container.def

BootStrap: docker
From: python:3.8.13-bullseye

%files
    requirements.txt /usr/project/python/requirements.txt
    scripts/rm_mujoco_lock.sh /usr/project/mujoco/rm_mujoco_lock.sh
    dask_config.yml /etc/dask/dask_config.yml

%post
    # Apt packages - Note: If we install Python here (as opposed to building
    # from a Python container) we end up with one of the old versions in the
    # apt repositories.
    apt-get update
    apt-get install -y \
        wget \
        git \
        zip \
        unzip \
        libgl1-mesa-dev \
        libgl1-mesa-glx \
        mesa-utils \
        libglew-dev \
        libosmesa6-dev \
        patchelf \
        ffmpeg

    # Microsoft fonts (particularly Times)
    # https://stackoverflow.com/questions/60934639/install-fonts-in-linux-container-for-asp-net-core#62888227
    sed -i'.bak' 's/$/ contrib/' /etc/apt/sources.list
    apt-get update
    apt-get install -y ttf-mscorefonts-installer fontconfig
    fc-cache -f -v

    # For pyvirtualdisplay https://github.com/ponty/pyvirtualdisplay/
    apt-get install -y \
        xvfb \
        xserver-xephyr \
        tigervnc-standalone-server \
        xfonts-base
    apt-get clean
    rm -rf /var/lib/apt/lists/*

    # Project
    PROJECT_ROOT=/usr/project
    mkdir -p $PROJECT_ROOT

    # Python - this must go before MuJoCo because MuJoCo installs the highest
    # numpy version available if numpy is not installed already. This numpy
    # version would mismatch with the version (1.20.2) in requirements.txt,
    # which would crash pybullet since pybullet would be compiled with 1.20.2
    # but be running with a later version.
    pip3 install -r $PROJECT_ROOT/python/requirements.txt

    # MuJoCo
    mkdir -p $PROJECT_ROOT/mujoco
    wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
    tar -xzvf mujoco210-linux-x86_64.tar.gz
    mv mujoco210 $PROJECT_ROOT/mujoco/mujoco210
    rm mujoco210-linux-x86_64.tar.gz

    # mujoco-py
    bash /usr/project/mujoco/rm_mujoco_lock.sh
    export MUJOCO_PY_MUJOCO_PATH=$PROJECT_ROOT/mujoco/mujoco210
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$PROJECT_ROOT/mujoco/mujoco210/bin
    git clone https://github.com/icaros-usc/mujoco-py --depth 1 $PROJECT_ROOT/mujoco/mujoco-py
    cd $PROJECT_ROOT/mujoco/mujoco-py
    git reset --hard 53e78f2  # Pin to specific commit.
    pip3 install --no-cache-dir -r requirements.txt
    pip3 install --no-cache-dir -r requirements.dev.txt
    python3 setup.py build install
    cd -
    bash /usr/project/mujoco/rm_mujoco_lock.sh

%environment
    export PROJECT_ROOT=/usr/project
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$PROJECT_ROOT/mujoco/mujoco210/bin
    export MUJOCO_PY_MUJOCO_PATH=$PROJECT_ROOT/mujoco/mujoco210

    # So that MuJoCo visualization works (see
    # https://github.com/openai/mujoco-py/issues/268)
    export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

    # Set X11 display for GUI output
    export DISPLAY=":0"

    # Set numpy to be single-threaded
    export OPENBLAS_NUM_THREADS=1

    # Detect package
    export PYTHONPATH="."

%runscript
    echo "No runscript specified"