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| # RosDiff simulation worker image for RunPod serverless (SIM_BACKEND=runpod; Modal uses worker/modal_app.py). | |
| # | |
| # docker build --platform linux/amd64 -f worker/Dockerfile -t <registry>/rosdiff-worker:0.1.0 . | |
| # docker push <registry>/rosdiff-worker:0.1.0 | |
| # | |
| # Build from the repository root: the worker reuses api/mjcf_check.py, api/robots.py and api/storage.py. | |
| FROM ubuntu:22.04 | |
| ENV DEBIAN_FRONTEND=noninteractive \ | |
| PYTHONUNBUFFERED=1 \ | |
| # Headless GPU rendering through the NVIDIA driver's EGL (falls back to OSMesa on failure). | |
| MUJOCO_GL=egl \ | |
| PYOPENGL_PLATFORM=egl \ | |
| NVIDIA_VISIBLE_DEVICES=all \ | |
| NVIDIA_DRIVER_CAPABILITIES=all \ | |
| MENAGERIE_DIR=/opt/mujoco_menagerie | |
| RUN apt-get update && apt-get install -y --no-install-recommends \ | |
| python3 python3-pip git ca-certificates \ | |
| libglvnd0 libgl1 libegl1 libgles2 libosmesa6 \ | |
| && rm -rf /var/lib/apt/lists/* \ | |
| # Tell libglvnd where the NVIDIA EGL implementation is (the library itself is mounted in from the host driver). | |
| && mkdir -p /usr/share/glvnd/egl_vendor.d \ | |
| && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' \ | |
| > /usr/share/glvnd/egl_vendor.d/10_nvidia.json | |
| # Robot models (only the ones generated scenes may include). | |
| RUN git clone --depth 1 --filter=blob:none --sparse https://github.com/google-deepmind/mujoco_menagerie.git \ | |
| $MENAGERIE_DIR \ | |
| && cd $MENAGERIE_DIR && git sparse-checkout set unitree_g1 unitree_h1 unitree_go2 franka_emika_panda \ | |
| && rm -rf .git | |
| COPY worker/requirements.txt /tmp/requirements.txt | |
| RUN python3 -m pip install --no-cache-dir --upgrade pip && python3 -m pip install --no-cache-dir -r /tmp/requirements.txt | |
| WORKDIR /app | |
| COPY api/__init__.py api/robots.py api/mjcf_check.py api/storage.py api/ | |
| COPY worker/__init__.py worker/sim_runner.py worker/handler.py worker/sweep.py worker/ | |
| # Fail the build early if anything cannot be imported or the robot does not load. | |
| RUN MUJOCO_GL=osmesa python3 -c "import mujoco, mujoco_warp, foxglove, imageio_ffmpeg, boto3, runpod; \ | |
| from worker.handler import run_job; \ | |
| mujoco.MjModel.from_xml_path('$MENAGERIE_DIR/unitree_g1/scene.xml'); print('worker image ok')" | |
| CMD ["python3", "-u", "-m", "worker.handler"] | |