Dockerfile for takuseno/unitree-rl-gym:latest

build.sh

#!/bin/bash -eux

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

Dockerfile

FROM takuseno/isaacgym:latest

RUN git clone https://github.com/leggedrobotics/rsl_rl /home/gymuser/rsl_rl && \
    cd /home/gymuser/rsl_rl && \
    git checkout v1.0.2 && \
    pip install -e . && \
    git clone https://github.com/unitreerobotics/unitree_rl_gym /home/gymuser/unitree_rl_gym && \
    cd /home/gymuser/unitree_rl_gym && \
    pip install -e . && \
    pip install -U torch

WORKDIR /home/gymuser/unitree_rl_gym

run.sh

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

if [ $# -eq 0 ]
then
    echo "running docker without display"
    docker run -it --network=host --gpus=all --name=isaacgym_container takuseno/unitree-rl-gym:latest /bin/bash
else
    export DISPLAY=$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 --name=isaacgym_container takuseno/unitree-rl-gym:latest /bin/bash
	xhost -
fi