41 lines
1.5 KiB
Docker
41 lines
1.5 KiB
Docker
# Dockerfile for the Aloha simulation environment.
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# Build the container:
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# docker build . -t aloha_sim -f examples/aloha_sim/Dockerfile
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# Run the container:
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# docker run --rm -it --network=host -v .:/app aloha_sim /bin/bash
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FROM python:3.11-slim@sha256:370c586a6ffc8c619e6d652f81c094b34b14b8f2fb9251f092de23f16e299b78
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COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/
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RUN apt-get update && \
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apt-get install -y \
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libosmesa6-dev \
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libgl1-mesa-glx \
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libglew-dev \
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libglfw3-dev \
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libgles2-mesa-dev
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ENV MUJOCO_GL=egl
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WORKDIR /app
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# Copy from the cache instead of linking since it's a mounted volume
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ENV UV_LINK_MODE=copy
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# Write the virtual environment outside of the project directory so it doesn't
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# leak out of the container when we mount the application code.
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ENV UV_PROJECT_ENVIRONMENT=/.venv
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# Copy the requirements files so we can install dependencies.
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# The rest of the project is mounted as a volume, so we don't need to rebuild on changes.
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# This strategy is best for development-style usage.
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COPY ./examples/aloha_sim/requirements.txt /tmp/requirements.txt
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COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml
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# Install python dependencies.
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RUN uv venv --python 3.11.9 $UV_PROJECT_ENVIRONMENT
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RUN uv pip sync /tmp/requirements.txt /tmp/openpi-client/pyproject.toml
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ENV PYTHONPATH=/app:/app/src:/app/packages/openpi-client/src
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CMD ["/bin/bash", "-c", "source /.venv/bin/activate && python examples/aloha_sim/main.py"] |