| FROM nvcr.io/nvidia/l4t-jetpack:r36.4.0 | |
| ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute | |
| ENV DEBIAN_FRONTEND=noninteractive | |
| # System deps | |
| RUN apt-get update && apt-get install -y \ | |
| python3 python3-pip python3-venv \ | |
| build-essential yasm cmake libtool git pkg-config curl \ | |
| libass-dev libfreetype6-dev libvorbis-dev \ | |
| autoconf automake texinfo tmux ffmpeg \ | |
| libopenblas-dev | |
| COPY . /workspace/ | |
| # install_deps.sh copies orin/pyproject.toml to repo root before uv sync | |
| ENV DOCKER_CONTAINER=1 | |
| ENV UV_PROJECT_ENVIRONMENT=/opt/gr00t-venv | |
| RUN cd /workspace && bash scripts/deployment/orin/install_deps.sh | |
| # Activate the venv by default and expose nvidia pip package libs (cudss) | |
| ENV VIRTUAL_ENV=/opt/gr00t-venv | |
| ENV PATH="$VIRTUAL_ENV/bin:/usr/local/cuda/bin:$PATH" | |
| ENV TRITON_PTXAS_PATH=/usr/local/cuda/bin/ptxas | |
| ENV CUDA_HOME=/usr/local/cuda-12.6 | |
| ENV CUDA_PATH=/usr/local/cuda-12.6 | |
| ENV CPATH="/usr/local/cuda-12.6/include:${CPATH:-}" | |
| ENV C_INCLUDE_PATH="/usr/local/cuda-12.6/include:${C_INCLUDE_PATH:-}" | |
| ENV CPLUS_INCLUDE_PATH="/usr/local/cuda-12.6/include:${CPLUS_INCLUDE_PATH:-}" | |
| ENV LD_LIBRARY_PATH="/usr/local/cuda-12.6/lib64:$VIRTUAL_ENV/lib/python3.10/site-packages/torch/lib:$VIRTUAL_ENV/lib/python3.10/site-packages/nvidia/cu12/lib:$VIRTUAL_ENV/lib/python3.10/site-packages/nvidia/cudss/lib:${LD_LIBRARY_PATH:-}" | |
| WORKDIR /workspace/gr00t | |