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refactor(robotwin): rebase docker image on huggingface/lerobot-gpu

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Mirror the libero/metaworld/libero_plus/robomme pattern: start from the
nightly GPU image (apt deps, python, uv, venv, lerobot[all] already
there) and layer on only what RoboTwin 2.0 uniquely needs —
cuda-nvcc + cuda-cudart-dev (CuRobo builds from source), Vulkan libs +
NVIDIA ICD (SAPIEN renderer), sapien/mplib/open3d/pytorch3d/curobo
installs, the mplib + sapien upstream patches, and the TianxingChen
asset download.

Drops ~90 lines of duplicated base setup (CUDA FROM, apt python, uv
install, user creation, venv init, base lerobot install). 199 → 110.

Also repoint the docs + env docstring dataset link from
hxma/RoboTwin-LeRobot-v3.0 to the canonical lerobot/robotwin_unified.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-15 11:05:07 +02:00
parent 99792bb17b
commit 49186359b0
3 changed files with 41 additions and 130 deletions
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docs/source/robotwin.mdx
+3 -3
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@@ -5,7 +5,7 @@ RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the S
- Paper: [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://robotwin-platform.github.io)
- GitHub: [RoboTwin-Platform/RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin)
- Leaderboard: [robotwin-platform.github.io/leaderboard](https://robotwin-platform.github.io/leaderboard)
- Dataset: [hxma/RoboTwin-LeRobot-v3.0](https://huggingface.co/datasets/hxma/RoboTwin-LeRobot-v3.0)
- Dataset: [lerobot/robotwin_unified](https://huggingface.co/datasets/lerobot/robotwin_unified)
## Overview
@@ -41,7 +41,7 @@ Pass a comma-separated list to `--env.task` to run multiple tasks in a single ev
The RoboTwin 2.0 dataset is available in **LeRobot v3.0 format** on the Hugging Face Hub:
```
hxma/RoboTwin-LeRobot-v3.0
lerobot/robotwin_unified
```
It contains over 100,000 pre-collected trajectories across all 60 tasks (79.6 GB, Apache 2.0 license). No format conversion is needed — it is already in the correct LeRobot v3.0 schema with video observations and action labels.
@@ -51,7 +51,7 @@ You can load it directly with the HF Datasets library:
```python
from datasets import load_dataset
ds = load_dataset("hxma/RoboTwin-LeRobot-v3.0", split="train")
ds = load_dataset("lerobot/robotwin_unified", split="train")
```
## Installation