feat: docker file!

Author: mqjinwon

docker/Dockerfile

@@ -8,6 +8,9 @@ RUN apt-get update && \
     apt-get install -y git curl git-lfs cmake vim gedit && \
     git lfs install
 
+# install build tools
+RUN apt-get install -y build-essential gcc g++ sudo wget unzip software-properties-common
+
 # Clone the required repositories
 RUN git clone https://github.com/AuTURBO/StrideSim.git && \
     git clone https://github.com/isaac-sim/IsaacLab.git -b v1.0.0
@@ -19,14 +22,14 @@ RUN git lfs fetch && \
     git lfs pull
 
 # Install ROS 2 Humble
-# RUN apt-get update && apt-get install -y locales software-properties-common && \
-#     locale-gen en_US en_US.UTF-8 && \
-#     update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-#     add-apt-repository universe && \
-#     curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-#     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list && \
-#     apt-get update && \
-#     apt-get install -y ros-humble-desktop
+RUN apt-get update && apt-get install -y locales software-properties-common && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list && \
+    apt-get update && \
+    apt-get install -y ros-humble-desktop
 
 # Install Miniconda (latest version)
 WORKDIR /
@@ -45,15 +48,27 @@ WORKDIR /IsaacLab
 # Create symbolic link
 RUN ln -s /isaac-sim _isaac_sim
 
-# Initialize conda
-RUN /bin/bash -c "source /opt/miniconda/etc/profile.d/conda.sh"
-
 # Run conda setup
 RUN /bin/bash -c "./isaaclab.sh --conda"
 
+# Initialize conda and activate environment in the same RUN command
+RUN /bin/bash -c "source /opt/miniconda/etc/profile.d/conda.sh && \
+    conda init bash && \
+    conda activate isaaclab"
+
 # Install IsaacLab
 RUN /bin/bash -c "./isaaclab.sh --install"
 
 # Set up StrideSim
 WORKDIR /StrideSim/rl
-RUN python -m pip install -e .
+RUN /bin/bash -c "source /opt/miniconda/etc/profile.d/conda.sh && \
+    conda activate isaaclab && \
+    python -m pip install -e ."
+
+WORKDIR /isaac-sim
+
+# Add conda environment activation to bashrc
+RUN echo "source /opt/miniconda/etc/profile.d/conda.sh && conda activate isaaclab" >> ~/.bashrc
+
+# Set default shell to bash
+SHELL ["/bin/bash", "-c"]