Docker Containers#

This first version of Isaac Lab Arena is designed to run inside a Docker container.

We provide two docker containers for Isaac Lab Arena:

  • Base: Contains the Isaac Lab Arena code and all its dependencies.

  • Base + GR00T: Additionally includes GR00T and its dependencies.

We include the two containers such that the user can choose between container with minimal dependencies (Base) or container with all dependencies (Base + GR00T).

In order to start the containers run:

./docker/run_docker.sh

The run docker will build the container and then enter in interactive mode.

Note

The container with all dependencies (Base + GR00T) is significantly larger than the container with minimal dependencies (Base), so it is recommended to use the Base container for development and the Base + GR00T container for GR00T policy post-training and evaluation. If you are not sure which container to use, we recommend using the Base container. If you want to use the Base + GR00T container for development, currently it is not supported to run on Blackwell GPUs, and DGX Spark.

Mounted Directories#

The run docker script will mount the following directories on the host machine to the container:

  • Datasets: from host: $HOME/datasets to container: /datasets

  • Models: from host: $HOME/models to container: /models

  • Evaluation: from host: $HOME/eval to container: /eval

In our examples, we download input datasets and pre-trained models. It is useful to download these to a folder mapped on the host machine to avoid re-downloading between restarts of the container. These directories are configurable through argument to the run docker script.

For a full list of arguments see the run_docker.sh script at isaac_arena/docker/run_docker.sh.

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