mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-26 19:26:16 +00:00
Pepijn
14c62b34d5
Kitchen tasks (e.g. CloseFridge) reference lightwheel object meshes like Stool022/model.xml. fixtures_lw alone isn't enough — we also need objs_lw. Still skipping objaverse/aigen to keep image size down. Made-with: Cursor
46 lines
2.2 KiB
Docker
46 lines
2.2 KiB
Docker
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
# Benchmark image for RoboCasa365 integration tests.
|
|
# Extends the nightly GPU image (which already has all extras installed)
|
|
# with the PR's source code and RoboCasa-specific asset setup.
|
|
#
|
|
# Build: docker build -f docker/Dockerfile.benchmark.robocasa -t lerobot-benchmark-robocasa .
|
|
# Run: docker run --gpus all --rm lerobot-benchmark-robocasa lerobot-eval ...
|
|
|
|
FROM huggingface/lerobot-gpu:latest
|
|
|
|
# Install robocasa + robosuite as editable clones. pip-installing from git
|
|
# omits data files like robocasa/models/assets/box_links/box_links_assets.json
|
|
# (not declared in package_data), which download_kitchen_assets needs at import.
|
|
RUN git clone --depth 1 https://github.com/robocasa/robocasa.git ~/robocasa && \
|
|
git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git ~/robosuite && \
|
|
uv pip install --no-cache -e ~/robocasa -e ~/robosuite
|
|
|
|
# Set up robocasa macros and download kitchen assets. Include tex + fixtures_lw
|
|
# + objs_lw (kitchen tasks reference lightwheel object meshes like stools); skip
|
|
# objaverse/aigen object categories (~8GB extra, not used by the smoke tasks).
|
|
# The download script prompts interactively, so pipe 'y' to auto-accept.
|
|
RUN python -m robocasa.scripts.setup_macros && \
|
|
yes y | python -m robocasa.scripts.download_kitchen_assets --type tex fixtures_lw objs_lw
|
|
|
|
# Overlay the PR's source code on top of the nightly image.
|
|
COPY --chown=user_lerobot:user_lerobot . .
|
|
|
|
# Re-install lerobot editably so the new source (with RoboCasaEnv registration)
|
|
# replaces the stale package baked into the nightly image.
|
|
RUN uv pip install --no-cache --no-deps -e .
|
|
|
|
CMD ["/bin/bash"]
|