fix(docker): add CMAKE_POLICY_VERSION_MINIMUM=3.5 for cmake 4.x compat

cmake 4.x removed backward compat with cmake_minimum_required < 3.5,
breaking egl-probe compilation. Setting CMAKE_POLICY_VERSION_MINIMUM=3.5
in the base image ENV re-enables it so robomimic's egl-probe builds.

Also adds --no-cache-base flag to build script so the base can be
force-rebuilt when Dockerfile.eval-base changes, and pins hf-egl-probe
in libero extras as the upstream-fixed fork of egl-probe.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

docker/Dockerfile.eval-base

@@ -20,7 +20,10 @@ ARG PYTHON_VERSION=3.12
 
 ENV DEBIAN_FRONTEND=noninteractive \
     MUJOCO_GL=egl \
-    PATH=/lerobot/.venv/bin:$PATH
+    PATH=/lerobot/.venv/bin:$PATH \
+    # cmake 4.x removed backward compat with cmake_minimum_required < 3.5.
+    # This env var re-enables it so packages like egl-probe can compile.
+    CMAKE_POLICY_VERSION_MINIMUM=3.5
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
     software-properties-common build-essential git curl \

docker/build_benchmark_images.sh

@@ -8,6 +8,9 @@
 #   # Build and push to Docker Hub under your org
 #   bash docker/build_benchmark_images.sh --push --hub_org=pepijn223
 #
+#   # Force-rebuild base image (e.g. after Dockerfile.eval-base changes)
+#   bash docker/build_benchmark_images.sh --no-cache-base --push --hub_org=pepijn223
+#
 #   # Build only specific benchmarks
 #   bash docker/build_benchmark_images.sh --benchmarks="libero_plus robomme"
 #
@@ -23,12 +26,14 @@ set -euo pipefail
 PUSH=false
 HUB_ORG=""
 BENCHMARKS="libero libero_plus robomme robocasa"
+NO_CACHE_BASE=false
 
 for arg in "$@"; do
     case "$arg" in
         --push)            PUSH=true ;;
         --hub_org=*)       HUB_ORG="${arg#*=}" ;;
         --benchmarks=*)    BENCHMARKS="${arg#*=}" ;;
+        --no-cache-base)   NO_CACHE_BASE=true ;;
         *)                 echo "Unknown arg: $arg"; exit 1 ;;
     esac
 done
@@ -44,8 +49,14 @@ fi
 ok()   { echo "[OK]   $*"; }
 fail() { echo "[FAIL] $*"; exit 1; }
 
+BASE_CACHE_FLAG=""
+if [[ "$NO_CACHE_BASE" == "true" ]]; then
+    BASE_CACHE_FLAG="--no-cache"
+fi
+
 echo "=== Building lerobot-eval-base ==="
 docker build \
+    ${BASE_CACHE_FLAG} \
     -f "${SCRIPT_DIR}/Dockerfile.eval-base" \
     -t lerobot-eval-base:latest \
     "${REPO_ROOT}" || fail "lerobot-eval-base build failed"

pyproject.toml

@@ -174,7 +174,16 @@ video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 # NOTE: Explicitly listing scipy helps flatten the dependecy tree.
 aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
 pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
-libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
+libero = [
+    "lerobot[transformers-dep]",
+    "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'",
+    # hf-egl-probe is the fixed fork of egl-probe (robomimic transitive dep).
+    # egl-probe's CMakeLists.txt requires cmake_minimum_required < 3.5 which
+    # modern cmake rejects. Installing hf-egl-probe first satisfies the egl_probe
+    # import without source compilation.
+    "hf-egl-probe>=1.0.1; sys_platform == 'linux'",
+    "lerobot[scipy-dep]",
+]
 libero_plus = [
     "lerobot[transformers-dep]",
     "hf-egl-probe>=1.0.1; sys_platform == 'linux'",