mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Pepijn Kooijmans
69aeda68f5
- Add NVIDIA EGL/Vulkan vendor ICDs and graphics libs to both Dockerfiles - Refactor LIBERO-plus asset download into a separate build step - Fix KeyError in datasets/factory.py when stats dict is None or missing keys Made-with: Cursor
79 lines
3.1 KiB
Docker
79 lines
3.1 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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ARG CUDA_VERSION=12.4.1
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ARG OS_VERSION=22.04
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FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
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ARG PYTHON_VERSION=3.12
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ENV DEBIAN_FRONTEND=noninteractive \
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MUJOCO_GL=egl \
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PYOPENGL_PLATFORM=egl \
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EGL_PLATFORM=device \
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NVIDIA_DRIVER_CAPABILITIES=all \
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NVIDIA_VISIBLE_DEVICES=all \
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PATH=/lerobot/.venv/bin:$PATH \
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# cmake 4.x removed backward compat with cmake_minimum_required < 3.5.
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# This env var re-enables it so packages like egl-probe can compile.
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CMAKE_POLICY_VERSION_MINIMUM=3.5
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RUN apt-get update && apt-get install -y --no-install-recommends \
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software-properties-common build-essential git curl \
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libglib2.0-0 libgl1 libgl1-mesa-glx libgles2 \
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libegl1 libegl1-mesa libegl1-mesa-dev \
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libglew-dev libglfw3 libglvnd-dev \
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libosmesa6 libosmesa6-dev \
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libvulkan1 mesa-vulkan-drivers \
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libsm6 libxext6 libxrender-dev \
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ffmpeg libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
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cmake pkg-config ninja-build \
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&& add-apt-repository -y ppa:deadsnakes/ppa \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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python${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/install.sh | sh \
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&& mv /root/.local/bin/uv /usr/local/bin/uv \
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&& useradd --create-home --shell /bin/bash user_lerobot \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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# NVIDIA EGL + Vulkan vendor ICDs (lets GLVND find the GPU driver)
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RUN mkdir -p /usr/share/vulkan/icd.d /usr/share/glvnd/egl_vendor.d \
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&& printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.2.155"}}\n' \
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> /usr/share/vulkan/icd.d/nvidia_icd.json \
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&& printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' \
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> /usr/share/glvnd/egl_vendor.d/10_nvidia.json
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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 --seed --python python${PYTHON_VERSION}
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
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COPY --chown=user_lerobot:user_lerobot src/ src/
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RUN uv pip install --no-cache .
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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