[Internal use] Add leapmotion device and recording script for G1 locomanip

docker/Dockerfile.leapmotion_teleop

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+ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.0.0
+
+FROM ${BASE_IMAGE}
+
+# GR00T Policy Build Arguments, these are only used if INSTALL_GROOT is true
+ARG INSTALL_GROOT=false
+ARG GROOT_DEPS_GROUP=base
+
+ARG WORKDIR="/workspace"
+ENV WORKDIR=${WORKDIR}
+WORKDIR "${WORKDIR}"
+
+# Hide conflicting Vulkan files, if needed.
+RUN if [ -e "/usr/share/vulkan" ] && [ -e "/etc/vulkan" ]; then \
+      mv /usr/share/vulkan /usr/share/vulkan_hidden; \
+    fi
+
+# Install apt packages
+RUN apt-get update && apt-get install -y \
+  git \
+  git-lfs \
+  cmake \
+  sudo \
+  python3-pip
+
+# Update pip to the latest version
+RUN pip3 install --upgrade pip
+
+################################
+# Install Isaac Lab
+################################
+# Split copying into separate instructions
+# to avoid docker cache invalidation on code edits.
+COPY ./submodules/IsaacLab ${WORKDIR}/submodules/IsaacLab
+# Set the ISAACLAB_PATH environment variable
+ENV ISAACLAB_PATH=${WORKDIR}/submodules/IsaacLab
+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
+# 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
+RUN ${ISAACLAB_PATH}/isaaclab.sh -i
+
+# Install pip dependencies
+# NOTE(alexmillane, 2025-07-22): Dependencies are installed in the IsaacSim version of python.
+RUN /isaac-sim/python.sh -m pip install --upgrade pip && \
+  /isaac-sim/python.sh -m pip install \
+  pytest \
+  jupyter \
+  # NOTE(xinjieyao, 2025-09-15): Needed for inheritance of torch nn.module, saving/loading model
+  typing_extensions \
+  # NOTE(xinjieyao, 2025-09-15): Needed for WBC running onnx compiled policy
+  onnxruntime
+
+# lwlabs deps
+RUN /isaac-sim/python.sh -m pip install --upgrade pip && \
+  /isaac-sim/python.sh -m pip install \
+  vuer[all] \
+  lightwheel-sdk
+
+# Lightwheel server
+ENV LW_API_ENDPOINT="https://api-dev.lightwheel.net"
+
+###############################
+# Install GR00T and CUDA 12.8 #
+###############################
+# Copy CUDA 12.8 installation script
+COPY docker/setup/install_cuda.sh /tmp/install_cuda.sh
+RUN chmod +x /tmp/install_cuda.sh
+# If GR00T deps to be installed, install cuda 12.8 (needed for flash-attn, and avoid 4G memory addon)
+RUN if [ "$INSTALL_GROOT" = "true" ]; then \
+    /tmp/install_cuda.sh; \
+  else \
+    echo "Skipping CUDA 12.8 installation"; \
+  fi && \
+  rm -f /tmp/install_cuda.sh
+# Copy GR00T
+COPY ./submodules/Isaac-GR00T ${WORKDIR}/submodules/Isaac-GR00T
+# Copy GR00T dependencies installation script
+COPY docker/setup/install_gr00t_deps.sh /tmp/install_gr00t_deps.sh
+RUN chmod +x /tmp/install_gr00t_deps.sh
+# Install GR00T dependencies if requested
+RUN if [ "$INSTALL_GROOT" = "true" ]; then \
+    /tmp/install_gr00t_deps.sh; \
+    # Fix damage to /isaac-sim/exts/omni.isaac.ml_archive/pip_prebundle/torch
+    rm -rf /isaac-sim/exts/omni.isaac.ml_archive/pip_prebundle/torch \
+  else \
+    echo "Skipping GR00T installation"; \
+  fi && \
+  # Clean up installation scripts
+  rm -f /tmp/install_gr00t_deps.sh
+
+# Copy the rest of the files
+COPY *.* ${WORKDIR}/
+COPY isaac_arena ${WORKDIR}/isaac_arena
+COPY docs ${WORKDIR}/docs
+
+# Install Isaac Arena
+RUN /isaac-sim/python.sh -m pip install -e ${WORKDIR}/
+
+# Set an alias to run the isaac lab python interpreter.
+RUN echo "alias python='/isaac-sim/python.sh'" >> /etc/bash.bashrc
+RUN echo "alias pip3='/isaac-sim/python.sh -m pip'" >> /etc/bash.bashrc
+RUN echo "alias pytest='/isaac-sim/python.sh -m pytest'" >> /etc/bash.bashrc
+
+# Debugging with debugpy
+# Usage:
+# 1) Set your breakpoints
+# 2) Start the script you want to debug with "debugpy" instead of "python".
+#    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 echo "alias debugpy='python -Xfrozen_modules=off -m debugpy --listen localhost:5678 --wait-for-client'" >> /etc/bash.bashrc
+
+####################################################################################################
+# Install dependencies for Leapmotion teleop
+####################################################################################################
+RUN apt install -y wget
+
+RUN wget -qO - https://repo.ultraleap.com/keys/apt/gpg | gpg --dearmor | tee /etc/apt/trusted.gpg.d/ultraleap.gpg
+RUN echo 'deb [arch=amd64] https://repo.ultraleap.com/apt stable main' | tee /etc/apt/sources.list.d/ultraleap.list
+# Pre-accept UltraLeap license and install
+RUN apt update && \
+    echo 'ultraleap-hand-tracking ultraleap-hand-tracking/license-agreement boolean true' | debconf-set-selections && \
+    DEBIAN_FRONTEND=noninteractive apt install -y ultraleap-hand-tracking
+
+# Install build module first
+RUN /isaac-sim/kit/python/bin/python3 -m pip install build
+
+# Clone and install leapc python bindings
+RUN git clone https://github.com/ultraleap/leapc-python-bindings /opt/leapc-python-bindings && \
+    cd /opt/leapc-python-bindings && \
+    /isaac-sim/kit/python/bin/python3 -m pip install -r requirements.txt && \
+    /isaac-sim/kit/python/bin/python3 -m build leapc-cffi && \
+    /isaac-sim/kit/python/bin/python3 -m pip install leapc-cffi/dist/leapc_cffi-0.0.1.tar.gz && \
+    /isaac-sim/kit/python/bin/python3 -m pip install -e leapc-python-api/
+
+RUN /isaac-sim/kit/python/bin/python3 -m pip install numpy==1.26.0
+####################################################################################################
+####################################################################################################
+
+# Change prompt so it's obvious we're inside the arena container
+RUN echo "PS1='[Isaac Arena] \[\e[0;32m\]~\u \[\e[0;34m\]\w\[\e[0m\] \$ '" >> /etc/bash.bashrc
+# List files as a table, with colors, show hidden, append indicators (/ for dirs, * for executables, @ for symlinks)
+RUN echo "alias ll='ls -alF --color=auto'" >> /etc/bash.bashrc
+# Go one level up
+RUN echo "alias ..='cd ..'" >> /etc/bash.bashrc
+# Change prompt to colored one for root too
+RUN cp /etc/bash.bashrc /root/.bashrc
+
+# Set the entrypoint
+COPY docker/setup/entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]