSD-${OPENUSD_VERSION}.tar.gz" && \
+    OPENUSD_SRC_DIR="/tmp/OpenUSD-${OPENUSD_VERSION}" && \
+    OPENUSD_INSTALL_DIR="${HOME}/openusd" && \
+    echo -e "\n# OpenUSD ${OPENUSD_VERSION}" >> /entrypoint.bash && \
+    echo "export OPENUSD_PATH=\"${OPENUSD_INSTALL_DIR}\"" >> /entrypoint.bash && \
+    echo '# export PATH="${OPENUSD_PATH}/bin${PATH:+:${PATH}}"' >> /entrypoint.bash && \
+    echo '# export LD_LIBRARY_PATH="${OPENUSD_PATH}/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"' >> /entrypoint.bash && \
+    echo '# export PYTHONPATH="${OPENUSD_PATH}/lib/python${PYTHONPATH:+:${PYTHONPATH}}"' >> /entrypoint.bash && \
+    apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends \
+    build-essential \
+    ca-certificates \
+    clang \
+    cmake \
+    curl \
+    libarchive-dev \
+    libgl-dev \
+    libglfw3-dev \
+    libglib2.0-dev \
+    libglu-dev \
+    libglu1-mesa-dev \
+    libilmbase-dev \
+    libssl-dev \
+    libtbb2-dev \
+    libx11-dev \
+    libxt-dev \
+    pkg-config \
+    python3-dev \
+    python3-pip && \
+    rm -rf /var/lib/apt/lists/* && \
+    python3 -m pip install --no-cache-dir PyOpenGL==3.1.7 pyside6==6.6.0 && \
+    curl --proto "=https" --tlsv1.2 -sSfL "https://github.com/PixarAnimationStudios/OpenUSD/archive/refs/tags/v${OPENUSD_VERSION}.tar.gz" -o "${OPENUSD_DL_PATH}" && \
+    mkdir -p "${OPENUSD_SRC_DIR}" && \
+    tar xf "${OPENUSD_DL_PATH}" -C "${OPENUSD_SRC_DIR}" --strip-components=1 && \
+    rm "${OPENUSD_DL_PATH}" && \
+    if [[ "${OPENUSD_VERSION}" = "22.11" ]]; then \
+    patch --unified --strip=1 --batch --follow-symlinks --ignore-whitespace --input=/tmp/build_usd.py.patch --directory="${OPENUSD_SRC_DIR}" ; \
+    fi && \
+    rm /tmp/build_usd.py.patch && \
+    python3 "${OPENUSD_SRC_DIR}/build_scripts/build_usd.py" \
+    --build-shared \
+    --build-variant=release --prefer-speed-over-safety \
+    --use-cxx11-abi=0 \
+    --build-args USD,"-DPXR_LIB_PREFIX=lib" \
+    --no-tests --no-examples --no-tutorials --no-tools --no-docs \
+    --usdview \
+    --python --no-debug-python \
+    --usd-imaging \
+    --no-ptex \
+    --openvdb \
+    --no-embree \
+    --no-prman \
+    --no-openimageio \
+    --no-opencolorio \
+    --alembic \
+    --no-hdf5 \
+    --draco \
+    --materialx \
+    "${OPENUSD_INSTALL_DIR}" && \
+    rm -rf "${OPENUSD_SRC_DIR}" "${OPENUSD_INSTALL_DIR}/src"
+
 ### Copy Isaac Sim into the base image
 ARG ISAAC_SIM_PATH="/root/isaac_sim"
 ARG CARB_APP_PATH="${ISAAC_SIM_PATH}/kit"
@@ -28,7 +93,6 @@ RUN ISAAC_SIM_VERSION="$(cut -d'-' -f1 < "${ISAAC_SIM_PATH}/VERSION")" && \
     echo "export ISAAC_SIM_PATH=\"${ISAAC_SIM_PATH}\"" >> /entrypoint.bash && \
     echo "export CARB_APP_PATH=\"${CARB_APP_PATH}\"" >> /entrypoint.bash && \
     echo "export OMNI_SERVER=\"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/${ISAAC_SIM_VERSION}\"" >> /entrypoint.bash && \
-    echo "export PYTHONEXE=\"$(which python3)\"" >> /entrypoint.bash && \
     echo "export OMNI_KIT_ALLOW_ROOT=\"1\"" >> /entrypoint.bash && \
     echo "# source \"${CARB_APP_PATH}/setup_python_env.sh\" --" >> /entrypoint.bash && \
     echo "# source \"${ISAAC_SIM_PATH}/setup_python_env.sh\" --" >> /entrypoint.bash
@@ -40,6 +104,9 @@ ARG CARB_APP_REDOWNLOAD_VERSION="105.1.2"
 ARG CARB_APP_REDOWNLOAD_BUILD_HASH="release.133510.b82c1e1e"
 ARG CARB_APP_REDOWNLOAD_URL="https://d4i3qtqj3r0z5.cloudfront.net/kit-sdk%40${CARB_APP_REDOWNLOAD_VERSION}%2B${CARB_APP_REDOWNLOAD_BUILD_HASH}.tc.linux-x86_64.release.7z"
 RUN if [[ "${CARB_APP_REDOWNLOAD,,}" = true ]]; then \
+    echo -e "\n# Carb app ${CARB_APP_REDOWNLOAD_VERSION}" >> /entrypoint.bash && \
+    echo "export CARB_APP_PATH=\"${CARB_APP_PATH}\"" >> /entrypoint.bash && \
+    echo "# source \"${CARB_APP_PATH}/setup_python_env.sh\" --" >> /entrypoint.bash && \
     apt-get update && \
     DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends \
     ca-certificates \
@@ -53,12 +120,32 @@ RUN if [[ "${CARB_APP_REDOWNLOAD,,}" = true ]]; then \
     rm "${CARB_APP_DL_PATH}" ; \
     fi
 
+### Install dependencies
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends \
+    build-essential \
+    clang \
+    cmake \
+    libarchive-dev \
+    libgl-dev \
+    libglu-dev \
+    libilmbase-dev \
+    libssl-dev \
+    libx11-dev \
+    libxt-dev \
+    nvidia-cuda-dev \
+    pkg-config \
+    pybind11-dev \
+    python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
 ### Install Rust
-ARG RUST_VERSION="1.74"
+ARG RUST_VERSION="1.75"
 RUN apt-get update && \
     DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends \
     ca-certificates \
-    curl && \
+    curl \
+    mold && \
     rm -rf /var/lib/apt/lists/* && \
     curl --proto "=https" --tlsv1.2 -sSfL "https://sh.rustup.rs" | sh -s -- --no-modify-path -y --default-toolchain "${RUST_VERSION}" --profile default && \
     echo -e "\n# Rust ${RUST_VERSION}" >> /entrypoint.bash && \
@@ -79,26 +166,6 @@ ARG WORKSPACE="/root/ws"
 ENV WORKSPACE="${WORKSPACE}"
 WORKDIR ${WORKSPACE}
 
-### Install dependencies
-RUN apt-get update && \
-    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends \
-    build-essential \
-    clang \
-    cmake \
-    libarchive-dev \
-    libgl-dev \
-    libglu-dev \
-    libilmbase-dev \
-    libssl-dev \
-    libx11-dev \
-    libxt-dev \
-    mold \
-    nvidia-cuda-dev \
-    pkg-config \
-    pybind11-dev \
-    python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
 ### Copy the source
 COPY . "${WORKSPACE}"
 

README.md

@@ -1,10 +1,13 @@
 # isaac_sim_rs
 
 <p align="left">
-  <a href="https://crates.io/crates/isaac_sim">                                        <img alt="crates.io" src="https://img.shields.io/crates/v/isaac_sim.svg"></a>
-  <a href="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/rust.yml">   <img alt="Rust"      src="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/rust.yml/badge.svg"></a>
-  <!-- <a href="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/docker.yml"> <img alt="Docker"    src="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/docker.yml/badge.svg"></a> -->
-  <a href="https://codecov.io/gh/AndrejOrsula/isaac_sim_rs">                           <img alt="codecov"   src="https://codecov.io/gh/AndrejOrsula/isaac_sim_rs/branch/main/graph/badge.svg"></a>
+  <a href="https://crates.io/crates/isaac_sim">                                        <img alt="crates.io"  src="https://img.shields.io/crates/v/isaac_sim.svg"></a>
+  <!-- <a href="https://docs.rs/isaac_sim">                                                 <img alt="docs.rs"    src="https://docs.rs/isaac_sim/badge.svg"></a> -->
+  <a href="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/rust.yml">   <img alt="Rust"       src="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/rust.yml/badge.svg"></a>
+  <!-- <a href="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/docker.yml"> <img alt="Docker"     src="https://github.com/AndrejOrsula/isaac_sim_rs/actions/workflows/docker.yml/badge.svg"></a> -->
+  <a href="https://deps.rs/repo/github/AndrejOrsula/isaac_sim_rs">                     <img alt="deps.rs"    src="https://deps.rs/repo/github/AndrejOrsula/isaac_sim_rs/status.svg"></a>
+  <a href="https://codecov.io/gh/AndrejOrsula/isaac_sim_rs">                           <img alt="codecov.io" src="https://codecov.io/gh/AndrejOrsula/isaac_sim_rs/branch/main/graph/badge.svg"></a>
+
 </p>
 
 Rust interface for NVIDIA [Isaac Sim](https://developer.nvidia.com/isaac-sim).