wip(docker)

Dockerfile

@@ -0,0 +1,32 @@
+# Configure image
+ARG PYTHON_VERSION=3.10
+FROM python:${PYTHON_VERSION}-slim
+
+# Configure environment variables
+ARG PYTHON_VERSION
+ENV DEBIAN_FRONTEND=noninteractive
+ENV MUJOCO_GL="egl"
+ENV PATH="/opt/venv/bin:$PATH"
+
+# Install dependencies and set up Python in a single layer
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential cmake git \
+    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
+    speech-dispatcher libgeos-dev \
+    && ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python \
+    && python -m venv /opt/venv \
+    && apt-get clean && rm -rf /var/lib/apt/lists/* \
+    && echo "source /opt/venv/bin/activate" >> /root/.bashrc
+
+# Clone repository and install LeRobot in a single layer
+COPY . /lerobot
+WORKDIR /lerobot
+RUN /opt/venv/bin/pip install --upgrade --no-cache-dir pip \
+    && /opt/venv/bin/pip install --no-cache-dir ".[async, smolvla]" \
+        --extra-index-url https://download.pytorch.org/whl/cpu
+
+# Execute in bash shell rather than python
+CMD ["/bin/bash"]
+
+EXPOSE 8080 8081
+CMD ["python", "-m", "lerobot.scripts.server.policy_server", "--host=0.0.0.0", "--port=8080"]

src/lerobot/scripts/server/constants.py

@@ -27,3 +27,7 @@ SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "pi0", "tdmpc", "vqbet"]
 
 # TODO: Add all other robots
 SUPPORTED_ROBOTS = ["so100_follower", "so101_follower"]
+
+"""Networking support"""
+HEALTH_CHECK_PORT = 8081
+HEALTH_SERVER_HOST = "0.0.0.0"  # nosec

src/lerobot/scripts/server/helpers.py

@@ -13,11 +13,13 @@
 # limitations under the License.
 
 import io
+import json
 import logging
 import logging.handlers
 import os
 import time
 from dataclasses import dataclass
+from http.server import BaseHTTPRequestHandler
 from pathlib import Path
 from threading import Event
 from typing import Any
@@ -206,6 +208,83 @@ def get_logger(name: str, log_to_file: bool = True) -> logging.Logger:
     return logging.getLogger(name)
 
 
+def create_health_handler(policy_server):
+    """Factory function to create health handler with policy server reference."""
+
+    def handler(*args, **kwargs):
+        return HealthHandler(policy_server, *args, **kwargs)
+
+    return handler
+
+
+class HealthHandler(BaseHTTPRequestHandler):
+    """HTTP handler for health checks."""
+
+    def __init__(self, policy_server, *args, **kwargs):
+        self.policy_server = policy_server
+        super().__init__(*args, **kwargs)
+
+    def do_GET(self):  # noqa: N802
+        """Handle GET requests for health check."""
+        if self.path == "/health":
+            self.send_health_response()
+        elif self.path == "/":
+            self.send_info_response()
+        else:
+            self.send_error(404, "Not Found")
+
+    def send_health_response(self):
+        """Send health check response."""
+        try:
+            # Check if the policy server is in a healthy state
+            is_healthy = (
+                hasattr(self.policy_server, "_running_event")
+                and self.policy_server._running_event is not None
+            )
+
+            status_code = 200 if is_healthy else 503
+            response = {
+                "status": "healthy" if is_healthy else "unhealthy",
+                "timestamp": time.time(),
+                "server_running": self.policy_server.running
+                if hasattr(self.policy_server, "running")
+                else False,
+                "policy_loaded": self.policy_server.policy is not None
+                if hasattr(self.policy_server, "policy")
+                else False,
+            }
+
+            self.send_response(status_code)
+            self.send_header("Content-type", "application/json")
+            self.end_headers()
+            self.wfile.write(json.dumps(response).encode())
+
+        except Exception as e:
+            self.send_response(500)
+            self.send_header("Content-type", "application/json")
+            self.end_headers()
+            error_response = {"status": "error", "message": str(e)}
+            self.wfile.write(json.dumps(error_response).encode())
+
+    def send_info_response(self):
+        """Send basic server info."""
+        response = {
+            "service": "lerobot-policy-server",
+            "version": "1.0.0",
+            "endpoints": {"health": "/health", "grpc_port": self.policy_server.config.port},
+        }
+
+        self.send_response(200)
+        self.send_header("Content-type", "application/json")
+        self.end_headers()
+        self.wfile.write(json.dumps(response).encode())
+
+    def log_message(self, format, *args):
+        """Override to use our logger instead of stderr."""
+        if hasattr(self.policy_server, "logger"):
+            self.policy_server.logger.debug(f"HTTP: {format % args}")
+
+
 @dataclass
 class TimedData:
     """A data object with timestamp and timestep information.

src/lerobot/scripts/server/policy_server.py

@@ -30,6 +30,7 @@ import threading
 import time
 from concurrent import futures
 from dataclasses import asdict
+from http.server import HTTPServer
 from pprint import pformat
 from queue import Empty, Queue
 
@@ -39,13 +40,14 @@ import torch
 
 from lerobot.policies.factory import get_policy_class
 from lerobot.scripts.server.configs import PolicyServerConfig
-from lerobot.scripts.server.constants import SUPPORTED_POLICIES
+from lerobot.scripts.server.constants import HEALTH_CHECK_PORT, HEALTH_SERVER_HOST, SUPPORTED_POLICIES
 from lerobot.scripts.server.helpers import (
     FPSTracker,
     Observation,
     RemotePolicyConfig,
     TimedAction,
     TimedObservation,
+    create_health_handler,
     get_logger,
     observations_similar,
     raw_observation_to_observation,
@@ -82,6 +84,30 @@ class PolicyServer(async_inference_pb2_grpc.AsyncInferenceServicer):
         self.actions_per_chunk = None
         self.policy = None
 
+        # HTTP health server
+        self.http_server = None
+        self.http_thread = None
+
+    def start_health_server(self):
+        """Start HTTP server for health checks on port 8081."""
+        try:
+            health_handler = create_health_handler(self)
+            self.http_server = HTTPServer((HEALTH_SERVER_HOST, HEALTH_CHECK_PORT), health_handler)
+            self.http_thread = threading.Thread(target=self.http_server.serve_forever, daemon=True)
+            self.http_thread.start()
+            self.logger.info(f"Health server started on port {HEALTH_CHECK_PORT}")
+        except Exception as e:
+            self.logger.error(f"Failed to start health server: {e}")
+
+    def stop_health_server(self):
+        """Stop the HTTP health server."""
+        if self.http_server:
+            self.http_server.shutdown()
+            self.http_server.server_close()
+            if self.http_thread:
+                self.http_thread.join(timeout=5)
+            self.logger.info("Health server stopped")
+
     @property
     def running(self):
         return self._running_event.is_set()
@@ -372,6 +398,7 @@ class PolicyServer(async_inference_pb2_grpc.AsyncInferenceServicer):
         """Stop the server"""
         self._reset_server()
         self.logger.info("Server stopping...")
+        self.stop_health_server()
 
 
 @draccus.wrap()
@@ -385,6 +412,7 @@ def serve(cfg: PolicyServerConfig):
 
     # Create the server instance first
     policy_server = PolicyServer(cfg)
+    policy_server.start_health_server()
 
     # Setup and start gRPC server
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=4))
@@ -397,6 +425,7 @@ def serve(cfg: PolicyServerConfig):
     server.wait_for_termination()
 
     policy_server.logger.info("Server terminated")
+    policy_server.stop_health_server()
 
 
 if __name__ == "__main__":