66 lines
1.8 KiB
Docker
66 lines
1.8 KiB
Docker
# Use the Nvidia base image
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FROM nvidia/cudagl:11.3.1-devel-ubuntu20.04
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ENV NVIDIA_DRIVER_CAPABILITIES=all
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ARG PYTHON_VERSION=3.10
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# Install os-level packages
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RUN apt-get update && \
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DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
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bash-completion \
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build-essential \
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ca-certificates \
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cmake \
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curl \
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git \
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git-lfs \
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htop \
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libegl1 \
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libxext6 \
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libjpeg-dev \
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libpng-dev \
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libvulkan1 \
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rsync \
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tmux \
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unzip \
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vim \
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vulkan-utils \
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wget \
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xvfb \
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libglib2.0-0 \
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libgl1-mesa-glx \
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libegl1-mesa \
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ffmpeg \
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build-essential \
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cmake \
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portaudio19-dev \
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&& rm -rf /var/lib/apt/lists/*
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# Install (mini) conda
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RUN curl -o ~/miniconda.sh https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh && \
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chmod +x ~/miniconda.sh && \
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~/miniconda.sh -b -p /opt/conda && \
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rm ~/miniconda.sh && \
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/opt/conda/bin/conda init && \
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/opt/conda/bin/conda install -y python="$PYTHON_VERSION" && \
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/opt/conda/bin/conda clean -ya
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ENV PATH=/opt/conda/bin:$PATH
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SHELL ["/bin/bash", "-c"]
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# https://github.com/haosulab/ManiSkill/issues/9
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# Install Poetry
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RUN curl -sSL https://install.python-poetry.org | python3 -
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ENV PATH="/root/.local/bin:${PATH}"
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# Copy Vulkan JSON files
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COPY docker/manyskill-lerobot-gpu/nvidia_icd.json /usr/share/vulkan/icd.d/nvidia_icd.json
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COPY docker/manyskill-lerobot-gpu/nvidia_layers.json /etc/vulkan/implicit_layer.d/nvidia_layers.json
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# Install LeRobot
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COPY . /lerobot
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WORKDIR /lerobot
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RUN poetry install --sync --all-extras
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RUN pip install --upgrade mani-skill==3.0.0.b15 && pip cache purge
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# Download PhysX GPU binary
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RUN python -c "exec('import sapien.physx as physx;\ntry:\n physx.enable_gpu()\nexcept:\n pass;')"
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