Dockerfile

FROM nvidia/cuda:11.8.0-devel-ubuntu20.04
ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get -y update && apt-get -y install --no-install-recommends\
    software-properties-common\
    libgl1-mesa-dev\
    libgl1-mesa-glx \
    libglew-dev \
    libosmesa6-dev \
    wget\
    libssl-dev\
    curl\
    git\
    x11-apps \
    swig \
    patchelf

# Python (version 3.10)
RUN add-apt-repository ppa:deadsnakes/ppa && \
  apt-get update && apt-get install -y \
  python3.10 \
  python3.10-dev \
  python3.10-venv \
  python3.10-distutils \
  python3.10-tk

RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1
RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python3.10
RUN pip3 install --upgrade pip
RUN pip3 install -U pip distlib setuptools wheel

# vnc
RUN apt-get install -y xvfb x11vnc icewm lsof net-tools
RUN echo "alias vnc='PASSWORD=\$(openssl rand -hex 24); for i in {99..0}; do export DISPLAY=:\$i; if ! xdpyinfo &>/dev/null; then break; fi; done; for i in {5999..5900}; do if ! netstat -tuln | grep -q \":\$i \"; then PORT=\$i; break; fi; done; Xvfb \$DISPLAY -screen 0 1400x900x24 & until xdpyinfo > /dev/null 2>&1; do sleep 0.1; done; x11vnc -forever -noxdamage -display \$DISPLAY -rfbport \$PORT -passwd \$PASSWORD > /dev/null 2>&1 & until lsof -i :\$PORT > /dev/null; do sleep 0.1; done; icewm-session & echo DISPLAY=\$DISPLAY, PORT=\$PORT, PASSWORD=\$PASSWORD'" >> ~/.bashrc

# utils
RUN apt-get update && apt-get install -y htop vim ffmpeg 
# RUN pip3 install jupyterlab ipywidgets && \
#     echo 'alias jup="jupyter lab --ip 0.0.0.0 --port 8888 --allow-root &"' >> /root/.bashrc

# clear cache
RUN rm -rf /var/lib/apt/lists/*

# pytorch 2.0
RUN pip3 install torch==2.0.0+cu118 torchvision==0.15.1+cu118 torchaudio==2.0.1 --extra-index-url https://download.pytorch.org/whl/cu118

# mujoco 210
RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sci-artifacts/manual-builds/patchelf_0.9_amd64.elf \
    && chmod +x /usr/local/bin/patchelf
RUN mkdir -p /root/.mujoco \
    && wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz \
    && tar -xf mujoco.tar.gz -C /root/.mujoco \
    && rm mujoco.tar.gz
ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}

WORKDIR /workspace
COPY src/ src/
COPY pyproject.toml .

RUN pip3 install -e .[dev]

CMD ["bash"]