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Fixes curobo dockerfile for CI runs #4462

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kellyguo11 merged 2 commits into from
Jan 27, 2026
Merged

Fixes curobo dockerfile for CI runs #4462

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9dc78de
Fixes curobo dockerfile for CI runs
kellyguo11 Jan 26, 2026
8e17a39
increase timeout
kellyguo11 Jan 26, 2026
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19 changes: 15 additions & 4 deletions docker/Dockerfile.curobo
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Expand Up @@ -68,7 +68,13 @@ RUN set -euo pipefail && \
wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-${cuda_repo}.pin && \
mv cuda-${cuda_repo}.pin /etc/apt/preferences.d/cuda-repository-pin-600 && \
apt-get update && \
apt-get install -y --no-install-recommends cuda-toolkit-12-8 && \
apt-get install -y --no-install-recommends \
cuda-toolkit-12-8 \
libcudnn9-cuda-12 \
libcusparselt0 \
libnccl2 \
libnccl-dev \
libnvjitlink-12-8 && \
apt-get -y autoremove && apt-get clean && rm -rf /var/lib/apt/lists/*


Expand Down Expand Up @@ -115,18 +121,23 @@ RUN touch /bin/nvidia-smi && \
mkdir -p /var/run/nvidia-persistenced && \
touch /var/run/nvidia-persistenced/socket

# HACK: Remove pre-bundled torch BEFORE installing Isaac Lab dependencies.
# This forces isaaclab.sh --install to install torch fresh to site-packages,
# rather than skipping because it detects the pre-bundled version.
RUN rm -rf ${ISAACSIM_ROOT_PATH}/exts/omni.isaac.ml_archive/pip_prebundle/torch*
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@greptile-apps greptile-apps Bot Jan 26, 2026

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The rm -rf deletion is brittle - if the path structure changes in future Isaac Sim versions, this will silently fail. Consider adding a check to verify the deletion succeeded or at least log a warning if the path doesn't exist.


# installing Isaac Lab dependencies
# use pip caching to avoid reinstalling large packages
RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
${ISAACLAB_PATH}/isaaclab.sh --install

# HACK: Uninstall quadprog as it causes issues with some reinforcement learning frameworks
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
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@greptile-apps greptile-apps Bot Jan 26, 2026

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Verify that uninstalling quadprog doesn't break any Isaac Lab features installed in the previous step


# Install cuRobo from source (pinned commit); needs CUDA env and Torch
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation \
"nvidia-curobo @ git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8"

# HACK: Remove install of quadprog dependency
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog

# aliasing isaaclab.sh and python for convenience
RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
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1 change: 1 addition & 0 deletions tools/test_settings.py
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Expand Up @@ -35,6 +35,7 @@
"test_non_headless_launch.py": 1000, # This test launches the app in non-headless mode and starts simulation
"test_rl_games_wrapper.py": 500,
"test_skrl_wrapper.py": 500,
"test_rsl_rl_wrapper.py": 500,
}
"""A dictionary of tests and their timeouts in seconds.

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