content: FROM "{{ isaac_image }}"
  
  RUN apt-get update
  RUN apt-get install -qy git nano
  
  # set python and pip paths
  ENV PYTHON_PATH="/isaac-sim/python.sh"
  RUN echo 'alias "python"="${PYTHON_PATH}"' >> $HOME/.bashrc
  RUN echo 'alias "pip"="${PYTHON_PATH} -m pip"' >> $HOME/.bashrc
  RUN echo 'alias "PYTHON_PATH"="${PYTHON_PATH}"' >> $HOME/.bashrc
  
  # if in china, add local pip mirrors
  {% if in_china %}
  RUN mkdir -p $HOME/.pip || true
  RUN echo '[global]' >> $HOME/.pip/pip.conf
  RUN echo 'index-url = http://mirrors.aliyun.com/pypi/simple' >> $HOME/.pip/pip.conf
  RUN echo 'trusted-host = mirrors.aliyun.com' >> $HOME/.pip/pip.conf
  {% endif %}
  
  # install OIGE
  # https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs#installation
  WORKDIR /
  RUN git clone https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs.git
  RUN (cd OmniIsaacGymEnvs && git checkout {{ omni_isaac_gym_envs_git_checkpoint }})
  RUN (cd OmniIsaacGymEnvs && ${PYTHON_PATH} -m pip install -e .)
  WORKDIR /OmniIsaacGymEnvs/omniisaacgymenvs
  
  # link output dir to /results
  RUN mkdir /results ; ln -s /results /OmniIsaacGymEnvs/omniisaacgymenvs/runs
  
  # customoize bash prompt
  RUN echo "export PS1='\[\033[01;33m\][OmniIsaacGymEnvs]\[\033[00m\]:\w\$ '" >>  $HOME/.bashrc
  
  # welcome message
  RUN echo "echo '\\nOmniverse Isaac Gym Reinforcement Learning Environments for Isaac Sim\\nPlease see https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs for more info.\\n'" >>  $HOME/.bashrc
  