Fix Dockerfile pip usage and add SSL cert support for Lightwheel SDK (#449)

## Summary
Fix Dockerfile pip usage and add SSL cert support for Lightwheel SDK

## Detailed description
- Copy(with small modifications) of MR from external contributor #423

---------

Co-authored-by: Zehao Wang (TME) <zehao.wang+tme@external.toyota-europe.com>

Author: alexmillane

docker/Dockerfile.isaaclab_arena

@@ -37,19 +37,21 @@ ENV ISAACLAB_PATH=${WORKDIR}/submodules/IsaacLab
 ENV TERM=xterm
 # Symlink isaac sim to IsaacLab
 RUN ln -s /isaac-sim/ ${WORKDIR}/submodules/IsaacLab/_isaac_sim
-# Install IsaacLab dependencies
-RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do pip install --no-deps -e "$DIR"; done
 # Logs and other stuff appear under dist-packages per default, so this dir has to be writeable.
 RUN chmod 777 -R /isaac-sim/kit/
-# # Pre-install flatdict with --no-build-isolation to work around pkg_resources missing in pip's isolated build env
+# Upgrade Isaac Sim's pip to avoid version warnings and build issues
+RUN /isaac-sim/python.sh -m pip install --upgrade pip
+# Install IsaacLab dependencies
+RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do /isaac-sim/python.sh -m pip install --no-deps -e "$DIR"; done
+# Pre-install flatdict with --no-build-isolation to work around pkg_resources missing in pip's isolated build env
 RUN /isaac-sim/python.sh -m pip install --no-build-isolation flatdict==4.0.1
 # Install isaaclab
 RUN ${ISAACLAB_PATH}/isaaclab.sh -i
 
 # Patch for osqp in IsaacLab. Downgrade qpsolvers
 # TODO(alexmillane): Watch the thread here: https://nvidia.slack.com/archives/C06HLQ6CB41/p1764680205807019
 #                    and remove this thread when IsaacLab has a fix.
-RUN if python -c "import qpsolvers; print(qpsolvers.available_solvers)" | grep -q "osqp"; then \
+RUN if /isaac-sim/python.sh -c "import qpsolvers; print(qpsolvers.available_solvers)" | grep -q "osqp"; then \
         echo "OSQP is installed. You can remove this clause from the Arena dockerfile."; \
     else \
         echo "OSQP missing, installing... This is a patch for an Isaac Lab bug."; \
@@ -134,7 +136,7 @@ RUN echo "alias pytest='/isaac-sim/python.sh -m pytest'" >> /etc/bash.bashrc
 #    It will pause waiting for the debugger to attach.
 # 3) Attach to the running container with VSCode using the "Attach to debugpy session"
 #    configuration from the Run and Debug panel.
-RUN pip3 install debugpy
+RUN /isaac-sim/python.sh -m pip install debugpy
 RUN echo "alias debugpy='python -Xfrozen_modules=off -m debugpy --listen localhost:5678 --wait-for-client'" >> /etc/bash.bashrc
 
 # Change prompt so it's obvious we're inside the arena container

docker/run_docker.sh

@@ -150,6 +150,8 @@ else
                     "-v" "/tmp/.X11-unix:/tmp/.X11-unix:rw"
                     "-v" "/var/run/docker.sock:/var/run/docker.sock"
                     "-v" "$HOME/.Xauthority:/root/.Xauthority"
+                    # Mount host SSL certificate store so the container trusts CA certs
+                    "-v" "/etc/ssl/certs:/etc/ssl/certs:ro"
                     "--env" "DISPLAY"
                     "--env" "ACCEPT_EULA=Y"
                     "--env" "PRIVACY_CONSENT=Y"
@@ -160,11 +162,9 @@ else
                     # Setting envs for XR: https://isaac-sim.github.io/IsaacLab/v2.1.0/source/how-to/cloudxr_teleoperation.html#run-isaac-lab-with-the-cloudxr-runtime
                     "--env" "XDG_RUNTIME_DIR=${WORKDIR}/submodules/IsaacLab/openxr/run"
                     "--env" "XR_RUNTIME_JSON=${WORKDIR}/submodules/IsaacLab/openxr/share/openxr/1/openxr_cloudxr.json"
-                    # NOTE(alexmillane, 2025.07.23): This looks a bit suspect to me. We should be running
-                    # as a user inside the container, not root. I've left it in for now, but we should
-                    # remove it, if indeed it's not needed.
-                    # "--env" "OMNI_KIT_ALLOW_ROOT=1"
                     "--env" "ISAACLAB_PATH=${WORKDIR}/submodules/IsaacLab"
+                    # Tell requests/urllib3 to use the system cert bundle
+                    "--env" "REQUESTS_CA_BUNDLE=/etc/ssl/certs/ca-certificates.crt"
                     )
 
     # map omniverse auth or config so we have connection to the dev nucleus