Dockerfile.x86

#
# This is a dockerfile for 3d_diffusion_policy on x86 to aid in generation dataset,
# since this project uses the original OpenAI mujoco (not available for Linux aarch64)
# and efforts to port it to the newer DeepMind mujoco interfaces encountered challenges.
#
#   docker build -f Dockerfile.x86 -t 3d_diffusion_policy .
#   docker run -it --rm --runtime=nvidia --network=host -v /home/user:/home/user 3d_diffusion_policy
#
ARG BASE_IMAGE=nvcr.io/nvidia/pytorch:25.01-py3
FROM ${BASE_IMAGE}

WORKDIR /opt/3D-Diffusion-Policy

ADD https://api.github.com/repos/YanjieZe/3D-Diffusion-Policy/git/refs/heads/master /tmp/dp3_version.json

RUN git clone --recursive --depth=1 https://github.com/YanjieZe/3D-Diffusion-Policy . && \
    sed -i 's|extras_require.*||g' third_party/gym-0.21.0/setup.py

RUN pip3 install -e 3D-Diffusion-Policy
RUN pip3 install -e third_party/dexart-release
RUN pip3 install -e third_party/gym-0.21.0
RUN pip3 install -e third_party/Metaworld
RUN pip3 install -e third_party/rrl-dependencies/mj_envs
RUN pip3 install -e third_party/rrl-dependencies/mjrl
RUN pip3 install -e visualizer

RUN FORCE_CUDA=1 pip3 install -e third_party/pytorch3d_simplified

RUN pip3 install --ignore-installed blinker && \
    pip3 install open3d && \
    pip3 install \
        zarr==2.12.0 \
        wandb \
        ipdb \
        gpustat \
        dm_env \
        dm_control \
        omegaconf \
        hydra-core==1.2.0 \
        dill==0.3.5.1 \
        einops==0.4.1 \
        diffusers==0.11.1 \
        numba \
        moviepy \
        imageio \
        av \
        matplotlib \
        termcolor \
        kaleido \
        plotly
        
ARG MUJOCO_DIR=/root/.mujoco

RUN mkdir -p ${MUJOCO_DIR} && \
    cd ${MUJOCO_DIR} && \
    wget https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-linux-x86_64.tar.gz -O mujoco210.tar.gz --no-check-certificate && \
    tar -xvzf mujoco210.tar.gz

RUN cd third_party/VRL3 && \
    CKPT_URL="http://jetson.webredirect.org:8000/assets/3d_diffusion_policy/vrl3_ckpts.zip" && \
    wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${CKPT_URL} && \
    unzip vrl3_ckpts.zip && \
    mv vrl3_ckpts ckpts && \
    rm -rf vrl3_ckpts.zip __MACOSX
    
ENV HYDRA_FULL_ERROR=1 \
    MUJOCO_GL=egl \
    PYTHONPATH=${PYTHONPATH}:/opt/3D-Diffusion-Policy/3D-Diffusion-Policy \
    LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${MUJOCO_DIR}/mujoco210/bin:/usr/local/lib/python${PYTHON_VERSION}/dist-packages/torch/lib \
    DP3_DATA=/opt/3D-Diffusion-Policy/3D-Diffusion-Policy/data \
    VRL3=/opt/3D-Diffusion-Policy/third_party/VRL3
  
# https://github.com/facebookresearch/nougat/issues/40#issuecomment-1880072196  
RUN pip3 install opencv-fixer && \
    python3 -c "from opencv_fixer import AutoFix; AutoFix()" && \
    python3 -c "import cv2"

RUN pip3 install 'Cython' && \
    apt-get update && \
    apt-get install -y --no-install-recommends libosmesa6-dev && \
    cd third_party/VRL3/src && \
    python3 gen_demonstration_expert.py --help