From 26a81a6accf67cf8da6d1efdf75bfe00d65271fd Mon Sep 17 00:00:00 2001
From: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Date: Fri, 5 Jul 2024 23:19:01 +0200
Subject: [PATCH] Fixes isaaclab.sh script to deal with local system python
 (#649)

# Description

Realized that #631 did not deal properly with the case when not in a
conda or docker. This MR re-writes the logic to hopefully make the
operation safe.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---
 .vscode/tools/setup_vscode.py |  5 +++
 docker/Dockerfile.pip         |  4 +--
 isaaclab.sh                   | 61 +++++++++++++----------------------
 3 files changed, 29 insertions(+), 41 deletions(-)

diff --git a/.vscode/tools/setup_vscode.py b/.vscode/tools/setup_vscode.py
index 7750be6f9f..0543766e9d 100644
--- a/.vscode/tools/setup_vscode.py
+++ b/.vscode/tools/setup_vscode.py
@@ -27,6 +27,11 @@
     isaacsim_dir = os.environ.get("ISAAC_PATH", "")
 except ModuleNotFoundError or ImportError:
     isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
+except EOFError:
+    print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
+    print("Please run the script in an interactive shell to accept the EULA.")
+    print("Skipping the setup of the VSCode settings...")
+    sys.exit(0)
 
 # check if the isaac-sim directory exists
 if not os.path.exists(isaacsim_dir):
diff --git a/docker/Dockerfile.pip b/docker/Dockerfile.pip
index 5053638c11..21d9bb3e90 100644
--- a/docker/Dockerfile.pip
+++ b/docker/Dockerfile.pip
@@ -10,9 +10,9 @@
 # To build the Docker image and run the Docker container, follow the steps below:
 #
 # 1. Build the Docker image:
-#       docker build -t isaac-lab:latest -f docker/Dockerfile.pip .
+#       docker build -t isaac-lab-pip:latest -f docker/Dockerfile.pip .
 # 2. Run the Docker container:
-#       docker run -it --gpus all --rm --network=host --name isaac-lab -v $(pwd):/root/isaaclab isaac-lab:latest
+#       docker run -it --gpus all --rm --network=host --name isaac-lab -v $(pwd):/root/isaaclab isaac-lab-pip:latest
 
 # Base image: Ubuntu 22.04
 FROM ubuntu:22.04 AS base
diff --git a/isaaclab.sh b/isaaclab.sh
index f3f27c90ee..d3166b4f48 100755
--- a/isaaclab.sh
+++ b/isaaclab.sh
@@ -24,29 +24,16 @@ export ISAACLAB_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && p
 
 # extract isaac sim path
 extract_isaacsim_path() {
-    # Check if we have pip package installed inside conda environment
-    if ! [[ -z "${CONDA_PREFIX}" ]]; then
+    # Use the sym-link path to Isaac Sim directory
+    local isaac_path=${ISAACLAB_PATH}/_isaac_sim
+    # If above path is not available, try to find the path using python
+    if [ ! -d "${isaac_path}" ]; then
         # Use the python executable to get the path
-        local python_exe=${CONDA_PREFIX}/bin/python
+        local python_exe=$(extract_python_exe)
         # Retrieve the path importing isaac sim and getting the environment path
         if [ $(${python_exe} -m pip list | grep -c 'isaacsim-rl') ]; then
             local isaac_path=$(${python_exe} -c "import isaacsim; import os; print(os.environ['ISAAC_PATH'])")
-        else
-            # If package not installed, try with the default path
-            local isaac_path=${ISAACLAB_PATH}/_isaac_sim
-        fi
-    elif command -v python &> /dev/null; then
-        # note: we need to deal with this case because of docker containers
-        # Retrieve the path importing isaac sim and getting the environment path
-        if [ $(python -m pip list | grep -c 'isaacsim-rl') ]; then
-            local isaac_path=$(python -c "import isaacsim; import os; print(os.environ['ISAAC_PATH'])")
-        else
-            # If package not installed, use an empty path for failure
-            local isaac_path=''
         fi
-    else
-        # Use the sym-link path to Isaac Sim directory
-        local isaac_path=${ISAACLAB_PATH}/_isaac_sim
     fi
     # check if there is a path available
     if [ ! -d "${isaac_path}" ]; then
@@ -65,21 +52,22 @@ extract_isaacsim_path() {
 
 # extract the python from isaacsim
 extract_python_exe() {
-    # check if using conda
-    if ! [[ -z "${CONDA_PREFIX}" ]]; then
-        # use conda python
-        local python_exe=${CONDA_PREFIX}/bin/python
-    elif command -v python &> /dev/null; then
-        # note: we need to deal with this case because of docker containers
-        if [ $(python -m pip list | grep -c 'isaacsim-rl') ]; then
-            local python_exe=$(which python)
+    # default to python in the kit
+    local python_exe=${ISAACLAB_PATH}/_isaac_sim/python.sh
+    # if default python is not available, check if conda is activated
+    if [ ! -f "${python_exe}" ]; then
+        # check if using conda
+        if ! [[ -z "${CONDA_PREFIX}" ]]; then
+            # use conda python
+            local python_exe=${CONDA_PREFIX}/bin/python
         else
-            # leave a blank path for failure
-            local python_exe=''
+            # note: we need to check system python for cases such as docker
+            # inside docker, if user installed into system python, we need to use that
+            # otherwise, use the python from the kit
+            if [ $(python -m pip list | grep -c 'isaacsim-rl') ]; then
+                local python_exe=$(which python)
+            fi
         fi
-    else
-        # use python from kit
-        local python_exe=${ISAACLAB_PATH}/_isaac_sim/python.sh
     fi
     # check if there is a python path available
     if [ ! -f "${python_exe}" ]; then
@@ -90,12 +78,6 @@ extract_python_exe() {
         echo -e "\t3. Python executable is not available at the default path: ${ISAACLAB_PATH}/_isaac_sim/python.sh" >&2
         exit 1
     fi
-    # kit dependencies are built with python 3.10 so any other version will not work
-    # this is needed in case users have multiple python versions installed and the wrong one is being used
-    if [ "$(${python_exe} --version | grep -c '3.10')" -eq 0 ]; then
-        echo "[ERROR] Found Python version: $(${python_exe} --version) while expecting 3.10. Please use the correct python version." >&2
-        exit 1
-    fi
     # return the result
     echo ${python_exe}
 }
@@ -300,8 +282,9 @@ while [[ $# -gt 0 ]]; do
             # install the rl-frameworks specified
             ${python_exe} -m pip install -e ${ISAACLAB_PATH}/source/extensions/omni.isaac.lab_tasks["${framework_name}"]
 
-            # check if we are inside a docker container (in that case don't setup VSCode)
-            if [ -f "/.dockerenv" ]; then
+            # check if we are inside a docker container or are building a docker image
+            # in that case don't setup VSCode since it asks for EULA agreement which triggers user interaction
+            if [ -f /.dockerenv ]; then
                 echo "[INFO] Running inside a docker container. Skipping VSCode settings setup."
                 echo "[INFO] To setup VSCode settings, run 'isaaclab -v'."
             else