mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 01:30:14 +00:00
Pepijn
49186359b0
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>
111 lines
4.5 KiB
Docker
111 lines
4.5 KiB
Docker
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Benchmark image for RoboTwin 2.0 integration tests.
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# Extends the nightly GPU image with the RoboTwin simulator stack:
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# sapien/mplib/pytorch3d + NVlabs CuRobo + embodiments.zip + objects.zip
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# (~3.96 GB of assets; background_texture.zip ~11 GB skipped for smoke eval).
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#
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# Build: docker build -f docker/Dockerfile.benchmark.robotwin -t lerobot-benchmark-robotwin .
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# Run: docker run --gpus all --rm lerobot-benchmark-robotwin \
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# lerobot-eval --env.type=robotwin --env.task=beat_block_hammer ...
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FROM huggingface/lerobot-gpu:latest
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ENV NVIDIA_DRIVER_CAPABILITIES=all \
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VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json \
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ROBOTWIN_ROOT=/opt/robotwin
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# The nightly base is CUDA -base (no compiler, no Vulkan loader). CuRobo's
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# `pip install -e .` runs nvcc, and SAPIEN renders via Vulkan — add both.
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USER root
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RUN apt-get update \
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&& apt-get install -y --no-install-recommends \
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cuda-nvcc-12-4 cuda-cudart-dev-12-4 \
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libvulkan1 vulkan-tools \
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&& mkdir -p /usr/share/vulkan/icd.d \
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&& echo '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.0"}}' \
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> /usr/share/vulkan/icd.d/nvidia_icd.json \
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&& git clone --depth=1 https://github.com/RoboTwin-Platform/RoboTwin.git ${ROBOTWIN_ROOT} \
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&& chown -R user_lerobot:user_lerobot ${ROBOTWIN_ROOT} \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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USER user_lerobot
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# RoboTwin runtime deps (av is already in the base via [av-dep]).
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RUN uv pip install --no-cache \
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"sapien==3.0.0b1" "mplib==0.2.1" "transforms3d==0.4.2" "trimesh==4.4.3" \
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"open3d==0.19.0" "imageio==2.34.2" termcolor zarr pydantic h5py
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# pytorch3d has no universal wheel; must be built from source (~10 min, cached).
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RUN uv pip install --no-cache --no-build-isolation \
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"git+https://github.com/facebookresearch/pytorch3d.git@stable"
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# CuRobo — NVlabs motion generator; TORCH_CUDA_ARCH_LIST must be set or the
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# build aborts on an empty arch list.
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RUN cd ${ROBOTWIN_ROOT}/envs \
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&& git clone --depth=1 https://github.com/NVlabs/curobo.git \
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&& cd curobo \
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&& TORCH_CUDA_ARCH_LIST="7.0;7.5;8.0;8.6;8.9;9.0" \
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uv pip install -e . --no-build-isolation --no-cache
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# Upstream patches (mirror RoboTwin's script/_install.sh).
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# mplib: drop a broken `or collide` clause in planner.py.
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# sapien: fix URDF loader encoding + .srdf extension check.
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RUN python - <<'EOF'
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import pathlib, re, site
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for d in site.getsitepackages():
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p = pathlib.Path(d) / "mplib" / "planner.py"
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if p.exists():
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p.write_text(re.sub(r"\bor collide\b", "", p.read_text(), count=1))
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print(f"mplib patch applied: {p}")
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p = pathlib.Path(d) / "sapien" / "wrapper" / "urdf_loader.py"
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if p.exists():
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src = p.read_text().replace(
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"with open(srdf_path) as f:", 'with open(srdf_path, encoding="utf-8") as f:'
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).replace('"srdf"', '".srdf"')
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p.write_text(src)
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print(f"sapien patch applied: {p}")
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EOF
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# Simulation assets from TianxingChen/RoboTwin2.0: embodiments (~220 MB) +
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# objects (~3.74 GB). background_texture (~11 GB) is intentionally skipped.
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ARG HF_TOKEN=""
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RUN python - <<'EOF'
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import os, pathlib, zipfile
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from huggingface_hub import hf_hub_download
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assets_dir = pathlib.Path(os.environ["ROBOTWIN_ROOT"]) / "assets"
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assets_dir.mkdir(parents=True, exist_ok=True)
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for fname in ("embodiments.zip", "objects.zip"):
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local = hf_hub_download(
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repo_id="TianxingChen/RoboTwin2.0",
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repo_type="dataset",
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filename=fname,
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token=os.environ.get("HF_TOKEN") or None,
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local_dir=str(assets_dir),
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)
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with zipfile.ZipFile(local, "r") as z:
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z.extractall(str(assets_dir))
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pathlib.Path(local).unlink()
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EOF
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RUN cd ${ROBOTWIN_ROOT} && python script/update_embodiment_config_path.py
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ENV PYTHONPATH="${ROBOTWIN_ROOT}:${PYTHONPATH}"
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# Overlay the PR's source code on top of the nightly image.
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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