mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-26 19:26:16 +00:00
Pepijn
5a065c8f87
robocasa's upstream setup.py hardcodes `lerobot==0.3.3` in install_requires. Exposing it as the `lerobot[robocasa]` extra made uv's dep resolver cycle: `lerobot[robocasa]` -> robocasa -> lerobot (a different version) -> unsolvable. This broke every `uv sync` — even invocations with an unrelated extra like `--extra test` — because uv validates the whole lockfile graph. - Remove the `robocasa` extra from pyproject.toml. Installation instructions in docs/source/robocasa.mdx now walk users through the manual `git clone` + `pip install --no-deps` flow, which matches what the Docker image already does and sidesteps the cyclic dep entirely. - Dockerfile: `uv pip install -e ~/robocasa --no-deps` so the shadowed lerobot==0.3.3 never lands in the image; install robocasa's actual runtime deps (numpy, numba, scipy, mujoco, tianshou, etc.) explicitly. Made-with: Cursor
64 lines
3.2 KiB
Docker
64 lines
3.2 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 RoboCasa365 integration tests.
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# Extends the nightly GPU image (which already has all extras installed)
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# with the PR's source code and RoboCasa-specific asset setup.
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#
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# Build: docker build -f docker/Dockerfile.benchmark.robocasa -t lerobot-benchmark-robocasa .
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# Run: docker run --gpus all --rm lerobot-benchmark-robocasa lerobot-eval ...
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FROM huggingface/lerobot-gpu:latest
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# Install robocasa + robosuite as editable clones. pip-installing from git
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# omits data files like robocasa/models/assets/box_links/box_links_assets.json
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# (not declared in package_data), which download_kitchen_assets needs at import.
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#
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# `--no-deps` on robocasa is deliberate: its setup.py pins `lerobot==0.3.3`
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# in install_requires, which would shadow the editable lerobot baked into
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# this image. We install robocasa's actual runtime deps explicitly instead.
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RUN git clone --depth 1 https://github.com/robocasa/robocasa.git ~/robocasa && \
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git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git ~/robosuite && \
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uv pip install --no-cache -e ~/robocasa --no-deps && \
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uv pip install --no-cache -e ~/robosuite && \
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uv pip install --no-cache \
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"numpy==2.2.5" "numba==0.61.2" "scipy==1.15.3" "mujoco==3.3.1" \
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pygame Pillow opencv-python pyyaml pynput tqdm termcolor \
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imageio h5py lxml hidapi "tianshou==0.4.10" gymnasium
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# Set up robocasa macros and download kitchen assets. We need:
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# - tex : base environment textures
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# - tex_generative : AI-generated textures; kitchen fixture XMLs embed
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# refs to generative_textures/wall/tex*.png
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# unconditionally, so MjModel.from_xml_string fails
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# at reset time without them (even if the env is
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# constructed with generative_textures=None).
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# - fixtures_lw : lightwheel kitchen fixtures (fridge, counters...)
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# - objs_lw : lightwheel object meshes (stools, misc props)
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# We skip the objaverse/aigen object packs (~30GB combined) by pairing
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# this with --env.obj_registries=["lightwheel"] on the lerobot side.
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# The download script prompts interactively, so pipe 'y' to auto-accept.
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RUN python -m robocasa.scripts.setup_macros && \
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yes y | python -m robocasa.scripts.download_kitchen_assets \
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--type tex tex_generative fixtures_lw objs_lw
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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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# Re-install lerobot editably so the new source (with RoboCasaEnv registration)
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# replaces the stale package baked into the nightly image.
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RUN uv pip install --no-cache --no-deps -e .
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CMD ["/bin/bash"]
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