mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-26 11:16:00 +00:00
Pepijn
5912af7f9c
- RoboMME env wrapper with image/wrist_image/state observations - Docker image with Vulkan, SAPIEN, mani-skill deps - CI workflow: 1-episode smoke eval with pepijn223/smolvla_robomme - preprocess_observation: handle image/wrist_image/state keys - pyproject.toml: robomme extra Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
103 lines
4.5 KiB
Docker
103 lines
4.5 KiB
Docker
# Copyright 2026 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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# Isolated benchmark image for RoboMME integration tests.
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# Installs only lerobot[robomme] so its dep tree (mani-skill, SAPIEN, robomme)
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# cannot conflict with other benchmarks.
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#
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# Key differences vs libero/metaworld:
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# - Vulkan ICD loader required (ManiSkill/SAPIEN renderer)
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# - uv sync without --locked (robomme is a git dep, not in uv.lock)
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# - gymnasium==0.29.1 + numpy==1.26.4 overridden post-install (mani-skill pins)
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#
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# Build: docker build -f docker/Dockerfile.benchmark.robomme -t lerobot-benchmark-robomme .
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# Run: docker run --gpus all --rm lerobot-benchmark-robomme lerobot-eval ...
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ARG CUDA_VERSION=12.4.1
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ARG OS_VERSION=22.04
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FROM nvidia/cuda:${CUDA_VERSION}-runtime-ubuntu${OS_VERSION}
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ARG PYTHON_VERSION=3.12
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ENV DEBIAN_FRONTEND=noninteractive \
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PATH=/lerobot/.venv/bin:$PATH \
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CUDA_VISIBLE_DEVICES=0 \
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DEVICE=cuda \
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# NVIDIA Container Toolkit: expose all driver capabilities (includes Vulkan)
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NVIDIA_DRIVER_CAPABILITIES=all \
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# ManiSkill uses Vulkan; set ICD path for headless GPU rendering
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VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
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# System deps — same base as Dockerfile.internal, plus Vulkan loader for ManiSkill/SAPIEN
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RUN apt-get update && apt-get install -y --no-install-recommends \
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software-properties-common build-essential git curl \
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libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
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libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
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cmake pkg-config ninja-build \
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# Vulkan: required by ManiSkill/SAPIEN renderer
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libvulkan1 \
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libvulkan-dev \
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mesa-vulkan-drivers \
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&& add-apt-repository -y ppa:deadsnakes/ppa \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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python${PYTHON_VERSION} \
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python${PYTHON_VERSION}-venv \
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python${PYTHON_VERSION}-dev \
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&& curl -LsSf https://astral.sh/uv/0.8.0/install.sh | sh \
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&& mv /root/.local/bin/uv /usr/local/bin/uv \
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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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&& useradd --create-home --shell /bin/bash user_lerobot \
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&& usermod -aG sudo user_lerobot \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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WORKDIR /lerobot
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RUN chown -R user_lerobot:user_lerobot /lerobot
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USER user_lerobot
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ENV HOME=/home/user_lerobot \
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HF_HOME=/home/user_lerobot/.cache/huggingface \
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HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
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TORCH_HOME=/home/user_lerobot/.cache/torch \
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TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
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RUN uv venv --python python${PYTHON_VERSION}
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# Install only lerobot[robomme] — completely isolated from libero/metaworld dep trees.
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# Note: --locked is intentionally omitted because robomme is a git dep and is not
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# pinned in uv.lock; the install is still reproducible via the pinned git URL.
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
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COPY --chown=user_lerobot:user_lerobot src/ src/
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# Step 1: Install lerobot base (without robomme) — this gets gymnasium>=1.1.1
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# and numpy>=2.0.0 as lerobot requires.
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RUN uv pip install --no-cache -e "."
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# Step 2: Force-install robomme with overridden gymnasium and numpy versions.
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# mani-skill (robomme dep) hard-pins gymnasium==0.29.1 and numpy<2.0.0 which
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# conflict with lerobot's defaults. Both overrides are safe at runtime:
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# - gymnasium 0.29.x has the same 5-tuple step() API as 1.x (since gym 0.26)
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# - numpy 1.26.4 is API-compatible with lerobot's actual usage
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RUN printf 'gymnasium==0.29.1\nnumpy==1.26.4\n' > /tmp/robomme_override.txt \
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&& uv pip install --no-cache --override /tmp/robomme_override.txt -e ".[robomme,smolvla,av-dep]" \
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&& python -c "import robomme; print('robomme import OK')"
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RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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