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

Mirror the libero/metaworld/robomme pattern: start from the nightly GPU
image (apt deps, python, uv, venv, lerobot[all] already there) and only
layer on what LIBERO-plus uniquely needs — its wand/ImageMagick build
deps, the non-extra runtime pips (robosuite==1.4.1, bddl, …), the
PYTHONPATH-shadowed fork, and the 6.4 GB assets.zip.

Drops ~50 lines of duplicated base setup (CUDA FROM, apt python, uv
install, user creation, venv init) the nightly already provides.
123 → 73 lines.

Also:
- Add libero_plus to docs/source/_toctree.yml under Benchmarks so
  doc-builder's TOC integrity check stops failing.
- Repoint the docs dataset link from pepijn223/libero_plus_lerobot to
  the canonical lerobot/libero_plus.
- Revert the stray uv.lock churn (revision/marker diff that crept in
  from an unrelated resolve — unrelated to LIBERO-plus).

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

docker/Dockerfile.benchmark.libero_plus

@@ -12,111 +12,62 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# Isolated benchmark image for LIBERO-plus integration tests.
-# Installs only lerobot[libero_plus] (LIBERO-plus from GitHub, dm-control, mujoco).
+# Benchmark image for LIBERO-plus integration tests.
+# Extends the nightly GPU image (which has lerobot[all]) with the LIBERO-plus
+# fork source + its 6.4 GB perturbation assets.
 #
 # Build:  docker build -f docker/Dockerfile.benchmark.libero_plus -t lerobot-benchmark-libero-plus .
 # Run:    docker run --gpus all --rm lerobot-benchmark-libero-plus lerobot-eval ...
 
-ARG CUDA_VERSION=12.4.1
-ARG OS_VERSION=22.04
-FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
+FROM huggingface/lerobot-gpu:latest
 
-ARG PYTHON_VERSION=3.12
-
-ENV DEBIAN_FRONTEND=noninteractive \
-    MUJOCO_GL=egl \
-    PATH=/lerobot/.venv/bin:$PATH \
-    CUDA_VISIBLE_DEVICES=0 \
-    DEVICE=cuda
-
-# System deps — same set as Dockerfile.internal plus LIBERO-plus extras
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    software-properties-common build-essential git curl unzip \
-    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
-    libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
-    cmake pkg-config ninja-build \
-    libexpat1 libfontconfig1-dev libmagickwand-dev \
-    && add-apt-repository -y ppa:deadsnakes/ppa \
-    && apt-get update \
+# unzip for the 6.4 GB assets.zip; the rest are LIBERO-plus build-time extras
+# (wand / ImageMagick / fontconfig) not in the nightly base.
+USER root
+RUN apt-get update \
     && apt-get install -y --no-install-recommends \
-       python${PYTHON_VERSION} \
-       python${PYTHON_VERSION}-venv \
-       python${PYTHON_VERSION}-dev \
-    && curl -LsSf https://astral.sh/uv/0.8.0/install.sh | sh \
-    && mv /root/.local/bin/uv /usr/local/bin/uv \
-    && useradd --create-home --shell /bin/bash user_lerobot \
-    && usermod -aG sudo user_lerobot \
+         unzip libexpat1 libfontconfig1-dev libmagickwand-dev \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
-
-WORKDIR /lerobot
-RUN chown -R user_lerobot:user_lerobot /lerobot
 USER user_lerobot
 
-ENV HOME=/home/user_lerobot \
-    HF_HOME=/home/user_lerobot/.cache/huggingface \
-    HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
-    TORCH_HOME=/home/user_lerobot/.cache/torch \
-    TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
+# robosuite==1.4.1 is mandatory (the fork uses `single_arm_env` removed in
+# v1.5+). The rest are LIBERO-plus runtime deps pulled from its setup.py.
+# We install these explicitly instead of via the [libero_plus] extra because
+# the extra's `libero @ git+...` dep installs as a namespace package and then
+# clone and PYTHONPATH-override it below.
+RUN uv pip install --no-cache \
+        "robosuite==1.4.1" bddl easydict mujoco matplotlib wand scikit-image gym
 
-RUN uv venv --python python${PYTHON_VERSION}
-
-# Install only lerobot[libero_plus] — isolated from hf-libero and metaworld dep trees
-COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
-COPY --chown=user_lerobot:user_lerobot src/ src/
-
-# Use uv pip install (not uv sync) — uv sync resolves all extras across all
-# Python versions, hitting cross-extra numpy conflicts. pip-style install
-# only resolves the requested extras for the current platform.
-# Install lerobot with libero_plus and smolvla extras.
-# The libero git dep sometimes gets silently skipped by uv pip install
-# when embedded in self-referential extras, so install it explicitly too.
-# Step 1: install lerobot with extras (libero git dep may be silently skipped)
-RUN uv pip install --no-cache -e ".[libero_plus,smolvla]"
-# Step 2: LIBERO-plus has a nested libero/libero/ structure that neither uv pip
-# install from git nor editable installs handle correctly (metadata-only install).
-# Clone and add to PYTHONPATH as the only reliable way to make it importable.
+# Clone LIBERO-plus and make it importable as `libero`. The nightly base has
+# hf-libero (10 tasks) preinstalled via lerobot[libero]; uninstall it so
+# Python resolves `import libero` to the 2402-task LIBERO-plus module instead.
+ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
 RUN git clone --depth=1 https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
-    && mkdir -p /home/user_lerobot/.libero \
-    && echo 'assets: /tmp' > /home/user_lerobot/.libero/config.yaml
-# Install LIBERO-plus deps (robosuite, bddl, easydict, mujoco, etc.) from setup.py.
-# Pin robosuite==1.4.1 (fork uses single_arm_env removed in v1.5+), then install
-# the remaining deps from the clone. --no-build-isolation avoids rebuilding lerobot.
-RUN uv pip install --no-cache "robosuite==1.4.1" bddl easydict mujoco matplotlib wand scikit-image gym \
-    && cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "."
+    && cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "." \
+    && uv pip uninstall hf-libero 2>/dev/null || true
 ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"
 
-# Pre-download libero assets so nothing is fetched at runtime (CI timeout risk).
-# libero/libero/__init__.py prompts with input() when ~/.libero/config.yaml is
-# missing; write the config first so any import is non-interactive.
-# LIBERO-plus installs with a nested package structure, so find_spec('libero')
-# may return a namespace package without .origin. Use glob to locate bddl_files.
-ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
-# LIBERO-plus's clone already ships both bddl_files/ and init_files/ with base
-# `.pruned_init` files for all 5 suites. Its Benchmark.get_task_init_states()
-# strips perturbation suffixes (_table_N, _tb_N, _view_, _language_, _light_)
-# back to the base filename, so no extra init files are needed.
-#
-# Assets are different: LIBERO-plus's bddl_base_domain.py resolves scene XMLs
-# via `os.path.join(DIR_PATH, "../assets")` (package-relative, ignoring
-# config.yaml), and its 2402 perturbation tasks reference table/view/light
-# textures that ship only in Sylvest/LIBERO-plus's `assets.zip` (6.4 GB).
-# Without this extract, every perturbation task fails on a FileNotFoundError
-# for scenes/tabletop_table_<texture>.xml.
-RUN python${PYTHON_VERSION} -c "\
+# Perturbation textures/scenes: bddl_base_domain.py resolves XMLs via
+# DIR_PATH/../assets (package-relative, ignoring ~/.libero/config.yaml). All
+# 2402 tasks reference files that ship only in Sylvest/LIBERO-plus's
+# assets.zip (6.4 GB) under a deep author-internal prefix — extract and
+# flatten it under ${LIBERO_PLUS_ROOT}/assets.
+RUN python -c "\
 from huggingface_hub import hf_hub_download; \
 hf_hub_download(repo_id='Sylvest/LIBERO-plus', repo_type='dataset', \
-                filename='assets.zip', local_dir='/tmp/libero-plus-dl')" && \
-    unzip -q /tmp/libero-plus-dl/assets.zip -d /tmp/libero-plus-dl/extract && \
-    mv /tmp/libero-plus-dl/extract/inspire/hdd/project/embodied-multimodality/public/syfei/libero_new/release/dataset/LIBERO-plus-0/assets \
-       ${LIBERO_PLUS_ROOT}/assets && \
-    rm -rf /tmp/libero-plus-dl
-RUN mkdir -p /home/user_lerobot/.libero && \
-    printf "assets: ${LIBERO_PLUS_ROOT}/assets\nbddl_files: ${LIBERO_PLUS_ROOT}/bddl_files\ndatasets: ${LIBERO_PLUS_ROOT}/../datasets\ninit_states: ${LIBERO_PLUS_ROOT}/init_files\n" \
-    > /home/user_lerobot/.libero/config.yaml
+                filename='assets.zip', local_dir='/tmp/libero-plus-dl')" \
+    && unzip -q /tmp/libero-plus-dl/assets.zip -d /tmp/libero-plus-dl/extract \
+    && mv /tmp/libero-plus-dl/extract/inspire/hdd/project/embodied-multimodality/public/syfei/libero_new/release/dataset/LIBERO-plus-0/assets \
+          ${LIBERO_PLUS_ROOT}/assets \
+    && rm -rf /tmp/libero-plus-dl
 
-RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
+# Point ~/.libero/config.yaml at the clone so LIBERO-plus's imports are
+# non-interactive (it calls input() when the config is missing).
+RUN mkdir -p /home/user_lerobot/.libero \
+    && printf "assets: ${LIBERO_PLUS_ROOT}/assets\nbddl_files: ${LIBERO_PLUS_ROOT}/bddl_files\ndatasets: ${LIBERO_PLUS_ROOT}/../datasets\ninit_states: ${LIBERO_PLUS_ROOT}/init_files\n" \
+       > /home/user_lerobot/.libero/config.yaml
 
+# Overlay the PR's source code on top of the nightly image.
 COPY --chown=user_lerobot:user_lerobot . .
 
 CMD ["/bin/bash"]