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docker/Dockerfile

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+##########################################
+# Dockerfile for TD-MPC2                 #
+# TD-MPC2 Anonymous Authors, 2023 (c)    #
+# -------------------------------------- #
+# Instructions:                          #
+# docker build . -t <user>/tdmpc2:0.1.0  #
+# docker push <user>/tdmpc2:0.1.0        #
+##########################################
+
+# base image
+FROM nvidia/cudagl:11.3.1-devel-ubuntu20.04
+ENV DEBIAN_FRONTEND=noninteractive
+
+# packages
+RUN apt-get -y update && \
+    apt-get install -y --no-install-recommends build-essential git nano rsync vim tree curl \
+    wget unzip htop tmux xvfb patchelf ca-certificates bash-completion libjpeg-dev libpng-dev \
+    ffmpeg cmake swig libssl-dev libcurl4-openssl-dev libopenmpi-dev python3-dev zlib1g-dev \
+    qtbase5-dev qtdeclarative5-dev libglib2.0-0 libglu1-mesa-dev libgl1-mesa-dev libvulkan1 \
+    libgl1-mesa-glx libosmesa6 libosmesa6-dev libglew-dev mesa-utils && \
+    apt-get clean && \
+    apt-get autoremove -y && \
+    rm -rf /var/lib/apt/lists/* && \
+    mkdir /root/.ssh
+
+# miniconda
+RUN wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda.sh && \
+    /bin/bash ~/miniconda.sh -b -p /opt/conda && \
+    rm ~/miniconda.sh && \
+    . /opt/conda/etc/profile.d/conda.sh && \
+    conda init && \
+    conda clean -ya
+ENV PATH /opt/conda/bin:$PATH
+SHELL ["/bin/bash", "-c"]
+
+# conda environment
+COPY nvidia_icd.json /usr/share/vulkan/icd.d/nvidia_icd.json
+COPY environment.yaml /root
+RUN conda env update -n base -f /root/environment.yaml && \
+    rm /root/environment.yaml && \
+    cd /root && \
+    python -m mani_skill2.utils.download_asset all -y && \
+    conda clean -ya && \
+    pip cache purge
+
+# environment variables
+ENV MUJOCO_GL egl
+ENV MS2_ASSET_DIR /root/data
+ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}
+
+# mujoco (required for metaworld)
+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 && \
+    python -c "import mujoco_py"

docker/environment.yaml

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+name: tdmpc2
+channels:
+  - pytorch-nightly
+  - nvidia
+  - anaconda
+  - conda-forge
+  - defaults
+dependencies:
+  - python=3.9.0
+  - pytorch
+  - torchvision
+  - cudatoolkit=11.7
+  - fluidsynth
+  - portaudio
+  - glew
+  - glib
+  - pillow
+  - pip
+  - pip:
+    - absl-py
+    - click
+    - cloudpickle
+    - gpustat
+    - glfw
+    - kornia
+    - termcolor
+    - gym==0.21.0
+    - pandas
+    - moviepy
+    - ffmpeg
+    - imageio
+    - imageio-ffmpeg
+    - lxml
+    - pyparsing
+    - omegaconf
+    - hydra-core
+    - hydra-submitit-launcher
+    - submitit
+    - patchelf
+    - protobuf
+    - scipy
+    - tqdm
+    - xmltodict
+    - transforms3d
+    - joblib
+    - scikit-image
+    - einops
+    - opencv-python
+    - opencv-contrib-python
+    - filelock
+    - sapien==2.2.1
+    - mani-skill2==0.4.1
+    - tabulate
+    - h5py
+    - trimesh
+    - open3d
+    - rtree
+    - seaborn
+    - mujoco==2.3.1
+    - mujoco-py==2.1.2.14
+    - dm-control
+    - plotly
+    - pyquaternion
+    - git+https://github.com/Farama-Foundation/Metaworld.git@04be337a12305e393c0caf0cbf5ec7755c7c8feb
+    # - myosuite # MyoSuite requires gym==0.13.0 which conflicts with Meta-World & ManiSkill2, install separately if needed
+    - tensordict-nightly
+    - torchrl-nightly

docker/nvidia_icd.json

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+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.2.155"
+    }
+}