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Call the isaaclab console script directly in the images
Review feedback on #7405: the images went through ``isaaclab.sh -p`` for every Python invocation. Putting the environment on PATH makes the console script directly callable, so the call sites read ``isaaclab -p`` -- shorter than the launcher path, with no wrapper. ``uv run`` was the other option but needs ``--frozen --no-sync --project`` to match: without them it re-resolves the project on every call, and it warns when invoked outside the project directory. Measured 124 ms against 110 ms per call. ``install_deps.py apt`` moves below the workspace install. It ran before it, where the console script cannot import its own package, and nothing between the two steps needs apt first: the third-party packages are already installed and the workspace members are pure-Python editables. Two aliases go with it. ``isaaclab`` shadowed the console script now on PATH, and ``tensorboard`` was an explicit path into the environment. ``isaaclab.sh`` itself still ships and is unchanged; this only changes how the images reach it.
1 parent 355e1f9 commit 54eae88

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Lines changed: 30 additions & 25 deletions

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‎docker/Dockerfile.base‎

Lines changed: 14 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -149,11 +149,6 @@ COPY ../source/ ${ISAACLAB_PATH}/source/
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RUN find ${ISAACLAB_PATH} -type f -name "*.sh" -exec sed -i 's/\r$//' {} + \
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&& chmod 755 ${ISAACLAB_PATH}/isaaclab.sh
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# Install apt dependencies for extensions that declare them in their extension.toml,
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RUN ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
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apt-get -y autoremove && apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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# robomimic and moviepy declare imageio-ffmpeg for optional video helpers. Its bundled
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# FFmpeg binary stays out of the distributed image; users who enable video recording install
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# MoviePy and its video backend explicitly.
@@ -164,25 +159,32 @@ RUN --mount=type=cache,target=/root/.cache/uv \
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find ${VIRTUAL_ENV} \! -user isaaclab \
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-exec chown isaaclab:isaaclab {} + -exec chmod a+rwX {} +
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# Resolve ``isaaclab``/``python`` from the environment. Kept below the install layers, which it
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# would otherwise invalidate.
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ENV PATH="${VENV_PATH_ARG}/bin:${PATH}"
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# Install apt dependencies for extensions that declare them in their extension.toml.
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RUN isaaclab -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
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apt-get -y autoremove && apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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# Isaac Sim's prebundled packages sit on PYTHONPATH ahead of the venv for launch paths that
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# never import isaaclab (``runheadless.sh``, ``isaac-sim.streaming.sh``), so its torch would
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# shadow the venv's and load a libtorch_cuda.so needing an NCCL symbol the bundled NCCL does
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# not export (nvbugs 6343978). Repoint them at the venv; the pip install path did this itself.
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RUN ${ISAACLAB_PATH}/isaaclab.sh -p -c \
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RUN isaaclab -p -c \
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"from isaaclab.cli.commands.install import _repoint_prebundle_packages; _repoint_prebundle_packages()"
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# uv venv/uv sync above needed Kit's interpreter as the venv base; from here on ``uv pip``
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# should target the venv, including the interactive ``pip`` alias below.
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ENV UV_PYTHON=${VENV_PATH_ARG}/bin/python
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# aliasing isaaclab.sh and python for convenience
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# aliasing python for convenience; ``isaaclab`` and ``tensorboard`` come from PATH
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RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias python='${ISAACLAB_PATH}/isaaclab.sh -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias python3='${ISAACLAB_PATH}/isaaclab.sh -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias python='isaaclab -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias python3='isaaclab -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias pip='uv pip'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias pip3='uv pip'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "alias tensorboard='${VIRTUAL_ENV}/bin/tensorboard'" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "export TZ=$(date +%Z)" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "shopt -s histappend" >> ${DOCKER_USER_HOME}/.bashrc && \
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echo "PROMPT_COMMAND='history -a'" >> ${DOCKER_USER_HOME}/.bashrc
@@ -227,7 +229,7 @@ RUN set -o pipefail \
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&& export DOCKER_ISAACSIM_ROOT_PATH="${ISAACSIM_ROOT_PATH}" \
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DOCKER_ISAACLAB_PATH="${ISAACLAB_PATH}" \
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DOCKER_USER_HOME="${DOCKER_USER_HOME}" \
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&& dirs="$(${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/docker/utils/volume_mounts.py | grep '^/')" \
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&& dirs="$(isaaclab -p ${ISAACLAB_PATH}/docker/utils/volume_mounts.py | grep '^/')" \
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&& mkdir -p ${dirs} \
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&& chown -R isaaclab:isaaclab ${dirs}
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‎docker/Dockerfile.curobo‎

Lines changed: 15 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -189,11 +189,6 @@ COPY ../source/ ${ISAACLAB_PATH}/source/
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# Fix the line endings of the scripts the COPY above just wrote.
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RUN find ${ISAACLAB_PATH}/source -type f -name "*.sh" -exec sed -i 's/\r$//' {} +
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192-
# Install apt dependencies for extensions that declare them in their extension.toml,
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RUN ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
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apt-get -y autoremove && apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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# The workspace members install editable now that their sources are present; ``find`` fixes
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# only what this layer wrote, so overlayfs does not copy up the venv again.
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RUN --mount=type=cache,target=/root/.cache/uv \
@@ -203,11 +198,21 @@ RUN --mount=type=cache,target=/root/.cache/uv \
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find ${VIRTUAL_ENV} \! -user isaaclab \
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-exec chown isaaclab:isaaclab {} + -exec chmod a+rwX {} +
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201+
# Resolve ``isaaclab``/``python`` from the environment. Kept below the install layers, which it
202+
# would otherwise invalidate.
203+
ENV PATH="${VENV_PATH_ARG}/bin:${PATH}"
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205+
# Install apt dependencies for extensions that declare them in their extension.toml,
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# via the launcher: the workspace members install below, so ``isaaclab`` is not importable yet.
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RUN isaaclab -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
208+
apt-get -y autoremove && apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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# Isaac Sim's prebundled packages sit on PYTHONPATH ahead of the venv for launch paths that
207212
# never import isaaclab (``runheadless.sh``, ``isaac-sim.streaming.sh``), so its torch would
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# shadow the venv's and load a libtorch_cuda.so needing an NCCL symbol the bundled NCCL does
209214
# not export (nvbugs 6343978). Repoint them at the venv; the pip install path did this itself.
210-
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -c \
215+
RUN isaaclab -p -c \
211216
"from isaaclab.cli.commands.install import _repoint_prebundle_packages; _repoint_prebundle_packages()"
212217

213218
# uv venv/uv sync above needed Kit's interpreter as the venv base; from here on ``uv pip``
@@ -224,14 +229,12 @@ RUN --mount=type=cache,target=/root/.cache/uv \
224229
&& find ${VIRTUAL_ENV} \! -user isaaclab \
225230
-exec chown isaaclab:isaaclab {} + -exec chmod a+rwX {} +
226231

227-
# aliasing isaaclab.sh and python for convenience
232+
# aliasing python for convenience; ``isaaclab`` and ``tensorboard`` come from PATH
228233
RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${DOCKER_USER_HOME}/.bashrc && \
229-
echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${DOCKER_USER_HOME}/.bashrc && \
230-
echo "alias python='${ISAACLAB_PATH}/isaaclab.sh -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
231-
echo "alias python3='${ISAACLAB_PATH}/isaaclab.sh -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
234+
echo "alias python='isaaclab -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
235+
echo "alias python3='isaaclab -p'" >> ${DOCKER_USER_HOME}/.bashrc && \
232236
echo "alias pip='uv pip'" >> ${DOCKER_USER_HOME}/.bashrc && \
233237
echo "alias pip3='uv pip'" >> ${DOCKER_USER_HOME}/.bashrc && \
234-
echo "alias tensorboard='${VIRTUAL_ENV}/bin/tensorboard'" >> ${DOCKER_USER_HOME}/.bashrc && \
235238
echo "export TZ=$(date +%Z)" >> ${DOCKER_USER_HOME}/.bashrc && \
236239
echo "shopt -s histappend" >> ${DOCKER_USER_HOME}/.bashrc && \
237240
echo "PROMPT_COMMAND='history -a'" >> ${DOCKER_USER_HOME}/.bashrc
@@ -273,7 +276,7 @@ RUN set -o pipefail \
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&& export DOCKER_ISAACSIM_ROOT_PATH="${ISAACSIM_ROOT_PATH}" \
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DOCKER_ISAACLAB_PATH="${ISAACLAB_PATH}" \
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DOCKER_USER_HOME="${DOCKER_USER_HOME}" \
276-
&& dirs="$(${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/docker/utils/volume_mounts.py | grep '^/')" \
279+
&& dirs="$(isaaclab -p ${ISAACLAB_PATH}/docker/utils/volume_mounts.py | grep '^/')" \
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&& mkdir -p ${dirs} \
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&& chown -R isaaclab:isaaclab ${dirs}
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‎docker/Dockerfile.ros2‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -32,7 +32,7 @@ RUN --mount=type=cache,target=/var/cache/apt \
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ros-dev-tools && \
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# Install rosdeps for extensions that declare a ros_ws in
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# their extension.toml
35-
${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py rosdep ${ISAACLAB_PATH}/source && \
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isaaclab -p ${ISAACLAB_PATH}/tools/install_deps.py rosdep ${ISAACLAB_PATH}/source && \
3636
apt -y autoremove && apt clean autoclean && \
3737
rm -rf /var/lib/apt/lists/* && \
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# Add sourcing of setup.bash to .bashrc

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