File size: 2,489 Bytes
0d89eb9 | 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 59 60 61 62 63 64 65 66 67 68 69 | # Use the NVIDIA base image for CUDA
FROM nvcr.io/nvidia/cuda:12.3.2-cudnn9-devel-ubuntu20.04
# Set environment variables
ENV COPPELIASIM_ROOT=${HOME}/code/coppelia_sim
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
ENV QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/Los_Angeles
ENV CONDA_ALWAYS_YES=true
ENV FORCE_CUDA=1
ENV TORCH_CUDA_ARCH_LIST="5.0;5.2;5.3;6.0;6.1;6.2;7.0;7.2;7.5;8.0;8.6;8.7;8.9;9.0+PTX"
# Create necessary directories
RUN mkdir -p ${HOME}/code
# Install dependencies and essential tools
RUN apt-get update && apt-get install -y \
tzdata sudo curl git vim htop tar bzip2 pigz rsync less mlocate \
build-essential gdb ca-certificates stress sysstat itop \
xauth xvfb mesa-utils mesa-utils-extra x11-apps \
xorg xserver-xorg-core libxv1 x11-xserver-utils libxcb-randr0-dev \
libxrender-dev libxkbcommon-dev libxkbcommon-x11-0 libavcodec-dev \
libavformat-dev libswscale-dev '^libxcb.*-dev' libx11-xcb-dev \
libglu1-mesa-dev libxrender-dev libxi-dev libxkbcommon-dev \
libxkbcommon-x11-dev libegl1-mesa libarchive-dev libarchive13 \
&& rm -rf /var/lib/apt/lists/*
# Install VirtualGL
RUN TEMP_DIR=$(mktemp -d -p /) && cd $TEMP_DIR && \
curl -L -o virtualgl.deb https://sourceforge.net/projects/virtualgl/files/3.1/virtualgl_3.1_amd64.deb/download && \
dpkg -i virtualgl.deb && \
/opt/VirtualGL/bin/vglserver_config +glx +egl +s +f +t && \
rm -rf $TEMP_DIR
RUN mkdir ${HOME}/.ssh && chmod -R 700 ${HOME}/.ssh
RUN ssh-keyscan github.com >> ${HOME}/.ssh/known_hosts
RUN curl -L -O https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
RUN bash Miniconda3-latest-Linux-x86_64.sh -b -p /opt/conda
RUN export PATH=/opt/conda/bin:${PATH}
# Install code and dependencies
WORKDIR ${HOME}/code
RUN eval "$(/opt/conda/bin/conda shell.bash hook)" && conda init bash
RUN eval "$(/opt/conda/bin/conda shell.bash hook)" && conda install mamba -c conda-forge
#RUN conda config --set auto_activate_base false
RUN git clone https://github.com/markusgrotz/peract_bimanual.git ${HOME}/code/peract_bimanual
RUN eval "$(/opt/conda/bin/conda shell.bash hook)" && ${HOME}/code/peract_bimanual/scripts/install_dependencies.sh
# Activate the environment by default
RUN echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc && \
echo "conda activate rlbench" >> ~/.bashrc
WORKDIR /root/code/peract_bimanual
# Default command
CMD ["/bin/bash"]
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