Initial commit

examples/calvin/Dockerfile

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+# THIS DOCKERFILE DOES NOT YET WORK
+# Dockerfile for the CALVIN benchmark.
+
+# Build the container:
+# docker build . -t calvin -f examples/calvin/Dockerfile
+
+# Run the container:
+# docker run --rm -it --network=host -v .:/app --privileged --gpus all calvin /bin/bash
+
+FROM nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04@sha256:2d913b09e6be8387e1a10976933642c73c840c0b735f0bf3c28d97fc9bc422e0
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    make \
+    g++ \
+    git \
+    wget \
+    libosmesa6-dev \
+    libgl1-mesa-glx \
+    libglew-dev \
+    libglfw3-dev \
+    libgles2-mesa-dev \
+    libglib2.0-0 \
+    libsm6 \
+    libxrender1 \
+    libxext6 \
+    unzip \
+    ffmpeg
+
+# Install miniconda
+ENV CONDA_DIR=/opt/conda
+RUN wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda.sh && \
+    /bin/bash ~/miniconda.sh -b -p $CONDA_DIR
+ENV PATH=$CONDA_DIR/bin:$PATH
+
+# Submodules don't work with calvin because it internally parses git metadata.
+# So we have to clone it directly.
+RUN git clone --recurse-submodules https://github.com/mees/calvin.git /root/calvin
+
+RUN conda create -n calvin python=3.8
+RUN source /opt/conda/bin/activate calvin && \
+    pip install setuptools==57.5.0 && \
+    cd /root/calvin && \
+    ./install.sh && \
+    pip install \
+    imageio[ffmpeg] \
+    moviepy \
+    numpy==1.23.0 \
+    tqdm \
+    tyro \
+    websockets \
+    msgpack
+
+ENV PYTHONPATH=/app:/app/packages/openpi-client/src
+
+# Download CALVIN dataset, see https://github.com/mees/calvin/blob/main/dataset/download_data.sh
+RUN mkdir -p /datasets && cd /datasets && \
+    wget http://calvin.cs.uni-freiburg.de/dataset/calvin_debug_dataset.zip && \
+    unzip calvin_debug_dataset.zip && \
+    rm calvin_debug_dataset.zip
+
+WORKDIR /app
+CMD ["/bin/bash", "-c", "source /opt/conda/bin/activate calvin && python examples/calvin/main.py"]