robocasa README explicitly says to use the master branch of
ARISE-Initiative/robosuite (no robocasa-specific branch exists).
Also install robocasa with --no-deps to bypass its lerobot==0.3.3
pin, and declare its actual runtime deps explicitly.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Standard robosuite 1.4.x from PyPI doesn't include PandaOmron and
other robocasa-specific robots. robocasa requires the fork at
ARISE-Initiative/robosuite@robocasa_v1.4.1. Install both from source
with --no-deps; shared deps (easydict, scikit-image, scipy) installed
explicitly first.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
robocasa is not published to PyPI, so uv can't resolve it as a plain
package dep. Fix by installing its runtime deps explicitly and cloning
robocasa from GitHub with --no-deps (same pattern as libero_plus).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
mani-skill==3.0.0b21 requires numpy<2.0.0 in addition to gymnasium==0.29.1,
both conflicting with lerobot's base requirements.
numpy 1.26.4 is runtime-compatible with lerobot's usage (no numpy 2.x-only
APIs are used in the eval worker or env wrappers).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
mani-skill==3.0.0b21 (robomme dep) pins gymnasium==0.29.1, conflicting
with lerobot's gymnasium>=1.1.1. Use uv --override to force 0.29.1.
Both 0.29.x and 1.x use the same 5-tuple step() API (introduced in
gymnasium 0.26), so the eval worker and RoboMMEGymEnv wrapper are
fully compatible with the downgraded version.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Temporary diagnostic to identify why uv sees robosuite as already
installed in the base venv despite it not being a base lerobot dep.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The libero @ git+...@main dep had empty install_requires, causing uv to
skip robosuite (and other deps) during resolution — they appeared
"already resolved" from a stale git dep cache even though not installed.
Fix: use lerobot[libero] as the dep source (hf-libero properly declares
all deps including robosuite via robomimic). The LIBERO-plus Python
module is installed from the git clone with --no-deps, so hf-libero's
declared deps are used but LIBERO-plus's environments override via .pth.
Also remove egl_probe (broken original) duplicate alongside hf-egl-probe.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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>
pip's backtracking resolver hits 'resolution-too-deep' on complex
dependency graphs (robomme → mani-skill, libero_plus → robosuite/bddl).
uv resolves the same graphs in seconds without backtracking issues.
Also removes the now-redundant PATH= prefix since uv and python are
already on PATH via the base image ENV.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Builds lerobot-eval-base then each benchmark image (libero, libero_plus,
robomme, robocasa), runs the smoke tests, and optionally pushes to Docker Hub.
Usage:
bash docker/build_benchmark_images.sh # local only
bash docker/build_benchmark_images.sh --push --hub_org=<org> # push to Hub
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Replace docker-compose.benchmark.yml with per-image docker build/run
instructions. Each benchmark is built and tested independently via
--build-arg BENCHMARK=<name> on Dockerfile.benchmark.
Co-Authored-By: Claude <noreply@anthropic.com>
Add Dockerfile.benchmark (parameterized via ARG BENCHMARK), a
docker-compose.benchmark.yml with services for libero, libero_plus,
robomme, and robocasa, and a smoke_test_benchmark.sh that verifies
imports and CLI entry-points in each container.
Also add the missing `robocasa` optional dep group to pyproject.toml
(the docs already referenced `pip install ".[robocasa]"` but the group
was not defined).
Build a specific benchmark image:
docker build --build-arg BENCHMARK=robomme \
-f docker/Dockerfile.benchmark -t lerobot-benchmark-robomme .
Build all via compose:
docker compose -f docker/docker-compose.benchmark.yml build
Smoke-test inside a container:
docker compose -f docker/docker-compose.benchmark.yml run --rm robomme \
bash docker/smoke_test_benchmark.sh
Co-Authored-By: Claude <noreply@anthropic.com>
Pepijn