Dev Container

Use SRB’s Dev Container, configured in devcontainer.json.

Prerequisites

Working Docker Engine and NVIDIA Container Toolkit. The Dev Container requests all GPUs.
xauth and an X11 session for GUI forwarding.
Visual Studio Code (VS Code) and the Dev Containers extension.
Host code CLI to use the optional helper script below.

The container builds from the repository Dockerfile, mounts the checkout at /root/ws, forwards X11, and reuses host Omniverse and shader caches. It uses the Isaac Sim and Isaac Lab versions pinned in system requirements; Isaac Sim lives at /root/isaac-sim.

Host caches: ~/.cache/isaac-sim, ~/.cache/nvidia/GLCache, ~/.cache/ov, ~/.nv/ComputeCache, ~/.cache/simforge. Data: ~/.nvidia-omniverse/data/ov, ~/.nvidia-omniverse/data/isaac-sim. Logs: ~/.nvidia-omniverse/logs, ~/.nvidia-omniverse/logs/isaac-sim. Use repository ownership markers and srb clean/srb cache claim-clean-root for supported roots; SimForge cleanup uses simforge clean.

Open in VS Code

Open the repository folder:
```
code /path/to/space_robotics_bench
```
Run Dev Containers: Reopen in Container from the Command Palette (Ctrl+Shift+P).

VS Code builds the image if needed and attaches. The first build includes the full SRB image.

Verify Container Setup

After attaching, verify the setup:

nvidia-smi
srb --help
srb cache update
echo "$DISPLAY"

Optional: Open with the Helper Script

If the VS Code CLI is installed, run:

./.devcontainer/open.bash

Other Container Access

The Dev Container requests all GPUs and /dev/dri. .docker/run.bash profiles: safe has no GPU; simulator enables GPU and GUI; trusted-simulator also grants --privileged and all of /dev; ngc runs the NGC Isaac Sim image as UID 1234. For .docker/run.bash, WITH_GPU=false disables GPU passthrough.

For terminal access to a running SRB container, use .docker/join.bash instead of opening another VS Code window.