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| Original file line number | Diff line number | Diff line change |
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| # Copyright (c) 2022-2024, The Isaac Lab Project Developers. | ||
| # All rights reserved. | ||
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # This Dockerfile is used to build a Docker image for the Isaac Lab framework. | ||
| # | ||
| # It uses the pip package manager to install Isaac Sim and the Isaac Lab framework. | ||
| # | ||
| # To build the Docker image and run the Docker container, follow the steps below: | ||
| # | ||
| # 1. Build the Docker image: | ||
| # docker build -t isaac-lab-pip:latest -f docker/Dockerfile.pip . | ||
| # 2. Run the Docker container: | ||
| # docker run -it --gpus all --rm --network=host --name isaac-lab -v $(pwd):/root/isaaclab isaac-lab-pip:latest | ||
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| # Base image: Ubuntu 22.04 | ||
| FROM ubuntu:22.04 AS base | ||
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| # Set default RUN shell to bash | ||
| SHELL ["/bin/bash", "-c"] | ||
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| # Adds labels to the Dockerfile | ||
| LABEL version="1.0" | ||
| LABEL description="Dockerfile for building and running the Isaac Lab framework in Ubuntu 22.04 container image." | ||
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| # Arguments | ||
| # Path to the Isaac Lab directory | ||
| ENV ISAACLAB_PATH=/root/isaaclab | ||
| # Home dir of docker user, typically '/root' | ||
| ENV DOCKER_USER_HOME=/root | ||
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| # Set environment variables | ||
| ENV LANG=C.UTF-8 | ||
| ENV DEBIAN_FRONTEND=noninteractive | ||
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| USER root | ||
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| # 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 && \ | ||
| apt -y autoremove && apt clean autoclean && \ | ||
| rm -rf /var/lib/apt/lists/* | ||
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| # for singularity usage, have to create the directories that will binded | ||
| RUN 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 | ||
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| # 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 | ||
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| # Install python3 and pip | ||
| RUN apt-get update && apt-get install -y --no-install-recommends \ | ||
| python3 \ | ||
| python3-pip && \ | ||
| apt -y autoremove && apt clean autoclean && \ | ||
| rm -rf /var/lib/apt/lists/* | ||
| # Maintain python3 as the default python version | ||
| RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1 | ||
| RUN update-alternatives --install /usr/bin/pip pip /usr/bin/pip3 1 | ||
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| # Install python packages | ||
| RUN pip3 install --no-cache-dir --upgrade pip && \ | ||
| pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu118 | ||
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| RUN pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com | ||
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| # Mount the Isaac Lab directory (files to exclude are defined in .dockerignore) | ||
| COPY ../ ${ISAACLAB_PATH} | ||
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| # installing Isaac Lab dependencies | ||
| # use pip caching to avoid reinstalling large packages | ||
| RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \ | ||
| ${ISAACLAB_PATH}/isaaclab.sh --install | ||
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| # aliasing isaaclab.sh and python for convenience | ||
| RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \ | ||
| echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \ | ||
| echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc | ||
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| # 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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