/workspace/isaaclab

isaaclab

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c set -o pipefail &&
  export DOCKER_ISAACSIM_ROOT_PATH="${ISAACSIM_ROOT_PATH}" DOCKER_ISAACLAB_PATH="${ISAACLAB_PATH}" DOCKER_USER_HOME="${DOCKER_USER_HOME}" &&
  dirs="$(${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/docker/utils/volume_mounts.py | grep '^/')" &&
  mkdir -p ${dirs} &&
  chown -R isaaclab:isaaclab ${dirs}

--chown=isaaclab:isaaclab ../ /workspace/isaaclab/

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c chmod 755 ${ISAACSIM_ROOT_PATH} &&
  chmod 750 ${DOCKER_USER_HOME}

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c chown -R isaaclab:isaaclab ${ISAACLAB_PATH} ${DOCKER_USER_HOME}

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c groupadd --non-unique --gid 1000 isaaclab &&
  useradd --non-unique --uid 1000 --gid 1000 -M -l -s /bin/bash -d ${DOCKER_USER_HOME} isaaclab

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "export TZ=$(date +%Z)" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "shopt -s histappend" >> ${DOCKER_USER_HOME}/.bashrc &&
  echo "PROMPT_COMMAND='history -a'" >> ${DOCKER_USER_HOME}/.bashrc

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog

ISAACSIM_ROOT_PATH_ARG=/isaac-sim ISAACLAB_PATH_ARG=/workspace/isaaclab DOCKER_USER_HOME_ARG=/root /bin/bash -c if [ "$(dpkg --print-architecture)" = "arm64" ]; then apt-get update &&
  apt-get install -y --no-install-recommends swig &&
  ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install setuptools wheel numpy &&
  ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation nlopt==2.6.2; fi &&
  ${ISAACLAB_PATH}/isaaclab.sh --install &&
  if [ "$(dpkg --print-architecture)" = "arm64" ]; then ${ISAACLAB_PATH}/isaaclab.sh -p -c "import nlopt" &&
  apt-get purge -y --auto-remove swig &&
  apt-get clean &&
  rm -rf /var/lib/apt/lists/* &&
  if command -v swig >/dev/null 2>&1; then exit 1; fi; fi