Dockerfile for development with unitree-rl-gym

build.sh

#!/bin/bash -eux

docker build -t takuseno/unitree-rl-gym-dev:latest .

Dockerfile

FROM takuseno/unitree-rl-gym:latest

USER root
RUN apt-get update && apt-get install silversearcher-ag ripgrep libfuse2 fuse && \
    wget https://github.com/neovim/neovim/releases/download/v0.9.0/nvim.appimage && \
    chmod +x nvim.appimage && \
    mkdir -p /usr/local/bin && \
    mv nvim.appimage /usr/local/bin/nvim

USER gymuser
RUN git clone --depth 1 https://github.com/wbthomason/packer.nvim ~/.local/share/nvim/site/pack/packer/start/packer.nvim && \
    git clone https://github.com/takuseno/dotfiles ~/dotfiles && \
    mkdir ~/.config && \
    cp -r ~/dotfiles/.config/nvim  ~/.config/nvim && \
    pip install neovim

run.sh

#!/bin/bash
set -e
set -u

if [ $# -eq 0 ]
then
    echo "running docker without display"
    docker run -it \
        --network=host \
        --gpus=all \
        --cap-add SYS_ADMIN \
        --device /dev/fuse \
        --security-opt apparmor:unconfined \
        --name=isaacgym_container \
        takuseno/unitree-rl-gym-dev:latest /bin/bash
else
    export DISPLAY=$DISPLAY
    echo "setting display to $DISPLAY"
    xhost +
    docker run -it \
        --rm \
        -v /tmp/.X11-unix:/tmp/.X11-unix \
        -e DISPLAY=$DISPLAY \
        --network=host \
        --gpus=all \
        --cap-add SYS_ADMIN \
        --device /dev/fuse \
        --security-opt apparmor:unconfined \
        --name=isaacgym_container \
        takuseno/unitree-rl-gym-dev:latest /bin/bash
    xhost -
fi