devcontainer.json

{
	"name": "${localWorkspaceFolderBasename}",
	"build": {
		"context": "${localWorkspaceFolder}",
		"dockerfile": "${localWorkspaceFolder}/Dockerfile",
		"cacheFrom": "andrejorsula/isaac_sim_rs"
	},
	"workspaceFolder": "/root/ws",
	"workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/ws",
	"runArgs": [
		// Network mode
		"--network=host",
		"--ipc=host",
		// NVIDIA GPU
		"--gpus=all",
		// Other GPUs
		"--device=/dev/dri:/dev/dri",
		"--group-add=video"
	],
	"mounts": [
		// Local time
		"type=bind,source=/etc/localtime,target=/etc/localtime,readonly",
		// Input devices
		"type=bind,source=/dev/input,target=/dev/input",
		// GUI (X11)
		"type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix",
		"type=bind,source=${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename},target=${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}",
		// Isaac Sim
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/cache/computecache,target=/root/.nv/ComputeCache",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/cache/glcache,target=/root/.cache/nvidia/GLCache",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/cache/kit,target=/root/isaac_sim/cache/Kit",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/cache/ov,target=/root/.cache/ov",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/cache/pip,target=/root/.cache/pip",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/data,target=/root/.local/share/ov/data",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/documents,target=/root/Documents",
		"type=bind,source=${localEnv:HOME}/.nvidia-omniverse/docker/logs,target=/root/.nvidia-omniverse/logs"
	],
	"containerEnv": {
		// GUI (X11)
		"DISPLAY": "${localEnv:DISPLAY}",
		"XAUTHORITY": "${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}",
		// NVIDIA GPU
		"NVIDIA_VISIBLE_DEVICES": "all",
		"NVIDIA_DRIVER_CAPABILITIES": "all"
	},
	"initializeCommand": "XAUTH=\"${localEnv:TMPDIR:/tmp}/xauth_docker_vsc_${localWorkspaceFolderBasename}\"; touch \"${XAUTH}\"; chmod a+r \"${XAUTH}\"; XAUTH_LIST=$(xauth nlist \"${localEnv:DISPLAY}\"); if [ -n \"${XAUTH_LIST}\" ]; then echo \"${XAUTH_LIST}\" | sed -e 's/^..../ffff/' | xauth -f \"${XAUTH}\" nmerge -; fi",
	"customizations": {
		"vscode": {
			"extensions": [
				// Rust
				"rust-lang.rust-analyzer",
				"serayuzgur.crates",
				"vadimcn.vscode-lldb",
				// Python
				"ms-python.black-formatter",
				"ms-python.isort",
				"ms-python.python",
				"ms-python.vscode-pylance",
				// Toml
				"tamasfe.even-better-toml",
				// Yaml
				"redhat.vscode-yaml",
				// Utils
				"christian-kohler.path-intellisense",
				// Miscellaneous
				"GitHub.copilot"
			]
		}
	}
}