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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
# Nvidia Dockerfiles: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles
# Please check above link for license information.
# Base image
ARG ISAACSIM_BASE_IMAGE_ARG
ARG ISAACSIM_VERSION_ARG
FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
# Set default RUN shell to bash
SHELL ["/bin/bash", "-c"]
# Adds labels to the Dockerfile
LABEL version="2.1.1"
LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image."
# Arguments
# Path to Isaac Sim root folder
ARG ISAACSIM_ROOT_PATH_ARG
ENV ISAACSIM_ROOT_PATH=${ISAACSIM_ROOT_PATH_ARG}
# Path to the Isaac Lab directory
ARG ISAACLAB_PATH_ARG
ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
# Home dir of docker user, typically '/root'
ARG DOCKER_USER_HOME_ARG
ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
# Set environment variables
ENV LANG=C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
USER root
# Install dependencies and remove cache
RUN --mount=type=cache,target=/var/cache/apt \
apt-get update && apt-get install -y --no-install-recommends \
build-essential \
cmake \
git \
libglib2.0-0 \
ncurses-term \
wget && \
apt -y autoremove && apt clean autoclean && \
rm -rf /var/lib/apt/lists/*
# Copy the Isaac Lab directory (files to exclude are defined in .dockerignore)
COPY IsaacLab ${ISAACLAB_PATH}
# Ensure isaaclab.sh has execute permissions
RUN chmod +x ${ISAACLAB_PATH}/isaaclab.sh
# Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory
RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim
# Install toml dependency
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install toml
# Install apt dependencies for extensions that declare them in their extension.toml
RUN --mount=type=cache,target=/var/cache/apt \
${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
apt -y autoremove && apt clean autoclean && \
rm -rf /var/lib/apt/lists/*
# for singularity usage, have to create the directories that will binded
RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache && \
mkdir -p ${DOCKER_USER_HOME}/.nv/ComputeCache && \
mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
mkdir -p ${DOCKER_USER_HOME}/Documents
# for singularity usage, create NVIDIA binary placeholders
RUN touch /bin/nvidia-smi && \
touch /bin/nvidia-debugdump && \
touch /bin/nvidia-persistenced && \
touch /bin/nvidia-cuda-mps-control && \
touch /bin/nvidia-cuda-mps-server && \
touch /etc/localtime && \
mkdir -p /var/run/nvidia-persistenced && \
touch /var/run/nvidia-persistenced/socket
# installing Isaac Lab dependencies
# use pip caching to avoid reinstalling large packages
RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
${ISAACLAB_PATH}/isaaclab.sh --install
# HACK: Remove install of quadprog dependency
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
# aliasing isaaclab.sh and python for convenience
RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
echo "alias pip='${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 "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
WORKDIR ${ISAACLAB_PATH}
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