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a8eb6e5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | FROM nvidia/cuda:12.4.1-devel-ubuntu22.04
ENV DEBIAN_FRONTEND=noninteractive
# System deps + Python 3.10 + ffmpeg
RUN apt-get update && apt-get install -y --no-install-recommends \
git git-lfs wget curl ca-certificates \
libgl1-mesa-glx libglib2.0-0 \
software-properties-common \
&& add-apt-repository ppa:deadsnakes/ppa -y \
&& add-apt-repository ppa:ubuntuhandbook1/ffmpeg6 -y \
&& apt-get update \
&& apt-get install -y --no-install-recommends \
python3.10 python3.10-venv python3.10-dev \
ffmpeg \
&& git lfs install \
&& rm -rf /var/lib/apt/lists/*
# Make python3.10 the default
RUN update-alternatives --install /usr/bin/python python /usr/bin/python3.10 1 \
&& update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1
# Install pip
RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python
# Install PyTorch with CUDA 12.4 support
RUN pip install --no-cache-dir \
torch torchvision torchaudio \
--index-url https://download.pytorch.org/whl/cu124
# Clone our repo (includes our modified lerobot)
RUN huggingface-cli download StrongRoboticsLab/pi05-so100-diverse \
--local-dir /workspace/pi05-so100-diverse \
--exclude "logs/*"
# Install our modified lerobot + other deps
RUN pip install --no-cache-dir \
-e /workspace/pi05-so100-diverse/lerobot \
"transformers==4.54.1" \
"accelerate>=0.34" \
wandb \
huggingface_hub \
hf_xet
# Install Node.js + Claude Code
RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
&& apt-get install -y nodejs \
&& rm -rf /var/lib/apt/lists/* \
&& npm install -g @anthropic-ai/claude-code
WORKDIR /workspace/pi05-so100-diverse
ENTRYPOINT ["/bin/bash", "-c"]
CMD ["bash"]
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