Dockerfile_isaac_lab_1_4_0

# A lightweight Docker image for running Isaac Lab 1.4.0
# Please refer to the official documentation for the officlal docker usages.
FROM nvcr.io/nvidia/isaac-sim:4.2.0

# Install Conda
# Ref: https://github.com/conda-forge/miniforge-images/blob/484f385f409e75a194dbe48633d8662d389ad748/ubuntu/Dockerfile
# > Starting with the 22.11 PyTorch NGC container, miniforge is removed and all Python packages are installed in the default Python environment...
# > See: https://docs.nvidia.com/deeplearning/frameworks/pytorch-release-notes/rel-24-01.html
ARG MINIFORGE_NAME=Miniforge3
ARG MINIFORGE_VERSION=24.3.0-0
ARG TARGETPLATFORM

ENV CONDA_DIR=/opt/conda
ENV LANG=C.UTF-8 LC_ALL=C.UTF-8
ENV PATH=${CONDA_DIR}/bin:${PATH}

# 1. Install just enough for conda to work
# 2. Keep $HOME clean (no .wget-hsts file), since HSTS isn't useful in this context
# 3. Install miniforge from GitHub releases
# 4. Apply some cleanup tips from https://jcrist.github.io/conda-docker-tips.html
#    Particularly, we remove pyc and a files. The default install has no js, we can skip that
# 5. Activate base by default when running as any *non-root* user as well
#    Good security practice requires running most workloads as non-root
#    This makes sure any non-root users created also have base activated
#    for their interactive shells.
# 6. Activate base by default when running as root as well
#    The root user is already created, so won't pick up changes to /etc/skel
RUN apt-get update > /dev/null && \
    apt-get install --no-install-recommends --yes \
        wget bzip2 ca-certificates \
        git \
        tini \
        > /dev/null && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/* && \
    wget --no-hsts --quiet https://github.com/conda-forge/miniforge/releases/download/${MINIFORGE_VERSION}/${MINIFORGE_NAME}-${MINIFORGE_VERSION}-Linux-$(uname -m).sh -O /tmp/miniforge.sh && \
    /bin/bash /tmp/miniforge.sh -b -p ${CONDA_DIR} && \
    rm /tmp/miniforge.sh && \
    conda clean --tarballs --index-cache --packages --yes && \
    find ${CONDA_DIR} -follow -type f -name '*.a' -delete && \
    find ${CONDA_DIR} -follow -type f -name '*.pyc' -delete && \
    conda clean --force-pkgs-dirs --all --yes  && \
    echo ". ${CONDA_DIR}/etc/profile.d/conda.sh && conda activate base" >> /etc/skel/.bashrc && \
    echo ". ${CONDA_DIR}/etc/profile.d/conda.sh && conda activate base" >> ~/.bashrc

ENTRYPOINT ["tini", "--"]
CMD [ "/bin/bash" ]

# Install and Setup Isaac Lab 1.4.0
# Ref: https://isaac-sim.github.io/IsaacLab/source/setup/installation/binaries_installation.html
RUN apt-get update \
    && apt-get install -y \
        cmake \
        build-essential \
    && rm -rf /var/lib/apt/lists/*
RUN git clone https://github.com/isaac-sim/IsaacLab.git ~/IsaacLab \
    && cd ~/IsaacLab \
    && git checkout v1.4.0
WORKDIR /root/IsaacLab
RUN ln -s /isaac-sim _isaac_sim
RUN ./isaaclab.sh --conda
RUN . /opt/conda/etc/profile.d/conda.sh \
    && conda activate isaaclab \
    && ./isaaclab.sh --install
RUN echo "conda activate isaaclab" >> ~/.bashrc

# Install ffmpeg for video recording
# Ref: https://isaac-sim.github.io/IsaacLab/source/how-to/wrap_rl_env.html#wrapper-for-recording-videos
RUN apt-get update \
    && apt-get install -y \
        ffmpeg \
    && rm -rf /var/lib/apt/lists/*

# Tools and scripts for Omniverse Farm
COPY thirdparty/omnicli /omnicli
COPY scripts/docker/run.sh /run.sh

# Prevent users from accidentally removing the executable permission.
RUN chmod +x /omnicli/omnicli && chmod +x /run.sh
# Prevent users from accidentally saving script files with Windows line endings.
RUN sed -i 's/\r$//' /run.sh