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Cherry-pick: Fix Dockerfile pip usage and add SSL cert support for Lightwheel SDK … #466

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Cherry-pick: Fix Dockerfile pip usage and add SSL cert support for Lightwheel SDK … #466

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6 changes: 4 additions & 2 deletions docker/Dockerfile.isaaclab_arena
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Original file line number Diff line number Diff line change
Expand Up @@ -36,13 +36,15 @@ 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 ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do /isaac-sim/python.sh -m pip install --no-deps -e "$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/
# Make /isaac-sim directory traversable and readable by all users
# This is needed when entrypoint switches to non-root user
RUN chmod a+x /isaac-sim
# 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
# NOTE(alexmillane, 2026-02-10): We started having issues with flatdict 4.0.1 installation
# during IsaacLab install. We install here with build isolation which seems to fix the issue.
RUN /isaac-sim/python.sh -m pip install flatdict==4.0.1 --no-build-isolation
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8 changes: 4 additions & 4 deletions docker/run_docker.sh
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Expand Up @@ -137,6 +137,8 @@ else
"-v" "/tmp/.X11-unix:/tmp/.X11-unix:rw"
"-v" "/var/run/docker.sock:/var/run/docker.sock"
"-v" "$HOME/.Xauthority:/root/.Xauthority"
# Mount host SSL certificate store so the container trusts CA certs
"-v" "/etc/ssl/certs:/etc/ssl/certs:ro"
"--env" "DISPLAY"
"--env" "ACCEPT_EULA=Y"
"--env" "PRIVACY_CONSENT=Y"
Expand All @@ -147,11 +149,9 @@ else
# Setting envs for XR: https://isaac-sim.github.io/IsaacLab/v2.1.0/source/how-to/cloudxr_teleoperation.html#run-isaac-lab-with-the-cloudxr-runtime
"--env" "XDG_RUNTIME_DIR=${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
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