| # Docker |
|
|
| ## Prerequisites |
|
|
| - Docker with NVIDIA Container Toolkit (`nvidia-docker2`) |
| - Access to `nvcr.io/nvidia/isaac-lab:2.2.0` (base image) |
|
|
| ## Build |
|
|
| ```bash |
| # Uses git short SHA as tag by default |
| ./docker/build_docker.sh |
| |
| # Custom tag |
| ./docker/build_docker.sh my-tag |
| |
| # Build and push to registry |
| ./docker/build_docker.sh --push |
| |
| # Custom tag and push |
| ./docker/build_docker.sh my-tag --push |
| ``` |
|
|
| The build context is the repo root. A `.dockerignore` at the repo root excludes |
| `.git/`, build artifacts, and non-essential directories to keep the context small. |
| Code and `assets/` are baked into the image. Each `assets/` subdirectory is a |
| separate layer for better caching — code changes don't invalidate asset layers. |
|
|
| ## Run |
|
|
| ```bash |
| # Interactive shell with display/GUI forwarding (X11, cache + repo mounts) |
| ./docker/run_docker.sh |
| |
| # Or specify a custom tag |
| ./docker/run_docker.sh my-tag |
| ``` |
|
|
| ### Running a single command |
|
|
| ```bash |
| docker run --rm \ |
| --gpus all \ |
| --network=host \ |
| --entrypoint /workspace/isaaclab/_isaac_sim/python.sh \ |
| -e ACCEPT_EULA=Y \ |
| robolab:<tag> \ |
| <script.py> [args...] |
| ``` |
|
|
| ### Running with display (for GUI/rendering) |
|
|
| ```bash |
| docker run --rm -it \ |
| --gpus all \ |
| --network=host \ |
| --entrypoint /bin/bash \ |
| -e ACCEPT_EULA=Y \ |
| -e DISPLAY=$DISPLAY \ |
| -v /tmp/.X11-unix:/tmp/.X11-unix \ |
| robolab:<tag> |
| ``` |
|
|
| ## What's in the image |
|
|
| - **Base**: `nvcr.io/nvidia/isaac-lab:2.2.0` (Isaac Lab + Isaac Sim + Python) |
| - **Code**: `robolab/`, `scripts/`, `examples/`, `tests/` |
| - **Assets**: `assets/` (~6.5GB) |
| - **Python packages**: Everything in `requirements.txt`, installed via `pip install -e .` |
| - **System tools**: `htop`, `nvtop`, `tmux`, `vim`, `git-lfs`, `zip` |
|
|
