| FROM nvidia/cuda:12.4.1-base-ubuntu22.04 | |
| # Configure environment variables | |
| ARG PYTHON_VERSION=3.10 | |
| ENV DEBIAN_FRONTEND=noninteractive | |
| ENV MUJOCO_GL="egl" | |
| ENV PATH="/opt/venv/bin:$PATH" | |
| # Install dependencies and set up Python in a single layer | |
| RUN apt-get update && apt-get install -y --no-install-recommends \ | |
| build-essential cmake git \ | |
| libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \ | |
| speech-dispatcher libgeos-dev \ | |
| python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \ | |
| && ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python \ | |
| && python -m venv /opt/venv \ | |
| && apt-get clean && rm -rf /var/lib/apt/lists/* \ | |
| && echo "source /opt/venv/bin/activate" >> /root/.bashrc | |
| # Clone repository and install LeRobot in a single layer | |
| COPY . /lerobot | |
| WORKDIR /lerobot | |
| RUN /opt/venv/bin/pip install --upgrade --no-cache-dir pip \ | |
| && /opt/venv/bin/pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]" | |