update readme + dockerfile

docker/Dockerfile

@@ -4,14 +4,14 @@
 # https://www.tdmpc2.com                 #
 # -------------------------------------- #
 # Build instructions:                    #
-# docker build . -t <user>/tdmpc2:1.0.0  #
-# docker push <user>/tdmpc2:1.0.0        #
+# docker build . -t <user>/tdmpc2:1.0.1  #
+# docker push <user>/tdmpc2:1.0.1        #
 # -------------------------------------- #
 # Run:                                   #
 # docker run -i \                        #
 #   -v <path>/<to>/tdmpc2:/tdmpc2 \      #
 #   --gpus all \                         #
-#   -t <user>/tdmpc2:1.0.0 \             #
+#   -t <user>/tdmpc2:1.0.1 \             #
 #   /bin/bash                            #
 ##########################################
 
@@ -42,34 +42,8 @@ RUN conda update conda && \
     conda init
 SHELL ["/bin/bash", "-c"]
 RUN echo "cd /root" >> /root/.bashrc
-
-# mujoco 2.1.0
-ENV MUJOCO_GL egl
-ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}
-RUN mkdir -p /root/.mujoco && \
-    wget https://www.tdmpc2.com/files/mjkey.txt && \
-    wget https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-linux-x86_64.tar.gz && \
-    tar -xzf mujoco210-linux-x86_64.tar.gz && \
-    rm mujoco210-linux-x86_64.tar.gz && \
-    mv mujoco210 /root/.mujoco/mujoco210 && \
-    mv mjkey.txt /root/.mujoco/mjkey.txt && \
-    find /root/.mujoco -uid 421709 -exec chown root:root {} \; && \
-    python -c "import mujoco_py"
-
-# gym
-RUN pip install gym==0.21.0
-
-# metaworld
-RUN pip install git+https://github.com/Farama-Foundation/Metaworld.git@04be337a12305e393c0caf0cbf5ec7755c7c8feb
-
-# maniskill2
-ENV MS2_ASSET_DIR /root/data
-RUN pip install mani-skill2==0.4.1 && \
-    cd /root && \
-    python -m mani_skill2.utils.download_asset all -y
-
-# myosuite (conflicts with meta-world / mani-skill2)
-# RUN pip install myosuite
+# image does not include metaworld, maniskill, myosuite
+# these can be installed separately; see environment.yaml for details
 
 # success!
 RUN echo "Successfully built TD-MPC2 Docker image!"