更改mujoco文件位置

sim/isaac/Dockerfile

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+FROM nvcr.io/nvidia/isaac-sim:5.1.0
+USER root
+# --- 参数与环境变量配置 ---
+# 1. 合并所有构建参数 (ARG)
+ARG USERNAME=Elaina \
+    USER_UID=1000 \
+    USER_GID=1000
+# 2. 合并所有环境变量 (ENV)
+ENV MAMBA_ROOT_PREFIX=/opt/conda \
+    PATH=/opt/conda/bin:$PATH \
+    UV_SYSTEM_PYTHON=1
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    zsh sudo ca-certificates bzip2 ninja-build openssh-client cmake git wget\
+    && curl -LsSf https://astral.sh/uv/install.sh | sh \
+    && rm -rf /var/lib/apt/lists/*
+RUN wget -qO /usr/bin/micromamba https://github.com/mamba-org/micromamba-releases/releases/latest/download/micromamba-linux-64  \
+    && chmod +x /usr/bin/micromamba
+#增加用户
+RUN usermod -l ${USERNAME} ubuntu \
+    &&  groupmod -n ${USERNAME} ubuntu  \
+    && usermod -d /home/${USERNAME} -m ${USERNAME}  \
+    && chsh -s /usr/bin/zsh ${USERNAME}  \
+    && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
+    && mkdir -p ${MAMBA_ROOT_PREFIX}  \
+    && chown -R ${USERNAME}:${USER_GID} ${MAMBA_ROOT_PREFIX}
+# 6. 安装 Oh My Zsh & Starship (提升开发体验)
+USER ${USERNAME}
+WORKDIR /home/$USERNAME
+RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" "" --unattended \
+    && git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions \
+    && git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting \
+    && git clone https://github.com/esc/conda-zsh-completion ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/conda-zsh-completion \
+    && sed -i 's/plugins=(git)/plugins=(git zsh-autosuggestions zsh-syntax-highlighting conda-zsh-completion)/' ~/.zshrc \
+    && curl -sS https://starship.rs/install.sh | sudo sh -s -- -y \
+    && echo 'eval "$(starship init zsh)"' >> ~/.zshrc \
+    && mkdir -p ~/.config \
+    && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
+# 安装issac lab
+ENV ISAACSIM_PATH=/isaac-sim \
+    ISAACSIM_PYTHON_EXE=/isaac-sim/python.sh\
+    TERM=xterm
+WORKDIR /home/${USERNAME}
+RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
+    && cd IsaacLab \
+    && ln -s /isaac-sim _isaac_sim \
+    && ./isaaclab.sh --install rsl_rl sb3
+
+#把/isaac-sim目录权限改为当前用户,给可执行权限
+# RUN chown -R ${USERNAME}:${USER_GID} /isaac-sim\
+#     && chmod -R 775 /isaac-sim
+CMD ["/usr/bin/zsh"]

sim/isaac/build.bash

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+#!/bin/bash
+
+# 获取脚本所在目录
+# 获取脚本所在目录的绝对路径
+SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+PARENT_DIR=$(dirname "$SCRIPT_DIR")
+
+echo "脚本目录: $SCRIPT_DIR"
+echo "父目录: $PARENT_DIR"
+
+# 设置默认 tag
+TAG="isaac"
+
+# 从外部传入的 IMAGE_REPO（格式：ghcr.io/user/repo 或 docker.io/user/repo）
+IMAGE_REPO="elainasuki/other"
+
+# 组合完整镜像名
+IMAGE="$IMAGE_REPO:$TAG"
+
+# 获取工作流中的环境变量来决定是否支持 arm64
+PLATFORMS="linux/amd64"  # 默认只支持 amd64 架构
+
+if [[ "${BUILD_ARM64}" == "true" ]]; then
+    PLATFORMS="$PLATFORMS,linux/arm64"   # 如果环境变量 BUILD_ARM64 为 true，则支持 arm64 架构
+fi
+# 这里用的是docker build .. content是上一级而不是当前目录
+# 如果传入 --github-action 参数
+if [[ "$1" == "--github-action" ]]; then
+    echo "构建并推送镜像: $IMAGE"
+    docker buildx build \
+    --platform $PLATFORMS \
+    -t "$IMAGE" \
+    -f "$SCRIPT_DIR/Dockerfile" \
+    --cache-from "type=registry,ref=$IMAGE" \
+    --cache-to type=inline \
+    "$SCRIPT_DIR" \
+    --push
+else
+    echo "本地构建 $IMAGE"
+    docker build -t "$IMAGE" -f "$SCRIPT_DIR/Dockerfile" "$SCRIPT_DIR"
+fi