Adds support for bash history in docker (#2659)

# Description

Adds support for bash history between docker start/stop cycles.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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

.dockerignore

@@ -23,3 +23,5 @@ recordings/
 **/*.egg-info/
 # ignore isaac sim symlink
 _isaac_sim?
+# Docker history
+docker/.isaac-lab-docker-history

.gitignore

@@ -66,3 +66,6 @@ datasets
 
 # Tests
 tests/
+
+# Docker history
+.isaac-lab-docker-history

docker/Dockerfile.base

@@ -99,7 +99,9 @@ RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
     echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
     echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
     echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \
-    echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc
+    echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc && \
+    echo "shopt -s histappend" >> /root/.bashrc && \
+    echo "PROMPT_COMMAND='history -a'" >> /root/.bashrc
 
 # make working directory as the Isaac Lab directory
 # this is the default directory when the container is run

docker/docker-compose.yaml

@@ -60,6 +60,10 @@ x-default-isaac-lab-volumes: &default-isaac-lab-volumes
   - type: volume
     source: isaac-lab-data
     target: ${DOCKER_ISAACLAB_PATH}/data_storage
+    # This volume is used to store the history of the bash shell
+  - type: bind
+    source: .isaac-lab-docker-history
+    target: ${DOCKER_USER_HOME}/.bash_history
 
 x-default-isaac-lab-environment: &default-isaac-lab-environment
   - ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim

docker/utils/container_interface.py

@@ -114,6 +114,11 @@ class ContainerInterface:
             f"[INFO] Building the docker image and starting the container '{self.container_name}' in the"
             " background...\n"
         )
+        # Check if the container history file exists
+        container_history_file = self.context_dir / ".isaac-lab-docker-history"
+        if not container_history_file.exists():
+            # Create the file with sticky bit on the group
+            container_history_file.touch(mode=0o2644, exist_ok=True)
 
         # build the image for the base profile if not running base (up will build base already if profile is base)
         if self.profile != "base":