Initial commit

examples/libero/Dockerfile

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+# Dockerfile for the LIBERO benchmark.
+
+# Build the container:
+# docker build . -t libero -f examples/libero/Dockerfile
+
+# Run the container:
+# docker run --rm -it --network=host -v .:/app -v /tmp/.X11-unix:/tmp/.X11-unix:ro -e DISPLAY=$DISPLAY --gpus all libero /bin/bash
+
+FROM nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04@sha256:2d913b09e6be8387e1a10976933642c73c840c0b735f0bf3c28d97fc9bc422e0
+COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/
+
+RUN apt-get update && \
+    apt-get install -y \
+    make \
+    g++ \
+    clang \
+    libosmesa6-dev \
+    libgl1-mesa-glx \
+    libglew-dev \
+    libglfw3-dev \
+    libgles2-mesa-dev \
+    libglib2.0-0 \
+    libsm6 \
+    libxrender1 \
+    libxext6
+
+WORKDIR /app
+
+# Copy from the cache instead of linking since it's a mounted volume
+ENV UV_LINK_MODE=copy
+
+# Write the virtual environment outside of the project directory so it doesn't
+# leak out of the container when we mount the application code.
+ENV UV_PROJECT_ENVIRONMENT=/.venv
+
+# Copy the requirements files so we can install dependencies.
+# The rest of the project is mounted as a volume, so we don't need to rebuild on changes.
+# This strategy is best for development-style usage.
+COPY ./examples/libero/requirements.txt /tmp/requirements.txt
+COPY ./third_party/libero/requirements.txt /tmp/requirements-libero.txt
+COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml
+
+# Install python dependencies.
+RUN uv venv --python 3.8 $UV_PROJECT_ENVIRONMENT
+RUN uv pip sync /tmp/requirements.txt /tmp/requirements-libero.txt /tmp/openpi-client/pyproject.toml --extra-index-url https://download.pytorch.org/whl/cu113 --index-strategy=unsafe-best-match
+ENV PYTHONPATH=/app:/app/packages/openpi-client/src:/app/third_party/libero
+
+# Create a default config file to avoid an input prompt from LIBERO's init script.
+# https://github.com/Lifelong-Robot-Learning/LIBERO/blob/master/libero/libero/__init__.py
+ENV LIBERO_CONFIG_PATH=/tmp/libero
+RUN mkdir -p /tmp/libero && cat <<'EOF' > /tmp/libero/config.yaml
+benchmark_root: /app/third_party/libero/libero/libero
+bddl_files: /app/third_party/libero/libero/libero/bddl_files
+init_states: /app/third_party/libero/libero/libero/init_files
+datasets: /app/third_party/libero/libero/datasets
+assets: /app/third_party/libero/libero/libero/assets
+EOF
+
+CMD ["/bin/bash", "-c", "source /.venv/bin/activate && python examples/libero/main.py"]