From e4c77b8b3a19c86650954a3f8c7faefe17ef1570 Mon Sep 17 00:00:00 2001
From: Mikhail Yurasov <myurasov@nvidia.com>
Date: Fri, 7 Nov 2025 05:24:34 +0530
Subject: [PATCH 1/4] Modify Dockerfile for Isaac Sim 5.1 and DGX Spark
 compatibility

---
 docker/Dockerfile.isaaclab_arena | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/docker/Dockerfile.isaaclab_arena b/docker/Dockerfile.isaaclab_arena
index 6757d0ec..1d0042f5 100644
--- a/docker/Dockerfile.isaaclab_arena
+++ b/docker/Dockerfile.isaaclab_arena
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.0.0
+ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.1.0
 
 FROM ${BASE_IMAGE}
 
@@ -10,6 +10,8 @@ ARG WORKDIR="/workspace"
 ENV WORKDIR=${WORKDIR}
 WORKDIR "${WORKDIR}"
 
+USER root
+
 # Hide conflicting Vulkan files, if needed.
 RUN if [ -e "/usr/share/vulkan" ] && [ -e "/etc/vulkan" ]; then \
       mv /usr/share/vulkan /usr/share/vulkan_hidden; \
@@ -24,7 +26,7 @@ RUN apt-get update && apt-get install -y \
   python3-pip
 
 # Update pip to the latest version
-RUN pip3 install --upgrade pip
+RUN /isaac-sim/python.sh -m pip install --upgrade pip
 
 ################################
 # Install Isaac Lab
@@ -38,7 +40,7 @@ ENV TERM=xterm
 # Symlink isaac sim to IsaacLab
 RUN ln -s /isaac-sim/ ${WORKDIR}/submodules/IsaacLab/_isaac_sim
 # Install IsaacLab dependencies
-RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do pip install --no-deps -e "$DIR"; done
+RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do /isaac-sim/python.sh -m pip install --no-deps -e "$DIR"; done
 # Logs and other stuff appear under dist-packages per default, so this dir has to be writeable.
 RUN chmod 777 -R /isaac-sim/kit/
 # Install isaaclab
@@ -66,7 +68,7 @@ ENV LW_API_ENDPOINT="https://api-dev.lightwheel.net"
 
 # HuggingFace for downloading datasets and models.
 # NOTE(alexmillane, 2025-10-28): For some reason the CLI has issues when installed in the IsaacSim version of python.
-RUN pip install huggingface-hub[cli]
+RUN /isaac-sim/python.sh -m pip install huggingface-hub[cli]
 RUN export PATH=$PATH:/root/.local/bin
 
 ###############################
@@ -120,7 +122,7 @@ RUN echo "alias pytest='/isaac-sim/python.sh -m pytest'" >> /etc/bash.bashrc
 #    It will pause waiting for the debugger to attach.
 # 3) Attach to the running container with VSCode using the "Attach to debugpy session"
 #    configuration from the Run and Debug panel.
-RUN pip3 install debugpy
+RUN /isaac-sim/python.sh -m pip install debugpy
 RUN echo "alias debugpy='python -Xfrozen_modules=off -m debugpy --listen localhost:5678 --wait-for-client'" >> /etc/bash.bashrc
 
 # Change prompt so it's obvious we're inside the arena container

From 5f332c9ec9fde2bcba4c1d59aec611a67760c345 Mon Sep 17 00:00:00 2001
From: Mikhail Yurasov <myurasov@nvidia.com>
Date: Fri, 7 Nov 2025 05:27:40 +0530
Subject: [PATCH 2/4] Remove --runtime=nvidia (deprecated in favor of --gpus;
 errors on docker installe dby default on DGX Spark)

---
 docker/run_docker.sh | 1 -
 1 file changed, 1 deletion(-)

diff --git a/docker/run_docker.sh b/docker/run_docker.sh
index 66a4a297..8869b42b 100755
--- a/docker/run_docker.sh
+++ b/docker/run_docker.sh
@@ -127,7 +127,6 @@ else
                     "--ulimit" "stack=-1"
                     "--ipc=host"
                     "--net=host"
-                    "--runtime=nvidia"
                     "--gpus=all"
                     "-v" "./docs:${WORKDIR}/docs"
                     "-v" "./isaaclab_arena:${WORKDIR}/isaaclab_arena"

From c89a2fdac22a0fdc5ad60d7909bbfd1b63fd99dc Mon Sep 17 00:00:00 2001
From: Mikhail Yurasov <myurasov@nvidia.com>
Date: Fri, 7 Nov 2025 05:28:49 +0530
Subject: [PATCH 3/4] Handle no existing display

---
 docker/run_docker.sh | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/docker/run_docker.sh b/docker/run_docker.sh
index 8869b42b..dae805e3 100755
--- a/docker/run_docker.sh
+++ b/docker/run_docker.sh
@@ -174,8 +174,13 @@ else
     if [ "$INSTALL_GROOT" = "true" ]; then
         DOCKER_RUN_ARGS+=("-v" "./submodules/Isaac-GR00T:${WORKDIR}/submodules/Isaac-GR00T")
     fi
-    # Allow X11 connections
-    xhost +local:docker > /dev/null
+
+    if [[ -n "$DISPLAY" ]]; then
+        # Allo w X11 connections
+        xhost +local:docker > /dev/null
+    else
+        echo "No DISPLAY detected"
+    fi
 
     docker run "${DOCKER_RUN_ARGS[@]}" --interactive --rm --tty ${DOCKER_IMAGE_NAME}:${DOCKER_VERSION_TAG} "${@}"
 fi

From bad2f3778e6f1796388cc86b22e38c3f2dc341e6 Mon Sep 17 00:00:00 2001
From: Mikhail Yurasov <myurasov@nvidia.com>
Date: Fri, 7 Nov 2025 05:29:10 +0530
Subject: [PATCH 4/4] Typo

---
 docker/run_docker.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/run_docker.sh b/docker/run_docker.sh
index dae805e3..7f5ac7c0 100755
--- a/docker/run_docker.sh
+++ b/docker/run_docker.sh
@@ -176,7 +176,7 @@ else
     fi
 
     if [[ -n "$DISPLAY" ]]; then
-        # Allo w X11 connections
+        # Allow X11 connections
         xhost +local:docker > /dev/null
     else
         echo "No DISPLAY detected"