| FROM nvcr.io/nvidia/isaac-lab:2.2.0 | |
| # System packages | |
| RUN apt-get update && \ | |
| apt-get install -y --no-install-recommends \ | |
| build-essential \ | |
| htop \ | |
| iputils-ping \ | |
| git-lfs \ | |
| nvtop \ | |
| tmux \ | |
| vim \ | |
| zip \ | |
| && rm -rf /var/lib/apt/lists/* | |
| # openpi-client (pinned to openpi server commit, no local deps) | |
| ARG OPENPI_COMMIT=aa6420561529593114160d05e5ad155792b272f3 | |
| RUN /workspace/isaaclab/_isaac_sim/python.sh -m pip install --no-cache-dir --no-deps \ | |
| "openpi-client @ git+https://github.com/xuningy/openpi@${OPENPI_COMMIT}#subdirectory=packages/openpi-client" | |
| # Assets — each subdirectory is a separate layer for better caching. | |
| # Placed before code COPY so they stay cached across code changes. | |
| # Ordered smallest to largest so cheaper layers come first. | |
| COPY assets/robots/ /workspace/robolab/assets/robots/ | |
| COPY assets/materials/ /workspace/robolab/assets/materials/ | |
| COPY assets/fixtures/ /workspace/robolab/assets/fixtures/ | |
| COPY assets/backgrounds/ /workspace/robolab/assets/backgrounds/ | |
| COPY assets/scenes/ /workspace/robolab/assets/scenes/ | |
| COPY assets/objects/ /workspace/robolab/assets/objects/ | |
| # Accept NVIDIA/Isaac Sim EULAs | |
| ENV OMNI_KIT_ACCEPT_EULA=YES | |
| ENV ACCEPT_EULA=Y | |
| # Copy project code (assets/ excluded via .dockerignore) | |
| COPY . /workspace/robolab | |
| WORKDIR /workspace/robolab | |
| # Install Python dependencies | |
| # GIT_LFS_SKIP_SMUDGE=1 avoids pulling large LFS objects during build | |
| RUN GIT_LFS_SKIP_SMUDGE=1 /workspace/isaaclab/_isaac_sim/python.sh -m pip install --no-cache-dir -e . | |