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Merged
aliberts merged 1 commit into from
Feb 25, 2025
Merged

Optimizing Dockerfile #751

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34 changes: 14 additions & 20 deletions docker/lerobot-gpu/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,31 +1,25 @@
FROM nvidia/cuda:12.4.1-base-ubuntu22.04

# Configure image
# Configure environment variables
ARG PYTHON_VERSION=3.10
ARG DEBIAN_FRONTEND=noninteractive

ENV DEBIAN_FRONTEND=noninteractive
ENV MUJOCO_GL="egl"
ENV PATH="/opt/venv/bin:$PATH"

# Install apt dependencies
# Install dependencies and set up Python in a single layer
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake git git-lfs \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
speech-dispatcher libgeos-dev \
python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \
&& apt-get clean && rm -rf /var/lib/apt/lists/*

&& ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python \
&& python -m venv /opt/venv \
&& apt-get clean && rm -rf /var/lib/apt/lists/* \
&& echo "source /opt/venv/bin/activate" >> /root/.bashrc

# Create virtual environment
RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
RUN python -m venv /opt/venv
ENV PATH="/opt/venv/bin:$PATH"
RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc

# Install LeRobot
RUN git lfs install
RUN git clone https://github.com/huggingface/lerobot.git /lerobot
# Clone repository and install LeRobot in a single layer
WORKDIR /lerobot
RUN pip install --upgrade --no-cache-dir pip
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]"

# Set EGL as the rendering backend for MuJoCo
ENV MUJOCO_GL="egl"
RUN git lfs install \
&& git clone https://github.com/huggingface/lerobot.git . \
&& /opt/venv/bin/pip install --upgrade --no-cache-dir pip \
&& /opt/venv/bin/pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]"