From 305b35878aaa5695af128e367925716c2d77539b Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 20:34:22 +0800
Subject: [PATCH 01/19] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=9E=84=E5=BB=BA?=
 =?UTF-8?q?=E8=84=9A=E6=9C=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 62 +++++++++++++++++++++++++++++++++++++++++
 sim/isaac-uv/build.bash | 41 +++++++++++++++++++++++++++
 2 files changed, 103 insertions(+)
 create mode 100644 sim/isaac-uv/Dockerfile
 create mode 100755 sim/isaac-uv/build.bash

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
new file mode 100644
index 0000000..ca6d03e
--- /dev/null
+++ b/sim/isaac-uv/Dockerfile
@@ -0,0 +1,62 @@
+FROM nvidia/cuda:12.6.3-base-ubuntu22.04
+
+# --- 1. 用户与权限配置 ---
+ARG USERNAME=Elaina
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN groupadd --gid ${USER_GID} ${USERNAME} \
+    && useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
+    && apt-get update && apt-get install -y sudo \
+    && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
+    && rm -rf /var/lib/apt/lists/*
+
+# --- 2. 环境变量配置 ---
+ENV MAMBA_ROOT_PREFIX=/usr \
+    UV_SYSTEM_PYTHON=1 \
+    ISAACSIM_PATH=/isaac-sim 
+
+# --- 3. 安装包管理工具与 GUI 核心依赖 (APT) ---
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl ca-certificates tar bzip2 \
+    # Isaac Sim GUI 运行必须的系统库
+    pkg-config libglvnd0 libgl1 libglx0 libegl1 libgles2 \
+    libvulkan1 vulkan-tools libx11-6 libxau6 libxcb1 libxdmcp6 libxext6 \
+    libwayland-client0 libwayland-cursor0 libwayland-egl1 \
+    && curl -LsSf https://astral.sh/uv/install.sh | sh \
+    && curl -LsSf https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 bin/micromamba \
+    && rm -rf /var/lib/apt/lists/*
+
+# --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
+# 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr
+RUN micromamba install -y --prefix /usr -c conda-forge \
+    python=3.11 zsh git wget cmake ninja openssh \
+    && micromamba clean --all --yes
+
+# --- 5. 使用 UV 安装 Isaac Sim (前置安装) ---
+# 接受 EULA 环境变量 (根据 NVIDIA 要求)
+ENV ACCEPT_EULA=Y
+RUN uv pip install --system \
+    --extra-index-url https://pypi.nvidia.com \
+    isaac-sim==5.1.0 \
+    isaac-sim-gui==5.1.0 \
+    isaac-sim-extscache-physics==5.1.0 \
+    isaac-sim-extscache-kit-sdk==5.1.0
+
+# --- 6. 开发环境配置 (Oh My Zsh & Starship) ---
+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
+
+# --- 7. 延迟加载 micromamba 索引 (仅保留命令补全，不涉及环境激活) --
+
+CMD ["/usr/bin/zsh"]
\ No newline at end of file
diff --git a/sim/isaac-uv/build.bash b/sim/isaac-uv/build.bash
new file mode 100755
index 0000000..6384453
--- /dev/null
+++ b/sim/isaac-uv/build.bash
@@ -0,0 +1,41 @@
+#!/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: $PARENT_DIR"
+
+# 设置默认 tag
+TAG="isaac-uv"
+
+# 从外部传入的 IMAGE_REPO（格式：ghcr.io/user/repo 或 docker.io/user/repo）
+IMAGE_REPO="elainasuki/other"
+
+# 组合完整镜像名
+IMAGE="$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
\ No newline at end of file

From cef4988b6ca7b59e7a67218a584f4dbefd008854 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 20:36:40 +0800
Subject: [PATCH 02/19] =?UTF-8?q?=E6=9B=B4=E6=94=B9isaac=20sim=E5=AE=89?=
 =?UTF-8?q?=E8=A3=85=E6=96=B9=E5=BC=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index ca6d03e..e49e17e 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -38,10 +38,7 @@ RUN micromamba install -y --prefix /usr -c conda-forge \
 ENV ACCEPT_EULA=Y
 RUN uv pip install --system \
     --extra-index-url https://pypi.nvidia.com \
-    isaac-sim==5.1.0 \
-    isaac-sim-gui==5.1.0 \
-    isaac-sim-extscache-physics==5.1.0 \
-    isaac-sim-extscache-kit-sdk==5.1.0
+    "isaacsim[all,extscache]==5.1.0"
 
 # --- 6. 开发环境配置 (Oh My Zsh & Starship) ---
 USER ${USERNAME}

From 93db68a853523c184be5b34b5dad692c8639cdef Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 20:42:42 +0800
Subject: [PATCH 03/19] =?UTF-8?q?=E6=9B=B4=E6=94=B9mamba=E5=AE=89=E8=A3=85?=
 =?UTF-8?q?=E8=B7=AF=E5=BE=84?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index e49e17e..b4fba27 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -12,7 +12,7 @@ RUN groupadd --gid ${USER_GID} ${USERNAME} \
     && rm -rf /var/lib/apt/lists/*
 
 # --- 2. 环境变量配置 ---
-ENV MAMBA_ROOT_PREFIX=/usr \
+ENV MAMBA_ROOT_PREFIX=/usr/local \
     UV_SYSTEM_PYTHON=1 \
     ISAACSIM_PATH=/isaac-sim 
 
@@ -29,7 +29,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
 # 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr
-RUN micromamba install -y --prefix /usr -c conda-forge \
+RUN micromamba install -y  -c conda-forge \
     python=3.11 zsh git wget cmake ninja openssh \
     && micromamba clean --all --yes
 

From cdd9946d959390c21efdbe13813ac84cf3aef629 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 20:48:46 +0800
Subject: [PATCH 04/19] =?UTF-8?q?=E5=B0=86uv=E6=94=B9=E6=88=90micromamba?=
 =?UTF-8?q?=E5=AE=89=E8=A3=85?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index b4fba27..408b1b9 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -23,14 +23,14 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     pkg-config libglvnd0 libgl1 libglx0 libegl1 libgles2 \
     libvulkan1 vulkan-tools libx11-6 libxau6 libxcb1 libxdmcp6 libxext6 \
     libwayland-client0 libwayland-cursor0 libwayland-egl1 \
-    && curl -LsSf https://astral.sh/uv/install.sh | sh \
     && curl -LsSf https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 bin/micromamba \
     && rm -rf /var/lib/apt/lists/*
 
 # --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
 # 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr
 RUN micromamba install -y  -c conda-forge \
-    python=3.11 zsh git wget cmake ninja openssh \
+    python=3.11 uv\ 
+    zsh git wget cmake ninja openssh \
     && micromamba clean --all --yes
 
 # --- 5. 使用 UV 安装 Isaac Sim (前置安装) ---

From 0e59c771e3aa1a1aec9c4a4715c41fb80831d0e3 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sat, 25 Apr 2026 22:02:30 +0800
Subject: [PATCH 05/19] =?UTF-8?q?=E5=B0=9D=E8=AF=95=E4=BF=AE=E5=A4=8D?=
 =?UTF-8?q?=E6=9D=83=E9=99=90=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 408b1b9..0aa7943 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -6,11 +6,12 @@ ARG USER_UID=1000
 ARG USER_GID=1000
 
 RUN groupadd --gid ${USER_GID} ${USERNAME} \
-    && useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
+    && useradd --uid ${USER_UID} --gid ${USER_GID} -G root -m -s /usr/bin/zsh ${USERNAME} \
     && apt-get update && apt-get install -y sudo \
     && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
+    && chmod 777 /usr/local \
     && rm -rf /var/lib/apt/lists/*
-
+SHELL ["/bin/bash", "-c", "umask 000 && $0 $@"]
 # --- 2. 环境变量配置 ---
 ENV MAMBA_ROOT_PREFIX=/usr/local \
     UV_SYSTEM_PYTHON=1 \
@@ -36,12 +37,13 @@ RUN micromamba install -y  -c conda-forge \
 # --- 5. 使用 UV 安装 Isaac Sim (前置安装) ---
 # 接受 EULA 环境变量 (根据 NVIDIA 要求)
 ENV ACCEPT_EULA=Y
+USER ${USERNAME}
 RUN uv pip install --system \
     --extra-index-url https://pypi.nvidia.com \
     "isaacsim[all,extscache]==5.1.0"
 
 # --- 6. 开发环境配置 (Oh My Zsh & Starship) ---
-USER ${USERNAME}
+
 WORKDIR /home/${USERNAME}
 
 RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" "" --unattended \

From 14475ba62c62fa2b93c15d0243300d3ba345df72 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sat, 25 Apr 2026 22:07:22 +0800
Subject: [PATCH 06/19] =?UTF-8?q?=E5=B0=9D=E8=AF=95=E8=A7=A3=E5=86=B3?=
 =?UTF-8?q?=E6=9D=83=E9=99=90=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 0aa7943..1292725 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -10,8 +10,10 @@ RUN groupadd --gid ${USER_GID} ${USERNAME} \
     && apt-get update && apt-get install -y sudo \
     && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
     && chmod 777 /usr/local \
+    && echo "umask 000" >> /etc/bash.bashrc \
+    && echo "umask 000" >> /etc/profile \
     && rm -rf /var/lib/apt/lists/*
-SHELL ["/bin/bash", "-c", "umask 000 && $0 $@"]
+SHELL ["/bin/bash", "-c"]
 # --- 2. 环境变量配置 ---
 ENV MAMBA_ROOT_PREFIX=/usr/local \
     UV_SYSTEM_PYTHON=1 \

From e11af57b0978460470e213c3dca85992c711df45 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sat, 25 Apr 2026 22:18:09 +0800
Subject: [PATCH 07/19] =?UTF-8?q?=E6=8A=8Auser=E6=94=BE=E7=AC=AC=E4=B8=80?=
 =?UTF-8?q?=E4=B8=AA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 1292725..a071058 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -10,10 +10,9 @@ RUN groupadd --gid ${USER_GID} ${USERNAME} \
     && apt-get update && apt-get install -y sudo \
     && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
     && chmod 777 /usr/local \
-    && echo "umask 000" >> /etc/bash.bashrc \
-    && echo "umask 000" >> /etc/profile \
     && rm -rf /var/lib/apt/lists/*
 SHELL ["/bin/bash", "-c"]
+USER ${USERNAME}
 # --- 2. 环境变量配置 ---
 ENV MAMBA_ROOT_PREFIX=/usr/local \
     UV_SYSTEM_PYTHON=1 \

From 04404360040acf438a36058c26f1853239554f10 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sat, 25 Apr 2026 22:22:33 +0800
Subject: [PATCH 08/19] =?UTF-8?q?user=E6=94=BEapt=E5=90=8E=E9=9D=A2=20mamb?=
 =?UTF-8?q?a=E5=89=8D=E9=9D=A2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index a071058..c148f73 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -12,7 +12,7 @@ RUN groupadd --gid ${USER_GID} ${USERNAME} \
     && chmod 777 /usr/local \
     && rm -rf /var/lib/apt/lists/*
 SHELL ["/bin/bash", "-c"]
-USER ${USERNAME}
+
 # --- 2. 环境变量配置 ---
 ENV MAMBA_ROOT_PREFIX=/usr/local \
     UV_SYSTEM_PYTHON=1 \
@@ -27,7 +27,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libwayland-client0 libwayland-cursor0 libwayland-egl1 \
     && curl -LsSf https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 bin/micromamba \
     && rm -rf /var/lib/apt/lists/*
-
+USER ${USERNAME}
 # --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
 # 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr
 RUN micromamba install -y  -c conda-forge \

From cab1a4e4574821940ee7f87d86da5094af6e9c9d Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sat, 25 Apr 2026 22:34:31 +0800
Subject: [PATCH 09/19] =?UTF-8?q?=E5=9C=A8apt=E6=9C=80=E5=90=8E=E6=94=B9?=
 =?UTF-8?q?=E6=9D=83=E9=99=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index c148f73..f33d729 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -9,7 +9,6 @@ RUN groupadd --gid ${USER_GID} ${USERNAME} \
     && useradd --uid ${USER_UID} --gid ${USER_GID} -G root -m -s /usr/bin/zsh ${USERNAME} \
     && apt-get update && apt-get install -y sudo \
     && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
-    && chmod 777 /usr/local \
     && rm -rf /var/lib/apt/lists/*
 SHELL ["/bin/bash", "-c"]
 
@@ -26,7 +25,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libvulkan1 vulkan-tools libx11-6 libxau6 libxcb1 libxdmcp6 libxext6 \
     libwayland-client0 libwayland-cursor0 libwayland-egl1 \
     && curl -LsSf https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 bin/micromamba \
-    && rm -rf /var/lib/apt/lists/*
+    && rm -rf /var/lib/apt/lists/* \
+    #给权限!重要
+    && chown -R ${USERNAME}:${USER_GID} /usr/local
 USER ${USERNAME}
 # --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
 # 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr

From 1b34ac067ac771c71ce8a96adde3fe0d72643365 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sun, 26 Apr 2026 10:30:35 +0800
Subject: [PATCH 10/19] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E7=BC=BA=E5=B0=91vulka?=
 =?UTF-8?q?n=E9=85=8D=E7=BD=AE=EF=BC=8C=E4=BC=98=E5=8C=96=E7=BC=93?=
 =?UTF-8?q?=E5=AD=98=E5=AF=BC=E8=87=B4=E5=B1=82=E5=8F=98=E5=A4=A7=E7=9A=84?=
 =?UTF-8?q?=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 23 ++++++++++++++++++-----
 1 file changed, 18 insertions(+), 5 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index f33d729..82a0db2 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -19,15 +19,28 @@ ENV MAMBA_ROOT_PREFIX=/usr/local \
 
 # --- 3. 安装包管理工具与 GUI 核心依赖 (APT) ---
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    curl ca-certificates tar bzip2 \
-    # Isaac Sim GUI 运行必须的系统库
-    pkg-config libglvnd0 libgl1 libglx0 libegl1 libgles2 \
+    curl ca-certificates tar bzip2 unzip \
+    libatomic1 libgomp1 libglib2.0-0 libnghttp2-14 \
+    libegl1 libgl1 libglu1-mesa libglx0 libsm6 libxi6 libxrandr2 libxt6 \
+    # 渲染与窗口支持
     libvulkan1 vulkan-tools libx11-6 libxau6 libxcb1 libxdmcp6 libxext6 \
-    libwayland-client0 libwayland-cursor0 libwayland-egl1 \
     && curl -LsSf https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 bin/micromamba \
+    && apt-get -y autoremove \
+    #清理中间缓存
+    && apt-get clean \
     && rm -rf /var/lib/apt/lists/* \
     #给权限!重要
     && chown -R ${USERNAME}:${USER_GID} /usr/local
+# --- 合并官方所有驱动配置逻辑 ---
+RUN mkdir -p /usr/share/glvnd/egl_vendor.d /etc/vulkan/icd.d /etc/vulkan/implicit_layer.d \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' > /usr/share/glvnd/egl_vendor.d/10_nvidia.json \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_mesa.so.0"}}\n' > /usr/share/glvnd/egl_vendor.d/50_mesa.json \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.194"}}\n' > /etc/vulkan/icd.d/nvidia_icd.json \
+    && printf '{"file_format_version":"1.0.0","layer":{"name":"VK_LAYER_NV_optimus","type":"INSTANCE","library_path":"libGLX_nvidia.so.0","api_version":"1.3.194","implementation_version":"1","description":"NVIDIA Optimus layer","functions":{"vkGetInstanceProcAddr":"vk_optimusGetInstanceProcAddr","vkGetDeviceProcAddr":"vk_optimusGetDeviceProcAddr"},"enable_environment":{"__NV_PRIME_RENDER_OFFLOAD":"1"},"disable_environment":{"DISABLE_LAYER_NV_OPTIMUS_1":""}}}\n' > /etc/vulkan/implicit_layer.d/nvidia_layers.json 
+# --- 合并所有相关的环境变量 ---
+ENV NVIDIA_VISIBLE_DEVICES=all \
+    NVIDIA_DRIVER_CAPABILITIES=all \
+    VK_DRIVER_FILES=/etc/vulkan/icd.d/nvidia_icd.json
 USER ${USERNAME}
 # --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
 # 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr
@@ -40,7 +53,7 @@ RUN micromamba install -y  -c conda-forge \
 # 接受 EULA 环境变量 (根据 NVIDIA 要求)
 ENV ACCEPT_EULA=Y
 USER ${USERNAME}
-RUN uv pip install --system \
+RUN uv pip install --system --no-cache\
     --extra-index-url https://pypi.nvidia.com \
     "isaacsim[all,extscache]==5.1.0"
 

From 44c3539f2b2669f0e1c2e57ba40d4e2c857e2312 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Sun, 26 Apr 2026 11:16:21 +0800
Subject: [PATCH 11/19] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dzsh=E8=B7=AF=E5=BE=84?=
 =?UTF-8?q?=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 82a0db2..048607a 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -6,7 +6,7 @@ ARG USER_UID=1000
 ARG USER_GID=1000
 
 RUN groupadd --gid ${USER_GID} ${USERNAME} \
-    && useradd --uid ${USER_UID} --gid ${USER_GID} -G root -m -s /usr/bin/zsh ${USERNAME} \
+    && useradd --uid ${USER_UID} --gid ${USER_GID} -G root -m -s /usr/local/bin/zsh ${USERNAME} \
     && apt-get update && apt-get install -y sudo \
     && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
     && rm -rf /var/lib/apt/lists/*

From 8097ef11b30457c8941a43171d140c6bc110ab44 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 13:47:36 +0800
Subject: [PATCH 12/19] =?UTF-8?q?=E5=A2=9E=E5=8A=A0issaclab?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 048607a..7bcb754 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -72,5 +72,7 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
     && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
 
 # --- 7. 延迟加载 micromamba 索引 (仅保留命令补全，不涉及环境激活) --
+RUN git clone git@github.com:isaac-sim/IsaacLab.git \
+    && cd IsaacLab && ./isaaclab.sh --install sb3 rsl_rl
 
 CMD ["/usr/bin/zsh"]
\ No newline at end of file

From ff7098c8b9affc41124e5fa44f2dd86fd6769a3d Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 13:52:27 +0800
Subject: [PATCH 13/19] =?UTF-8?q?=E6=94=B9=E7=94=A8https=20clone?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 7bcb754..8285363 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -72,7 +72,7 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
     && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
 
 # --- 7. 延迟加载 micromamba 索引 (仅保留命令补全，不涉及环境激活) --
-RUN git clone git@github.com:isaac-sim/IsaacLab.git \
+RUN git clone https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab && ./isaaclab.sh --install sb3 rsl_rl
 
 CMD ["/usr/bin/zsh"]
\ No newline at end of file

From 91b7bfbf95dbdc63fe9429fb5cc0350a215cc50a Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 14:03:24 +0800
Subject: [PATCH 14/19] =?UTF-8?q?=E5=A2=9E=E5=8A=A0yes=E4=BC=A0=E5=85=A5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index a57d530..b73e738 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -43,7 +43,8 @@ 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
+    && yes "yes" | ./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\

From 790c32d5ee5d2d4bdc0d76b75df4c1226589ff0b Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 14:23:01 +0800
Subject: [PATCH 15/19] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E8=BE=93=E5=85=A5yes?=
 =?UTF-8?q?=E7=9A=84=E5=8A=9E=E6=B3=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index b73e738..12ee277 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -43,7 +43,7 @@ WORKDIR /home/${USERNAME}
 RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab \
     && ln -s /isaac-sim _isaac_sim \
-    && yes "yes" | ./isaaclab.sh --install rsl_rl sb3 
+    && printf"yes\n" |  ./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

From bf8142b2f26fa5444773b0cad718eac969c7b640 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 14:23:20 +0800
Subject: [PATCH 16/19] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E9=97=B4=E9=9A=94?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index 12ee277..eef9333 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -43,7 +43,7 @@ WORKDIR /home/${USERNAME}
 RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab \
     && ln -s /isaac-sim _isaac_sim \
-    && printf"yes\n" |  ./isaaclab.sh --install rsl_rl sb3 
+    && printf "yes\n" |  ./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

From 200bd2726ed64fa190474c576daa9f0945014280 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 14:40:47 +0800
Subject: [PATCH 17/19] =?UTF-8?q?=E6=B2=A1=E6=8B=9B=E4=BA=86=EF=BC=8C?=
 =?UTF-8?q?=E7=9B=B4=E6=8E=A5=E8=B7=B3=E8=BF=87?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index eef9333..ac9ff55 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -43,7 +43,7 @@ WORKDIR /home/${USERNAME}
 RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab \
     && ln -s /isaac-sim _isaac_sim \
-    && printf "yes\n" |  ./isaaclab.sh --install rsl_rl sb3 
+    &&  ./isaaclab.sh --install rsl_rl sb3 || true
 
 
 #把/isaac-sim目录权限改为当前用户,给可执行权限

From 688f9a6b91db2694d2cce31bc9c69307c69bceaa Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 15:18:30 +0800
Subject: [PATCH 18/19] =?UTF-8?q?=E5=A2=9E=E5=8A=A0true?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index 8285363..d7ea8c9 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -73,6 +73,6 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
 
 # --- 7. 延迟加载 micromamba 索引 (仅保留命令补全，不涉及环境激活) --
 RUN git clone https://github.com/isaac-sim/IsaacLab.git \
-    && cd IsaacLab && ./isaaclab.sh --install sb3 rsl_rl
+    && cd IsaacLab && ./isaaclab.sh --install sb3 rsl_rl || true
 
 CMD ["/usr/bin/zsh"]
\ No newline at end of file

From b83e078490ea441e469b912061b75c92f03e9c41 Mon Sep 17 00:00:00 2001
From: nagisa <2964793117@qq.com>
Date: Tue, 28 Apr 2026 17:41:54 +0800
Subject: [PATCH 19/19] =?UTF-8?q?=E6=94=B9=E7=94=A8=E8=87=AA=E5=B7=B1?=
 =?UTF-8?q?=E5=AE=89=E8=A3=85?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac-uv/Dockerfile | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
index d7ea8c9..f6af9f9 100644
--- a/sim/isaac-uv/Dockerfile
+++ b/sim/isaac-uv/Dockerfile
@@ -61,6 +61,20 @@ RUN uv pip install --system --no-cache\
 
 WORKDIR /home/${USERNAME}
 
+#先安装isaac lab
+ENV ISAACLAB_PATH=/home/${USERNAME}/IsaacLab
+
+RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git ${ISAACLAB_PATH} \
+    && cd ${ISAACLAB_PATH} \
+    # 1. 安装核心构建依赖 (注意去掉了多余的 install)
+    && uv pip install --system --no-cache "setuptools<82.0.0" \
+    # 2. 安装内部扩展模块
+    # 注意：在 Docker 生产/运行镜像中，通常去掉 -e 会更稳定，这里保留以符合你脚本逻辑
+    && find "${ISAACLAB_PATH}/source" -mindepth 1 -maxdepth 1 -type d -exec uv pip install --system --no-cache -e "{}" \; \
+    # 3. 安装 RL 框架支持
+    && uv pip install --system --no-cache -e "${ISAACLAB_PATH}/source/isaaclab_rl[sb3,rsl_rl]" 
+
+
 RUN sh -c "$(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 ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting \
@@ -71,8 +85,5 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
     && mkdir -p ~/.config \
     && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
 
-# --- 7. 延迟加载 micromamba 索引 (仅保留命令补全，不涉及环境激活) --
-RUN git clone https://github.com/isaac-sim/IsaacLab.git \
-    && cd IsaacLab && ./isaaclab.sh --install sb3 rsl_rl || true
 
 CMD ["/usr/bin/zsh"]
\ No newline at end of file