update dockerfile + pin all versions

docker/Dockerfile

@@ -1,10 +1,18 @@
 ##########################################
 # Dockerfile for TD-MPC2                 #
-# TD-MPC2 Anonymous Authors, 2023 (c)    #
+# Nicklas Hansen, 2023 (c)               #
+# https://www.tdmpc2.com                 #
 # -------------------------------------- #
-# Instructions:                          #
-# docker build . -t <user>/tdmpc2:0.1.0  #
-# docker push <user>/tdmpc2:0.1.0        #
+# Build instructions:                    #
+# docker build . -t <user>/tdmpc2:1.0.0  #
+# docker push <user>/tdmpc2:1.0.0        #
+# -------------------------------------- #
+# Run:                                   #
+# docker run -i \                        #
+#   -v <path>/<to>/tdmpc2:/tdmpc2 \      #
+#   --gpus all \                         #
+#   -t <user>/tdmpc2:1.0.0 \             #
+#   /bin/bash                            #
 ##########################################
 
 # base image
@@ -36,19 +44,15 @@ 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 && \
+RUN conda update conda && \
+    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
+# mujoco 2.1.0
 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 && \
@@ -57,3 +61,21 @@ RUN mkdir -p /root/.mujoco && \
     mv mujoco210 /root/.mujoco/mujoco210 && \
     mv mjkey.txt /root/.mujoco/mjkey.txt && \
     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
+
+# success!
+RUN echo "Successfully built TD-MPC2 Docker image!"