simulation/docker/Dockerfile.pair

# What is the docker name suffix for the base image to load? (defaults to empty string)
ARG DOCKER_NAME_SUFFIX=""
FROM isaac-lab-ros2${DOCKER_NAME_SUFFIX} AS pair

# Path to the pair-lab-sim repository
ARG DOCKER_PAIR_LAB_SIM_PATH_ARG
ENV DOCKER_PAIR_LAB_SIM_PATH=${DOCKER_PAIR_LAB_SIM_PATH_ARG}

# Path to the certificates within the container
ENV DOCKER_CA_CERTIFICATES_PATH=/usr/local/share/ca-certificates/

# Set the working directory to be the pair-lab-sim repository
WORKDIR ${DOCKER_PAIR_LAB_SIM_PATH}

# Install tmux
RUN apt-get update && apt-get install -y tmux && \
    apt -y autoremove && apt clean autoclean && \
    rm -rf /var/lib/apt/lists/*

# Copy over the source directory for pair-lab and pyroki to build it as the volume isn't mounted
# until the container is started
COPY pair_lab ${DOCKER_PAIR_LAB_SIM_PATH}/pair_lab
COPY pyroki ${DOCKER_PAIR_LAB_SIM_PATH}/pyroki

# Install pair-lab
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e ${DOCKER_PAIR_LAB_SIM_PATH}/pair_lab/source/pair_lab

# Install dependencies for certs
RUN apt-get update && apt-get install -y ca-certificates && rm -rf /var/lib/apt/lists/*

# Copy CA certs into the container
COPY .certs/root.crt ${DOCKER_CA_CERTIFICATES_PATH}
COPY .certs/issuing.crt ${DOCKER_CA_CERTIFICATES_PATH}
COPY .certs/iad.crt ${DOCKER_CA_CERTIFICATES_PATH}

# Update the system CA store
RUN update-ca-certificates

# Install pyroki
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e ${DOCKER_PAIR_LAB_SIM_PATH}/pyroki

# VSCode setup
# Copy in VSCode directory to generate settings
COPY .vscode ${DOCKER_PAIR_LAB_SIM_PATH}/.vscode

# Run the setup_vscode.py script to configure the VSCode settings for the project
RUN chmod +x ${DOCKER_PAIR_LAB_SIM_PATH}/.vscode/tools/setup_vscode.py
RUN ${ISAACLAB_PATH}/isaaclab.sh -p ${DOCKER_PAIR_LAB_SIM_PATH}/.vscode/tools/setup_vscode.py