Dockerfile

FROM nvidia/cuda:11.8.0-runtime-ubuntu22.04

ARG DOCKER_UID=1000
ARG DOCKER_GID=1000
ARG DOCKER_USER=user
ARG HOME=/home/${DOCKER_USER}

RUN groupadd -g $DOCKER_GID $DOCKER_USER \
    && useradd --uid $DOCKER_UID --gid $DOCKER_GID -m $DOCKER_USER \
    && echo "$DOCKER_USER ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers

## Set environment variables
ENV DEBIAN_FRONTEND=noninteractive
ENV NVIDIA_DRIVER_CAPABILITIES=all
ENV NVIDIA_VISIBLE_DEVICES=all

## NOTE: Uncomment this command to change apt source if you encounter connection issues in China mainland
# RUN sed -i s@/archive.ubuntu.com/@/mirrors.aliyun.com/@g /etc/apt/sources.list && \
#     sed -i s@/security.ubuntu.com/@/mirrors.aliyun.com/@g /etc/apt/sources.list

########################################################
## Install dependencies
########################################################
RUN apt update && apt install -y --no-install-recommends \
    build-essential \
    cmake \
    git \
    wget \
    ssh \
    x11-apps \
    mesa-utils \
    ninja-build \
    vulkan-tools \
    libglu1 \
    # ref: https://askubuntu.com/a/1072878
    libglib2.0-0 \
    # ref: https://stackoverflow.com/a/76778289
    libxrandr2 \
    && apt clean
RUN apt install -y -o Dpkg::Options::="--force-confold" sudo

USER ${DOCKER_USER}
WORKDIR ${HOME}

## Use bash instead of sh
SHELL ["/bin/bash", "-c"]

## Install conda
RUN wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh" \
    && bash "Miniforge3-$(uname)-$(uname -m).sh" -b -p ${HOME}/conda \
    && rm "Miniforge3-$(uname)-$(uname -m).sh"
ENV PATH=${HOME}/conda/condabin:$PATH

## Initialize all future shells
RUN conda init bash \
    && mamba shell init --shell bash

## Install uv
RUN wget https://astral.sh/uv/install.sh \
    && bash install.sh \
    && rm install.sh
ENV PATH=${HOME}/.local/bin:$PATH

########################################################
## Clone RoboVerse
########################################################
## Option 1: Clone from github
# TODO: remove this when released
# COPY --chown=${DOCKER_USER} id_ed25519 ${HOME}/.ssh/id_ed25519
# RUN ssh-keyscan github.com >> ${HOME}/.ssh/known_hosts
# RUN git clone --depth 1 --branch metasim git@github.com:RoboVerseOrg/RoboVerse.git ${HOME}/RoboVerse
## Option 2: Copy necessary files for building conda environment
COPY --chown=${DOCKER_USER} ./metasim ${HOME}/RoboVerse/metasim
COPY --chown=${DOCKER_USER} ./third_party ${HOME}/RoboVerse/third_party
COPY --chown=${DOCKER_USER} ./roboverse_pack ${HOME}/RoboVerse/roboverse_pack
COPY --chown=${DOCKER_USER} ./roboverse_learn ${HOME}/RoboVerse/roboverse_learn
COPY --chown=${DOCKER_USER} ./pyproject.toml ${HOME}/RoboVerse/pyproject.toml

WORKDIR ${HOME}/RoboVerse

########################################################
## Install isaacsim, mujoco, sapien3, pybullet
########################################################
## Create conda environment
RUN mamba create -n metasim python=3.11 -y \
    && mamba clean -a -y
RUN echo "mamba activate metasim" >> ${HOME}/.bashrc

## Pip install
RUN cd ${HOME}/RoboVerse \
    && eval "$(mamba shell hook --shell bash)" \
    && mamba activate metasim \
    && uv pip install -e ".[isaacsim,mujoco,sapien3,pybullet]" \
    && uv cache clean

# Test proxy connection
# RUN wget --method=HEAD --output-document - https://www.google.com/

## Install IsaacLab v2.2.1
RUN mkdir -p ${HOME}/packages \
    && cd ${HOME}/packages \
    && eval "$(mamba shell hook --shell bash)" \
    && mamba activate metasim \
    && git clone --depth 1 --branch v2.2.1 https://github.com/isaac-sim/IsaacLab.git IsaacLab221 \
    && cd IsaacLab221 \
    && ./isaaclab.sh -i none \
    && pip cache purge

########################################################
## Install genesis
########################################################
RUN mamba create -n metasim_genesis python=3.11 -y \
    && mamba clean -a -y
RUN cd ${HOME}/RoboVerse \
    && eval "$(mamba shell hook --shell bash)" \
    && mamba activate metasim_genesis \
    && uv pip install -e ".[genesis]" \
    && uv cache clean

########################################################
## Install isaacgym
########################################################
RUN mamba create -n metasim_isaacgym python=3.8 -y \
    && mamba clean -a -y
RUN mkdir -p ${HOME}/packages \
    && cd ${HOME}/packages \
    && wget https://developer.nvidia.com/isaac-gym-preview-4 \
    && tar -xf isaac-gym-preview-4 \
    && rm isaac-gym-preview-4
RUN find ${HOME}/packages/isaacgym/python -type f -name "*.py" -exec sed -i 's/np\.float/np.float32/g' {} +
RUN cd ${HOME}/RoboVerse \
    && eval "$(mamba shell hook --shell bash)" \
    && mamba activate metasim_isaacgym \
    && uv pip install -e ".[isaacgym]" "isaacgym @ ${HOME}/packages/isaacgym/python" \
    && uv cache clean

## Fix error: libpython3.8.so.1.0: cannot open shared object file
## Refer to https://stackoverflow.com/a/75872751
RUN export CONDA_PREFIX=${HOME}/conda/envs/metasim_isaacgym \
    && mkdir -p $CONDA_PREFIX/etc/conda/activate.d \
    && echo "export OLD_LD_LIBRARY_PATH=\$LD_LIBRARY_PATH && export LD_LIBRARY_PATH=$CONDA_PREFIX/lib/:\$LD_LIBRARY_PATH" >> $CONDA_PREFIX/etc/conda/activate.d/env_vars.sh \
    && mkdir -p $CONDA_PREFIX/etc/conda/deactivate.d \
    && echo "export LD_LIBRARY_PATH=\$OLD_LD_LIBRARY_PATH && unset OLD_LD_LIBRARY_PATH" >> $CONDA_PREFIX/etc/conda/deactivate.d/env_vars.sh
## Fix error: No such file or directory: '.../lib/python3.8/site-packages/isaacgym/_bindings/src/gymtorch/gymtorch.cpp'
RUN mkdir -p ${HOME}/conda/envs/metasim_isaacgym/lib/python3.8/site-packages/isaacgym/_bindings/src \
    && cp -r ${HOME}/packages/isaacgym/python/isaacgym/_bindings/src/gymtorch ${HOME}/conda/envs/metasim_isaacgym/lib/python3.8/site-packages/isaacgym/_bindings/src/gymtorch

########################################################
## Helpful message
########################################################
RUN echo 'echo "Remember to run: xhost +local:docker on the host to enable GUI applications."' >> ${HOME}/.bashrc