Docker

Docker provides a convenient way to package software into standardized units for development, shipment and deployment. See the official website for more details about Docker. NVIDIA Container Tookit enables users to build and run GPU accelerated Docker containers.

First, install nvidia-docker v2 following the official instructions. It is recommended to complete post-install steps for Linux.

To verify the installation:

# You should be able to run this without sudo.
docker run hello-world

Run ManiSkill in Docker

We provide a docker image (maniskill/base) and its corresponding Dockerfile.

You should be able to run both CPU and GPU simulation, which you can test below

docker pull maniskill/base
docker run --rm -it --gpus all --pid host maniskill/base python -m mani_skill.examples.demo_random_action
docker run --rm -it --gpus all --pid host maniskill/base python -m mani_skill.examples.benchmarking.gpu_sim

Note that inside a docker image you generally cannot render a GUI to see the results. You can still record videos and the demo scripts have options to record videos instead of rendering a GUI.