File size: 1,968 Bytes
825cff4 | 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 56 57 58 | # Base image with Python 3.9 and Linux
FROM nvidia/cuda:11.8.0-base-ubuntu20.04
# Set environment variables
ENV DEBIAN_FRONTEND=noninteractive \
PYTHONUNBUFFERED=1 \
LANG=C.UTF-8 \
PATH=/opt/conda/bin:$PATH \
MUJOCO_GL=osmesa
# Install system dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential \
git \
wget \
curl \
cmake \
ca-certificates \
libgl1-mesa-glx \
libglib2.0-0 \
libosmesa6-dev \
libglfw3-dev \
patchelf && \
rm -rf /var/lib/apt/lists/*
# Install Miniconda
RUN curl -fsSL https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -o /tmp/miniconda.sh && \
bash /tmp/miniconda.sh -b -p /opt/conda && \
rm /tmp/miniconda.sh && \
conda clean -afy
# Create and activate robomimic conda environment with Python 3.9
RUN /opt/conda/bin/conda create -n robomimic_venv python=3.9 -y
# Install PyTorch and torchvision with CPU fallback
RUN /opt/conda/bin/conda run -n robomimic_venv conda install -y pytorch==2.0.0 torchvision==0.15.0 cpuonly -c pytorch || \
/opt/conda/bin/conda run -n robomimic_venv pip install torch==2.0.0+cpu torchvision==0.15.0+cpu
# Install robomimic from source
WORKDIR /opt
RUN git clone https://github.com/ARISE-Initiative/robomimic.git && \
/opt/conda/bin/conda run -n robomimic_venv pip install -e ./robomimic
# Install robosuite
RUN git clone https://github.com/ARISE-Initiative/robosuite.git && \
cd robosuite && \
/opt/conda/bin/conda run -n robomimic_venv pip install -r requirements.txt
# Optional: Install robomimic documentation dependencies
WORKDIR /opt/robomimic
RUN /opt/conda/bin/conda run -n robomimic_venv pip install -r requirements-docs.txt
# Set the working directory
WORKDIR /workspace
# Activate Conda environment and start bash when container starts
CMD ["/bin/bash", "-c", "source /opt/conda/etc/profile.d/conda.sh && conda activate robomimic_venv && bash"]
|