FROM nvidia/cuda:12.4.1-base-ubuntu22.04

# Configure environment variables
ARG PYTHON_VERSION=3.10
ENV DEBIAN_FRONTEND=noninteractive
ENV MUJOCO_GL="egl"
ENV PATH="/opt/venv/bin:$PATH"

# Install dependencies and set up Python in a single layer
RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential cmake git git-lfs \
    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
    speech-dispatcher libgeos-dev \
    python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \
    && ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python \
    && python -m venv /opt/venv \
    && apt-get clean && rm -rf /var/lib/apt/lists/* \
    && echo "source /opt/venv/bin/activate" >> /root/.bashrc

# Clone repository and install LeRobot in a single layer
WORKDIR /lerobot
RUN git lfs install \
    && git clone https://github.com/huggingface/lerobot.git . \
    && /opt/venv/bin/pip install --upgrade --no-cache-dir pip \
    && /opt/venv/bin/pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]"