Dockerfile.kitless

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Kit-less image for GPU-accelerated training without Isaac Sim or Kit:
# Newton physics, OVRTX rendering, and every core RL framework.
ARG BASE_IMAGE_ARG=ubuntu:24.04

FROM ghcr.io/astral-sh/uv:0.9.25@sha256:13e233d08517abdafac4ead26c16d881cd77504a2c40c38c905cf3a0d70131a6 AS uv

FROM ${BASE_IMAGE_ARG} AS builder

SHELL ["/bin/bash", "-o", "pipefail", "-c"]

ARG ISAACLAB_PATH_ARG=/workspace/isaaclab
ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
ENV VIRTUAL_ENV=${ISAACLAB_PATH_ARG}/.venv
ENV PATH=${ISAACLAB_PATH_ARG}/.venv/bin:/usr/local/bin:${PATH}
ENV UV_NO_CACHE=1
ENV PIP_RETRIES=12
ENV UV_HTTP_RETRIES=12

# Native build tools remain confined to this stage.
RUN apt-get update \
 && apt-get install -y --no-install-recommends \
      build-essential \
      ca-certificates \
      cmake \
      git \
      libglib2.0-0 \
      python3 \
      python3-dev \
 && rm -rf /var/lib/apt/lists/*

# Copy uv from its official versioned image instead of executing a mutable
# installer URL during the build.
COPY --from=uv /uv /uvx /usr/local/bin/

WORKDIR ${ISAACLAB_PATH}

# Copy the install inputs before the rest of the runtime tree so dependency
# installation remains cached when only scripts or application code changes.
COPY pyproject.toml uv.lock VERSION LICENSE LICENSE-mimic README.md ./
COPY source/ source/
COPY isaaclab.sh ./
COPY tools/wheel_builder/uv-overrides.txt tools/wheel_builder/uv-overrides.txt

# Same entry point as Dockerfile.base. The selectors are explicit because a bare
# --install excludes `ov` and `visualizer`; both take `[all]` here. The standalone
# importers are explicit wheel extras, so install them with the resolver overrides
# that preserve Isaac Lab's dependency versions. The venv pins python3.12 to match
# the runtime stage's libpython3.12, and isaaclab.sh resolves VIRTUAL_ENV first.
RUN uv venv --python /usr/bin/python3.12 --seed --no-managed-python "${VIRTUAL_ENV}" \
 && chmod +x "${ISAACLAB_PATH}/isaaclab.sh" \
 && "${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all] \
 && uv pip install \
      --overrides "${ISAACLAB_PATH}/tools/wheel_builder/uv-overrides.txt" \
      "isaacsim-asset-isolated>=6.0,<6.1" \
      "tinyobjloader==2.0.0rc13" \
 && python -c "import importlib.metadata as m; \
      names = {d.metadata['Name'].lower() for d in m.distributions()}; \
      assert 'isaacsim' not in names; \
      assert 'isaacsim-asset-isolated' in names; \
      assert 'ovphysx' in names; \
      assert 'ovrtx' in names; \
      assert 'viser' in names; \
      assert 'rerun-sdk' in names" \
 && test ! -e "${ISAACLAB_PATH}/_isaac_sim"

# isaaclab.utils.assets parses apps/isaaclab.python.kit at import time to
# resolve the Nucleus asset root, so apps/ is required even without Kit.
COPY apps/ apps/
COPY scripts/ scripts/
COPY docs/licenses/ docs/licenses/
COPY docker/docker-compose.yaml docker/docker-compose.yaml
COPY docker/utils/volume_mounts.py docker/utils/volume_mounts.py


FROM ${BASE_IMAGE_ARG} AS runtime

SHELL ["/bin/bash", "-o", "pipefail", "-c"]

ARG ISAACLAB_PATH_ARG=/workspace/isaaclab
ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=C.UTF-8
# Build arg like Dockerfile.base, so the image home and the Compose mounts
# derived from DOCKER_USER_HOME cannot drift apart.
ARG DOCKER_USER_HOME_ARG=/home/isaaclab
ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
ENV HOME=${DOCKER_USER_HOME}
ENV VIRTUAL_ENV=${ISAACLAB_PATH_ARG}/.venv
ENV PATH=${ISAACLAB_PATH_ARG}/.venv/bin:/usr/local/bin:${PATH}
ENV PYTHONDONTWRITEBYTECODE=1
ENV PYTHONUNBUFFERED=1
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics

# Libraries ovrtx loads at init. GLVND splits these: libgl1 gives libGL.so.1,
# but libOpenGL.so.0 and libEGL.so.1 need libopengl0 and libegl1. libxrender1 is
# for the Newton GL viewer: pyglet's xlib backend resolves libXrender.so.1 via
# ctypes at import time and nothing else in this list pulls it in transitively.
RUN apt-get update \
 && apt-get install -y --no-install-recommends \
      ca-certificates \
      git \
      libegl1 \
      libgl1 \
      libglib2.0-0 \
      libgomp1 \
      libopengl0 \
      libpython3.12 \
      libvulkan1 \
      libx11-6 \
      libxext6 \
      libxrender1 \
      python3 \
 && rm -rf /var/lib/apt/lists/* \
 && if getent passwd ubuntu >/dev/null; then userdel -r ubuntu; fi \
 && if getent group ubuntu >/dev/null; then groupdel ubuntu; fi \
 && groupadd --gid 1000 isaaclab \
 && useradd --uid 1000 --gid 1000 --home-dir "${HOME}" --create-home --shell /bin/bash isaaclab \
 && mkdir -p "${HOME}" \
 && chown -R isaaclab:isaaclab "${HOME}" \
 && chmod 750 "${HOME}"

COPY --from=builder /usr/local/bin/uv /usr/local/bin/uv
COPY --from=builder /usr/local/bin/uvx /usr/local/bin/uvx
COPY --from=builder --chown=isaaclab:isaaclab ${ISAACLAB_PATH} ${ISAACLAB_PATH}

# A fresh named volume inherits ownership from the image directory at its mount
# path, so pre-create and chown them; derived from Compose to avoid duplication.
RUN set -o pipefail \
 && export DOCKER_ISAACLAB_PATH="${ISAACLAB_PATH}" \
           DOCKER_USER_HOME="${HOME}" \
 && dirs="$(python ${ISAACLAB_PATH}/docker/utils/volume_mounts.py \
      --volumes_key x-kitless-isaac-lab-volumes | grep '^/')" \
 && mkdir -p ${dirs} \
 && chown -R isaaclab:isaaclab ${dirs}

USER isaaclab
WORKDIR ${ISAACLAB_PATH}

CMD ["bash"]