Dockerfile.isaacgym

FROM nvidia/cuda:12.1.0-devel-ubuntu20.04

# Prevent interactive prompts during package installation
ENV DEBIAN_FRONTEND=noninteractive

# Install system dependencies
RUN apt-get update && apt-get install -y \
    git \
    vim \
    wget \
    libglu1-mesa-dev \
    libgl1-mesa-dev \
    libosmesa6-dev \
    xvfb \
    patchelf \
    ffmpeg \
    python3.8 \
    python3.8-dev \
    python3-pip \
    build-essential \
    && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1 \
    && update-alternatives --install /usr/bin/pip pip /usr/bin/pip3 1 \
    && rm -rf /var/lib/apt/lists/*

# Upgrade pip
RUN pip install --upgrade pip

# Set working directory
WORKDIR /workspace

# Download and extract IsaacGym Preview 4
RUN wget https://developer.nvidia.com/isaac-gym-preview-4 -O isaacgym.tar.gz \
    && tar -xzf isaacgym.tar.gz \
    && rm isaacgym.tar.gz

# Now install IsaacGym from source
RUN cd isaacgym/python && pip install -e .

# Install PyTorch 2.4 with CUDA 12.1
RUN pip install torch>=2.2 --index-url https://download.pytorch.org/whl/cu121

# Copy protomotions requirements
WORKDIR /workspace/protomotions
COPY requirements_isaacgym.txt .

# Remove torch from requirements since it's already installed
RUN sed -i '/^torch/d' requirements_isaacgym.txt

# Remove the broken bundled onnx if it exists
RUN pip uninstall -y onnx || true

# Install remaining Python dependencies
RUN pip install --no-cache-dir -r requirements_isaacgym.txt

# Don't copy or install protomotions here - it will be synced and installed from 
# the experiment folder in train_slurm.py. This ensures we always use fresh code
# and avoids conflicts between old Docker code and newly synced code.

# Default command
CMD ["/bin/bash"]