feat: add apptainer.def for building SIF image

[Copilot]

Provides an Apptainer definition file to build a .sif container image equivalent to the existing Docker image, targeting the industrial_env branch.

What's added

• apptainer.def — mirrors the multi-stage Dockerfile with these key adaptations:
  • Bootstraps from nvcr.io/nvidia/isaac-sim:4.5.0
  • Replaces the COPY --from=cuda multi-stage trick by installing cuda-toolkit-12-8 via NVIDIA's apt repo in %post (provides nvcc + headers for cuRobo CUDA extension compilation)
  • %arguments for parameterised builds (CUDA version, GPU arch, minimal vs. full install) — requires Apptainer ≥ 1.1
  • %files mirrors the Dockerfile COPY instructions (pyproject.toml, uv.lock, third_party, src)
  • %runscript maps ENTRYPOINT ["/usr/bin/env"] CMD ["/bin/bash"]
  • Full %help with build/run invocations

Build

export APPTAINER_DOCKER_USERNAME=\$oauthtoken
export APPTAINER_DOCKER_PASSWORD=<NGC_API_KEY>

# Minimal (default)
apptainer build --nv simple.sif apptainer.def

# Full install + custom GPU arch
apptainer build --nv \
  --build-arg TORCH_CUDA_ARCH_LIST=8.9+PTX \
  --build-arg SIMPLE_FULL_INSTALL=1 \
  simple.sif apptainer.def

Run

apptainer run --nv simple.sif
apptainer exec --nv simple.sif uv run eval --headless